CN106112972B - A kind of construction carrying intelligent robot damping walking device - Google Patents
A kind of construction carrying intelligent robot damping walking device Download PDFInfo
- Publication number
- CN106112972B CN106112972B CN201610560501.4A CN201610560501A CN106112972B CN 106112972 B CN106112972 B CN 106112972B CN 201610560501 A CN201610560501 A CN 201610560501A CN 106112972 B CN106112972 B CN 106112972B
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- walking
- connecting rod
- construction
- electric pushrod
- delta parallel
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- 238000010276 construction Methods 0.000 title claims abstract description 30
- 238000013016 damping Methods 0.000 title claims abstract description 10
- 239000004035 construction material Substances 0.000 claims abstract description 10
- 239000000463 material Substances 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims abstract description 8
- 230000006378 damage Effects 0.000 claims abstract description 6
- 230000001681 protective effect Effects 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims description 6
- 238000013519 translation Methods 0.000 abstract description 4
- 230000014616 translation Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005007 materials handling Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000011449 brick Substances 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- -1 sandstone Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- 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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of construction to carry intelligent robot damping walking device, including delta parallel connections shake table and running gear, and running gear is located at immediately below delta parallel connections shake table, and running gear upper end is connected with delta parallel connection shake tables lower end.The present invention can carry out the movement in the total six-freedom degree direction of three translations three rotation in space; so that the present invention will not cause in the poor construction site place walking of uneven and pavement behavior, construction material slides or material is the problem of strong motion damages, and plays certain protective effect to construction material in the handling process.
Description
Technical field
The present invention relates to construction ancillary equipment field, a kind of specifically construction carries intelligent robot with subtracting
Shake walking device.
Background technology
Construction refers to the production activity of engineering construction implementation phase, is the building course of all kinds of buildings, can also
It says it is various lines on design drawing, in specified place, becomes process in kind；It includes basic engineering construction, master
Body structure construction, roof construction, decorative engineering construction etc.；The place of construction operation is known as " construction site " or cries
" construction site ".The carrying that more work is exactly construction material, such as sandstone, brick, steel are encountered in building construction process
Muscle building materials or cement etc. mostly use small and medium construction construction site manually carry at present, artificial to carry not only
A large amount of labour is occupied, handling efficiency is low；And since construction site peril hidden danger is more, and construction personnel
Awareness of safety is not strong, often results in unnecessary safety accident in materials handling process, actual bodily harm is caused to construction personnel,
Monetary losses also are caused to unit in charge of construction simultaneously；Materials handling work is carried out using electrically driven truck or fork truck although also having at present
Industry, but since construction site place is uneven and pavement behavior is poor, be easy to cause and using electrically driven truck or fork
There is material landing or material the problem of strong motion damages when vehicle progress materials handling operation.In consideration of it, this hair
It is bright to provide a kind of construction carrying intelligent robot damping walking device.
Invention content
In order to make up for the deficiencies of the prior art, the present invention provides a kind of construction to carry intelligent robot damping row
Walk device.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of construction carrying intelligent robot damping walking device, including delta parallel connections shake table and running gear,
Running gear is located at immediately below delta parallel connections shake table, and running gear upper end is connected with delta parallel connection shake tables lower end.
Further, the delta parallel connection shake tables include fixed platform, moving platform, top base, bottom base, upper rotary shaft,
Lower rotary shaft, upper connecting rod, lower link, rotational pin, upper hinge, lower hinge, electric pushrod and limit spring；The fixed platform and
Moving platform structure in rounded shape, moving platform are located at right over fixed platform, and the quantity of top base and bottom base is three, top base
It is fixed on moving platform bottom face in positive triangle shape centered on the center of circle of moving platform, during bottom base is with the center of circle of fixed platform
The heart is arranged in positive triangle shape on fixed platform top end face, and top base installation site and bottom base installation site difference one are a pair of
It answers, upper connecting rod one end is mounted on by upper rotary shaft on top base, passes through rotation between the upper connecting rod other end and lower link top
Pin is attached, and lower link bottom end is mounted on by lower rotary shaft on bottom base；The electric pushrod is located at upper connecting rod under
Between connecting rod, and electric pushrod upper end is mounted on by upper hinge at the medium position of upper connecting rod, under electric pushrod lower end passes through
Hinge is mounted at the medium position of lower link, and limit spring is around being sleeved on electric pushrod.Delta parallel connection shake tables use
Delta parallel institutions, rigidity is big compared with serial mechanism, stable structure, and bearing capacity is strong and fine motion precision is high, and delta is in parallel
Shake table can carry out the movement in the total six-freedom degree direction of three translations three rotation in space, and space is small, movement velocity
Soon, kinematic dexterity is good and damping performance is good, and the kinematic dexterity height of six degree of freedom delta parallel institutions and bearing capacity is strong
The characteristics of apply in the present invention so that even if the present invention walks in the poor construction site place of uneven and pavement behavior
When will not cause construction material slide or material the problem of strong motion damages, in the handling process to Building wood
Material plays certain protective effect.
Further, the running gear includes lifting stud, jacking sleeve, walking seat, walking shaft and traveling wheel；Institute
External screw thread is provided on the lifting stud lateral wall stated, jacking sleeve is in the hollow cylindrical structure of both ends open, jacking sleeve
It is provided on madial wall and is mounted on lifting with the matched internal thread of external screw thread on lifting stud lateral wall, lifting stud lower end
Sleeve inner, jacking sleeve lower end are fixed on walking seat, and walking seat passes through shaft of walking in the U-shaped structure to stand upside down, traveling wheel
Mounted on walking seat lower position, traveling wheel is in I-shaped structure；Lifting stud by rotation drives lifting stud lifting
Up and down motion in sleeve, for adjusting the whole height of the present invention.
Compared with prior art, the present invention has the following advantages：
(1) present invention uses the strong feature of the kinematic dexterity height and bearing capacity of six degree of freedom delta parallel institutions
Into the present invention, delta parallel connection shake tables can carry out the movement in the total six-freedom degree direction of three translations three rotation in space, make
Of the invention construction material must will not be caused to slide in the poor construction site place walking of uneven and pavement behavior
It falls or material is the problem of strong motion damages, playing certain protection to construction material in the handling process makees
With.
(2) whole height of the present invention is adjusted in running gear of the present invention, is moved convenient for the walking of different road conditions.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the dimensional structure diagram of delta parallel connections shake table of the present invention；
Fig. 3 is the dimensional structure diagram after delta parallel connections shake table removal fixed platform and moving platform of the present invention.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figure 1, Figure 2 and Figure 3, intelligent robot damping walking device is carried in a kind of construction, including delta is simultaneously
Join shake table 2 and running gear 3, running gear 3 is located at immediately below delta parallel connections shake table 2, and 3 upper end of running gear and
2 lower end of delta parallel connections shake table is connected.
As shown in Figures 2 and 3, the delta parallel connections shake table 2 include fixed platform 21, moving platform 22, top base 23,
Bottom base 24, upper rotary shaft 25, lower rotary shaft 26, upper connecting rod 27, lower link 28, rotational pin 29, upper hinge 210, lower hinge
211, electric pushrod 212 and limit spring 213；Fixed platform 21 and moving platform 22 structure in rounded shape, moving platform 22
Right over fixed platform 21, the quantity of top base 23 and bottom base 24 is three, and top base 23 is with the center of circle of moving platform 22
Center is fixed in positive triangle shape on 22 bottom face of moving platform, and bottom base 24 is in positive triangle centered on the center of circle of fixed platform 21
Arrangements are on 21 top end face of fixed platform, and 23 installation site of top base and 24 installation site of bottom base correspond respectively,
27 one end of upper connecting rod is mounted on by upper rotary shaft 25 on top base 23, is led between 28 top of 27 other end of upper connecting rod and lower link
It crosses rotational pin 29 to be attached, 28 bottom end of lower link is mounted on by lower rotary shaft 26 on bottom base 24；The electric pushrod
212 between upper connecting rod 27 and lower link 28, and 212 upper end of electric pushrod is mounted on upper connecting rod 27 by upper hinge 210
At medium position, 212 lower end of electric pushrod is mounted on by lower hinge 211 at the medium position of lower link 28, limit spring 213
Around being sleeved on electric pushrod 212.Delta parallel connections shake table 2 uses delta parallel institutions, and rigidity is big compared with serial mechanism, knot
Structure is stablized, and bearing capacity is strong and fine motion precision is high, and delta parallel connections shake table 2 can carry out three translations three rotation totally six in space
The movement of a freedom degree direction, and space is small, movement velocity is fast, kinematic dexterity is good and damping performance is good, freely by six
The feature that the kinematic dexterity height and bearing capacity of degree delta parallel institutions are strong applies in the present invention so that even if the present invention
Construction material landing or material will not be caused to exist when the poor construction site place of uneven and pavement behavior is walked
The problem of being damaged in the case of strong motion in the handling process plays construction material certain protective effect.
As shown in Figure 1, the running gear 3 includes lifting stud 31, jacking sleeve 32, walking seat 33, walking shaft
32 and traveling wheel 35；External screw thread is provided on 31 lateral wall of lifting stud, jacking sleeve 32 is hollow in both ends open
Cylindrical-shaped structure is provided on 32 madial wall of jacking sleeve and the matched interior spiral shell of external screw thread on lifting 31 lateral wall of stud
Line, 31 lower end of lifting stud are mounted on inside jacking sleeve 32, and 32 lower end of jacking sleeve is fixed on walking seat 33, seat 33 of walking
In the U-shaped structure of handstand, traveling wheel 35 is mounted on walking 33 lower position of seat by shaft 32 of walking, and traveling wheel 35 is in I-shaped
Type structure；Stud 31 is lifted by rotation and drives up and down motion of the lifting stud 31 in jacking sleeve 32, for adjusting
The whole height of the present invention.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (1)
1. intelligent robot damping walking device is carried in a kind of construction, can be applied in the poor building of uneven and pavement behavior
Work scene place walk when will not cause construction material slide or material in the case that strong motion damage and in the handling process
Certain protective effect is played to construction material, it is characterised in that：Including delta parallel connections shake table and running gear；It is described
Running gear be located at immediately below delta parallel connections shake tables, and running gear upper end is connected with delta parallel connection shake tables lower end
It connects；Wherein：The delta parallel connection shake tables include fixed platform, moving platform, top base, bottom base, upper rotary shaft, lower rotation
Axis, upper connecting rod, lower link, rotational pin, upper hinge, lower hinge, electric pushrod and limit spring；The fixed platform and moving platform
Structure in rounded shape, moving platform are located at right over fixed platform, and the quantity of top base and bottom base is three, and top base is with dynamic flat
It is fixed on moving platform bottom face in positive triangle shape centered on the center of circle of platform, bottom base is centered on the center of circle of fixed platform in just
Triangle is arranged on fixed platform top end face, and top base installation site and bottom base installation site correspond respectively；Institute
State upper rotary shaft, lower rotary shaft, upper connecting rod, lower link, rotational pin, upper hinge, lower hinge, electric pushrod and limit spring quantity
It is six；Each upper connecting rod one end is mounted on by each upper rotary shaft on top base, each upper connecting rod other end with it is corresponding
It is attached by rotational pin between each lower link top, each lower link bottom end is mounted on lower base by equal lower rotary shaft
On seat；Each electric pushrod is located between corresponding each upper connecting rod and each lower link, and each electric pushrod upper end
It is corresponded at the medium position of each upper connecting rod by each upper hinge, each electric pushrod lower end passes through each lower hinge
Chain corresponds at the medium position of each lower link, and each limit spring is around being sleeved on each electric pushrod；The row
Walking apparatus includes lifting stud, jacking sleeve, walking seat, walking shaft and traveling wheel, and the walking of different road conditions can be convenient for move
It is dynamic；External screw thread is provided on the lifting stud lateral wall, jacking sleeve is in the hollow cylindrical structure of both ends open, lifting
It is provided in set medial wall of the tube and is mounted on the matched internal thread of external screw thread on lifting stud lateral wall, lifting stud lower end
Inside jacking sleeve, jacking sleeve lower end is fixed on walking seat, and walking seat passes through walking in the U-shaped structure to stand upside down, traveling wheel
Shaft is mounted on walking seat lower position, and traveling wheel is in I-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610560501.4A CN106112972B (en) | 2016-07-14 | 2016-07-14 | A kind of construction carrying intelligent robot damping walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610560501.4A CN106112972B (en) | 2016-07-14 | 2016-07-14 | A kind of construction carrying intelligent robot damping walking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106112972A CN106112972A (en) | 2016-11-16 |
| CN106112972B true CN106112972B (en) | 2018-10-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610560501.4A Active CN106112972B (en) | 2016-07-14 | 2016-07-14 | A kind of construction carrying intelligent robot damping walking device |
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| CN (1) | CN106112972B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108179721A (en) * | 2018-02-06 | 2018-06-19 | 白山市北环卫机械制造科技有限公司 | A kind of mechanical friction type ice removal and manufacturing method |
| CN108179718A (en) * | 2018-02-06 | 2018-06-19 | 白山市北环卫机械制造科技有限公司 | A kind of elastic-friction formula ice removal device |
| CN114313130B (en) * | 2021-11-30 | 2023-04-25 | 北京特种机械研究所 | Three-degree-of-freedom stable platform with static load compensation function |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2736660A1 (en) * | 2011-04-11 | 2012-10-11 | Dany Gagnon-Lachance | Parallel manipulator with 3 legs and 6 degrees of freedom |
| US20140150593A1 (en) * | 2012-12-05 | 2014-06-05 | Alio Industries, Inc. | Precision tripod motion system |
| CN103786156A (en) * | 2014-01-21 | 2014-05-14 | 西北工业大学 | Space teleoperation hand controller |
| CN104139388A (en) * | 2014-07-30 | 2014-11-12 | 华南理工大学 | Delta parallel-connection mechanical hand for teaching |
| CN104265854B (en) * | 2014-08-09 | 2016-04-27 | 哈尔滨博强机器人技术有限公司 | Six-degree-of-freedom Delta transmission mechanism of robot |
| CN104802151A (en) * | 2015-04-28 | 2015-07-29 | 上海大学 | Robot for carrying, assembling and moving heavy loads |
| CN105459078B (en) * | 2015-12-16 | 2017-08-08 | 上海大学 | A kind of wheeled mobile robot of adjustable Mecanum of parameters of structural dimension |
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- 2016-07-14 CN CN201610560501.4A patent/CN106112972B/en active Active
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| TA01 | Transfer of patent application right |
Effective date of registration: 20180903 Address after: 362100 Fujian Quanzhou investment zone, Dongyuan Town, Dongyuan village, 163 Applicant after: Quanzhou Taiwan Investment Zone Wanding Machinery Technology Co.,Ltd. Address before: 246001 412, room 3, science and Technology Pioneer Park, 80 Tianzhu Hill Road, Anqing Development Zone, Anhui Applicant before: ANQING LIWAILI INDUSTRIAL PRODUCTS DESIGN CO.,LTD. |
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| TR01 | Transfer of patent right |
Effective date of registration: 20191029 Address after: 221300 No.4, jingsan Road, industrial park, Tushan Town, Pizhou City, Xuzhou City, Jiangsu Province Patentee after: Xuzhou ruiyisheng Machinery Co.,Ltd. Address before: 362100 Fujian Province Quanzhou Taiwanese Investment Zone Dongyuan Town Dongyuan Village Xiashencuo 163 Patentee before: Quanzhou Taiwan Investment Zone Wanding Machinery Technology Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231108 Address after: 221300 No. 22, Fuxing Road West, industrial park, Pizhou, Xuzhou, Jiangsu Patentee after: JIANGSU RUNYANG AUTO PARTS MANUFACTURING Co.,Ltd. Address before: 221300 No.4, jingsan Road, industrial park, Tushan Town, Pizhou City, Xuzhou City, Jiangsu Province Patentee before: Xuzhou ruiyisheng Machinery Co.,Ltd. |
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| TR01 | Transfer of patent right |