CN205271989U - Platform is snatched to all -hydraulic independently removal - Google Patents
Platform is snatched to all -hydraulic independently removal Download PDFInfo
- Publication number
- CN205271989U CN205271989U CN201520994072.2U CN201520994072U CN205271989U CN 205271989 U CN205271989 U CN 205271989U CN 201520994072 U CN201520994072 U CN 201520994072U CN 205271989 U CN205271989 U CN 205271989U
- Authority
- CN
- China
- Prior art keywords
- oil cylinder
- oscillating oil
- shaft collar
- rotating unit
- hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a platform is snatched to all -hydraulic independently removal, which comprises a supporting frame, live axle is equipped with to the bottom of support frame, the last fixed disk that is equipped with admittedly of live axle, rotate on the fixed disk be connected with by hydraulic motor drive's action wheel and with action wheel power be connected from the driving wheel, driven take turns to the rigid coupling have the cladding outside the fixed disk and with fixed disk normal running fit's rim, be connected with the support arm on the fixed disk, it hangs damping device to be equipped with between the bottom of support arm and the fixed disk, the top of support arm is equipped with and is turned to power unit, be connected with the arm on the support frame, the arm includes a plurality of rotation units, be connected with the support on the rotor arm of the rotation unit at rear, clamping machine tool hand is equipped with on the support. The utility model discloses nimble more, the precision is high, response is fast, the while also possesses the characteristics of big rigidity, heavy load, is applicable to the operations of deciding for oneself such as the robot carries, selects, flexible assembly.
Description
Technical field
The utility model relates to a kind of all-hydraulic autonomous and captures platform.
Background technology
For the demand of mobile operating on a large scale of class large-mass workpieces such as the tire base sulfuration flexible assembly forged in clamping and carrying, the clamping welding of weldment, tire production of the assembling of relatively large workpiece, forging and stamping part, sorting and carrying, those skilled in the art are badly in need of developing the comprehensive autonomous formula mechanical arm system of a kind of hydraulic drive.
Traditional above-mentioned operation adopts mode that is artificial and mechanical bond, namely employing artificial judgment is treated events in operation and is manipulated the mechanical means such as forklift and carry out operation, need after operation to be manually located and realize next step operation and prepare, when tea is by above-mentioned mechanical work, its handiness is greatly limited, and greatly limited on operating angle and scope of work.
Traditional mechanical arm can only carry out the operations such as the crawl of large-mass workpiece, assembling, and mechanical arm need to meet the requirement of high precision, heavy load, large rigidity, also needs satisfied good kindliness and end static, to guarantee the precision of operation and to protect workpiece simultaneously. at present, the mechanical arm widely applied is generally the mechanical arm of simple function, namely it comprises the angling cylinder or telescopic oil cylinder that are connected to bracing frame, the piston rod of telescopic oil cylinder or angling cylinder is equipped with end effector mechanism, end effector mechanism comprises such as catching robot, spot welding mechanical manipulator or positioning mechanical arm etc., but, for comparatively complicated operation, or when motion space is comparatively narrow and small, to the handiness of mechanical arm, motion redundancy degree is had higher requirement, such as, when auto-body assembly, first its inner top is clamped, again its outside portion or exterior bottom are clamped, the above-mentioned mechanical arm of many covers is needed to realize, also do not have now a kind of mechanical arm can realize multiple directions revolution thus in the local operation of motion narrow space. in addition, walking system needs to arrange separately, thus its structure relative complex, and handiness is greatly not enough.
Practical novel content
The utility model provide a kind of handiness height for the problems referred to above and can realize multiple directions revolution thus motion narrow space local operation all-hydraulic autonomous capture platform.
