CN105881490A - Omni-directional water conservancy steel pipe mounting robot - Google Patents
Omni-directional water conservancy steel pipe mounting robot Download PDFInfo
- Publication number
- CN105881490A CN105881490A CN201610350123.7A CN201610350123A CN105881490A CN 105881490 A CN105881490 A CN 105881490A CN 201610350123 A CN201610350123 A CN 201610350123A CN 105881490 A CN105881490 A CN 105881490A
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- China
- Prior art keywords
- slide block
- gripper jaw
- fixed
- clamping device
- water conservancy
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0066—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-spherical
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an omni-directional water conservancy steel pipe mounting robot which comprises a walking device, an adjustable support, a rotating device, a parallel-series mechanism and a clamping device. The adjustable support is located above the rear portion of the walking device. The rotating device is located at the front end of the adjustable support and fixedly connected with the adjustable support. The parallel-series mechanism is located between the rotating device and the clamping device, the upper end of the parallel-series mechanism is connected with the rotating device, and the lower end of the parallel-series mechanism is connected with the clamping device. According to the omni-directional water conservancy steel pipe mounting robot, a series of work of grabbing, carrying, stacking and the like of water conservancy and hydropower pipes can be achieved; the automation degree is high, movement is stable and flexible, and work efficiency is high; and the problems that manual carrying work is high in cost, low in efficiency and large in dangerousness are solved.
Description
Technical field
The present invention relates to Hydraulic and Hydro-Power Engineering mechanical field, a kind of comprehensive water conservancy penstock installation robot.
Background technology
Water power belongs to water economic system noun, is meant that water and electricity, hydroelectric generation etc.；Water power is clean energy resource, renewable, nothing
Pollute, operating cost low, it is simple to carry out power peak regulation, be conducive to improving resource utilization and the comprehensive benefit of economic society.?
In the case of earth traditional energy growing tension, countries in the world universal preferential development water power, utilize hydraulic power potentials energetically；China is not
Opinion is explored potential hydroenergy, or the hydraulic power potentials that may develop, and all ranks first in the world.Hydroelectric resources is for I
The superior resources of state, hydroelectric resource development is the requirement of energy industry development and structural adjustment, is that land resources utilization is shaken with regional economy
Emerging requirement, is the requirement of national environmental protection and sustainable development.Through construction and the practice of decades, China's hydropower technology
The most at the forefront in the world, it is sufficient to support the flourish of hydropower Industry.The reform of State Grid's system is polynary with water power investment subject
Change, new vitality will be injected to the development of hydropower Industry.Along with economical and the further development of society, day by day carrying of environmental requirement
Implementing in full of height, optimizing and revising of electric structure, and strategy to develop western regions, China's hydropower Industry welcomes development opportunity and increases
Add.
Hydraulic and Hydro-Power Engineering relates to most be also modal engineering be exactly pipe laying, and in Hydraulic and Hydro-Power Engineering
The pipeline used is all heavy large-diameter pipeline, and in Hydraulic and Hydro-Power Engineering, construction site is all rugged hollow area, general wheeled vehicle
It is difficult to enter, and manually lifts fortune or rolling fortune now for the many employings of the pipeline used in water conservancy and hydropower, do not only take up
Substantial amounts of labour force, landed cost is high, and it is low to carry stacking efficiency, and its interprocedual easily causes certain dangerous peace simultaneously
Full accident.In consideration of it, the invention provides a kind of comprehensive water conservancy penstock installation robot.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of comprehensive water conservancy penstock installation robot.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of comprehensive water conservancy penstock installation robot, including running gear, adjustable support, rotary apparatus, hybrid mechanism and folder
Hold device；Described adjustable support is positioned at running gear back upper place, and rotary apparatus is positioned at adjustable support front position, and rotates
Device and adjustable support are connected, and hybrid mechanism is between rotary apparatus and clamping device, and hybrid mechanism upper end and rotary apparatus
Being connected, hybrid mechanism lower end is connected with clamping device.
