CN106258794B - A kind of automatic column robot - Google Patents
A kind of automatic column robot Download PDFInfo
- Publication number
- CN106258794B CN106258794B CN201610780432.8A CN201610780432A CN106258794B CN 106258794 B CN106258794 B CN 106258794B CN 201610780432 A CN201610780432 A CN 201610780432A CN 106258794 B CN106258794 B CN 106258794B
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- Prior art keywords
- sliding
- hydraulic cylinder
- mechanical arm
- equipment
- horizontal
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G17/00—Cultivation of hops, vines, fruit trees, or like trees
- A01G17/04—Supports for hops, vines, or trees
- A01G17/06—Trellis-work
- A01G17/08—Tools e.g. clips for attaching hops, vines, or boughs to trellis-work; Tying devices
- A01G17/085—Espalier machines; Tying machines
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- Life Sciences & Earth Sciences (AREA)
- Botany (AREA)
- Environmental Sciences (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of automatic column robot, including base, the first slewing equipment, upright guide rail, vertical sliding mechanism, first hydraulic cylinder, 2 second hydraulic cylinders etc., it is characterized by: the upright guide rail is fixedly mounted on the top of the first slewing equipment, the left and right sides of two column of sliding frame is uniformly equipped with 40 idler wheels, and it is located at the bottom and centre of sliding frame, the horizontal sliding equipment is slidably mounted in horizontal slide rail, drives horizontal sliding equipment horizontal balance by second hydraulic cylinder；The mechanical arm is slidably mounted on the right side of mechanical arm sliding rail by trapezoidal rails and dovetail groove, it drives entire fuselage rotation by the first slewing equipment, manipulator is facilitated to take column, lime column is erected by the second slewing equipment, it can lime column being stood in target position with exactly by vertical sliding mechanism and horizontal sliding equipment, precise and high efficiency uses manpower and material resources sparingly.
Description
Technical field
The present invention relates to field of agricultural machinery, in particular to a kind of automatic column robot.
Background technique
With agrotechnical fast development, in the large-scale plantation of grape, grapevine needs are erected, it is therefore desirable to
Large quantities of lime column is erected in the fields, and lime column specific gravity is larger, is moved and needs to spend very big manpower and time, and imitates
Rate is low, therefore is badly in need of a robot to replace artificial column.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of automatic column robot, it is entire by the driving of the first slewing equipment
Fuselage rotation, facilitates manipulator to take column, is erected lime column by the second slewing equipment, sliding by vertical sliding mechanism and level
Motivation structure can standing lime column in target position with exactly.
The technical scheme adopted by the invention is that: a kind of automatic column robot, including it is base, the first slewing equipment, perpendicular
Straight guide, vertical sliding mechanism, first hydraulic cylinder, 2 second hydraulic cylinders, horizontal sliding equipment, the second slewing equipment, mechanical arm
Sliding rail, 2 third hydraulic cylinders, mechanical arms, it is characterised in that: the base upper end is fixedly installed with the first slewing equipment, described
Upright guide rail is fixedly mounted on the top of the first slewing equipment, and the vertical sliding mechanism includes sliding frame, 40 idler wheels, 2
A connection frame, the first fixed frame, the second fixed frame, 4 cross slide ways, it is characterised in that: a left side for two column of sliding frame
Right two sides are uniformly equipped with 40 idler wheels, and 2 connection frames are fixedly mounted between two columns of sliding frame, and position respectively
In the bottom and centre of sliding frame, first fixed frame and the second fixed frame are respectively and fixedly installed on the left of 2 connection frames,
4 cross slide ways are fixedly mounted on horizontally to the right is separately mounted to both ends on the right side of connection frame；The first hydraulic cylinder piston
Bar bottom end is fixedly mounted on the top of the first slewing equipment, and the cylinder barrel of first hydraulic cylinder passes through the first fixed frame and the second fixed frame
It is fixedly mounted in vertical sliding mechanism, drives vertical sliding mechanism to move up and down by first hydraulic cylinder；The horizontal sliding
Mechanism slips are mounted in horizontal slide rail, and the second hydraulic cylinder both ends horizontal is fixedly mounted on connection frame and horizontal sliding equipment
Between, horizontal sliding equipment horizontal balance is driven by second hydraulic cylinder；Second slewing equipment is fixedly mounted on horizontal cunning
On motivation structure front end face, the mechanical arm sliding rail is fixedly mounted on the front end face of the second slewing equipment, passes through the second slewing equipment
Drive the rotation of mechanical arm sliding rail；The mechanical arm includes sliding block, 2 trapezoidal rails, 2 the 4th hydraulic cylinders, manipulator, feature
Be: trapezoidal sliding rail is distributed in both ends respectively on the left of the mechanical arm, and the slider bottom both ends are fixedly installed with 2 the 4th liquid
Cylinder pressure, the manipulator are fixedly mounted on the piston rod end of the 4th hydraulic cylinder；Both ends are distributed on the left of the mechanical arm sliding rail
Two dovetail grooves, the mechanical arm are slidably mounted on the right side of mechanical arm sliding rail by trapezoidal rails and dovetail groove, the third liquid
Cylinder pressure both ends are respectively and fixedly installed between mechanical arm sliding rail and sliding block, are moved up and down by third Driven by Hydraulic Cylinder mechanical arm.
Working principle of the present invention: pass through the first slewing equipment, first hydraulic cylinder, third hydraulic cylinder, the 4th hydraulic cylinder first
Driving manipulator clamps lime column, then is lifted lime column by first hydraulic cylinder and third Driven by Hydraulic Cylinder manipulator, then
Lime column is turned into vertical position by the second slewing equipment driving manipulator, further passes through the first slewing equipment and second
Lime column is moved to above target position by Driven by Hydraulic Cylinder manipulator, eventually by loosen first hydraulic cylinder, third hydraulic cylinder,
4th hydraulic cylinder puts down lime column, completes column work.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that it is driven by the first slewing equipment
Move the rotation of entire fuselage, facilitate manipulator to take column, erected lime column by the second slewing equipment, by vertical sliding mechanism and
Horizontal sliding equipment can lime column being stood in target position with exactly, precise and high efficiency uses manpower and material resources sparingly.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the overall structure diagram of another angle of the present invention.
Fig. 3 is vertical sliding mechanism structure schematic diagram of the invention.
Fig. 4 is mechanical arm structural schematic diagram of the invention.
Drawing reference numeral: 1- base；The first slewing equipment of 2-；3- upright guide rail；4- vertical sliding mechanism；5- first is hydraulic
Cylinder；6- second hydraulic cylinder；The horizontal sliding equipment of 7-；The second slewing equipment of 8-；9- mechanical arm sliding rail；10- third hydraulic cylinder；11-
Mechanical arm；401- sliding frame；402- idler wheel；403- connection frame；The first fixed frame of 404-；The second fixed frame of 405-；406- is horizontal
Direction guiding rail；1101- sliding block；1102- trapezoidal rails；The 4th hydraulic cylinder of 1103-；1104- manipulator.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of automatic column robot, including it is base 1, the first slewing equipment 2, vertical
Guide rail 3, vertical sliding mechanism 4,5,2 second hydraulic cylinders 6 of first hydraulic cylinder, horizontal sliding equipment 7, the second slewing equipment 8, machine
Tool arm sliding rail 9,2 third hydraulic cylinders 10, mechanical arms 11, it is characterised in that: 1 upper end of base is fixedly installed with the first revolution
Device 2, the upright guide rail 3 are fixedly mounted on the top of the first slewing equipment 2, and the vertical sliding mechanism 4 includes skate machine
405,4 401,40, frame, 402,2, idler wheel connection frame 403, the first fixed frame 404, the second fixed frame cross slide ways 406,
Be characterized in that: the left and right sides of 401 liang of columns of sliding frame is uniformly equipped with 40 idler wheels 402,2 connection frames
403 are fixedly mounted between two columns of sliding frame 401, and are located at the bottom and centre of sliding frame 401, and described
One fixed frame 404 and the second fixed frame 405 are respectively and fixedly installed to 2 connection frames, 403 left side, 4 cross slide ways, 406 water
Flat be fixedly mounted on to the right is separately mounted to 403 right side both ends of connection frame；The 5 piston rod bottom end of first hydraulic cylinder is fixedly mounted
At the top of the first slewing equipment 2, the cylinder barrel of first hydraulic cylinder 5 passes through the first fixed frame 404 and the fixed peace of the second fixed frame 405
In vertical sliding mechanism 4, vertical sliding mechanism 4 is driven to move up and down by first hydraulic cylinder 5；The horizontal sliding equipment
7 are slidably mounted in horizontal slide rail 406, and 6 both ends horizontal of second hydraulic cylinder is fixedly mounted on connection frame 403 and horizontal sliding
Between mechanism 7, horizontal 7 horizontal balance of sliding equipment is driven by second hydraulic cylinder 6；Second slewing equipment 8 is fixedly mounted
On horizontal 7 front end face of sliding equipment, the mechanical arm sliding rail 9 is fixedly mounted on the front end face of the second slewing equipment 8, passes through
Two-revolution device 8 drives mechanical arm sliding rail 9 to rotate；The mechanical arm 11 includes 1101,2 trapezoidal rails of sliding block 1102,2 the
Four hydraulic cylinders 1103, manipulator 1104, it is characterised in that: trapezoidal sliding rail is distributed in the 11 left side both ends of mechanical arm respectively
1102, the 1101 bottom both ends of sliding block are fixedly installed with 2 the 4th hydraulic cylinders 1103, and the manipulator 1104 is fixedly mounted on
The piston rod end of 4th hydraulic cylinder 1103；There are two dovetail groove, the mechanical arms for 9 left side both ends of the mechanical arm sliding rail distribution
11 are slidably mounted on 9 right side of mechanical arm sliding rail, 10 both ends of the third hydraulic cylinder difference by trapezoidal rails 1102 and dovetail groove
It is fixedly mounted between mechanical arm sliding rail 9 and sliding block 1101, drives mechanical arm 11 to move up and down by third hydraulic cylinder 10.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Working principle of the present invention: pass through the first slewing equipment 2, first hydraulic cylinder 5, third hydraulic cylinder 10, the 4th liquid first
1103 driving manipulator 1104 of cylinder pressure clamps lime column, then passes through 10 driving manipulator of first hydraulic cylinder 5 and third hydraulic cylinder
1104 lift lime column, then lime column is turned to vertical position by 8 driving manipulator 1104 of the second slewing equipment, into one
Lime column is moved to above target position by step by the first slewing equipment 2 and 6 driving manipulator 1104 of second hydraulic cylinder, finally
Lime column is put down by loosening first hydraulic cylinder 5, third hydraulic cylinder 10, the 4th hydraulic cylinder 1103, completes column work.
Claims (1)
1. a kind of automatic column robot, including base (1), the first slewing equipment (2), upright guide rail (3), vertical sliding mechanism
(4), first hydraulic cylinder (5), 2 second hydraulic cylinders (6), horizontal sliding equipment (7), the second slewing equipment (8), mechanical arm sliding rail
(9), 2 third hydraulic cylinders (10), mechanical arm (11), it is characterised in that: base (1) upper end is fixedly installed with the first revolution
Device (2), the upright guide rail (3) are fixedly mounted on the top of the first slewing equipment (2), vertical sliding mechanism (4) packet
Include sliding frame (401), 40 idler wheels (402), 2 connection frames (403), the first fixed frame (404), the second fixed frame (405),
The left and right sides of 4 cross slide ways (406), (401) two column of sliding frame is uniformly equipped with 40 idler wheels (402), institute
It states 2 connection frames (403) to be fixedly mounted between two columns of sliding frame (401), and is located at sliding frame (401)
It is left that bottom and centre, first fixed frame (404) and the second fixed frame (405) are respectively and fixedly installed to 2 connection frames (403)
Side, 4 cross slide ways (406) are fixedly mounted on horizontally to the right is separately mounted to both ends on the right side of connection frame (403)；Described
One hydraulic cylinder (5) piston rod bottom end is fixedly mounted on the top of the first slewing equipment (2), and the cylinder barrel of first hydraulic cylinder (5) passes through
First fixed frame (404) and the second fixed frame (405) are fixedly mounted on vertical sliding mechanism (4), are passed through first hydraulic cylinder (5)
Vertical sliding mechanism (4) are driven to move up and down；The horizontal sliding equipment (7) is slidably mounted on horizontal slide rail (406), described
Second hydraulic cylinder (6) both ends horizontal is fixedly mounted between connection frame (403) and horizontal sliding equipment (7), hydraulic by second
Cylinder (6) drives horizontal sliding equipment (7) horizontal balance；Second slewing equipment (8) is fixedly mounted on horizontal sliding equipment (7)
On front end face, the mechanical arm sliding rail (9) is fixedly mounted on the front end face of the second slewing equipment (8), passes through the second slewing equipment
(8) driving mechanical arm sliding rail (9) rotation；The mechanical arm (11) includes sliding block (1101), 2 trapezoidal rails (1102), 2
Trapezoidal sliding rail (1102), institute is distributed in four hydraulic cylinders (1103), manipulator (1104), mechanical arm (11) left side both ends respectively
It states sliding block (1101) bottom both ends and is fixedly installed with 2 the 4th hydraulic cylinders (1103), the manipulator (1104) is fixedly mounted on
The piston rod end of 4th hydraulic cylinder (1103)；There are two dovetail groove, the machines for both ends distribution on the left of the mechanical arm sliding rail (9)
Tool arm (11) is slidably mounted on the right side of mechanical arm sliding rail (9) by trapezoidal rails (1102) and dovetail groove, the third hydraulic cylinder
(10) both ends are respectively and fixedly installed between mechanical arm sliding rail (9) and sliding block (1101), pass through third hydraulic cylinder (10) driving machine
Tool arm (11) moves up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610780432.8A CN106258794B (en) | 2016-08-31 | 2016-08-31 | A kind of automatic column robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610780432.8A CN106258794B (en) | 2016-08-31 | 2016-08-31 | A kind of automatic column robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106258794A CN106258794A (en) | 2017-01-04 |
| CN106258794B true CN106258794B (en) | 2019-08-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610780432.8A Active CN106258794B (en) | 2016-08-31 | 2016-08-31 | A kind of automatic column robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106258794B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108476912A (en) * | 2018-05-29 | 2018-09-04 | 昆明学院 | A kind of driving device for digging tree cutter turning motion |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0401751A1 (en) * | 1989-06-08 | 1990-12-12 | Luigi Paris | Climbing robot, movable along a trestle structure, particularly of a pole for high-voltage overhead electric lines |
| CN203993876U (en) * | 2014-03-28 | 2014-12-10 | 温州职业技术学院 | Turn-over and displacement manipulator |
| CN104227697A (en) * | 2013-06-18 | 2014-12-24 | 东营信盛机械有限公司 | Feeding and discharging robot for intermediate-frequency quenching machine |
| CN205363141U (en) * | 2015-10-29 | 2016-07-06 | 广州瑞松科技有限公司 | Little welding system of stand robot |
| CN205465677U (en) * | 2016-01-05 | 2016-08-17 | 广东磨克科技有限公司 | Upright device |
-
2016
- 2016-08-31 CN CN201610780432.8A patent/CN106258794B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0401751A1 (en) * | 1989-06-08 | 1990-12-12 | Luigi Paris | Climbing robot, movable along a trestle structure, particularly of a pole for high-voltage overhead electric lines |
| CN104227697A (en) * | 2013-06-18 | 2014-12-24 | 东营信盛机械有限公司 | Feeding and discharging robot for intermediate-frequency quenching machine |
| CN203993876U (en) * | 2014-03-28 | 2014-12-10 | 温州职业技术学院 | Turn-over and displacement manipulator |
| CN205363141U (en) * | 2015-10-29 | 2016-07-06 | 广州瑞松科技有限公司 | Little welding system of stand robot |
| CN205465677U (en) * | 2016-01-05 | 2016-08-17 | 广东磨克科技有限公司 | Upright device |
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| Publication number | Publication date |
|---|---|
| CN106258794A (en) | 2017-01-04 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190718 Address after: 312000 Cauchy Industrial Zone, Keqiao District, Zhejiang, Shaoxing Applicant after: Wall Huang, new material, Limited by Share Ltd Address before: Lu Xiang East Village 054900 Xingtai City, Hebei province Linxi County No. 71 Applicant before: Zhang Yuhua |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201110 Address after: 2-6, 2 / F, venture building, Deqing science and Technology Park, 333 Changhong middle street, Fuxi street, Deqing County, Huzhou City, Zhejiang Province (Moganshan national high tech Zone) Patentee after: HUZHOU HONGJIN AUTOMATION TECHNOLOGY Co.,Ltd. Address before: 312000 Cauchy Industrial Zone, Keqiao District, Zhejiang, Shaoxing Patentee before: WONDERFUL-WALL NEW MATERIALS Corp.,Ltd. |