In order to solve the problems of the technologies described above, the all-hydraulic autonomous that the utility model provides a kind of following structure captures platform, it comprises bracing frame, its constructional feature is: live axle is equipped with in the bottom of bracing frame, live axle is fixed with shaft collar, shaft collar is rotatably connected to by the motion-work wheel of fluid motor-driven and the follow-up pulley that is connected with motion-work wheel power, the wheel rim being connected with on follow-up pulley outside being coated on shaft collar and be rotatably assorted with shaft collar, described shaft collar is connected with the sway brace that can erect to sliding, between the bottom of sway brace and shaft collar, suspended shock damper is housed, the steering power mechanism that can be connected with bracing frame and drive sway brace to rotate is equipped with at the top of sway brace, bracing frame is connected with two mechanical arms being oppositely arranged, mechanical arm connects and can independent pivotal multiple rotating unit before and after comprising in turn, the swivel arm that each rotating unit comprises oscillating oil cylinder respectively and is connected with the rotor of oscillating oil cylinder, the housing of the oscillating oil cylinder of a rear rotating unit is connected with the swivel arm of a front rotating unit, the swivel arm of the rotating unit of rearmost is connected with support, support is equipped with clamping mechanical hand.
Being equipped with by rotating the private swing frame taking hydraulic oil cylinder driving on support frame as described above, described two mechanical arm symmetries are arranged on the both sides swinging frame.
Arranging six rotating units after going to altogether, rotating unit comprises oscillating oil cylinder and two swivel arms of two parallel settings, and the front end of one of them swivel arm is connected on the rotor of a front oscillating oil cylinder, rear end is connected on the housing of a rear oscillating oil cylinder.
The swivel arm of the part rotating unit in described multiple rotating unit is provided with the spacing groove of arc, and the housing of the oscillating oil cylinder of this part rotating unit is provided with the positive stop being arranged in spacing groove.
The housing of described oscillating oil cylinder is connected with joint displacements sensor, bracing frame is equipped with gyro sensor, the navigation camera for detecting clamping mechanical hand is equipped with in the front portion of bracing frame, angle displacement transducer device is equipped with at rear portion, six-dimension force sensor is housed on end effector mechanism, and described steering power mechanism, oil motor, joint displacements sensor, gyro sensor, navigation camera, angle displacement transducer device, six-dimension force sensor are all electrically connected with PLC.
Described suspended shock damper comprises the upper fixed seat being connected to bottom sway brace and the lower fixed seat being connected to shaft collar bottom and being oppositely arranged up and down with upper fixed seat, and shock spring and the vibroshock of parallel setting are housed between upper fixed seat and lower fixed seat.
The limiting cylinder of setting parallel with vibroshock is housed between fixed seat and lower fixed seat; Vibroshock is oleo damper, and shaft collar is equipped with the energy storage being connected with oleo damper.
Described steering power mechanism comprises and turns to oscillating oil cylinder, described in turn to the cylinder body of oscillating oil cylinder to be connected to the top of sway brace, turn to the ring flange being equipped with on the rotor of oscillating oil cylinder and can being connected with vehicle frame.
The guiding slide erected to arranging is housed on described shaft collar, and the bottom of sway brace is connected with the slip block being slidably matched with the slide that leads.
After adopting said structure, ordered about by the cooperation of motion-work wheel and follow-up pulley and walk before and after bracing frame and turn to, by independent pivotal multiple rotating unit of mechanical arm, thus make whole platform movement to correct position and capture by clamping mechanical hand or clamp the trolley parts such as tire, and can position or carry out other actions.
