CN106625565B - A kind of transformer transfer robot - Google Patents
A kind of transformer transfer robot Download PDFInfo
- Publication number
- CN106625565B CN106625565B CN201611263510.3A CN201611263510A CN106625565B CN 106625565 B CN106625565 B CN 106625565B CN 201611263510 A CN201611263510 A CN 201611263510A CN 106625565 B CN106625565 B CN 106625565B
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- China
- Prior art keywords
- electric cylinders
- servo
- servo electric
- hinge
- support
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The present invention provides a kind of transformer transfer robot, including pedestal, two the first hinge stents, two the first joints, two the first servo electric cylinders, two electric machine supports, two first servo motors, two guide wheel brackets, two directive wheels, two electronic wheel supports, two Electric Motor Wheels, shaft, worm gear, worm screw, endless screw support, second servo motor, shaft coupling, two guide rails, two sliding blocks, second servo electric cylinders, fixing seat, planker, second hinge stent, it is characterized by: the pedestal is rectangular, first hinge stent is respectively provided at left and right sides of pan frontward end；Transformer accurately can be installed to designated position by the present invention, and without manually adjusting again, installation accuracy is high, and small, high-efficient, saving human resources are influenced on transformer.
Description
Technical field
The present invention relates to electric power network technical field, in particular to a kind of transformer transfer robot.
Background technique
Transformer is the daily essential equipment of production activity, since the quality of transformer is larger, more to transformer
Tape swapping carrys out certain difficulty, while artificial and crane is difficult accurately to be installed in place.
Existing transformer is usually formed by coil and core combination, when the repetition of transformer is carried, it is easy to damage
Transformer.Since its magnetic core of transformer is soft magnetic materials, the mutual shock in carrying, it is easy to lead to transformer soft magnetic core
Rupture damages transformer.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of transformer transfer robot, accurately transformer can be installed
To designated position, without manually adjusting again, installation accuracy is high, and small, high-efficient, saving human resources are influenced on transformer.
Technical solution used in the present invention is: a kind of transformer transfer robot, including pedestal, two it is first hinged
Frame, two the first joints, two the first servo electric cylinders, two electric machine supports, two first servo motors, two directive wheel branch
Frame, two directive wheels, two electronic wheel supports, two Electric Motor Wheels, shaft, worm gear, worm screw, endless screw support, the second servo motor,
Shaft coupling, two guide rails, two sliding blocks, the second servo electric cylinders, fixing seat, planker, the second hinge stent, hinged-support, third servo
Electric cylinders, two third hinge stents, two the 4th servo electric cylinders, two the 4th hinge stents, the 5th hinge stent, basetrays, six
5th servo electric cylinders, pallet, master jaw, four claw arms, four claws, four second joints, four the 6th hinge stents, it is special
Sign is: the pedestal be it is rectangular, be respectively provided with first hinge stent, two the first servo electric cylinders at left and right sides of pan frontward end
It is separately mounted on two the first hinge stents by two the first joints of end, first joint is directly driven by steering engine
It is dynamic；The first servo electric cylinders front end is equipped with electric machine support, and first servo motor is mounted on electric machine support upper surface, and motor
Axis is straight down；The guide wheel bracket top is mounted on first servo motor motor shaft, and two directive wheels are installed respectively
On two guide wheel brackets；Every side is equipped with an electronic wheel support, two Electric Motor Wheels point at left and right sides of the pedestal rear
It is not mounted on two electronic wheel supports；
The shaft is rotatably installed in pedestal centre, and worm gear is mounted on shaft upper surface；The pedestal upper surface
Right side is equipped with endless screw support, and worm screw is mounted on endless screw support, and engages with worm gear, and second servo motor is fixedly mounted
At the endless screw support rear of pedestal upper surface, the second servo motor is connect with worm end by shaft coupling；
The worm gear upper surface is set there are two guide rail, and guide rail side is fixedly installed with the second servo electric cylinders, the second servo
Electric cylinders are parallel with guide rail, and there are two the sliding blocks respectively with the cooperation of two guide rails for the planker lower end surface fixed installation；Described
Second servo electric cylinders telescopic rod end is fixedly connected with the fixing seat of planker lower end surface；
The second hinge stent, the planker upper surface front end left and right sides are equipped at the planker upper surface rear-center
If third servo electric cylinders are hinged on the second hinge stent by the hinged-support of end, and two the 4th are watched there are two third hinge stent
It takes electric cylinders one end to be respectively hinged on two third hinge stents, the other end is respectively hinged at two at left and right sides of third servo electric cylinders
On a 4th hinge stent；The third servo electric cylinders telescopic rod end is equipped with the 5th hinge stent, and basetray upper end is hinged on
On 5th hinge stent, the basetray is circle；
In pairs, the cylinder ends of each 5th servo electric cylinders are hingedly mounted on support to six the 5th servo electric cylinders
It tries to get to the heart of a matter on a lower end surface, the piston rod end of the 5th servo electric cylinders is hingedly mounted on pallet top, in every group of the 5th servo electric cylinders
The piston rod ends of two the 5th servo electric cylinders separate, cylinder base is close together, and the axis of two the 5th servo electric cylinders is in V
Type distribution；
The master jaw is mounted on pallet lower end surface, and four claw arms are evenly distributed on master jaw lower end surface four
Week, four claws are the 6th hinged by four second joints of end be separately mounted to four claw arm ends four
On frame.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that
Transformer accurately can be installed to designated position by the present invention, and without manually adjusting again, installation accuracy is high, right
Transformer influences small, high-efficient, saving human resources.