As a further improvement on the present invention, described running gear include chassis, drive motor, drive shaft, walking belt wheel,
Tight locking button and traveling crawler, and drive the quantity of motor, tight locking button and traveling crawler to be two, drive shaft and walking belt wheel quantity
It is four；Described chassis is in rectangular configuration, and rear and front end, chassis offers mounting groove respectively, drives motor to be separately fixed at chassis
Front and back in the mounting groove of both sides, and motor is driven to use Biaxial synchronous output motor, drive shaft one end and driving motor output shaft phase
Connecting, the drive shaft other end is connected with walking belt wheel, and is fixed by tight locking button between drive shaft and walking belt wheel, OK
Walk crawler belt two ends to walk on belt wheel rotating around being enclosed within, and outside traveling crawler, be evenly arranged with semicircle tread plate；By driving electricity
Machine rotate the rotation driving treads wheel, thus drive the motion of traveling crawler, running gear be mainly used in the present invention walking,
Move and turn to, and running gear is by using track structure to easily facilitate the walking of different physical features ground condition so that the present invention's
The suitability is higher.
As a further improvement on the present invention, described adjustable support include rotary disk basement, elevating lever, telescoping crossbeam, the first rotating shaft,
Regulation connecting rod, the second rotating shaft and the 3rd rotating shaft；Described elevating lever bottom is fixed on upper surface, chassis by rotary disk basement, flexible horizontal stroke
Beam rear end is connected with elevating lever top by the first rotating shaft, and telescoping crossbeam uses in double-deck telescopic structure, and telescoping crossbeam
Using support column to be attached between layer and lower floor, telescoping crossbeam rear end is provided with the first ear mount, lower end position in the middle part of telescoping crossbeam
Place is provided with the second ear mount, and telescoping crossbeam front end is provided with mounting ring, and regulation connecting rod one end is by the second rotating shaft and telescoping crossbeam
The second ear mount at subordinate's end position is connected, and the regulation connecting rod other end is arranged at elevating lever medium position by the 3rd rotating shaft,
And regulation connecting rod is I-shaped structure；Elevating lever can realize regulating the integral-rotation of support and the function of whole height regulation, flexible
Crossbeam can carry out the regulation of horizontal cross length, telescoping crossbeam can be driven with the first rotating shaft by the stretching motion of regulation connecting rod simultaneously
Local rotary motion is carried out for center of rotation, it is achieved thereby that the regulation of the overall angle that adjustable support is on the vertical plane, adjustable supporting
Frame can carry out two translations two in space and rotate the motion in totally four degree of freedom directions, can realize the present invention by regulation support overall
Orientation and the adjustment of angle, and regulate quick and convenient, it is simple to water conservancy and hydropower pipeline transport operation is carried out by the present invention.
As a further improvement on the present invention, described rotary apparatus includes electric rotating machine, motor cabinet, column spinner and rotating disk；
Described electric rotating machine uses low-speed high-torque motor, and electric rotating machine vertically stands upside down and is positioned at inside the mounting ring of telescoping crossbeam front end,
And be fixed by motor cabinet between electric rotating machine and telescoping crossbeam, entered by key between electric rotating machine main shaft and column spinner upper end
Row connects, and column spinner lower end is connected with rotating disk, rotating disk upper end structure in the form of annular discs, rotating disk lower end edge its center axis
It is evenly arranged with connection post in circumferential direction, and connects the stepped column structure of post；Hybrid mechanism can be driven by rotary apparatus
Move with the integral-rotation of clamping device.