In sum, the utility model more flexibly, precision height, response fast, also possess the feature of large rigidity, heavy load simultaneously, be applicable to the AUTONOMOUS TASK such as robot transport, selection, flexible assembly.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of embodiment of the present utility model;
Fig. 2 is the structural representation of mechanical arm;
Fig. 3 is the assembly structure schematic diagram of one of them rotating unit;
Fig. 4 is the structural representation on shaft collar;
Fig. 5 is the structural representation that wheel rim is connected with shaft collar;
Fig. 6 is the structural representation that suspended shock damper is connected on shaft collar;
Fig. 7 is shaft collar and the structural representation of wheel rim assembling;
Fig. 8 is the structural representation that sway brace is connected with oscillating oil cylinder.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is described in further detail:
As shown in Figure 1, the utility model provides a kind of all-hydraulic autonomous and captures platform, it comprises bracing frame 1, live axle 2 is equipped with in the bottom of bracing frame 1, two parallel live axles 2 are set altogether, live axle 2, two ends correspondence be fixed with shaft collar 4, that is four shaft collars 4 are set altogether, bracing frame 1 is connected with two mechanical arms being oppositely arranged 20, mechanical arm 20 connects and can independent pivotal multiple rotating unit before and after comprising in turn, the swivel arm 202 that each rotating unit comprises oscillating oil cylinder 201 respectively and is connected with the rotor of oscillating oil cylinder, the housing of the oscillating oil cylinder of a rear rotating unit is connected with the swivel arm of a front rotating unit, the swivel arm of the rotating unit of rearmost is connected with support, support is equipped with clamping mechanical hand 21.
As shown in Figures 4 to 7, the follow-up pulley 6 being rotatably connected to the motion-work wheel 5 driven by oil motor 30 on shaft collar 4 and be connected with motion-work wheel 5 power, shown in composition graphs 4, shaft collar 4 is fixedly connected on the support axle 1 of vehicle frame, follow-up pulley 6 is arranged on shaft collar 4 by bearing, motion-work wheel 5 adopts the structure of gears meshing to realize power with follow-up pulley 6 to be connected, it can be provided with the idle pulley 51 of transfer motion power between the two, this oil motor 30 can realize the driving of motion-work wheel, do not need to arrange separately the operation that brake system can realize this travelling wheel voluntarily, the wheel rim 3 being connected with on follow-up pulley 6 outside being coated on shaft collar and be rotatably assorted with shaft collar 4, by bolt tight between wheel rim 3 and follow-up pulley 6, wheel rim 3 outside surface can be equipped with tire, the concrete structure of wheel rim 3 and the structure of installation tire are prior art, do not repeat them here, shaft collar 4 is connected with the sway brace 7 that can erect to sliding, concrete slip structure is as follows: the guiding slide 16 erected to arranging is housed on shaft collar 4, the bottom of sway brace 7 is connected with the slip block 17 being slidably matched with the slide that leads.
As shown in Figures 4 to 7, between the bottom of sway brace 7 and shaft collar 4, suspended shock damper being housed, the steering power mechanism that can be connected and drive sway brace 7 with vehicle frame and rotate is equipped with at the top of sway brace 7. above-mentioned suspended shock damper comprises the upper fixed seat 8 being connected to bottom sway brace 7 and the lower fixed seat 9 being connected to shaft collar 4 bottom and being oppositely arranged with upper fixed seat about 8, shock spring 10 and the vibroshock 12 of parallel setting are housed between upper fixed seat 8 and lower fixed seat 9, the function that this walking wheel can have load heavy duty is realized by the common damping effect of shock spring 11 and vibroshock 12, the limiting cylinder 11 of setting parallel with vibroshock is housed between upper fixed seat 8 and lower fixed seat 9, the setting of limiting cylinder 11 is possible to prevent vibroshock excessive tensile and exceeds stroke, thus play effective provide protection, above-mentioned vibroshock 12 is oleo damper, shaft collar 4 is equipped with the energy storage 13 being connected with oleo damper, this oleo damper is provided with servo proportion, can by controller control energy storage and vibroshock servo proportion thus realize energy storage be vibroshock supplement oil pressure or reduce oil pressure, energy storage 13 can adopt Weight type or spring loaded energy storage, its concrete structure is prior art. above-mentioned steering power mechanism comprises and turns to oscillating oil cylinder 14, the described top turning to the cylinder body of oscillating oil cylinder 14 to be connected to sway brace 7, turn to the ring flange 15 being equipped with on the rotor of oscillating oil cylinder 14 and can being connected with vehicle frame, this ring flange 15 connects admittedly with vehicle frame, when turning to oscillating oil cylinder 14 action, sway brace 7 rotates, thus drives whole travelling wheel voluntarily to realize turning to flexibly.
