CN104972458B - Multifunctional motor-driven hydraulic robot - Google Patents
Multifunctional motor-driven hydraulic robot Download PDFInfo
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- CN104972458B CN104972458B CN201410146731.7A CN201410146731A CN104972458B CN 104972458 B CN104972458 B CN 104972458B CN 201410146731 A CN201410146731 A CN 201410146731A CN 104972458 B CN104972458 B CN 104972458B
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- telescopic arm
- fork
- hydraulic cylinder
- mechanical hand
- telescopic
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- Forklifts And Lifting Vehicles (AREA)
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Abstract
The present invention is a kind of multifunctional motor-driven hydraulic robot，Outer mast is separately mounted to the H crossbeam both sides positioning pile crown A of chassis ridgepole balance weight vehicle bridge、On B point，On gantry type lifting hanging bracket, lift cart control platform is installed，The rotating box of more piece rotary extension arm mechanical hand is fixedly connected with the bearing block on lift cart bracket，Rotary extension arm outer case or fork mechanical hand or an armful clamping manipulator are connected with each other、Telescopic arm first inserts the pulley clamping in casing and on corner，The telescopic hydraulic cylinder being installed in telescopic arm is connected with the earrings of the outer front lower end of telescopic arm realizes Telescopic，Rotation is grabbed by the built-in expansion box being installed on mechanical hand of mechanical hand or fire extinguisher，The function that multifunctional motor-driven hydraulic robot of the present invention each section telescopic arm mechanical hand captures goods is different from，The present invention is the current state-of-the-art robot of function in the world.
Description
Technical field
The present invention relates to a kind of electric hydaulic machine people, specifically a kind of multifunctional motor-driven hydraulic loading-unloading robot device
Background technology
The overall structure molectron of robot is to be connected composition with welding for steel structure component with hydraulic cylinder, it with tradition and
Existing robot handling facilities are compared, and it is many to have a changes of function, cover industry wide the advantages of, integral rigidity structure is strong, weight
The features such as heart is low, shifting balance good stability, security reliability strong and the change function of multi-jointed mechanical telescopic arm and mechanical hand is many,
The very strong driving force of existing machine and carrying and the maneuverability of someone, have the simple and environmentally-friendly energy-conservation of structure, be easy to make,
The advantages of low cost.
Content of the invention
The multifunctional motor-driven hydraulic robot technical issues that need to address of the present invention are；Of the present invention multi-functional
Electric hydaulic machine people employs crossbeam balance weight vehicle bridge 1 or described and hangs outrigger bracket lift cart control platform 2 or described
Horizontal rotation multi-jointed mechanical telescopic arm outer case 3 or described first segment telescopic arm folding fork mechanical hand 4 or described second section is stretched
Clamping manipulator 5 is embraced in contracting arm folding or described Section of three telescopic arm rotation luffing is grabbed by the feature technology such as mechanical hand 6 and fire extinguisher 7
Overall structure design, collection change function many, applied widely the advantages of, not still storage, storehouse, the handling of logistics, carrying,
Palletizing robot, loads onto the operation robot that numerical control software may be simultaneously used for production line, compensate for same machines people and sets
The deficiency of standby mechanical hand simple function, robot collection center of gravity is low, vertical lift, horizontal rotation and horizontal extension multi-jointed mechanical
Handss are it is characterised in that described horizontal rotation multi-jointed mechanical telescopic arm outer case 3 or first segment telescopic arm folding fork
Clamping manipulator 5 is embraced in mechanical hand 4 or second section telescopic arm folding or Section of three telescopic arm rotation luffing is grabbed and stretched by each section of mechanical hand 6
Contracting mechanical arm has the mechanical hand of different action functions.
Multifunctional motor-driven hydraulic robot concrete technical scheme of the present invention is；There are a vertical lift, level rotation
Turn, the multi-stage telescopic arms mechanical hand of horizontal extension, the H crossbeam both sides of described crossbeam balance weight vehicle bridge 1 have with outer mast 1-1 or
Inner upright mounting 1-2 connects A, B pile crown, A, B pile crown and the outer mast 1-1 rigid solder of positioning, and inner upright mounting 1-2 slide rail and inner upright mounting carry
Rise hydraulic cylinder 1-2-1 to connect, form vertical lift frame, the earrings 1-3-3 on described grooved balance weight framework 1-3 and described crossbeam
Balance weight vehicle bridge 1 and described inner upright mounting lifting hydraulic cylinder 1-2-1 and outer mast 1-1 carry out bolt connection, strengthen outer mast 1-1's
Fixing, have a landing leg stretching hole C in described 1 liang of side of crossbeam balance weight vehicle bridge, for installing telescopic outrigger 1-4, described
Crossbeam balance weight vehicle bridge 1 front end has the groove 1-6 installing front driving wheel axle and hydraulic steering cylinder and oval recess 1-7, crossbeam
The latter half of screw D having four connection grooved balance weight framework 1-3 of balance weight vehicle bridge 1, after described crossbeam balance weight vehicle bridge 1
End has the bearing groove 1-5 installing live axle and bearing block, in the presence of double flat weight, then has telescopic outrigger 1-4 or props up
The support of legs and feet hydraulic cylinder 1-4-1, just more ensure that its center of gravity is low, rigid structure strong, the good lifting rotation of stability of equilibrium
Telescopic requires, outside described suspension outrigger bracket lift cart control platform 2 or described horizontal rotation multi-jointed mechanical telescopic arm
Clamping manipulator 5 or described is embraced in casing 3 or the second section telescopic arm folding of described first segment telescopic arm folding fork mechanical hand 4 or described
Section three, telescopic arm rotates luffing and grabs the Multifunctional rotary telescopic magic hand 180 ° of rotations about carrying out connecting composition by mechanical hand 6
When turning flexible operation, its stability of equilibrium also can guarantee that and will not turn on one's side.
The concrete technical scheme of the more piece rotary extension arm mechanical hand of multifunctional motor-driven hydraulic robot of the present invention is；
Described outer mast 1-1 carries out slide rail pulley with inner upright mounting 1-2 and is connected, and inner upright mounting 1-2 hangs outrigger bracket lift cart with described
The pulley of control platform 2, lifter slide 2-1 carry out guide rail and connect, and the lower connecting cross beam 1-2-2 center of inner upright mounting is provided with lifting
Hang the lifting hydraulic cylinder 1-2-3 of outrigger bracket lift cart control platform 2, lifting hydraulic cylinder 1-2-3 and suspension outrigger bracket
Lift cart control platform 2 is carried out chain lifting and is connected, and material is thus formed a complete jacking system.
