CN106185641A - Multiple degrees of freedom lifting manipulator - Google Patents
Multiple degrees of freedom lifting manipulator Download PDFInfo
- Publication number
- CN106185641A CN106185641A CN201610746300.3A CN201610746300A CN106185641A CN 106185641 A CN106185641 A CN 106185641A CN 201610746300 A CN201610746300 A CN 201610746300A CN 106185641 A CN106185641 A CN 106185641A
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- CN
- China
- Prior art keywords
- connecting rod
- rotating mechanism
- block
- movable block
- bar
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/06—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs mounted for jibbing or luffing movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
- B66C23/163—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements where only part of the column rotates, i.e. at least the bottom part is fixed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/82—Luffing gear
- B66C23/821—Bracing equipment for booms
- B66C23/826—Bracing equipment acting at an inclined angle to vertical and horizontal directions
- B66C23/828—Bracing equipment acting at an inclined angle to vertical and horizontal directions where the angle is adjustable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multiple degrees of freedom lifting manipulator, the column including base, being arranged on described base and the robot manipulator structure being arranged on described column, described robot manipulator structure includes the first rotating mechanism, the second rotating mechanism, slides up and down mechanism, cantilever mechanism, reducing motor, oscillating arm mechanisms and head.The reasonable in design of the present invention, which reduce the use of oil hydraulic cylinder, such that it is able to avoid the technical deficiency that oil hydraulic cylinder brings, improve work efficiency to a certain extent, its working range that can effectively improve hoisting machine and the positioning precision of weight lifting simultaneously, can also reduce the noise of loop wheel machine, improve stability in use and safety coefficient, the suitability is strong and practicality is given birth to.
Description
Technical field
The invention belongs to mechanical equipment technical field, be specifically related to a kind of multiple degrees of freedom lifting manipulator.
Background technology
The most domestic small lifting equipment is made up of parts such as crane arm, turntable, frame, supporting legs.Become by arm
The action of the mechanisms such as width, flexible, elevator realizes the mechanical action of telpher, has realized recast by the combination of different actions
Industry, there is many defects: the amplitude of oscillation of arm is commonly used the flexible of hydraulic cylinder and controlled, and needs staff to carry out hydraulic fluid depression bar and controls
Stretching of oil cylinder, efficiency is low, wastes time and energy especially, and the leakage of hydraulic oil cannot be avoided completely, causes the dirt of working environment
Dye；The motor process noise of hoisting mechanism is big, and positioning precision is low, and weight easily swings during hoisting, rotates, and safety
Coefficient is the highest；Structure is single, and arm range of movement is little, it is impossible to weight realizes multidirectional locomotive function simultaneously.
Summary of the invention
It is an object of the invention to provide a kind of reasonable in design, stability in use good and the suitability is strong multiple degrees of freedom hoisting machine
Tool hands.
Realizing the technical scheme of the object of the invention is a kind of multiple degrees of freedom lifting manipulator, including base, be arranged on described
Column on base and the robot manipulator structure being arranged on described column, described robot manipulator structure include the first rotating mechanism, the
Two rotating mechanisms, sliding up and down mechanism, cantilever mechanism, reducing motor, oscillating arm mechanisms and head, described first rotating mechanism is arranged
At the top of described column, described in slide up and down mechanism be arranged on described first rotating mechanism top and described in slide up and down machine
Structure includes that guide pad and movable block, described movable block are flexibly connected by driving tooth bar with reducing motor, described cantilever mechanism bag
Including first connecting rod, second connecting rod, reset tension spring and triangle contiguous block, the left end of described first connecting rod is by the first hinge axis even
Being connected on the upper end of guide pad, the left end of described second connecting rod is connected to the middle part of guide pad by the second hinge axis, and described first
Hinge axis is arranged on the motion track top of movable block, and described second hinge axis is arranged on the motion track of movable block, described
The two ends of back-moving spring are separately positioned on right-hand member and the guide pad of described second connecting rod, the right-hand member of described first connecting rod and second
The right-hand member of connecting rod is connected at two drift angles of triangle contiguous block, and described oscillating arm mechanisms includes third connecting rod, the 4th company
Bar, the top of described third connecting rod is connected to be connected at a drift angle of triangle contiguous block and with the end of second connecting rod,
The top of described fourth link is connected at the residue drift angle of triangle contiguous block, described third connecting rod and the bottom of fourth link
All being connected with the second rotating mechanism, described head is connected on the second rotating mechanism.