As shown in Figure 1, on bracing frame 1, controller can be installed, for detecting the suspension travel sensor of suspended shock damper, for detecting the acceleration of oil motor running status and take into account the corner encoder of wheel speed encoder and Real-Time Monitoring travelling wheel corner voluntarily, suspension travel sensor is received by controller, jerkmeter, the signal of wheel speed encoder and corner encoder, above-mentioned vibroshock 12 is controlled again by controller, energy storage 13, the action of hydraulic efficiency servo-motor 2 and oscillating oil cylinder 14, thus realize the active shock-absorbing of travelling wheel voluntarily, active drive or braking and the independent function accurately turned to, control texture and the principle of each parts above-mentioned are all prior art.
Such as Fig. 1, shown in Fig. 2 and Fig. 3, bracing frame 1 is equipped with by rotating the private swing frame 23 taking oil cylinder 22 and driving, described two mechanical arm 20 symmetries are arranged on the both sides swinging frame 23, six rotating units are set altogether after going to, the center of turning circle line of a front rotating unit is vertical with the center of turning circle line of a rear rotating unit to be arranged, wherein after go to several first, the swivel arm 202 of three and six rotating units is provided with the spacing groove 24 of arc, the housing of the oscillating oil cylinder 201 of above-mentioned rotating unit is provided with the positive stop 25 being arranged in spacing groove 24, the formation of spacing groove 24 adopts this kind of structure in the present embodiment, the position that the oscillating oil cylinder 204 of swivel arm 202 is connected with swivel arm is provided with the gear ring of arc, the breach that the gear ring of arc stays forms above-mentioned spacing groove 24, after above-mentioned oscillating oil cylinder 2 and swivel arm assemble, positive stop 25 is arranged in above-mentioned breach, make the oscillating oil cylinder of this part rotating unit can not realize 360 degree of revolutions, different rotating units can be set as required there is said structure, thus control the revolution angle of oscillating oil cylinder, mechanical arm is made to have maximum degree of freedom, above-mentioned spacing groove 24 can also adopt the structure arranging deep gouge on swivel arm, namely positive stop 25 stretches in above-mentioned deep gouge.
As shown in Figure 1, the housing of oscillating oil cylinder 201 is connected with joint displacements sensor 29, bracing frame 1 is equipped with gyro sensor 26, the navigation camera 27 for detecting clamping mechanical hand is equipped with in the front portion of bracing frame 1, angle displacement transducer device 28 is equipped with at rear portion, clamping mechanical is equipped with six-dimension force sensor 29 on hand, and described steering power mechanism, oil motor, joint displacements sensor, gyro sensor, navigation camera, angle displacement transducer device, six-dimension force sensor are all electrically connected with PLC. Six-dimension force sensor 29 is utilized to respond to the operation force information of clamping mechanical hand end, navigation camera 27 is utilized to obtain the pose image of clamping mechanical hand end, by operation force information and graphic information two kinds of information comprehensive analysis and each rotation oil cylinder 201 is carried out Comprehensive Control, control is more reliable, and performance accuracy is higher. The position of bracing frame and displacement accurately can be located by gyro sensor, navigation camera, angle displacement transducer device, the acquisition range of pose image is wider, it is ensured that the accuracy of information acquisition, thus ensure that the requirement of performance accuracy.
The above is specific constructive form of the present utility model, and the utility model is not restricted to the described embodiments, those skilled in the art, based on the equivalent variations of the concrete structure of the utility model and part replacement all in protection domain of the present utility model.