The described bearing block 2-1-3 hanging outrigger bracket lift cart control platform 2 and described horizontal rotation multi-jointed mechanical
The flange rotary axle 3-1 of telescopic arm outer case 3 connects, in the outrigger of described suspension outrigger bracket lift cart control platform 2
Hydraulic pressure rack cylinder 2-1-4 and little gear 2-1-5, hydraulic pressure rack cylinder 2-1-4 and little gear 2-1-5 tooth are installed with right bracket
Close, the gear wheel above the flange rotary axle 3-1 of little gear 2-1-5 and described horizontal rotation multi-jointed mechanical telescopic arm outer case 3
The ratcheting connection of 3-1-1, drives the rotation of little gear 2-1-5, little gear band under the reciprocating effect of hydraulic pressure rack cylinder 2-1-4
Gear wheel 3-1-1 rotation above dynamic outer case, is so formed for a horizontal rotation function.
Have a draw-in groove in the middle of the master bridge of described control platform 2-3 both sides, the front beam of described control platform 2-3 has
The connecting cross beam of two slots, master bridge draw-in groove and described lifter slide 2-1 carries out rigid clamping, double H-type outrigger support
The upper outrigger bracket of frame 2-1-2 carries out rigid grafting with two slots on the front beam of described control platform 2-3, to protect
It is firmly and steady that card control platform 2-3 is connected with double H-type outrigger bracket 2-1-2.
In order to ensure described suspension outrigger bracket lift cart control platform 2 lifting operating when hydraulic oil pipe do not lifted past
The uncertain factor of multiple motion affects the cylinder device energy normal fuel injection operating it is ensured that described Multifunctional telescopic arm mechanical hand,
Be installed on accumulator 2-2 of control platform 2-3 afterbody and hydraulic pressure bag 2-2-1 to first segment telescopic arm folding fork mechanical hand 4,
Clamping manipulator 5 is embraced in two section telescopic arm foldings, Section of three telescopic arm rotates luffing and grab the hydraulic cylinder implementation individually confession by mechanical hand 6
Oil, thus with the grooved balance weight framework 1-3 square frame being arranged on described crossbeam balance weight vehicle bridge 1 afterbody in accumulator 2-2
Or hydraulic pressure bag 2-2-1 carries out separately fuel feeding, to ensure its safety, the button of instrumental panel integrated electric control system 2-3-2 is concentrated
It is installed on steering wheel 2-3-1, contribute to operator easy to operate.
It is arranged on accumulator 2- in the described grooved balance weight framework 1-3 square frame of described crossbeam balance weight vehicle bridge 1 afterbody
2nd, hydraulic pressure bag 2-2-1 only carries out independent fuel feeding to inner upright mounting lifting hydraulic cylinder 1-2-1 and lifting hydraulic cylinder 1-2-3, thus subtracts
Lacked hydraulic oil pipe connect long dangerous and dangerous in elevating movement, it is to avoid the long deficiency of oil circuit pipeline.
The telescopic hydraulic cylinder 3-1-2 and described first installing in described horizontal rotation multi-jointed mechanical telescopic arm outer case 3
The earrings 4-5 of the telescopic arm front lower place of section telescopic arm folding fork mechanical hand 4 connects, the pulley I of the built-in installation of described outer case
3-1-4 is connected with the telescopic arm of described first segment telescopic arm folding fork mechanical hand 4, the gear wheel of described flange rotary axle 3-1
Little gear 2-1-5 on 3-1-1 and double H-type outrigger bracket 2-1-2 is ratcheting, in the presence of described telescopic hydraulic cylinder 3-1-2, institute
State first segment telescopic arm and produce friction rolling to realize Telescopic with pulley I 3-1-4, form described first segment telescopic arm and receive
The Telescopic of folding fork mechanical hand 4, described reinforcement 3-1-3 is the intensity strengthening outer case, described fork machinery hand cradle
4-1 and fork 4-1-2 is fastened on the mobile folding axle 4-1-3 of described fork, and described fork moves slide block 4-1-4 and fork
Mobile hydraulic cylinder 4-4 connects, and the groove of the mobile slide block 4-1-4 of described fork is stuck on described fork 4-1-2, in described mobile liquid
In the presence of cylinder pressure, hydraulic stem, slide block and fork synchronizing moving, to reach the distance adjusting fork, described fork folding hydraulic pressure
The earrings of cylinder 4-2 and fork machinery hand cradle 4-1 be connected be connected with folding Rocker arm 4-2-1 again, described folding Rocker arm 4-2-1 is connected to
On the mobile folding axle 4-1-3 of fork, in the presence of fork folding hydraulic cylinder 4-2, folding Rocker arm 4-2-1 rotates down, carries moving fork
The mobile folding axle 4-1-3 and fork 4-1-2 of son rotates, and folding is hidden upwards to realize fork 4-1-2, has two on fork 4-1-2
The location hole 4-1-5 of individual quick other mechanical hands of suit.
The telescopic arm that clamping manipulator 5 is embraced in described second section telescopic arm folding is connected with described pulley II 4-3, described flexible
The telescopic arm front end earrings I 5-4 that hydraulic cylinder 4-3-1 embraces clamping manipulator 5 with described second section telescopic arm folding is connected, described
Realize described second section telescopic arm folding in the presence of hydraulic cylinder in telescopic arm 4-3-1 and embrace the flexible of clamping manipulator 5.
Described armful of folder lifting hydraulic cylinder 5-1-1 is fixedly installed on the crossbeam of described sliding-rail sliding crane 5-1, embraces folder and carries
Liter hydraulic cylinder 5-1-1 is connected with lifting chain sprocket wheel 5-1-2, the chain of described lifting chain sprocket wheel 5-1-2 embraces a folder tool with lifting
Machine handss clamping sliding rail frame 5-3 connects, described clamping hydraulic cylinder 5-3-1 is installed on lifting up and down and embraces folder tool machine handss clamping sliding rail frame 5-
3 centre, it is fixedly connected on lifting again and embraces on folder tool machine handss clamping sliding rail frame 5-3, described clamping handss folding motor 5-3-3 installation
It is fixed on the column support of clamping handss 5-3-2, motor gear is connected with the gear mesh in clamping handss rotary shaft, sliding-rail sliding liter
The lower and upper cross-member of fall frame 5-1 and the clamping of telescopic arm front end, then be connected with described telescopic arm earrings 5-5, in described clamping handss
Two location hole 5-3-4 being quickly set with other mechanical hands are had on 5-3-2, described Section of three telescopic arm rotation luffing is grabbed by machinery
Handss 6 and described fire extinguisher 7 are built-in respectively to be installed on described second section telescopic arm folding and embraces in the telescopic arm of clamping manipulator 5.