Being additionally provided with amplitude of oscillation guiding mechanism, described amplitude of oscillation guiding mechanism includes the 5th connecting rod and six-bar linkage, and the described 5th even
The left end of bar is connected on movable block by the 3rd hinge axis, and the right-hand member of described 5th connecting rod is connected to the top of third connecting rod
Portion, the top of described six-bar linkage is connected to the left arm of second connecting rod, and the bottom of described six-bar linkage is connected to the 3rd hinge axis
On.
Being provided with vertical guide runner on the side of described guide pad, described movable block is L-type structure, at L-type movable block
Montant is provided with the slide guide projection matched with described vertical guide runner, and the montant lateral surface at L-type movable block is provided with teeth groove,
The cross bar of L-type movable block is provided with bar shape trench hole, and described 3rd hinge axis is arranged in described bar shape trench hole.
Described first rotating mechanism includes lifting capstan head, is arranged on the rotary shaft base on described lifting capstan head, described
The symmetrical sides of rotary shaft base is provided with rotary clamp plate, and described rotary clamp plate is fixed by screws in the side of rotary shaft base
On, be sequentially provided with from bottom to top in described rotary shaft base plate the first deep groove ball bearing, the first spacer, the first thrust ball bearing,
Clutch shaft bearing set and fix nut, described column be fixed on lifting capstan head bottom and described in slide up and down at the bottom of the guide pad of mechanism
Portion fixes between two rotary clamp plates.
Described second rotating mechanism includes T-shaped spill spin block, is set in the second bearing outside T-shaped spill spin block montant and holds
With for lock-bit nut that the second bearing holder (housing, cover) is fixed on T-shaped spill spin block, at described second bearing holder (housing, cover) and T-shaped spill spin block
Montant between be sequentially provided with the second deep groove ball bearing, the second thrust ball bearing, the second spacer and the 3rd deep-groove ball from top to bottom
Bearing, described head is arranged on the montant bottom of T-shaped spill spin block, and described third connecting rod and fourth link are arranged on T-shaped rotation
The cross bar two ends of switch block.
Described head includes headstock, the handle being arranged on described headstock two sides, is arranged on a described headstock left side
The SR of side and operation rocking bar and the lifting hanging scroll being arranged on headstock right-hand member, the end face of described headstock and the second rotation
The T-shaped spill spin block montant of rotation mechanism is connected.
It is additionally provided with and adds, with described, the reduction box that speed motor is connected.
The present invention has a positive effect: the reasonable in design of the present invention, which reduces the use of oil hydraulic cylinder, thus
Can avoid the technical deficiency that oil hydraulic cylinder brings, improve work efficiency to a certain extent, it can effectively improve lifting simultaneously
The working range of machine and the positioning precision of weight lifting, the form that mechanism up and down is hoist engine of traditional crane, i.e. elevator
Cylinder controls rising or falling of weight to the folding and unfolding of lifting rope, and hoisting mechanism noise is big, runs unstable, but this mechanical hand
Lifting controls to realize by pinion and rack up and down, operates steadily, is easily controlled, thus can also reduce making an uproar of loop wheel machine
Sound, improves stability in use and safety coefficient, and the suitability is strong and practicality is given birth to.
Accompanying drawing explanation
In order to make present disclosure be more likely to be clearly understood, below according to specific embodiment and combine accompanying drawing, right
The present invention is described in further detail, wherein:
Fig. 1 is the structural representation of the present invention；
Fig. 2 be the present invention slide up and down the structural representation of movable block in mechanism；
Fig. 3 is the exploded perspective view of first rotating mechanism of the present invention；
Fig. 4 is the structural representation of second rotating mechanism of the present invention；
Fig. 5 is the handpiece structure schematic diagram of the present invention.
Detailed description of the invention
(embodiment 1)
Fig. 1 to Fig. 5 shows a kind of detailed description of the invention of the present invention, and wherein Fig. 1 is the structural representation of the present invention；Fig. 2 is
The present invention slides up and down the structural representation of movable block in mechanism；Fig. 3 is the blast signal of first rotating mechanism of the present invention
Figure；Fig. 4 is the structural representation of second rotating mechanism of the present invention；Fig. 5 is the handpiece structure schematic diagram of the present invention.
Seeing Fig. 1 to Fig. 5, a kind of multiple degrees of freedom lifting manipulator, including base 1, the column 2 that is arranged on described base 1
With the robot manipulator structure being arranged on described column 2, described robot manipulator structure includes first rotating mechanism the 3, second rotating mechanism
4, sliding up and down mechanism 5, cantilever mechanism 6, reducing motor 7, oscillating arm mechanisms 8 and head 9, described first rotating mechanism 3 is arranged on
The top of described column 2, described in slide up and down mechanism 5 be arranged on described first rotating mechanism 3 top and described in slide up and down
Mechanism 5 includes guide pad 51 and movable block 52, and described movable block 52 is flexibly connected by driving tooth bar with reducing motor 7, described
Cantilever mechanism 6 includes first connecting rod 61, second connecting rod 62, reset tension spring 63 and triangle contiguous block 64, described first connecting rod 61
Left end be connected to the upper end of guide pad 51 by the first hinge axis 65, the left end of described second connecting rod 62 passes through the second hinge axis
66 middle parts being connected to guide pad 51, described first hinge axis is arranged on the motion track top of movable block, described second hinge
Axle is arranged on the motion track of movable block, and the two ends of described back-moving spring 63 are separately positioned on the right-hand member of described second connecting rod 62
With on guide pad 51, the right-hand member of described first connecting rod 61 and the right-hand member of second connecting rod 62 are connected to triangle contiguous block 64
At two drift angles, described oscillating arm mechanisms 8 includes that third connecting rod 81, fourth link 82, the top of described third connecting rod 81 are connected to
Being connected at one drift angle of triangle contiguous block 64 and with the end of second connecting rod 62, the top of described fourth link 82 connects
At the residue drift angle of triangle contiguous block 64, the bottom of described third connecting rod 81 and fourth link 82 all with the second rotating mechanism
4 are connected, and described head 9 is connected on the second rotating mechanism 4.With stretching of stable quadrilateral connecting rod mechanism replacement oil cylinder
Mechanism controls the change of the cantilever amplitude of oscillation, and this Stability Analysis of Structures is reliable, and the efficiency changing the cantilever amplitude of oscillation is high, in the process of lifting heavy
In can arbitrarily convert the attitude of swing arm, simple to operate, be suitable for the weight transfer of various working environments；
This lifting manipulator has rotating mechanism respectively in the position of column and head, and the anglec of rotation is 360 ° of lifting heads can be with
Column does rotation or revolution, adds the working range of hoisting machine, and the rotation of head simultaneously can weight is on-demand asks arbitrary rising
Angle is put, and saves deduplication dress and hangs；
The process that hoists of weight uses reducing motor output, rack pinion, and lifting uphill process is steady, safety, noise are little；
Rising lifting process uses infinitely variable speeds rocking bar to control, and handles sense strong, moves up and down and controls precisely, steadily；
Simple and compact for structure, take up room little.
Being additionally provided with amplitude of oscillation guiding mechanism 10, described amplitude of oscillation guiding mechanism 10 includes the 5th connecting rod 101 and six-bar linkage 102,
The left end of described 5th connecting rod 101 is connected on movable block 52 by the 3rd hinge axis 103, the right side of described 5th connecting rod 101
End is connected to the top of third connecting rod 81, and the top of described six-bar linkage 102 is connected to the left arm of second connecting rod 62, and the described 6th
The bottom of connecting rod 102 is connected on the 3rd hinge axis 103.
Being provided with vertical guide runner 53 on the side of described guide pad 51, described movable block 52 is L-type structure, moves in L-type
The montant of motion block is provided with the slide guide projection 54 matched with described vertical guide runner, and the montant lateral surface at L-type movable block sets
Having teeth groove 55, be provided with bar shape trench hole 56 on the cross bar of L-type movable block, described 3rd hinge axis 103 is arranged on described bar-shaped trough
In hole 56.
Described first rotating mechanism 3 includes lifting capstan head 31, is arranged on the rotary shaft base 32 on described lifting capstan head 31,
Being provided with rotary clamp plate 33 on the symmetrical sides of described rotary shaft base 32, described rotary clamp plate 33 is fixed by screws in rotation
On the side of axle base 32, in described rotary shaft base plate, it is sequentially provided with first deep groove ball bearing the 34, first spacer from bottom to top
35, the first thrust ball bearing 36, clutch shaft bearing set 37 and fixing nut 38, described column is fixed on bottom and the institute of lifting capstan head
State to slide up and down and fix bottom the guide pad of mechanism between two rotary clamp plates.
Described second rotating mechanism 4 includes T-shaped spill spin block 41, is set in second outside T-shaped spill spin block 41 montant
Bearing holds 42 and for the lock-bit nut 43 being fixed on T-shaped spill spin block 41 by the second bearing holder (housing, cover) 42, at described second bearing
Overlap be sequentially provided with from top to bottom between the montant of T-shaped spill spin block second deep groove ball bearing the 44, second thrust ball bearing 45, the
Two spacer 46 and the 3rd deep groove ball bearings 47, described head is arranged on the montant bottom of T-shaped spill spin block, described third connecting rod and
Fourth link is arranged on the cross bar two ends of T-shaped spill spin block.
Described head 9 includes headstock 91, the handle 92 being arranged on described headstock two sides, is arranged on described head
The SR 93 of seat left surface and operation rocking bar 94 and the lifting hanging scroll 95 being arranged on headstock right-hand member, the top of described headstock
Face is connected with the T-shaped spill spin block montant of the second rotating mechanism.
It is additionally provided with and adds, with described, the reduction box that speed motor is connected.
Wherein the operation principle of the first rotating mechanism is as follows:
Lifting capstan head be fixed on column motionless, bearing holder (housing, cover), rotary shaft seat board, rotary clamp plate these three part for being rigidly connected,
Its centre bearer bush is built with bearing, and lower end uses a deep groove ball bearing, one thrust ball bearing of middle employing, and separates with spacer
The deep groove ball bearing of lower end, allows the inner ring of deep groove ball bearing of lower end contact with spacer, upper end uses a deep groove ball bearing,
And push down bearing inner race with bearing pressure ring, upper end locks round nut and jump ring again.Deep groove ball bearing substantial radial load, pushes away
Power ball bearing is primarily subjected to axial load.Rotary course enclose motionless under the inside of deep groove ball bearing and thrust ball bearing, zanjon
The outer ring of ball bearing can rotate with the upper circle of thrust ball bearing together with the rotation of mechanism.This mechanism is well assigned with stress
Situation, service life and the stability of raising mechanism are it can also be used to other equipment Impact direction are mainly the most axially and radially power
Rotary motion in.
The operation principle sliding up and down mechanism is as follows:
The rotating band carry-over bar secondary motion of transmission case output gear makes to move up and down, on slide mechanism on whole slide mechanism
4 rollers roll in chute.
Cantilever mechanism, amplitude of oscillation guiding mechanism, oscillating arm mechanisms operation principle are as follows:
These 3 mechanisms are parallel-crank mechanism, and wherein the 3rd hinge axis of amplitude of oscillation guiding mechanism can be at movable block
Bar shape trench hole slides,.
The operation principle of the second rotating mechanism is identical with the first rotating mechanism.
The operation principle of whole mechanical hand is as follows:
Operation rocking bar on operation head, controls reducing motor and rotates, and operating is transferred to reduction box and is transferred on output gear again,
Output gear band carry-over bar, makes to slide up and down the upper (lower) motion of mechanism, and the web sliding up and down mechanism supports amplitude of oscillation guiding mechanism
A hinge, be delivered to cantilever mechanism by 6 power of connecting rod, now cantilever mechanism can around the first hinge axis and second hinge
Chain rivet rotates, and the other end of cantilever mechanism can rise thus drives the rising of oscillating arm mechanisms, reaches head lifting or transfer exists
Purpose.In use the most manually swing head and control the attitude of mechanical hand.
Lifting manipulator work operation instruction:
First weight hanging belt hangs on lifting hanging scroll, holds head handle, then controls action bars and (push away then machine on action bars
Head moves upward, otherwise then moves downward, and the amplitude of fluctuation of operation rocking bar controls the speed of rise and fall) arrive when heavy lift
When needing position, come loose rocking bar, and rocking bar is understood and oneself reset to zero point, head stop motion.During heavy lift or decline
The direction of Non-follow control head at any time weight direction on demand can be made to put；The amplitude of oscillation that simultaneously also can control swing arm makes weight put
It is placed on the position of needs.
The reasonable in design of the present invention, which reduces the use of oil hydraulic cylinder, such that it is able to avoid the skill that oil hydraulic cylinder brings
Art is not enough, improves work efficiency, simultaneously its working range that can effectively improve hoisting machine and weight lifting to a certain extent
Positioning precision, the form that mechanism up and down is hoist engine of traditional crane, i.e. the folding and unfolding of lifting rope is controlled by winching barrel
Rising or falling of weight, hoisting mechanism noise is big, runs unstable, but this mechanical hand lifting controls to be by gear teeth up and down
Bar mechanism realizes, and operates steadily, and is easily controlled thus can also reduce the noise of loop wheel machine, improves stability in use and peace
Overall coefficient, the suitability is strong and practicality is given birth to.
Obviously, the above embodiment of the present invention is only for clearly demonstrating example of the present invention, and is not right
The restriction of embodiments of the present invention.For those of ordinary skill in the field, the most also may be used
To make other changes in different forms.Here without also cannot all of embodiment be given exhaustive.And these
Belong to obvious change that the connotation of the present invention extended out or variation still falls within protection scope of the present invention.
Claims (7)
1. a multiple degrees of freedom lifting manipulator, the column including base, being arranged on described base and be arranged on described column
On robot manipulator structure, it is characterised in that: described robot manipulator structure includes the first rotating mechanism, the second rotating mechanism, upper downslide
Motivation structure, cantilever mechanism, reducing motor, oscillating arm mechanisms and head, described first rotating mechanism is arranged on the top of described column,
Described slide up and down mechanism be arranged on described first rotating mechanism top and described in slide up and down mechanism and include guide pad and shifting
Motion block, described movable block is with reducing motor by driving tooth bar to be flexibly connected, and described cantilever mechanism includes first connecting rod, the second company
Bar, reset tension spring and triangle contiguous block, the left end of described first connecting rod is connected to the upper end of guide pad by the first hinge axis,
The left end of described second connecting rod is connected to the middle part of guide pad by the second hinge axis, and described first hinge axis is arranged on movable block
Motion track top, described second hinge axis is arranged on the motion track of movable block, and the two ends of described back-moving spring are respectively
Being arranged on right-hand member and the guide pad of described second connecting rod, the right-hand member of described first connecting rod and the right-hand member of second connecting rod connect respectively
At two drift angles of triangle contiguous block, described oscillating arm mechanisms includes third connecting rod, fourth link, the top of described third connecting rod
Portion is connected to be connected at a drift angle of triangle contiguous block and with the end of second connecting rod, and the top of described fourth link is even
Being connected at the residue drift angle of triangle contiguous block, described third connecting rod is all connected with the second rotating mechanism with the bottom of fourth link
Connecing, described head is connected on the second rotating mechanism.
Multiple degrees of freedom lifting manipulator the most according to claim 1, it is characterised in that: it is additionally provided with amplitude of oscillation guiding mechanism, institute
State amplitude of oscillation guiding mechanism and include that the 5th connecting rod and six-bar linkage, the left end of described 5th connecting rod are connected to by the 3rd hinge axis
On movable block, the right-hand member of described 5th connecting rod is connected to the top of third connecting rod, and the top of described six-bar linkage is connected to second
The left arm of connecting rod, the bottom of described six-bar linkage is connected on the 3rd hinge axis.
Multiple degrees of freedom lifting manipulator the most according to claim 2, it is characterised in that: set on the side of described guide pad
Having vertical guide runner, described movable block is L-type structure, is provided with and matches with described vertical guide runner on the montant of L-type movable block
The slide guide projection closed, the montant lateral surface at L-type movable block is provided with teeth groove, is provided with bar shape trench hole on the cross bar of L-type movable block,
Described 3rd hinge axis is arranged in described bar shape trench hole.
Multiple degrees of freedom lifting manipulator the most according to claim 3, it is characterised in that: described first rotating mechanism includes hanging
Dress capstan head, is arranged on the rotary shaft base on described lifting capstan head, is provided with rotation on the symmetrical sides of described rotary shaft base
Clamping plate, described rotary clamp plate is fixed by screws on the side of rotary shaft base, in described rotary shaft base plate from bottom to top
It is sequentially provided with the first deep groove ball bearing, the first spacer, the first thrust ball bearing, clutch shaft bearing set and fixes nut, described column
Be fixed on lifting capstan head bottom and described in slide up and down and fix between two rotary clamp plates bottom the guide pad of mechanism.
Multiple degrees of freedom lifting manipulator the most according to claim 4, it is characterised in that: described second rotating mechanism includes T
Font spill spin block, it is set in the second bearing outside T-shaped spill spin block montant and holds and for the second bearing holder (housing, cover) is fixed on T-shaped
Lock-bit nut on spill spin block, is sequentially provided with between described second bearing holder (housing, cover) and the montant of T-shaped spill spin block from top to bottom
Two deep groove ball bearings, the second thrust ball bearing, the second spacer and the 3rd deep groove ball bearing, described head is arranged on T-shaped rotation
The montant bottom of block, described third connecting rod and fourth link are arranged on the cross bar two ends of T-shaped spill spin block.
Multiple degrees of freedom lifting manipulator the most according to claim 5, it is characterised in that: described head includes headstock, sets
Put the handle on described headstock two sides, the SR being arranged on described headstock left surface and operation rocking bar and setting
It is connected at the lifting hanging scroll of headstock right-hand member, the end face of described headstock and the T-shaped spill spin block montant of the second rotating mechanism.
Multiple degrees of freedom lifting manipulator the most according to claim 6, it is characterised in that: it is additionally provided with and adds speed motor phase with described
The reduction box connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610746300.3A CN106185641B (en) | 2016-08-29 | 2016-08-29 | Multiple degrees of freedom lifting manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610746300.3A CN106185641B (en) | 2016-08-29 | 2016-08-29 | Multiple degrees of freedom lifting manipulator |
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| Publication Number | Publication Date |
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| CN106185641A true CN106185641A (en) | 2016-12-07 |
| CN106185641B CN106185641B (en) | 2018-04-20 |
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| CN201610746300.3A Active CN106185641B (en) | 2016-08-29 | 2016-08-29 | Multiple degrees of freedom lifting manipulator |
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Cited By (6)
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|---|---|---|---|---|
| CN106672820A (en) * | 2017-02-17 | 2017-05-17 | 大连理工大学 | Miniature energy-saving hoisting equipment |
| CN107445078A (en) * | 2017-09-15 | 2017-12-08 | 连雪芳 | One kind carries upset crane |
| CN107443885A (en) * | 2017-09-25 | 2017-12-08 | 李琼兵 | Flat boiling hot coiling machine |
| CN108216751A (en) * | 2017-12-20 | 2018-06-29 | 张家港燎原环保科技有限公司 | The filling platform of sodium sulfocyanate material |
| CN111320088A (en) * | 2020-02-27 | 2020-06-23 | 苏州谦合诚智能科技有限公司 | Hoisting equipment with good stability for installation of large-scale power equipment |
| CN113602986A (en) * | 2021-09-30 | 2021-11-05 | 南通杰品起重设备有限公司 | Self-stabilizing cantilever of crane |
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| CN106672820A (en) * | 2017-02-17 | 2017-05-17 | 大连理工大学 | Miniature energy-saving hoisting equipment |
| CN107445078A (en) * | 2017-09-15 | 2017-12-08 | 连雪芳 | One kind carries upset crane |
| CN107443885A (en) * | 2017-09-25 | 2017-12-08 | 李琼兵 | Flat boiling hot coiling machine |
| CN108216751A (en) * | 2017-12-20 | 2018-06-29 | 张家港燎原环保科技有限公司 | The filling platform of sodium sulfocyanate material |
| CN111320088A (en) * | 2020-02-27 | 2020-06-23 | 苏州谦合诚智能科技有限公司 | Hoisting equipment with good stability for installation of large-scale power equipment |
| CN113602986A (en) * | 2021-09-30 | 2021-11-05 | 南通杰品起重设备有限公司 | Self-stabilizing cantilever of crane |
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| CN106185641B (en) | 2018-04-20 |
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Address after: 528400 3 floor five area C 6, nine Sha Road, Torch Development Zone, Zhongshan, Guangdong. Patentee after: Guangdong Ying Da Si Xun Intelligent Manufacturing Co., Ltd. Address before: 528437 room 1609, digital exhibition hall, 16 Convention and Exhibition Road, Zhongshan Torch Development Zone, Guangdong Patentee before: Nakayama Edachi Intelligent Technology Co., Ltd. |