Claims (9)
1. an all-hydraulic autonomous captures platform, comprise bracing frame, it is characterized in that: live axle is equipped with in the bottom of bracing frame, live axle is fixed with shaft collar, shaft collar is rotatably connected to by the motion-work wheel of fluid motor-driven and the follow-up pulley that is connected with motion-work wheel power, the wheel rim being connected with on follow-up pulley outside being coated on shaft collar and be rotatably assorted with shaft collar, described shaft collar is connected with the sway brace that can erect to sliding, between the bottom of sway brace and shaft collar, suspended shock damper is housed, the steering power mechanism that can be connected with bracing frame and drive sway brace to rotate is equipped with at the top of sway brace, bracing frame is connected with two mechanical arms being oppositely arranged, mechanical arm connects and can independent pivotal multiple rotating unit before and after comprising in turn, the swivel arm that each rotating unit comprises oscillating oil cylinder respectively and is connected with the rotor of oscillating oil cylinder, the housing of the oscillating oil cylinder of a rear rotating unit is connected with the swivel arm of a front rotating unit, the swivel arm of the rotating unit of rearmost is connected with support, support is equipped with clamping mechanical hand.
2. all-hydraulic autonomous as claimed in claim 1 captures platform, it is characterized in that: be equipped with by rotating the private swing frame taking hydraulic oil cylinder driving on support frame as described above, and described two mechanical arm symmetries are arranged on the both sides swinging frame.
3. all-hydraulic autonomous as claimed in claim 1 captures platform, it is characterized in that: six rotating units are set after certainly going to altogether, rotating unit comprises oscillating oil cylinder and two swivel arms of two parallel settings, and the front end of one of them swivel arm is connected on the rotor of a front oscillating oil cylinder, rear end is connected on the housing of a rear oscillating oil cylinder.
4. all-hydraulic autonomous as claimed in claim 1 captures platform, it is characterized in that: the swivel arm of the part rotating unit in described multiple rotating unit is provided with the spacing groove of arc, and the housing of the oscillating oil cylinder of this part rotating unit is provided with the positive stop being arranged in spacing groove.
5. all-hydraulic autonomous as according to any one of claim 1-4 captures platform, it is characterized in that: the housing of described oscillating oil cylinder is connected with joint displacements sensor, bracing frame is equipped with gyro sensor, the navigation camera for detecting clamping mechanical hand is equipped with in the front portion of bracing frame, angle displacement transducer device is equipped with at rear portion, six-dimension force sensor is housed on end effector mechanism, and described steering power mechanism, oil motor, joint displacements sensor, gyro sensor, navigation camera, angle displacement transducer device, six-dimension force sensor are all electrically connected with PLC.
6. all-hydraulic autonomous as according to any one of claim 1-4 captures platform, it is characterized in that: described suspended shock damper comprises the upper fixed seat being connected to bottom sway brace and the lower fixed seat being connected to shaft collar bottom and being oppositely arranged up and down with upper fixed seat, and shock spring and the vibroshock of parallel setting are housed between upper fixed seat and lower fixed seat.
7. all-hydraulic autonomous as claimed in claim 6 captures platform, it is characterized in that: the limiting cylinder that setting parallel with vibroshock is housed between fixed seat and lower fixed seat; Vibroshock is oleo damper, and shaft collar is equipped with the energy storage being connected with oleo damper.
8. all-hydraulic autonomous as claimed in claim 7 captures platform, it is characterized in that: described steering power mechanism comprises and turns to oscillating oil cylinder, the described top turning to the cylinder body of oscillating oil cylinder to be connected to sway brace, turns to the ring flange being equipped with on the rotor of oscillating oil cylinder and can being connected with vehicle frame.