As a further improvement on the present invention, described hybrid mechanism includes roll-out tray and four-freedom parallel mechanism, the mobile end
Frame is positioned at above four-freedom parallel mechanism, and roll-out tray is connected with four-freedom parallel mechanism；Described roll-out tray includes
Base plate, shifting sledge, slide block, limit spring and locking post, and the quantity of shifting sledge and slide block is four, limit spring number
Amount is 16, and the quantity of locking post is 32；Described base plate is fixed on four-freedom parallel mechanism, and shifting sledge is the end of along
Longitudinal center's axis of plate is respectively symmetrically layout, and shifting sledge two ends are respectively arranged with baffle plate, and slide block is arranged on shifting sledge,
Limit spring is between slide block and the baffle plate of shifting sledge, and limit spring one end is by the baffle plate phase of locking post with shifting sledge
Connecting, the limit spring other end is connected with slide block by locking post, and end before and after the baffle plate medial surface of shifting sledge and slide block
All offering installation screwed hole on face, locking post one end is provided with the tight locking button for fixing limit spring, and the locking post other end sets
It is equipped with and installs the external screw thread that corresponding threaded holes closes；Roll-out tray uses the cascaded structure of a translation, before and after roll-out tray can be carried out
Mobile, moving up and down of four-freedom parallel mechanism can be driven by roll-out tray；Described four-freedom parallel mechanism includes fixed
Platform, Hooke's hinge, expansion link, spherical hinge and moving platform, and the quantity of Hooke's hinge, expansion link and spherical hinge is four；Described
Fixed platform and moving platform be disc-shaped structure, and moving platform is positioned at immediately below fixed platform, fixed platform upper part and moving platform
End portion is provided with installation screw thread respectively, and expansion link bottom is connected with slide block by Hooke's hinge, and ball is passed through on expansion link top
Hinge is connected with moving platform；Four-freedom parallel mechanism uses the parallel institution of 4-UPS form, can realize translation three rotation
The motion in totally four degree of freedom directions, movement effects is good, and freedom of motion is many, and compact conformation and bearing capacity are strong；In the present invention
In, drive whole clamping device can carry out two translations three in space by hybrid mechanism and rotate the motion in totally five degree of freedom directions,
Hybrid mechanism be mainly used in the present invention carry out water conservancy and hydropower pipeline carrying stack operation time the minute sized adjustment in local.
As a further improvement on the present invention, described clamping device includes fixed plate and clamping device, and clamping device quantity is
Three；Described clamping device is positioned at immediately below fixed plate, and clamping device is the most equidistant along the central transverse axis of fixed plate
Arrange；Described clamping device includes directive slide track, the first slide block, upper gripper jaw, lower gripper jaw, stretching spring, connects spiral shell
Post, the second slide block, hydraulic cylinder, mobile ear mount, mobile ship and resell on another market, air-leg, fixed ear base and fixing swing pin；Described leads
Being strip structure to slide rail, and the directive slide track left and right sides is respectively arranged with baffle plate, directive slide track vertical cross section is I shape knot
Structure, the first slide block is arranged on directive slide track, and the first slide block is respectively symmetrically layout, upper clamping along the central axis of directive slide track
Pawl upper end is fixed on immediately below the first slide block, and upper gripper jaw is quadrant shape column structure, and lower gripper jaw is positioned at clamping
Immediately below pawl, lower gripper jaw is also quadrant shape column structure, stretching spring between upper gripper jaw and lower gripper jaw,
And stretching spring is arranged side by side between upper gripper jaw and lower gripper jaw, stretching spring upper end is by under connecting stud and upper gripper jaw
End face is connected, and stretching lower spring end is connected with lower gripper jaw upper surface by connecting stud, and the second slide block is positioned at the first slide block
Outside, and the second slide block is arranged on directive slide track, hydraulic cylinder upper end is fixed on the second slide block, and hydraulic cylinder uses single-acting
Single-stage telescoping hydraulic cylinder, hydraulic cylinder lower end is fixed with mobile ear mount, uses mobile turning between air-leg one end and mobile ear mount
Pin is attached, and the air-leg other end is connected with fixed ear base by fixing swing pin, and fixed ear base is fixed on outside lower gripper jaw
On sidewall, and move ear mount and the most U-shaped structure of fixed ear base；During specific works, first pass through directive slide track, the first slide block
Clamping diameter during gripping apparatus grips is adjusted with the second slide block；Then upper gripper jaw and lower gripper jaw are placed into water to be handled
The outside of diuretic electric pipe, wherein on the one hand stretching spring serves clamping diameter dimension tune when the present invention clamps water conservancy and hydropower pipeline
The effect of whole change, the effect resetted after on the other hand serving clamping water conservancy and hydropower pipeline；Transported by the stretching, extension of air-leg again
The lower gripper jaw compressional movement to inner side of dynamic drive, further clamps water conservancy and hydropower pipeline, prevents water conservancy and hydropower pipeline from removing
Slippage during fortune；Finally after water conservancy and hydropower pipeline is transported to destination, drive lower folder by the contractile motion of air-leg
Hold pawl extension movement laterally so that lower gripper jaw opens, water conservancy and hydropower pipeline is discharged.
Compared with prior art, the invention have the advantages that
(1) present invention can realize the crawl to water conservancy and hydropower pipeline, carry and a series of operations such as stacking, and automaticity is high,
Stable movement is flexible, working performance is high, the problem such as solve that a dead lift operating cost is high, efficiency is low and danger is big.
(2) running gear of the present invention is mainly used in walking, moves and turn to, and running gear is by using track structure more
Add the walking being easy to different physical features ground condition so that the suitability of the present invention is higher.
(3) adjustable support of the present invention can carry out two translations two in space and rotates the motion in totally four degree of freedom directions, by adjusting
Joint support can realize entirety orientation of the present invention and the adjustment of angle, and regulates quick and convenient, it is simple to the present invention is to water conservancy and hydropower pipeline
The carrying out of transport operation.
(4) roll-out tray of the present invention uses the cascaded structure of a translation, and four-freedom parallel mechanism uses 4-UPS form also
Online structure, can realize a translation three and rotate the motion in totally four degree of freedom directions, and movement effects is good, and freedom of motion is many, structure
Compact and bearing capacity is strong, by hybrid mechanism drive whole clamping device can carry out in space two translations three rotate totally five from
By degree direction motion, hybrid mechanism be mainly used in the present invention carry out water conservancy and hydropower pipeline carrying stack operation time the small chi in local
Very little adjustment.
(5) clamping device level interval and the vertical interval of the present invention are the most adjustable, it is simple to the water conservancy and hydropower pipe to different-diameter size
Road captures, and captures and stack fast and easy, and in handling process, clamping is stable firmly, is difficult to slip, and safety is good.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is perspective view when running gear of the present invention, adjustable support and rotary apparatus cooperation；
Fig. 3 is perspective view when hybrid mechanism of the present invention and clamping device cooperation；
Fig. 4 is the front view of hybrid mechanism of the present invention；
Fig. 5 is the perspective view of clamping device of the present invention；
Fig. 6 is the perspective view of clamping device of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 6, a kind of comprehensive water conservancy penstock installation robot, including running gear 1, adjustable support 2, rotation
Rotary device 3, hybrid mechanism 4 and clamping device 5；Described adjustable support 2 is positioned at running gear 1 back upper place, rotary apparatus 3
Being positioned at adjustable support 2 front position, and rotary apparatus 3 is connected with adjustable support 2, hybrid mechanism 4 is positioned at rotary apparatus 3
And between clamping device 5, and hybrid mechanism 4 upper end is connected with rotary apparatus 3, hybrid mechanism 4 lower end and clamping device 5
It is connected.
As in figure 2 it is shown, described running gear 1 include chassis 11, drive motor 12, drive shaft 13, walking belt wheel 14,
Tight locking button 15 and traveling crawler 16, and drive the quantity of motor 12, tight locking button 15 and traveling crawler 16 to be two, drive shaft
13 and walking belt wheel 14 quantity be four；Described chassis 11 is in rectangular configuration, and rear and front end, chassis 11 offers installation respectively
Groove, drives motor 12 to be separately fixed in the mounting groove of both sides front and back, chassis 11, and drives motor 12 to use Biaxial synchronous to export
Motor, drive shaft 13 one end is connected with driving motor 12 output shaft, and drive shaft 13 other end is connected with walking belt wheel 14,
And be fixed by tight locking button 15 between drive shaft 13 and walking belt wheel 14, traveling crawler 16 two ends are rotating around being enclosed within walking
On belt wheel 14, and outside traveling crawler 16, it is evenly arranged with semicircle tread plate；By driving the rotation of motor 12 to drive walking
The rotation of belt wheel 14, thus drive the motion of traveling crawler 16, running gear 1 be mainly used in the walking of the present invention, movement and
Turn to, and running gear 1 is by using track structure to easily facilitate the walking of different physical features ground condition so that the present invention is suitable for
Property is higher.
As in figure 2 it is shown, described adjustable support 2 include rotary disk basement 21, elevating lever 22, telescoping crossbeam the 23, first rotating shaft 24,
Regulation connecting rod the 25, second rotating shaft 26 and the 3rd rotating shaft 27；Described elevating lever 22 bottom is fixed on chassis by rotary disk basement 21
11 upper surfaces, telescoping crossbeam 23 rear end is connected with elevating lever 22 top by the first rotating shaft 24, and telescoping crossbeam 23 uses double
Layer uses support column to be attached between telescopic structure, and telescoping crossbeam 23 the upper and lower, telescoping crossbeam 23 rear end sets
Being equipped with the first ear mount, be provided with the second ear mount in the middle part of telescoping crossbeam 23 at lower end position, telescoping crossbeam 23 front end is provided with installation
Ring, regulation connecting rod 25 one end is connected with the second ear mount at lower end position in the middle part of telescoping crossbeam 23 by the second rotating shaft 26, adjusts
Joint connecting rod 25 other end is arranged at elevating lever 22 medium position by the 3rd rotating shaft 27, and regulation connecting rod 25 is tied in I shape
Structure；Elevating lever 22 can realize regulating the integral-rotation of support 2 and the function of whole height regulation, and telescoping crossbeam 23 can carry out water
The regulation of flat lateral length, can drive telescoping crossbeam 23 with the first rotating shaft 24 for rotation by the stretching motion of regulation connecting rod 25 simultaneously
Turn center and carry out local rotary motion, it is achieved thereby that the regulation of the overall angle that adjustable support 2 is on the vertical plane, adjustable support
2 can carry out two translations two in space rotates the motion in totally four degree of freedom directions, can realize the present invention by regulation support 2 whole
Body orientation and the adjustment of angle, and regulate quick and convenient, it is simple to water conservancy and hydropower pipeline transport operation is carried out by the present invention.
As in figure 2 it is shown, described rotary apparatus 3 includes electric rotating machine 31, motor cabinet 32, column spinner 33 and rotating disk 34；
Described electric rotating machine 31 uses low-speed high-torque motor, and electric rotating machine 31 vertically stands upside down and is positioned at the installation of telescoping crossbeam 23 front end
Inside ring, and it is fixed by motor cabinet 32 between electric rotating machine 31 and telescoping crossbeam 23, electric rotating machine 31 main shaft and rotation
Rotary column 33 is attached by key between upper end, and column spinner 33 lower end is connected with rotating disk 34, and rotating disk 34 upper end is circle
Disk-like structure, rotating disk 34 lower end edge its center axis is that circumferential direction is evenly arranged with connection post, and connects the stepped post of post
Body structure；The integral-rotation that can be driven hybrid mechanism 4 and clamping device 5 by rotary apparatus 3 is moved.
As shown in Figure 3 and Figure 4, described hybrid mechanism 4 includes roll-out tray 41 and four-freedom parallel mechanism 42, mobile
Underframe 41 is positioned at above four-freedom parallel mechanism 42, and roll-out tray 41 is connected with four-freedom parallel mechanism 42；Described
Roll-out tray 41 include base plate 411, shifting sledge 412, slide block 413, limit spring 414 and locking post 415, and mobile
The quantity of slide rail 412 and slide block 413 is four, and limit spring 414 quantity is 16, and the quantity of locking post 415 is 32；
Described base plate 411 is fixed on four-freedom parallel mechanism 42, and shifting sledge 412 divides along longitudinal center's axis of base plate 411
Not being arranged symmetrically with, shifting sledge 412 two ends are respectively arranged with baffle plate, and slide block 413 is arranged on shifting sledge 412, spacing bullet
Spring 414 is between the baffle plate of slide block 413 and shifting sledge 412, and limit spring 414 one end is by locking post 415 and shifting
The baffle plate of dynamic slide rail 412 is connected, and limit spring 414 other end is connected with slide block 413 by locking post 415, and mobile
All offering installation screwed hole before and after the baffle plate medial surface of slide rail 412 and slide block 413 on end face, locking post 415 one end is arranged
The tight locking button for fixing limit spring 414, locking post 415 other end is had to be provided with and install the external screw thread that corresponding threaded holes closes；
Roll-out tray 41 uses the cascaded structure of a translation, roll-out tray 41 to move forward and backward, and can be driven by roll-out tray 41
Moving up and down of four-freedom parallel mechanism 4；Described four-freedom parallel mechanism 42 include fixed platform 421, Hooke's hinge 422,
Expansion link 423, spherical hinge 424 and moving platform 425, and the quantity of Hooke's hinge 422, expansion link 423 and spherical hinge 424 is
Four；Described fixed platform 421 and moving platform 425 are disc-shaped structure, and moving platform 425 is positioned at immediately below fixed platform 421,
Fixed platform 421 upper part and moving platform 425 end portion are provided with installation screw thread respectively, and expansion link 423 bottom is by tiger
Gram hinge 422 is connected with slide block 413, and expansion link 423 top is passed through spherical hinge 422 and is connected with moving platform 425；Four freely
Degree parallel institution 42 uses the parallel institution of 4-UPS form, can realize a translation three and rotate the motion in totally four degree of freedom directions,
Movement effects is good, and freedom of motion is many, and compact conformation and bearing capacity are strong；In the present invention, drive whole by hybrid mechanism 4
Individual clamping device 5 can carry out two translations three in space and rotate the motion in totally five degree of freedom directions, and hybrid mechanism 4 is mainly used in
The present invention carries out the minute sized adjustment in local during the carrying stacking operation of water conservancy and hydropower pipeline.
As shown in Figure 5 and Figure 6, described clamping device 5 includes fixed plate 51 and clamping device 52, and clamping device 52 number
Amount is three；Described clamping device 52 is positioned at immediately below fixed plate 51, and clamping device 52 is along the transverse center of fixed plate 51
Axis is linearly equally spaced；Described clamping device 52 include directive slide track the 521, first slide block 522, upper gripper jaw 523,
Lower gripper jaw 524, stretching spring 525, connecting stud the 526, second slide block 527, hydraulic cylinder 528, mobile ear mount 529, shifting
Dynamic ship and resell on another market 5210, air-leg 5211, fixed ear base 5212 and fixing swing pin 5213；Described directive slide track 521 is in bar shaped
Shape structure, and directive slide track 521 left and right sides is respectively arranged with baffle plate, directive slide track 521 vertical cross section is I-shaped structure,
First slide block 522 is arranged on directive slide track 521, and the first slide block 522 is respectively symmetrically along the central axis of directive slide track 521
Arranging, upper gripper jaw 523 upper end is fixed on immediately below the first slide block 522, and upper gripper jaw 523 is in quadrant shape cylinder
Structure, lower gripper jaw 524 is positioned at immediately below gripper jaw 523, and lower gripper jaw 524 is also quadrant shape column structure,
Stretching spring 525 between upper gripper jaw 523 and lower gripper jaw 524, and stretching spring 525 upper gripper jaw 523 and under
Being arranged side by side between gripper jaw 524, stretching spring 525 upper end is connected with upper gripper jaw 523 lower surface by connecting stud 526
Connecing, stretching spring 525 lower end is connected with lower gripper jaw 524 upper surface by connecting stud 526, and the second slide block 527 is positioned at
Outside first slide block 522, and the second slide block 527 is arranged on directive slide track 521, and it is sliding that hydraulic cylinder 528 upper end is fixed on second
On block 527, and hydraulic cylinder 528 uses single-acting single-stage telescoping hydraulic cylinder, hydraulic cylinder 528 lower end to be fixed with mobile ear mount 529,
Mobile shipping and reselling on another market is used 5210 to be attached between air-leg 5211 one end and mobile ear mount 529, air-leg 5211 other end
Being connected with fixed ear base 5212 by fixing swing pin 5213, fixed ear base 5212 is fixed on lower gripper jaw 5247 lateral wall,
And move ear mount 529 and the most U-shaped structure of fixed ear base 5212；During specific works, first pass through directive slide track 521, first
Slide block 522 and the second slide block 527 adjust clamping diameter during gripping apparatus grips；Then by upper gripper jaw 523 and lower gripper jaw
524 outsides being placed into water conservancy and hydropower pipeline to be handled, wherein stretching spring 525 1 aspect serves the present invention and clamps water conservancy
Clamp diameter dimension during water power pipeline and adjust the effect of change, the effect resetted after on the other hand serving clamping water conservancy and hydropower pipeline；
The lower gripper jaw 524 compressional movement to inner side is driven again, further by water conservancy and hydropower by the stretching of air-leg 5211
Pipeline clamps, and prevents the slippage in handling process of the water conservancy and hydropower pipeline；Finally after water conservancy and hydropower pipeline is transported to destination,
Lower clamping 524 pawls extension movement laterally is driven so that lower gripper jaw 524 opens by the contractile motion of air-leg 5211,
Water conservancy and hydropower pipeline is discharged.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (3)
1. a comprehensive water conservancy penstock installation robot, it is characterised in that: include running gear, adjustable support, rotary apparatus,
Hybrid mechanism and clamping device；Described adjustable support is positioned at running gear back upper place, and rotary apparatus is positioned at position, adjustable support front end
Putting place, and rotary apparatus is connected with adjustable support, hybrid mechanism is between rotary apparatus and clamping device, and on hybrid mechanism
End is connected with rotary apparatus, and hybrid mechanism lower end is connected with clamping device；Wherein:
Described running gear includes chassis, drives motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drives
The quantity of motor, tight locking button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four；The rectangular knot in described chassis
Structure, rear and front end, chassis offers mounting groove respectively, drives motor to be separately fixed at before and after chassis in the mounting groove of both sides, and drives
Galvanic electricity machine uses Biaxial synchronous output motor, drive shaft one end to be connected with driving motor output shaft, the drive shaft other end and walking
Belt wheel is connected, and is fixed by tight locking button between drive shaft and walking belt wheel, and traveling crawler two ends are rotating around being enclosed within walking
On belt wheel, and outside traveling crawler, it is evenly arranged with semicircle tread plate；
Described hybrid mechanism includes roll-out tray and four-freedom parallel mechanism, and roll-out tray is positioned on four-freedom parallel mechanism
Side, and roll-out tray is connected with four-freedom parallel mechanism；
Described roll-out tray includes base plate, shifting sledge, slide block, limit spring and locking post, and shifting sledge and slide block
Quantity is four, and limit spring quantity is 16, and the quantity of locking post is 32；Described base plate is fixed on four-degree-of-freedom also
On online structure, shifting sledge is respectively symmetrically layout along longitudinal center's axis of base plate, and shifting sledge two ends are respectively arranged with baffle plate,
Slide block is arranged on shifting sledge, and limit spring is between slide block and the baffle plate of shifting sledge, and limit spring one end is by lock
Tight post is connected with the baffle plate of shifting sledge, and the limit spring other end is connected with slide block by locking post, and the gear of shifting sledge
All offering installation screwed hole before and after plate medial surface and slide block on end face, locking post one end is provided with for fixing limit spring
Tight locking button, the locking post other end is provided with and installs the external screw thread that corresponding threaded holes closes；
Described four-freedom parallel mechanism includes fixed platform, Hooke's hinge, expansion link, spherical hinge and moving platform, and Hooke's hinge,
The quantity of expansion link and spherical hinge is four；Described fixed platform and moving platform are disc-shaped structure, and moving platform is positioned at and allocates
Immediately below platform, fixed platform upper part and moving platform end portion are provided with installation screw thread respectively, and Hooke is passed through in expansion link bottom
Hinge is connected with slide block, and expansion link top is connected with moving platform by spherical hinge；
Described clamping device includes fixed plate and clamping device, and clamping device quantity is three；Described clamping device is positioned at solid
Determine immediately below plate, and clamping device is linearly equally spaced along the central transverse axis of fixed plate；Described clamping device includes
Directive slide track, the first slide block, upper gripper jaw, lower gripper jaw, stretching spring, connecting stud, the second slide block, hydraulic cylinder, shifting
Dynamic ear mount, mobile ship and resell on another market, air-leg, fixed ear base and fixing swing pin；Described directive slide track is strip structure, and leads
Be respectively arranged with baffle plate to the slide rail left and right sides, directive slide track vertical cross section is I-shaped structure, and it is sliding that the first slide block is arranged on guiding
On rail, and the first slide block is respectively symmetrically layout along the central axis of directive slide track, upper gripper jaw upper end be fixed on the first slide block just under
Just, and upper gripper jaw is quadrant shape column structure, and lower gripper jaw is positioned at immediately below gripper jaw, and lower gripper jaw is also four
/ mono-circular cylinder structure, stretching spring between upper gripper jaw and lower gripper jaw, and stretching spring upper gripper jaw and under
Being arranged side by side between gripper jaw, stretching spring upper end is connected with upper gripper jaw lower surface by connecting stud, stretches lower spring end
Being connected with lower gripper jaw upper surface by connecting stud, the second slide block is positioned at outside the first slide block, and the second slide block is arranged on and leads
On slide rail, hydraulic cylinder upper end is fixed on the second slide block, and hydraulic cylinder uses single-acting single-stage telescoping hydraulic cylinder, hydraulic cylinder
Lower end is fixed with mobile ear mount, uses mobile shipping and reselling on another market to be attached between air-leg one end and mobile ear mount, air-leg another
End is connected with fixed ear base by fixing swing pin, and fixed ear base is fixed on lower gripper jaw lateral wall, and mobile ear mount is with fixing
The most U-shaped structure of ear mount.
One the most according to claim 1 comprehensive water conservancy penstock installation robot, it is characterised in that: described rotation dress
Put and include electric rotating machine, motor cabinet, column spinner and rotating disk；Described electric rotating machine uses low-speed high-torque motor, electric rotating
Machine vertically stands upside down and is positioned at inside the mounting ring of telescoping crossbeam front end, and is carried out solid between electric rotating machine and telescoping crossbeam by motor cabinet
Fixed, it is attached by key between electric rotating machine main shaft and column spinner upper end, column spinner lower end is connected with rotating disk, rotating disk
Upper end structure in the form of annular discs, rotating disk lower end edge its center axis is that circumferential direction is evenly arranged with connection post, and connection post is rank
Scalariform column structure.
One the most according to claim 1 comprehensive water conservancy penstock installation robot, it is characterised in that: described adjustable supporting
Frame includes rotary disk basement, elevating lever, telescoping crossbeam, the first rotating shaft, regulation connecting rod, the second rotating shaft and the 3rd rotating shaft；Described liter
Fall bar bottom is fixed on upper surface, chassis by rotary disk basement, and telescoping crossbeam rear end is connected with elevating lever top by the first rotating shaft,
Telescoping crossbeam uses bilayer to use support column to be attached between telescopic structure, and telescoping crossbeam the upper and lower, flexible horizontal stroke
Beam rear end is provided with the first ear mount, is provided with the second ear mount in the middle part of telescoping crossbeam at lower end position, and telescoping crossbeam front end is provided with peace
Dress ring, regulation connecting rod one end is connected with the second ear mount at lower end position in the middle part of telescoping crossbeam by the second rotating shaft, regulates connecting rod
The other end is arranged at elevating lever medium position by the 3rd rotating shaft, and regulation connecting rod is I-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610350123.7A CN105881490A (en) | 2016-05-24 | 2016-05-24 | Omni-directional water conservancy steel pipe mounting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610350123.7A CN105881490A (en) | 2016-05-24 | 2016-05-24 | Omni-directional water conservancy steel pipe mounting robot |
Publications (1)
| Publication Number | Publication Date |
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| CN105881490A true CN105881490A (en) | 2016-08-24 |
Family
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Family Applications (1)
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|---|---|---|---|
| CN201610350123.7A Pending CN105881490A (en) | 2016-05-24 | 2016-05-24 | Omni-directional water conservancy steel pipe mounting robot |
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| CN107398917A (en) * | 2017-07-31 | 2017-11-28 | 宣城尤达美智能科技有限公司 | A kind of sewage-treatment plant |
| CN108557700A (en) * | 2018-05-22 | 2018-09-21 | 河南大海机械装备有限公司 | A kind of loading and unloading type robot |
| CN108942985A (en) * | 2018-08-17 | 2018-12-07 | 珠海格力智能装备有限公司 | Clamping device and robot with it |
| WO2019061669A1 (en) * | 2017-09-29 | 2019-04-04 | 安徽理工大学 | Omni-directional non-simultaneous multi-finger gripper for casting robot |
| CN110002221A (en) * | 2019-05-07 | 2019-07-12 | 江苏安全技术职业学院 | Grasping mechanism applied to manipulator |
| CN111515985A (en) * | 2020-04-28 | 2020-08-11 | 张立东 | Grabbing claw prepared from polypropylene plastic |
| CN112171217A (en) * | 2019-07-04 | 2021-01-05 | 北京京东乾石科技有限公司 | Angle adjusting device |
| CN113977217A (en) * | 2021-09-08 | 2022-01-28 | 陈佳妮 | Desktop computer assembling robot |
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| CN110002221A (en) * | 2019-05-07 | 2019-07-12 | 江苏安全技术职业学院 | Grasping mechanism applied to manipulator |
| CN112171217A (en) * | 2019-07-04 | 2021-01-05 | 北京京东乾石科技有限公司 | Angle adjusting device |
| CN111515985A (en) * | 2020-04-28 | 2020-08-11 | 张立东 | Grabbing claw prepared from polypropylene plastic |
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Application publication date: 20160824 |
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