Described Section of three telescopic arm rotation luffing is grabbed by being provided with flexible slide block 6-1-1 and handss on the slide rail 6-1 of mechanical hand 6
Arm slide block 6-2, described mechanical hand angle luffing hydraulic cylinder 6-2-2 is built-in to be installed in arm slide block 6-2, in mechanical wrist 6-3
Put the clamping hydraulic stem being provided with mechanical hand electric rotating machine 6-3-1 and manipulator clamping hydraulic cylinder 6-3-2 through mechanical hand rotation
The axle sleeve hole of supporting plate 6-3-4 is connected with mechanical wrist 6-3 and mechanical hand, and described mechanical hand rotates the tooth on supporting plate 6-3-4 axle sleeve
Wheel 6-3-3 is connected with the gear mesh on mechanical hand electric rotating machine 6-3-1, and described screw mandrel 6-4 is built in slide rail 6-1 centre bore
Interior, lead screw motor 6-4-1 is connected with screw mandrel slide block 6-4-2 and screw mandrel, described lead screw motor 6-4-1 rotarily drives screw mandrel 6-4 rotation
Turn and promote described screw mandrel slide block 6-4-2 and arm slide block 6-2 and described manipulator clamping hydraulic cylinder 6-3-2 or mechanical hand rotation support
Plate 6-3-4 or clamping handss 6-3-5 moves simultaneously, forms Telescopic, has two to be quickly set with it on described clamping handss 6-3-5
Ear below the location hole 6-3-6 of his mechanical hand, described mechanical hand angle luffing hydraulic cylinder 6-2-2 and described mechanical wrist 6-3
Ring connects, and in the presence of mechanical hand angle luffing hydraulic cylinder 6-2-2, clamping hand downward luffing in 90 ° rotates, is easy to pick up
Object on ground.
Described fire extinguisher 7, be by high-voltaghe compartment 7-1 and nozzle connection 7-1-1 connected positioning plate 7-2 with regulation pipe 7-2-
1st, adjust angle steel wire 7-2-2, regulation angle spring 7-2-3, flexible pipe 7-2-4 and electromagnetic switch 7-3 connection composition to be integrated
High-pressure extinction device, by electromagnetic switch control fire extinguisher nozzle closure, move to reach together with described rotating machinery telescopic arm
To multi-angle fire-extinguishing function concurrently.
In empty van body, telescopic hydraulic cylinder 4-3- is installed in the telescopic arm of described first segment telescopic arm folding fork mechanical hand 4
1st, clamping manipulator 5 is embraced in pulley II 4-3, described telescopic hydraulic cylinder 4-3-1 and pulley II 4-3 and described second section telescopic arm folding
Telescopic arm and the earrings I5-4 of telescopic arm front lower place connect, described Section three telescopic arm rotation luffing grab by mechanical hand 6 with go out
Firearm 7 is built-in to be installed in described second section telescopic arm folding double team mechanical hand 5 casing, is the formation of a complete more piece and stretches
Contracting arm mechanical hand and the Multifunctional rotary telescopic arm mechanical hand having fire-fighting fire extinguishing.
Described first segment telescopic arm folding fork mechanical hand 4, second section telescopic arm folding embrace clamping manipulator 5, Section three stretch
Contracting arm rotates luffing and grabs has, by each mechanical hand of mechanical hand 6, the location hole that can quickly be set with other mechanical hands,
Because have on each mechanical finger nurse 2 location hole 4-1-5 or location hole 5-3-4 being quickly set with other mechanical hands or
Location hole 6-3-6.
Clamping manipulator 5 or institute are embraced in the second section telescopic arm folding of described first segment telescopic arm folding fork mechanical hand 4 or described
State Section of three telescopic arm rotate luffing grab by mechanical hand 6 often section mechanical hand can the different job task of complete independently, with
When have to cooperate again and complete the function of different work task, described first segment telescopic arm folding fork mechanical hand 4 and described the
Clamping manipulator 5 is embraced in two section telescopic arm foldings or Section described three telescopic arm rotate luffing grab by mechanical hand 6 when cooperating,
Clamping manipulator 5 is embraced in described second section telescopic arm folding or described Section of three telescopic arm rotation luffing is grabbed and can be become by mechanical hand 6
The mechanical hand of angle of rake push-and-pull object, described Section of three telescopic arm rotates luffing and grabs disappearing by mechanical hand 6 and described fire extinguisher 7
During fire extinguishing job mix, Section of three telescopic arm rotation luffing grabs the fire hydrant that can clamp fire extinguisher 7 by mechanical hand 6 and carries out
Multi-angle rotary extinguishing operation.
Multifunctional mechanical arm of the present invention and mechanical hand have the advantage that；
1) the multifunctional motor-driven hydraulic robot described in, each section telescopic arm mechanical hand captures the function of goods not phases
Enter with, described multifunctional motor-driven hydraulic machine and just can meet each of industry-by-industry in the case of not needing anyone power auxiliary
The single-piece of kind of packed cargo and pallet handling, carrying, stacking operation need, and not only can be used for industrial or agricultural moreover it can be used to national defence troops
Thing, government enforces the law, and removes obstacles for the clearance removal of mines, anti-terrorism law enforcement, explosive explosion-proof, environmental monitoring, the disaster relief, poisonous and harmful industry, repaiies
The dangerous operation that bridge is paved the way etc., and meet be used for loading and unloading in the case of anyone power of not needs, carry, stacking operation and
Productive temp can also improve the utilization rate in place and space while requirement, reduce reduce pallet and shelf cost, with
And save 80% about human resourcess and the expenditure of artificial labour cost, multifunctional motor-driven hydraulic robot of the present invention is current
Function is at most most advanced in the world, practicality is the strongest, it is the widest to cover industry face and has the hydraulic robot of fire fighting function.
2) bright described multifunctional mechanical arm handss can realize vertical lift, left rotation and right rotation angle can reach 180 °, can
With the arbitrarily angled crawl object in 180 °, described multi-stage telescopic arms can capture and discharge goods at a distance, and rising can
Quickly goods is transported to entrucking on ground to enter at a distance in floor door and window workshop, which offers a saving a large amount of manpowers
Transported goods by elevator with handbarrow the link of entrucking, save substantial amounts of time and the expenditure of manpower service charge, with
When improve work efficiency again.
3) particularly equally can carry out transport operation in long and narrow passage to the tubulose goods up to 6-10 rice not to be subject to
The restriction of environmental factorss, 90 ° of described mechanical arm left rotation and right rotation just can be pitched in 2 meters of passage and be taken long steel pipe transporting and transhipment dress
Car operation, it is possible to carry out the single-piece of size goods, soft hard packaging in the case of any other handling accessory that do not need to change the outfit
The vanning of object, entrucking and unload and concentrate on the stacking operation of pallet carrying, single good.
4) will further improve including harbour, station, harbour, airport, storage, goods yard, factory floor, storehouse, material flow
Considerable work efficiency and economic benefit, described multifunctional motor-driven hydraulic machinery are brought in logical center, home-delivery center, large-scale sales field etc.
The radius of turn of people is little, mechanical arm has left rotation and right rotation to pitch the function of picking thing it is not necessary to pallet just can enter to single good again
The pile entrucking of row high-altitude is unloaded, thus very high to the utilization rate in storage place and space, because the first segment of robot stretches
Clamping manipulator 5 is embraced in arm folding fork mechanical hand 4 or described second section telescopic arm folding or described Section of three telescopic arm rotates luffing
Grab single-piece handling, the operation such as carrying, high-altitude pile in pallet that can realize size goods is gone out warehouse-in by mechanical hand 6, and
Cabin, handling goods in container can be entered, robot just can with described second section telescopic arm folding embrace clamping manipulator 5,
Or grabbed with Section of three described telescopic arm rotation luffing and be put in by 6 single goods of mechanical hand and Soft Roll goods clamping concentration
On pallet, then clamping manipulator 5 is embraced in described second section telescopic arm folding or described Section of three telescopic arm rotation luffing is grabbed by machine
Tool handss 6 are folded in mechanical arm, in the fork the first segment telescopic arm folding fork mechanical hand 4 described in being folded in crotch
Put down fork to take pallet, realize fast removal operation in pallet, so not only eliminate other handling facilities have to manpower and
Hanging device is the deficiency that just can carry out transport operation in cargo transfer to pallet.
5) described multifunctional motor-driven hydraulic robot has fire fighting function device, be industry-by-industry in process of production
Provide safety guarantee, occur it is possible to quickly timely carry out fire fighting and rescue to reduce loss if any fire alarm, particularly to thing
The safety in production of stream storage and workshop and storehouse provides fire-fighting guarantee, can also be engaged under remote pilot including；Sweep
The thunder removal of mines, anti-terrorism law enforcement, the explosive anti-riot, disaster relief get rid of the danger remove obstacles, build roads and bridges and the industry such as poisonous and harmful dangerous operation task.
Described multifunctional motor-driven hydraulic robot not only overcomes the deficiency of other handling facilities simple functions, is increasing work(
Can while reduce cost again, simplify structure, easily fabricated, safe and reliable, energy-conserving and environment-protective, be easy to operation.
Brief description
Accompanying drawing 1-1 is crossbeam balance weight axle structure schematic diagram of the present invention
Accompanying drawing 1-2 is crossbeam balance weight vehicle bridge crane structure combination diagram of the present invention
Accompanying drawing 1-3 is grooved balance weight block schematic illustration of the present invention
Accompanying drawing 2-1 is that the present invention hangs outrigger bracket lift cart control platform structural grouping schematic diagram.
Accompanying drawing 2-2 is that the present invention hangs outrigger bracket lift cart structural grouping schematic diagram
Accompanying drawing 3 is present invention horizontal rotation multi-jointed mechanical telescopic arm outer case structural grouping schematic diagram
Accompanying drawing 4 is first segment telescopic arm folding fork robot manipulator structure combination diagram of the present invention
Accompanying drawing 5 is that clamping manipulator structural grouping schematic diagram is embraced in second section telescopic arm folding of the present invention
Accompanying drawing 6-1 is that Section of three telescopic arm rotation luffing of the present invention is grabbed by robot manipulator structure combination diagram
Accompanying drawing 6-2 mechanical hand stretches schematic diagram
Accompanying drawing 7 is robot fire extinguisher schematic diagram
Accompanying drawing 8-1 is this multifunctional motor-driven hydraulic robot general assembly front view
Accompanying drawing 8-2 is general assembly three-view diagram
Accompanying drawing 9-1 is flexible schematic perspective view
Accompanying drawing 9-2 is flexible front view
Accompanying drawing 9-3 is flexible top view
Accompanying drawing 9-4 is dilatation schematic diagram
Note；Accompanying drawing 9-2 is flexible front view
Crossbeam balance weight vehicle bridge 1, suspension outrigger bracket lift cart control platform 2, horizontal rotation multi-jointed mechanical telescopic arm
Clamping manipulator 5, Section of three telescopic arm are embraced in outer case 3, first segment telescopic arm folding fork mechanical hand 4, second section telescopic arm folding
Rotation luffing is grabbed by mechanical hand 6, grooved balance weight framework 1-3, telescopic outrigger 1-4, accumulator 2-2, hydraulic pressure bag 2-2-1.
Note；A front view, B top view, C left view, D axonometric chart
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings, embodiment all makes of steel；
Embodiment 1, see Fig. 1-1, this example Fig. 1-1 is the structural representation of described crossbeam balance weight vehicle bridge 1, H crossbeam both sides
There is A, B pile crown being connected positioning with outer mast 1-1, have a landing leg stretching hole in described 1 liang of side of crossbeam balance weight vehicle bridge
C, installation telescopic outrigger 1-4, described crossbeam balance weight vehicle bridge 1 front end has the groove installing front driving wheel axle and hydraulic steering cylinder
1-6 and oval recess 1-7, the latter half of screw having four connection grooved balance weight framework 1-3 of described crossbeam balance weight vehicle bridge 1
D, crossbeam balance weight vehicle bridge 1 rear end have the bearing groove 1-5 installing live axle and bearing block.
Embodiment 2, Fig. 1-2 are the combination assumption diagrams of crossbeam balance weight vehicle bridge crane
The earrings 1-3-3 being connected with outer mast, grooved balance weight framework 1-3 bottom are had on described grooved balance weight framework 1-3
Portion has four screws and the screw D of crossbeam balance weight vehicle bridge 1 to be connected, and material is thus formed a underslung double flat weight and protects
Shield it is ensured that flexible mechanical arm handss to the left and right rotary operation when will not turn on one's side, described inner upright mounting lifting hydraulic cylinder 1-2-1 peace
It is contained in the groove before described grooved balance weight framework 1-3, described inner upright mounting lifting hydraulic cylinder 1-2-1 and described inside door top of the trellis
Crossbeam connects, the lifting hydraulic cylinder 1-2- of the lower connecting cross beam 1-2-2 outrigger installed above bracket lift cart of described inner upright mounting
3, described telescopic outrigger 1-4 are connected with a legs and feet hydraulic cylinder 1-4-1, and landing leg stretching is by the built-in Driven by Hydraulic Cylinder of landing leg stretching arm
Complete to stretch.
Embodiment 3, Fig. 2-1, Fig. 2-2 are to hang outrigger bracket lift cart control platform 2 combination assumption diagram
Described lifter slide 2-1 and double H-type outrigger bracket 2-1-2, bearing block 2-1-3, hydraulic pressure rack cylinder 2-1-4, little tooth
Wheel 2-1-5 connects, and described accumulator 2-2 and hydraulic pressure bag 2-2-1 are installed on the afterbody of control platform, to ensure control platform 2-3
With the balance and stability of multi-stage telescopic arms, described instrumental panel integrated electric control system 2-3-2 and steering wheel 2-3-1 is arranged on described
The front end of control platform 2-3, contributes to operator easy to operate.
Embodiment 4, Fig. 3 are horizontal rotation multi-jointed mechanical telescopic arm outer case 3 combination assumption diagrams
Described flange rotary axle 3-1 combine with gear wheel 3-1-1 and double H-type outrigger bracket 2-1-2 on little gear 2-1-
Below the telescopic arm front end of 5 ratcheting, described telescopic hydraulic cylinder 3-1-2 and described first segment telescopic arm folding fork mechanical hand 4
Earrings 4-5 connect, in the presence of telescopic hydraulic cylinder 3-1-2, described first segment telescopic arm folding fork mechanical hand 4 and pulley
To realize Telescopic, reinforcement 3-1-3 is the intensity strengthening outer case to I 3-1-4 friction rolling.
Embodiment 5, Fig. 4；First segment telescopic arm folding fork mechanical hand 4 combination assumption diagram
Described fork machinery hand cradle 4-1 and fork 4-1-2 are fastened on the mobile folding axle 4-1-3 of fork, fork moves
Movable slider 4-1-4 is connected with fork mobile hydraulic cylinder 4-4, the groove of the mobile slide block 4-1-4 of fork is stuck on fork 4-1-2,
In the presence of hydraulic cylinder, hydraulic stem, slide block and fork synchronizing moving, to reach the distance adjusting fork, described fork folding liquid
The earrings of cylinder pressure 4-2 and fork machinery hand cradle 4-1 is connected, then be connected with folding Rocker arm 4-2-1, folding Rocker arm 4-2-1 is connected to
On the mobile folding axle 4-1-3 of fork, in the presence of fork folding hydraulic cylinder 4-2, folding Rocker arm 4-2-1 rotates down, carries moving fork
Son is moved folding axle 4-1-3 and is rotated with fork, and folding is hidden upwards to realize fork, has two quick suits on fork 4-1-2
The flexible of clamping manipulator 5 is embraced in the location hole 4-1-5 of other mechanical hands, described pulley II4-3 and described second section telescopic arm folding
Arm connects, described telescopic hydraulic cylinder 4-3-1 and described second section telescopic arm folding embrace the telescopic arm of clamping manipulator 5 before earrings 5-
4 connections, realize described second section telescopic arm folding in the presence of described hydraulic cylinder in telescopic arm 4-3-1 and embrace stretching of clamping manipulator 5
Contracting.
Embodiment 6, Fig. 5；Clamping manipulator 5 combination assumption diagram is embraced in second section telescopic arm folding
Described armful of folder lifting hydraulic cylinder 5-1-1 is fixedly installed on the crossbeam of sliding-rail sliding crane 5-1, embraces folder lifting liquid
Cylinder pressure 5-1-1 is connected with lifting chain sprocket wheel 5-1-2, chain is embraced folder tool machine handss clamping sliding rail frame 5-3 with lifting and is connected, clamps liquid
The centre that cylinder pressure 5-3-1 is installed on lifting armful folder tool machine handss clamping sliding rail frame 5-3 is fixedly connected on sliding rail frame, described clamping handss
Folding motor 5-3-3 is fixed on the column support of clamping handss 5-3-2, the gear teeth on motor gear and clamping handss rotary shaft
Close and connect, described second section telescopic arm folding sandwiches the earrings I 5-4 of mechanical hand 5 and the telescopic hydraulic of described first segment telescopic arm
Cylinder 4-3-1 connects, after the lower and upper cross-member of described sliding-rail sliding crane 5-1 and described second section telescopic arm front end clamping again with stretch
Contracting arm earrings 5-5 is connected, and has two location hole 5-3-4 being quickly set with other mechanical hands on described clamping handss 5-3-2,
Described Section of three telescopic arm rotation luffing is grabbed and is installed on described second section and stretches by mechanical hand 6 and described fire extinguisher 7 are built-in respectively
Arm folding is embraced in the telescopic arm of clamping manipulator 5.
Embodiment 7, Fig. 6-1,6-2 are that Section of three telescopic arm rotation luffing is grabbed by mechanical hand 6 combination assumption diagram
Flexible slide block 6-1-1 and arm slide block 6-2, mechanical hand angle luffing hydraulic cylinder 6- are provided with described slide rail 6-1
2-2 is built in arm slide block 6-2, and mechanical wrist 6-3 is built-in to be provided with mechanical hand electric rotating machine 6-3-1, manipulator clamping liquid
The hydraulic stem of cylinder pressure 6-3-2 passes through the axle sleeve hole that mechanical hand rotates supporting plate 6-3-4 to be connected with mechanical wrist 6-3 and mechanical hand, machine
The gear 6-3-3 that tool handss rotate on supporting plate 6-3-4 axle sleeve is connected with the gear mesh on mechanical hand electric rotating machine 6-3-1, screw mandrel
6-4 is built in slide rail 6-1 center in the hole, and lead screw motor 6-4-1 is connected with screw mandrel slide block 6-4-2 and screw mandrel, lead screw motor 6-4-1
Rotarily drive screw mandrel 6-4 rotation forces screw mandrel slide block 6-4-2 and arm slide block 6-2, in mechanical hand angle luffing hydraulic cylinder 6-2-2
Put and be installed in arm slide block 6-2, mechanical wrist 6-3 is built-in to be provided with mechanical hand electric rotating machine 6-3-1, manipulator clamping hydraulic pressure
Cylinder 6-3-2 or mechanical hand rotation supporting plate 6-3-4 or clamping handss 6-3-5 moves simultaneously, forms Telescopic, in clamping handss 6-3-5
On have two location hole 6-3-6, mechanical hand angle luffing hydraulic cylinder 6-2-2 and mechanical hands being quickly set with other different in nature mechanical hands
Earrings below wrist 6-3 connects, mechanical hand shape downward luffing in 90 ° in the presence of mechanical hand angle luffing hydraulic cylinder 6-2-2
Rotation, the object being easy on pickup ground.
Embodiment 8, Fig. 7 are this novel robot fire extinguisher 7 schematic diagrams
Described high-voltaghe compartment 7-1 and electromagnetic switch 7-3, connected positioning plate 7-2, regulation pipe 7-2-1, adjust angle steel wire 7-2-
2, adjust angle spring 7-2-3, flexible pipe 7-2-4, nozzle connection 7-1-1 is connected with each other composition, described multifunctional motor-driven hydraulic press
Device people's fire extinguisher is to open valve with solenoid valve control, expands fire extinguishing scope using the angle adjusting steel wire regulation nozzle.
Claims (7)
1. a kind of multifunctional motor-driven hydraulic robot it is characterised in that；Including：Crossbeam balance weight vehicle bridge (1), suspension outrigger bracket
Lift cart control platform (2), horizontal rotation multi-jointed mechanical telescopic arm outer case (3), first segment telescopic arm folding fork machinery
Handss (4), clamping manipulator (5) is embraced in second section telescopic arm folding, Section of three telescopic arm rotation luffing is grabbed by mechanical hand (6) and fire extinguishing
Device (7),
Described crossbeam balance weight vehicle bridge (1) includes H crossbeam, and described H crossbeam both sides are provided with and outer mast (1-1) or inner upright mounting
(1-2) connect A, B pile crown of positioning, described crossbeam balance weight vehicle bridge front end has installs front driving wheel axle and hydraulic steering cylinder
Groove (1-6) and oval recess (1-7), crossbeam balance weight vehicle bridge is latter half of to have four connections grooved balance weight framework (1-3)
Screw D, grooved balance weight framework (1-3) is provided with the earrings (1-3-3) being connected with outer mast, grooved balance weight framework (1-
3) bottom is provided with four screws and is connected with crossbeam balance weight vehicle bridge screw D respectively, and described balance weight framework (1-3) is with outer mast even
The place of connecing is provided with a groove, and this groove is used for placing inner upright mounting lifting hydraulic cylinder (1-2-1), the lower connecting cross beam (1-2- of inner upright mounting
2) center is provided with the lifting hydraulic cylinder (1-2-3) that outrigger bracket lift cart control platform 2 is hung in lifting, described crossbeam balance
Loaded vehicle bridge rear end has the bearing groove (1-5) installing live axle and bearing block, has one in crossbeam balance weight vehicle bridge two side
Individual landing leg stretching hole C, this landing leg stretching hole C are used for installing telescopic outrigger (1-4), described telescopic outrigger (1-4) and a legs and feet liquid
Cylinder pressure (1-4-1) connects, and drives described telescopic outrigger (1-4) to complete described flexible by described legs and feet hydraulic cylinder (1-4-1)
The Telescopic of lower limb (1-4)；
Described suspension outrigger bracket lift cart control platform (2) includes lifter slide (2-1), double H-type outrigger bracket (2-1-
2), bearing block (2-1-3), hydraulic pressure rack cylinder (2-1-4), little gear (2-1-5), control platform (2-3) and steering wheel (2-3-
1), described lifter slide (2-1) and double H-type outrigger bracket (2-1-2), bearing block (2-1-3), hydraulic pressure rack cylinder (2-1-4) with
And little gear (2-1-5) connects, accumulator (2-2) and hydraulic pressure bag (2-2-1) are installed on the afterbody of control platform (2-3), thus
Ensure the balance and stability of control platform (2-3) and multi-stage telescopic arms, the button collection of the integrated electric control system of instrumental panel (2-3-2)
In be installed on steering wheel (2-3-1), thus contribute to operator operation；
Described horizontal rotation multi-jointed mechanical telescopic arm outer case (3) includes outer case, flange rotary axle (3-1), telescopic hydraulic cylinder
(3-1-2), pulley I (3-1-4) and gear wheel (3-1-1), are provided with reinforcement (3-1-3), for strengthening in described outer container body
The intensity of outer case, described flange rotary axle (3-1) and the described described axle hanging outrigger bracket lift cart control platform (2)
Bearing (2-1-3) connects, and described gear wheel (3-1-1) hangs the described of outrigger bracket lift cart control platform (2) with described
Little gear (2-1-5) is ratcheting, before the telescopic arm of described telescopic hydraulic cylinder (3-1-2) and the sub- mechanical hand of first segment telescopic forklift (4)
Following earrings (4-5) is held to connect, in the presence of described telescopic hydraulic cylinder (3-1-2), described first segment telescopic arm folding fork
Sub- mechanical hand (4) and described pulley I (3-1-4) produce friction rolling to realize Telescopic；
Described first segment telescopic arm folding fork mechanical hand (4) includes first segment telescopic arm, fork machinery hand cradle (4-1), fork
(4-1-2), the mobile folding axle (4-1-3) of fork, fork folding hydraulic cylinder (4-2), folding rocking arm (4-2-1), pulley II (4-
3), telescopic hydraulic cylinder (4-3-1), the mobile slide block (4-1-4) of fork and fork mobile hydraulic cylinder (4-4), described fork mechanical hand
Frame (4-1) and fork (4-1-2) are fastened on the mobile folding axle (4-1-3) of described fork, and described fork moves slide block (4-
1-4) it is connected with fork mobile hydraulic cylinder (4-4), the groove of the mobile slide block (4-1-4) of described fork is stuck in described fork (4-1-
2) on, the earrings of described fork folding hydraulic cylinder (4-2) and fork machinery hand cradle (4-1) be connected after again with described folding rocking arm
(4-2-1) connect, described folding rocking arm (4-2-1) is connected on the mobile folding axle (4-1-3) of fork, on fork (4-1-2)
It is provided with two location holes (4-1-5) being quickly set with other mechanical hands, described pulley II (4-3) and second section telescopic arm folding are embraced
The telescopic arm of clamping manipulator (5) connects, and clamping manipulator (5) is embraced in described telescopic hydraulic cylinder (4-3-1) and second section telescopic arm folding
Telescopic arm front end below earrings I (5-4) connect；
Described second section telescopic arm folding is embraced clamping manipulator (5) and is included second section telescopic arm, sliding-rail sliding crane (5-1), carries
Rise and embrace folder tool machine handss clamping sliding rail frame (5-3), embrace folder lifting hydraulic cylinder (5-1-1), telescopic arm earrings (5-5), lifting chain chain
Wheel (5-1-2), in the casing of described second section telescopic arm, centre is provided with described Section of three telescopic arm rotation luffing and grabs by machinery
Handss (6), two fire extinguishers (7) are separately mounted to described Section of three telescopic arm and rotate luffing grab both sides by mechanical hand (6), described
After the lower and upper cross-member of sliding-rail sliding crane (5-1) and described second section telescopic arm clamping again with described telescopic arm earrings (5-5)
It is connected, the front end of described second section telescopic arm is provided with lifting and embraces folder tool machine handss clamping sliding rail frame (5-3) and sliding-rail sliding
Crane (5-1), described sliding-rail sliding crane (5-1) and the crossbeam of the casing phase clamping of second section telescopic arm is provided with and carries
Rise chain sprocket (5-1-2) and embrace folder lifting hydraulic cylinder (5-1-1), described lifting embrace folder tool machine handss clamping sliding rail frame (5-3) and
The slide block of described sliding-rail sliding crane (5-1) connects, and described lifting is embraced and is provided with folder on folder tool machine handss clamping sliding rail frame (5-3)
Hold hydraulic cylinder (5-3-1), clamping handss folding motor (5-3-3), clamping handss (5-3-2) and quick suit location hole (5-3-4)；
The telescopic arm structure that described Section of three telescopic arm rotation luffing is grabbed by mechanical hand (6) is by slide rail (6-1), flexible slide block
(6-1-1), arm slide block (6-2), screw mandrel (6-4), lead screw motor (6-4-1), screw mandrel slide block (6-4-2), mechanical wrist (6-
3), manipulator clamping hydraulic cylinder (6-3-2), mechanical hand electric rotating machine (6-3-1), mechanical hand angle luffing hydraulic cylinder (6-2-2),
Mechanical hand rotates supporting plate (6-3-4) and clamps handss (6-3-5) connection composition, is provided with and is quickly set with it on the clamping of clamping handss refers to
The location hole (6-3-6) of his mechanical hand, Section of three telescopic arm rotation luffing is grabbed and is stretched by the built-in second section that is installed on of mechanical hand (6)
In the casing of arm, it is formed at the rotation of flexible, multi-angle luffing, grabs and take the multifunction manipulator being integrated；
Described fire extinguisher (7), by high-voltaghe compartment (7-1), nozzle connection (7-1-1), connected positioning plate (7-2), regulation pipe (7-2-
1), adjust angle steel wire (7-2-2), adjust angle spring (7-2-3), flexible pipe (7-2-4) and electromagnetic switch (7-3) connection group
The high-pressure extinction device being integrally formed.
2. a kind of multifunctional motor-driven hydraulic robot according to claim 1 it is characterised in that；Described crossbeam balances loaded vehicle
Bridge (1) uses balance weight square steel and welded steel plate, and outer mast (1-1) and inner upright mounting (1-2) all use U-steel knot
Structure, outer mast (1-1) is provided with web beam, described outer mast (1-1) below with positioning pile crown A, B point rigid solder, interior
Door frame (1-2) is provided with upper and lower web beam, described grooved balance weight framework (1-3) and crossbeam balance weight vehicle bridge (1) and outer mast
(1-1) strengthen being fixedly connected with bolt, described grooved balance weight framework (1-3) is built-in with power source accumulator (2-2) and hydraulic pressure
Bag (2-2-1), described bearing groove (1-5) is closed by pedestal base (1-5-1), described crossbeam balance weight vehicle bridge (1), outer mast
(1-1), inner upright mounting (1-2), inner upright mounting lifting hydraulic cylinder (1-2-1), grooved balance weight framework (1-3), power source accumulator (2-
2), hydraulic pressure bag (2-2-1), telescopic outrigger (1-4), legs and feet hydraulic cylinder (1-4-1), bearing groove (1-5), pedestal base (1-
5-1) or, groove (1-6) and oval recess (1-7) be connected with each other the multifunction hydraulic machine National People's Congress Liangping weight car being integrally formed
Bridge (1).
3. a kind of multifunctional motor-driven hydraulic robot according to claim 1 it is characterised in that；Described suspension outrigger bracket
Lift cart control platform (2) passes through lifter slide (2-1) and double H-type outrigger bracket (2-1-2) and control equipped with pulley
Platform (2-3) rigid solder, control platform (2-3) is rectangular frame structure, and it is rectangular that the middle part of control platform (2-3) has one
Shape hole, when described suspension outrigger bracket lift cart control platform (2) lifting, inner upright mounting (1-2) passes through from this slot
And do not interfered, control platform (2-3) rear end is provided with power source accumulator (2-2) and hydraulic pressure bag (2-2-1), accumulator (2-
2) and hydraulic pressure bag (2-2-1) is arranged on the effect that afterbody plays balance weight, so it is formed for a bridge-type balance weight mechanism, to keep
The described balance hanging outrigger bracket lift cart control platform (2), the front end of control platform (2-3) is provided with hydraulic shock-absorption seat
Chair, hand brake lever, service brake pedal, travelling control bar, electrodeless variable-speed pedal, the integrated electric control system of instrumental panel (2-3-2) and direction
Disk (2-3-1), the center H crossbeam of described double H-type outrigger bracket (2-1-2) is respectively provided with one and connects horizontal rotation more piece machine
The bearing block (2-1-3) of the flange rotary axle (3-1) of tool telescopic arm outer case (3) and horizontal rotation multi-jointed mechanical telescopic arm,
It is installed with a hydraulic pressure rack cylinder (2-1-4) and described little gear below the upper right outrigger of double H-type outrigger bracket (2-1-2)
(2-1-5), hydraulic pressure rack cylinder (2-1-4) and the ratcheting connection of described little gear (2-1-5), the suspension outrigger bracket liter being integrally formed
Fall dolly control platform (2).
4. a kind of multifunctional motor-driven hydraulic robot according to claim 1 it is characterised in that：Described horizontal rotation more piece
Mechanical-stretching arm outer case (3) is connected with flange rotary axle (3-1) and gear wheel (3-1-1) by outer case and forms, outer case four
Angle is built-in to be provided with telescopic hydraulic cylinder (3-1-2), pulley (3-1-4) and reinforcement (3-1-3).