9. all-hydraulic autonomous as claimed in claim 8 captures platform, it is characterized in that: the guiding slide erected to arranging is housed on described shaft collar, and the bottom of sway brace is connected with the slip block being slidably matched with the slide that leads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520994072.2U CN205271989U (en) | 2015-12-05 | 2015-12-05 | Platform is snatched to all -hydraulic independently removal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520994072.2U CN205271989U (en) | 2015-12-05 | 2015-12-05 | Platform is snatched to all -hydraulic independently removal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205271989U true CN205271989U (en) | 2016-06-01 |
Family
ID=56056605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520994072.2U Active CN205271989U (en) | 2015-12-05 | 2015-12-05 | Platform is snatched to all -hydraulic independently removal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205271989U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106363663A (en) * | 2016-10-10 | 2017-02-01 | 宁波蓝圣智能科技有限公司 | Robot terminal mechanism used for end cover assembly |
| CN108514749A (en) * | 2018-04-09 | 2018-09-11 | 重庆东渝中能实业有限公司 | The control method of robot and robot |
| WO2018161196A1 (en) * | 2017-03-05 | 2018-09-13 | 肖丽芳 | Robot mechanism for family service |
| CN109250369A (en) * | 2018-12-07 | 2019-01-22 | 长沙中联重科环境产业有限公司 | The charging method of mechanical arm, garbage truck and garbage truck |
| CN110374956A (en) * | 2018-04-13 | 2019-10-25 | 费斯托股份有限两合公司 | The robots arm equipped with the rotation drive device of rotation drive device and robot |
-
2015
- 2015-12-05 CN CN201520994072.2U patent/CN205271989U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106363663A (en) * | 2016-10-10 | 2017-02-01 | 宁波蓝圣智能科技有限公司 | Robot terminal mechanism used for end cover assembly |
| WO2018161196A1 (en) * | 2017-03-05 | 2018-09-13 | 肖丽芳 | Robot mechanism for family service |
| CN108514749A (en) * | 2018-04-09 | 2018-09-11 | 重庆东渝中能实业有限公司 | The control method of robot and robot |
| CN110374956A (en) * | 2018-04-13 | 2019-10-25 | 费斯托股份有限两合公司 | The robots arm equipped with the rotation drive device of rotation drive device and robot |
| CN109250369A (en) * | 2018-12-07 | 2019-01-22 | 长沙中联重科环境产业有限公司 | The charging method of mechanical arm, garbage truck and garbage truck |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205271989U (en) | Platform is snatched to all -hydraulic independently removal | |
| CN104890759B (en) | A kind of quadruped robot | |
| CN108163080B (en) | Electrically driven quadruped robot capable of adapting to high load capacity of complex rugged terrain | |
| CN202911836U (en) | Omni-directional moving platform | |
| CN214875226U (en) | Moving device of robot and robot | |
| CN104708624A (en) | Transmission mechanism for coaxially and indirectly driving arm of multi-joint robot | |
| CN102490171A (en) | Robot for disposing dangerous goods and ammunition | |
| CN103192897B (en) | Bionic six-wheel-leg travelling mechanism | |
| CN204450530U (en) | A kind of stacking machine mechanical arm with five degree of freedom | |
| CN110962957A (en) | Double-leg double-wheel compound motion robot | |
| CN106864617B (en) | Self-balancing robot system | |
| CN108547461A (en) | A kind of prefabricated panel installation manipulator | |
| CN105773599B (en) | A kind of mechanical arm | |
| CN113212579A (en) | Ball wheel leg composite mobile robot capable of being operated outwards | |
| CN206502556U (en) | Wireless remote control omnibearing ambulation lifting platform truck with self-locking | |
| CN209351490U (en) | A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot | |
| CN109193457B (en) | Line inspection robot for power transmission line along ground line | |
| CN208594003U (en) | A kind of mini carrier of unmanned AGV | |
| CN102114879B (en) | Biped walking four-bar mechanism | |
| CN204604329U (en) | Coaxial-type drives the transmission mechanism of articulated robot arm indirectly | |
| CN112896348A (en) | Automatic navigation three-point leveling type hydraulic active suspension chassis | |
| CN108238126A (en) | A kind of Lun Zu omnidirectional movings robot | |
| CN104002660B (en) | Hydraulic drive driving wheel of independent drive-brake and active suspension | |
| CN107127750A (en) | It is a kind of can trouble free service under combustible environment hydraulic driving mechanical device | |
| CN117485422A (en) | Active steering transfer trolley for wind power blade and wind power blade transfer method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |