CN106514622B - A kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet - Google Patents
A kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet Download PDFInfo
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- CN106514622B CN106514622B CN201611115287.8A CN201611115287A CN106514622B CN 106514622 B CN106514622 B CN 106514622B CN 201611115287 A CN201611115287 A CN 201611115287A CN 106514622 B CN106514622 B CN 106514622B
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- cabinet
- chuck
- fixed plate
- freedom
- electric sliding
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Classifications
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- 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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0042—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-universal-universal
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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
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/04—Tine grabs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The present invention relates to a kind of working methods grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet, including four-freedom parallel mechanism, fixed plate, four electric sliding rails and four grippers, four-freedom parallel mechanism is located at right above fixed plate, and it is attached between four-freedom parallel mechanism and fixed plate using bolt, fixed plate is square structure, four electric sliding rails are located on four apex angle bisectors of fixed plate, and electric sliding rail and fixed plate are connected, four grippers are separately mounted to immediately below four electric sliding rails.The present invention realizes spatial movement state of the invention by controlling mobile sliding block moving back and forth on directive slide track, a translation three can be achieved in space using the four-freedom parallel mechanism of 4-CRC mode and rotate four-degree-of-freedom movement altogether, increase the stability of present invention crawl cabinet, it is therefore prevented that jitter problem of cabinet during carrying lifting.
Description
Technical field
It is the present invention relates to capture apparatus field, in particular to a kind of to be grabbed based on the four-degree-of-freedom of parallel institution from steady cabinet
Bucket.
Background technique
Grab bucket is to grab the bucket that silt stone and various bulk goods can open and close, and is a kind of mainly by two groups in left and right
Close the folding crawl of bucket or multiple jaws and draw off the suspender of bulk material, grab bucket according to Shape Classification can be divided into mytiliform grab bucket and
Orange petal grab bucket, the former is made of two complete scraper bowls, and the latter is made of three or three or more jaws；According to driving method
Fluid pressure type grab bucket and mechanical grab bucket two major classes can be divided into.
With the development of modern logistics, the transport of cargo is more and more flourishing, and present cargo mostly uses cabinet to be loaded, right
Container loading is then used in large cargo equipment, therefore, in port and pier, transport vehicle station and some from the ground such as trade area, cabinet
Carrying is all not within minority daily, at present carries small box then using manual handling, big cabinet carrying mostly uses fork truck, collects
Vanning is carried using grab bucket and crane, and existing cabinet carries lifting and has no professional grab bucket, and what is generallyd use is that claw is grabbed
Bucket, such grab bucket are very big to damage on the outside of cabinet, even destroy box house article sometimes, while grab bucket is cooperated in lifting machine
It is lower carrying out cabinet carrying, therefore, shake is easily generated when cabinet is carried in grab bucket and is jolted, is easy to the intracorporal object of case
Product damage.In consideration of it, the present invention provides it is a kind of can damping the dedicated capture apparatus of cabinet, i.e., it is a kind of to be based on parallel institution
Four-degree-of-freedom grab bucket from steady cabinet.
Summary of the invention
To solve the above-mentioned problems, the present invention provide it is a kind of grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet,
Spatial movement state of the invention is realized by controlling mobile sliding block moving back and forth on directive slide track, using 4-
A translation three can be achieved in space and rotate four-degree-of-freedom movement altogether for the four-freedom parallel mechanism of CRC pattern, increase this hair
The stability of bright crawl cabinet, it is therefore prevented that jitter problem of cabinet during carrying lifting.
To achieve the goals above, the present invention is realized using following technical scheme: a kind of four selfs based on parallel institution
It is grabbed bucket by spending from steady cabinet, including four-freedom parallel mechanism, fixed plate, four electric sliding rails and four grippers, it is described
Four-freedom parallel mechanism is located at right above fixed plate, and is connected between four-freedom parallel mechanism and fixed plate using bolt
It connects；The fixed plate is square structure, and four electric sliding rails are located on four apex angle bisectors of fixed plate, and electronic
Sliding rail and fixed plate are connected；Four grippers are separately mounted to immediately below four electric sliding rails.
As a further improvement of the present invention, the four-freedom parallel mechanism includes moving platform, fixed platform, support
Bar, universal joint, mobile sliding block and directive slide track；The rounded structure of the moving platform, fixed platform is in rectangular configuration, support rod,
The quantity of mobile sliding block and directive slide track is four, and the quantity of universal joint is eight；Four support rods are located at moving platform and determine
Between platform, and four support rods are respectively arranged four side of moving platform, and support rod one end passes through universal joint and moving platform bottom face phase
Connection, the support rod other end are connected by universal joint with mobile sliding block；Four directive slide tracks are respectively along fixed platform
Mandrel line is fixed on the front and rear sides of fixed platform, and mobile sliding block is mounted on directive slide track, is being oriented to by controlling mobile sliding block
Moving back and forth to realize spatial movement state of the invention, using the four-freedom parallel of 4-CRC mode on sliding rail
A translation three can be achieved in space and rotate four-degree-of-freedom movement altogether for structure.
As a further improvement of the present invention, the gripper include mobile sliding block, upper chuck, lower chuck, telescopic rod,
Upper ear seat, lower ear base and hydraulic cylinder；The mobile sliding block is fixed on upper chuck top end, offers mounting ear on mobile sliding block
Hole；It is connected between the upper chuck bottom end and lower chuck top by telescopic rod；The upper chuck is in triangular shape column
Structure is uniformly provided with circular through hole on upper chuck two sidewalls, and upper chuck bottom end vertex is provided with upper bush, and upper bush
Internal diameter is slightly larger than telescopic rod outer diameter；The lower chuck is also in triangular shape pillar construction, and lower chuck is uniformly provided on two sidewalls
Lower circular through hole, lower chuck top vertex is provided with lower sleeve, and lower sleeve internal diameter is slightly larger than telescopic rod outer diameter, lower chuck bottom
End is provided with shovel ear, shovels the fan-shaped structure of ear, shovels at ear front port and is provided with gradient；The upper ear seat is fixed on upper chuck
On the lateral wall of bottom end, lower ear base is fixed on the lateral wall on lower chuck top, and upper ear seat and lower ear base are Ω type structure, liquid
Cylinder pressure is between upper ear seat and lower ear base, and hydraulic cylinder bottom end is mutually fixed with upper ear seat, and hydraulic cylinder top is connected with lower ear base
It connects.
In use, starting electric sliding rail positive first, drives four grippers to flex outward simultaneously by electric sliding rail；So
Positive starting hydraulic cylinder afterwards, the vertical downward movement of lower chuck is driven by the stretching, extension of hydraulic cylinder, and is realized simultaneously entire mechanical
The rotation deflecting campaign of pawl, four turnings of cabinet so that four grippers just recline, when the shovel ear of lower chuck bottom end reaches
When the bottom of box, then reverse starting electric sliding rail, drive four grippers simultaneously to contract by electric sliding rail, when upper
Two lateral walls at collet inner sidewall and lower chuck inner sidewall and box section corner stop electric sliding rail when contacting, and realize to cabinet four
The fixation of side, then reverse starting hydraulic cylinder drive the upward vertical movement of lower chuck by the contraction of hydraulic cylinder, when upper chuck top
End medial surface and lower chuck bottom end medial surface respectively face contact up and down with cabinet when stop hydraulic cylinder, to realize to cabinet
The fixation of upper and lower side, lifting by crane fixed plate by crane can be achieved with lifting and carrying to cabinet.During lifting handling,
It realizes spatial movement state of the invention by controlling mobile sliding block moving back and forth on directive slide track, using 4-
A translation three can be achieved in space and rotate four-degree-of-freedom movement altogether for the four-freedom parallel mechanism 1 of CRC pattern, increase this hair
The stability of bright crawl cabinet, it is therefore prevented that jitter problem of cabinet during carrying lifting.
As a further improvement of the present invention, the support rod material is stainless steel material, using stainless steel material
Support rod can avoid problem of rustiness.
As a further improvement of the present invention, the directive slide track both ends are respectively arranged with postive stop baffle, by leading
Mobile sliding block is prevented to occur being detached from guiding cunning when moving back and forth back and forth on directive slide track to sliding rail both ends setting postive stop baffle
The phenomenon that rail.
Beneficial effects of the present invention: it is a kind of based on the four-degree-of-freedom of parallel institution from steady cabinet grab bucket have it is compact-sized,
The features such as operating convenient and low manufacture cost, compared with prior art, by control mobile sliding block on directive slide track come
It returns and moves back and forth to realize spatial movement state of the invention, using the four-freedom parallel mechanism of 4-CRC mode in space
A translation three can be achieved and rotate four-degree-of-freedom movement altogether, increase the stability of present invention crawl cabinet, it is therefore prevented that cabinet is being removed
Jitter problem during fortune lifting.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples；
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is the cooperation schematic diagram of fixed plate of the present invention, four electric sliding rails and four grippers；
Fig. 3 is the schematic perspective view of gripper of the present invention；
Fig. 4 is the schematic perspective view of four-freedom parallel mechanism of the present invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.It should be noted that in the absence of conflict, embodiment in the application and
Feature in embodiment can be combined with each other.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of to be grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet, including four
Freedom degree parallel connection mechanism 1,2, four electric sliding rails 3 of fixed plate and four grippers 4, the four-freedom parallel mechanism 1
Right above fixed plate 2, and it is attached between four-freedom parallel mechanism 1 and fixed plate 2 using bolt；The fixed plate
2 are square structure, and four electric sliding rails 3 are located on four apex angle bisectors of fixed plate 2, and electric sliding rail 3 and fixed
Plate 2 is connected；Four grippers 4 are separately mounted to immediately below four electric sliding rails 3.
As shown in figure 4, the four-freedom parallel mechanism 1 include moving platform 12, it is fixed platform 11, support rod 13, universal
Section 14, mobile sliding block 15 and directive slide track 16；The rounded structure of moving platform 12, fixed platform 11 is in rectangular configuration, support
The quantity of bar 13, mobile sliding block 15 and directive slide track 16 is four, and the quantity of universal joint 14 is eight；Four support rods 13
Between moving platform 12 and fixed platform 11, and four support rods 13 are respectively arranged 12 4 side of moving platform, and 13 one end of support rod passes through
Universal joint 14 is connected with 12 bottom face of moving platform, and 13 other end of support rod is connected by universal joint 14 with mobile sliding block 15；
Four directive slide tracks 16 are fixed on the front and rear sides of fixed platform 11, mobile sliding block 15 along the central axis of fixed platform 11 respectively
It is mounted on directive slide track 16, realizes the present invention by controlling mobile sliding block 15 moving back and forth on directive slide track 16
Spatial movement state, three rotation totally four of a translation can be achieved in space using the four-freedom parallel mechanism 1 of 4-CRC mode
Freedom degree movement.
As shown in Figures 2 and 3, the gripper 4 includes mobile sliding block 41, upper chuck 42, lower chuck 43, telescopic rod
44, upper ear seat 45, lower ear base 46 and hydraulic cylinder 47；The mobile sliding block 41 is fixed on 42 top end of upper chuck, mobile sliding block
Installation earhole is offered on 41；It is connected between 42 bottom end of upper chuck and 43 top of lower chuck by telescopic rod 44；Institute
The upper chuck 42 stated is in triangular shape pillar construction, is uniformly provided with circular through hole, 42 bottom of upper chuck on 42 two sidewalls of upper chuck
End vertex is provided with upper bush, and upper bush internal diameter is slightly larger than 44 outer diameter of telescopic rod；The lower chuck 43 is also in triangular shape
Pillar construction is uniformly provided with lower circular through hole on 43 two sidewalls of lower chuck, and 43 top vertex of lower chuck is provided with lower sleeve,
And lower sleeve internal diameter is slightly larger than 44 outer diameter of telescopic rod, 43 bottom end of lower chuck is provided with shovel ear, shovels the fan-shaped structure of ear, shovels ear front end
Gradient is provided at mouthful；The upper ear seat 45 is fixed on the lateral wall of 42 bottom end of upper chuck, and lower ear base 46 is fixed on down
On the lateral wall on 43 top of collet, upper ear seat 45 and lower ear base 46 are Ω type structure, and hydraulic cylinder 47 is located at upper ear seat 45 under
Between ear mount 46, and 47 bottom end of hydraulic cylinder is fixed with 45 phase of upper ear seat, and 47 top of hydraulic cylinder is connected with lower ear base 46.
As shown in figure 4,13 material of support rod is stainless steel material, can be kept away using the support rod 13 of stainless steel material
Exempt from problem of rustiness.
As shown in figure 4,16 both ends of directive slide track are respectively arranged with postive stop baffle, by 16 both ends of directive slide track
Postive stop baffle, which is arranged, prevents mobile sliding block 15 to occur being detached from directive slide track 16 when moving back and forth back and forth on directive slide track 16
Phenomenon.
In use, starting electric sliding rail 3 positive first, drives four grippers 4 simultaneously to overhanging by electric sliding rail 3
Exhibition；Then positive starting hydraulic cylinder 47, the vertical downward movement of lower chuck 43 is driven by the stretching, extension of hydraulic cylinder 47, and real simultaneously
The now rotation deflecting campaign of entire gripper 4, four turnings of cabinet so that four grippers 4 just recline, when lower chuck 43
When the shovel ear of bottom end reaches the bottom of box, then reverse starting electric sliding rail 3, four grippers 4 are driven by electric sliding rail 3
Simultaneously to contract, stopping when two lateral walls at 42 inner sidewall of upper chuck and 43 inner sidewall of lower chuck and box section corner contact
Electric sliding rail 3 realizes the fixation to four side of cabinet, then reverse starting hydraulic cylinder 47, drives lower folder by the contraction of hydraulic cylinder 47
The upward vertical movement of set, when 42 top inner side face of upper chuck and 43 bottom end medial surface of lower chuck connect with the top and bottom of cabinet respectively
Stop hydraulic cylinder 47 when touching, to realize the fixation to the upper and lower side of cabinet, lifting by crane fixed plate 2 by crane be can be achieved with to case
The lifting and carrying of body；It is past back and forth on directive slide track 16 by controlling mobile sliding block 15 during lifting handling
Multiple movement, can be real in space using the four-freedom parallel mechanism 1 of 4-CRC mode to realize spatial movement state of the invention
An existing translation three rotates four-degree-of-freedom movement altogether, increases the stability of present invention crawl cabinet, it is therefore prevented that cabinet is being carried
Jitter problem during hanging.
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 only illustrating for the description in above embodiments and description is of the 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. a kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet, the four-degree-of-freedom are grabbed bucket from steady cabinet
Including four-freedom parallel mechanism, fixed plate, four electric sliding rails and four grippers, it is characterised in that: described four are freely
Degree parallel institution is located at right above fixed plate, and is attached between four-freedom parallel mechanism and fixed plate using bolt；Institute
The fixed plate stated is square structure, and four electric sliding rails are located on four apex angle bisectors of fixed plate, and electric sliding rail
It is connected with fixed plate；Four grippers are separately mounted to immediately below four electric sliding rails；Wherein:
The four-freedom parallel mechanism includes moving platform, fixed platform, support rod, universal joint, mobile sliding block and directive slide track；
The rounded structure of the moving platform, fixed platform is in rectangular configuration, and the quantity of support rod, mobile sliding block and directive slide track is
Four, the quantity of universal joint is eight；Four support rods are between moving platform and fixed platform, and four support rods distinguish cloth
Four side of moving platform is set, support rod one end is connected by universal joint with moving platform bottom face, and the support rod other end passes through universal joint
It is connected with mobile sliding block；Four directive slide tracks are fixed on the front and back two of fixed platform along the central axis of fixed platform respectively
Side, mobile sliding block are mounted on directive slide track；
The gripper includes mobile sliding block, upper chuck, lower chuck, telescopic rod, upper ear seat, lower ear base and hydraulic cylinder；It is described
Mobile sliding block be fixed on upper chuck top end, offer installation earhole on mobile sliding block；The upper chuck bottom end and lower folder
Set is connected between top by telescopic rod；The upper chuck is in triangular shape pillar construction, and upper chuck is uniformly opened on two sidewalls
Equipped with upper circular through hole, upper chuck bottom end vertex is provided with upper bush, and upper bush internal diameter is slightly larger than telescopic rod outer diameter；It is described
Lower chuck be also in triangular shape pillar construction, lower circular through hole, lower chuck top apex angle are uniformly provided on lower chuck two sidewalls
Place is provided with lower sleeve, and lower sleeve internal diameter is slightly larger than telescopic rod outer diameter, and lower chuck bottom end is provided with shovel ear, shovels the fan-shaped knot of ear
Structure shovels at ear front port and is provided with gradient；The upper ear seat is fixed on the lateral wall of upper chuck bottom end, and lower ear base is fixed
On the lateral wall on lower chuck top, upper ear seat and lower ear base are Ω type structure, hydraulic cylinder be located at upper ear seat and lower ear base it
Between, and hydraulic cylinder bottom end is mutually fixed with upper ear seat, hydraulic cylinder top is connected with lower ear base；
The working method, comprising: starting electric sliding rail positive first drives four grippers simultaneously by electric sliding rail
It flexes outward；Then positive starting hydraulic cylinder, the vertical downward movement of lower chuck is driven by the stretching, extension of hydraulic cylinder, and real simultaneously
The now rotation deflecting campaign of entire gripper, four turnings of cabinet so that four grippers just recline, when lower chuck bottom end
Shovel ear when reach the bottom of box, then reverse starting electric sliding rail, by electric sliding rail drive four grippers simultaneously to
Contract, two lateral walls at upper chuck inner sidewall and lower chuck inner sidewall and box section corner stop electric sliding rail when contacting,
It realizes the fixation to four side of cabinet, then reverse starting hydraulic cylinder, the fortune vertically upward of lower chuck is driven by the contraction of hydraulic cylinder
It is dynamic, stop hydraulic cylinder when upper chuck top inner side face and lower chuck bottom end medial surface face contact up and down with cabinet respectively, from
And realize the fixation to the upper and lower side of cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611115287.8A CN106514622B (en) | 2015-06-11 | 2015-06-11 | A kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611115287.8A CN106514622B (en) | 2015-06-11 | 2015-06-11 | A kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet |
| CN201510324889.3A CN104858886B (en) | 2015-06-11 | 2015-06-11 | A kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510324889.3A Division CN104858886B (en) | 2015-06-11 | 2015-06-11 | A kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106514622A CN106514622A (en) | 2017-03-22 |
| CN106514622B true CN106514622B (en) | 2018-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611116424.XA Active CN106586826B8 (en) | 2015-06-11 | 2015-06-11 | It is a kind of to be grabbed bucket based on the four-degree-of-freedom of parallel institution from steady casing |
| CN201510324889.3A Active CN104858886B (en) | 2015-06-11 | 2015-06-11 | A kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing |
| CN201611115287.8A Active CN106514622B (en) | 2015-06-11 | 2015-06-11 | A kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet |
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| CN201611116424.XA Active CN106586826B8 (en) | 2015-06-11 | 2015-06-11 | It is a kind of to be grabbed bucket based on the four-degree-of-freedom of parallel institution from steady casing |
| CN201510324889.3A Active CN104858886B (en) | 2015-06-11 | 2015-06-11 | A kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing |
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| CN106586826B8 (en) * | 2015-06-11 | 2018-01-19 | 连云港浩森矿产品有限公司 | It is a kind of to be grabbed bucket based on the four-degree-of-freedom of parallel institution from steady casing |
| CN105945910B (en) * | 2016-05-16 | 2017-11-21 | 黄勇 | A kind of unmanned plane clamping manipulator |
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| CN111515985B (en) * | 2020-04-28 | 2022-12-30 | 深圳市兴达源吸塑制品有限公司 | Grabbing claw prepared from polypropylene plastic |
| CN113864578A (en) * | 2021-08-24 | 2021-12-31 | 华人运通(江苏)技术有限公司 | Screen adjusting device, display device and vehicle |
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2015
- 2015-06-11 CN CN201611116424.XA patent/CN106586826B8/en active Active
- 2015-06-11 CN CN201510324889.3A patent/CN104858886B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106514622A (en) | 2017-03-22 |
| CN106586826B (en) | 2017-12-22 |
| CN104858886A (en) | 2015-08-26 |
| CN106586826B8 (en) | 2018-01-19 |
| CN106586826A (en) | 2017-04-26 |
| CN104858886B (en) | 2016-12-07 |
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