5. a kind of multifunctional motor-driven hydraulic robot according to claim 1 it is characterised in that：Described first segment telescopic arm
The internal box lower right corner of folding fork mechanical hand (4) is built-in to be provided with telescopic hydraulic cylinder (4-3-1), in the corner of described internal box
Put and pulley II (4-3) be installed, the front lower end of described first segment telescopic arm is provided with a telescopic hydraulic cylinder connecting lug (4-5),
The front end of described first segment telescopic arm is connected and installed with fork machinery hand cradle (4-1), fork (4-1-2), moves liquid by fork
Cylinder pressure (4-4) and the mobile slide block (4-1-4) of fork connect, and can move and folding fork (4-1-2), fork folding hydraulic cylinder
(4-2), folding rocking arm (4-2-1) and the mobile folding axle (4-1-3) of described fork connect implementation and move back and forth and folding function, group
Become first segment telescopic arm folding fork mechanical hand (4).
6. a kind of multifunctional motor-driven hydraulic robot according to claim 1 it is characterised in that：Described second section telescopic arm
The horizontal stroke that described armful of clamping manipulator (5) folder lifting hydraulic cylinder (5-1-1) is fixedly installed in sliding-rail sliding crane (5-1) is embraced in folding
Liang Shang, is embraced folder lifting hydraulic cylinder (5-1-1) and is connected with lifting chain sprocket wheel (5-1-2), the chain of wherein said lifting chain sprocket wheel
Bar is embraced folder tool machine handss clamping sliding rail frame (5-3) with lifting and is connected, and described clamping hydraulic cylinder (5-3-1) is installed on lifting and embraces folder tool machine
Handss clamp the centre of sliding rail frame (5-3) and are fixedly connected on described lifting armful clamping manipulator clamping sliding rail frame (5-3), described folder
Hold handss folding motor (5-3-3) to be fixed on the column support of described clamping handss (5-3-2), earrings I (5-4) and first segment telescopic arm
Telescopic hydraulic cylinder (4-3-1) connect, two quick suits being quickly set with other mechanical hands are provided with clamping handss (5-3-2)
Hole (5-3-4).
7. a kind of multifunctional motor-driven hydraulic robot according to claim 1 it is characterised in that：Section three, telescopic arm rotation
Luffing grabs the slide rail by mechanical hand (6)（6-1）On flexible slide block is installed（6-1-1）With arm slide block（6-2）, described machinery
Wrist (6-3) is built-in to be provided with mechanical hand electric rotating machine (6-3-1), and the hydraulic stem of manipulator clamping hydraulic cylinder (6-3-2) passes through
The axle sleeve hole that mechanical hand rotates supporting plate (6-3-4) is connected with mechanical wrist (6-3) and clamping handss (6-3-5), mechanical hand rotation support
Gear (6-3-3) on plate (6-3-4) axle sleeve is connected with the gear mesh on mechanical hand electric rotating machine (6-3-1), screw mandrel (6-4)
It is built in the center in the hole of slide rail (6-1), lead screw motor (6-4-1) is connected with screw mandrel slide block (6-4-2) and screw mandrel, by institute
That states lead screw motor (6-4-1) rotarily drives screw mandrel (6-4) rotation, thus promoting screw mandrel slide block (6-4-2) and arm slide block (6-
2), mechanical hand angle luffing hydraulic cylinder (6-2-2) is built-in is installed in arm slide block (6-2), manipulator clamping hydraulic cylinder (6-3-
2), mechanical hand rotation supporting plate (6-3-4) and clamping handss (6-3-5) are moved simultaneously, form Telescopic, in clamping handss (6-3-5)
It is provided with two location holes (6-3-6) being quickly set with other mechanical hands, mechanical hand angle luffing hydraulic cylinder (6-2-2) and machinery
The following earrings of wrist (6-3) connects, in the presence of mechanical hand angle luffing hydraulic cylinder (6-2-2) clamping hand in 90 ° to
Under luffing rotation, consequently facilitating pickup ground on object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410146731.7A CN104972458B (en) | 2014-04-14 | 2014-04-14 | Multifunctional motor-driven hydraulic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410146731.7A CN104972458B (en) | 2014-04-14 | 2014-04-14 | Multifunctional motor-driven hydraulic robot |
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| CN104972458A CN104972458A (en) | 2015-10-14 |
| CN104972458B true CN104972458B (en) | 2017-03-08 |
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| CN201410146731.7A Expired - Fee Related CN104972458B (en) | 2014-04-14 | 2014-04-14 | Multifunctional motor-driven hydraulic robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397842B (en) * | 2015-12-22 | 2017-10-27 | 湖南英格斯坦智能科技有限公司 | The telescopic arm of pavement cutting machine device people |
| CN108016804B (en) * | 2017-12-14 | 2020-06-05 | 深圳市烨弘数码科技有限公司 | Unmanned storage logistics system capable of achieving full-automatic loading through unmanned aerial vehicle |
| CN108582024A (en) * | 2018-05-04 | 2018-09-28 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of clamp device of manipulator |
| CN112139714B (en) * | 2020-10-09 | 2022-01-07 | 湖南文辉汽车制造有限公司 | Manipulator telescoping device of welding robot for manufacturing of caravan trailer |
| CN113700478B (en) * | 2021-09-23 | 2023-09-01 | 陕西竹园嘉原矿业有限公司 | Tunneling device for mining machinery |
| CN115465730B (en) * | 2022-10-01 | 2023-08-22 | 江苏斯佰柔电线电缆有限公司 | Forking mechanical arm for cable processing and application method thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1108873A (en) * | 1965-06-22 | 1968-04-03 | Atomic Energy Authority Uk | Remote-control manipulator |
| US3760956A (en) * | 1971-08-23 | 1973-09-25 | Burch Controls Inc | Industrial robot |
| SU663578A1 (en) * | 1977-05-31 | 1979-05-25 | Ioffe Feliks S | Working member protracting telescopic mechanism |
| CN2278680Y (en) * | 1996-03-26 | 1998-04-15 | 鞍山钢铁公司 | Manipulator suspension tower for slewing crane with safety device |
| CN201668916U (en) * | 2010-06-09 | 2010-12-15 | 嘉兴同盛安全设备有限公司 | Automatic control box for extinguishing fire in small space |
| CN205033206U (en) * | 2014-04-14 | 2016-02-17 | 孙德华 | Multi -functional electro -hydraulic press ware people of utility model |
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2014
- 2014-04-14 CN CN201410146731.7A patent/CN104972458B/en not_active Expired - Fee Related
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Effective date of registration: 20180613 Address after: 402160 1, Xingguang Avenue, Yongchuan District, Chongqing (Fenghuang Industrial Park, Yongchuan District, Chongqing, Yongchuan). Patentee after: Chongqing modern ancient wonders Technology Co., Ltd. Address before: 400038 Tianyou No. 188, Shapingba District, Chongqing, 2-3-1 Patentee before: Sun Dehua |
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Granted publication date: 20170308 Termination date: 20190414 |