Detailed description of the invention
Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 are the structural schematic diagram after of the invention be completed.
Fig. 6 is the partial enlarged view of worm and gear part of the invention.
Fig. 7 is the partial enlarged view of rail sections of the invention.
Fig. 8 is the partial enlarged view of the second servo electric cylinders of the invention.
Fig. 9 is the partial enlarged view of claw of the invention.
Drawing reference numeral: 1- pedestal；The first hinge stent of 2-；The first joint 3-；4- the first servo electric cylinders；5- electric machine support；6-
First servo motor；7- guide wheel bracket；8- directive wheel；The electronic wheel support of 9-；10- Electric Motor Wheel；11- shaft；12- worm gear；13-
Worm screw；14- endless screw support；The second servo motor of 15-；16- shaft coupling；17- guide rail；18- sliding block；19- the second servo electric cylinders；
20- fixing seat；21- planker；The second hinge stent of 22-；23- hinged-support；24- third servo electric cylinders；25- third hinge stent；26-
Four servo electric cylinders；The 4th hinge stent of 27-；The 5th hinge stent of 28-；29- basetray；The 5th servo electric cylinders of 30-；31- pallet；
32- master jaw；33- claw arm；34- claw；35- second joint；The 6th hinge stent of 36-.
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, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, a kind of transformer transfer robot, including bottom
1, two 3, two, the first joint of the first hinge stent 2, two electric machine support 5, two first of the first servo electric cylinders 4, two of seat is watched
Take 6, two, motor guide wheel bracket 7, two directive wheel 8, two electronic wheel support 9, two Electric Motor Wheels 10, shafts 11, worm gear
12, worm screw 13, endless screw support 14, the second servo motor 15,16, two, shaft coupling, 17, two, guide rail sliding block 18, the second servo electricity
24, two cylinder 19, fixing seat 20, planker 21, the second hinge stent 22, hinged-support 23, third servo electric cylinders third hinge stents 25, two
26, two the 4th hinge stents 27 of a 4th servo electric cylinders, the 5th hinge stent 28,29, six the 5th servo electric cylinders 30 of basetray,
Pallet 31,33, four, claw arm the 6th hinge stent 36 of second joint 35, four of claw 34, four of master jaw 32, four, it is special
Sign is: the pedestal 1 be it is rectangular, first hinge stent 2, two the first servos electricity are respectively provided at left and right sides of pan frontward end
Cylinder 4 is separately mounted on two the first hinge stents 2 by two the first joints 3 of end, and first joint 3 is straight by steering engine
Connect driving；First servo electric cylinders, 4 front end is equipped with electric machine support 5, and first servo motor 6 is mounted on 5 upper end of electric machine support
Face, and motor shaft vertical is downward；7 top of guide wheel bracket is mounted on 6 motor shaft of first servo motor, two guiding
Wheel 8 is separately mounted on two guide wheel brackets 7；Every side is equipped with an electronic wheel support at left and right sides of 1 rear of pedestal
9, two Electric Motor Wheels 10 are separately mounted on two electronic wheel supports 9；
The shaft 11 is rotatably installed in 1 centre of pedestal, and worm gear 12 is mounted on 11 upper surface of shaft；The pedestal
Endless screw support 14 is equipped on the right side of 1 upper surface, worm screw 13 is mounted on endless screw support 14, and engages with worm gear 12, and described second
Servo motor 15 is fixedly mounted on 14 rear of endless screw support of 1 upper surface of pedestal, and the second servo motor 15 and 13 end of worm screw are logical
Cross the connection of shaft coupling 16；
12 upper surface of worm gear is set there are two guide rail 17, is fixedly installed with the second servo electric cylinders 19 beside guide rail 17,
Second servo electric cylinders 19 are parallel with guide rail 17, and there are two match with two guide rails 17 respectively for 21 lower end surface of the planker fixed installation
The sliding block 18 of conjunction；Second servo electric cylinders, 19 telescopic rod end is fixedly connected with the fixing seat 20 of 21 lower end surface of planker；
The second hinge stent 22 is equipped at the 21 upper surface rear-center of planker, the 21 upper surface front end of planker is left
Right two sides are set there are two third hinge stent 25, and third servo electric cylinders 24 are hinged on the second hinge stent 22 by the hinged-support 23 of end
On, two 26 one end of the 4th servo electric cylinders are respectively hinged on two third hinge stents 25, and the other end is respectively hinged at third and watches
On two the 4th hinge stents 27 for taking 24 left and right sides of electric cylinders；24 telescopic rod end of third servo electric cylinders is equipped with the 5th hinge
Bracket 28,29 upper end of basetray are hinged on the 5th hinge stent 28, and the basetray 29 is circle；
Six the 5th servo electric cylinders 30 in pairs, hingedly install by the cylinder ends of each 5th servo electric cylinders 30
On 29 lower end surface of basetray, the piston rod end of the 5th servo electric cylinders 30 is hingedly mounted on 31 top of pallet, and every group the 5th
The piston rod end of two the 5th servo electric cylinders 30 in servo electric cylinders 30 separates, and cylinder base is close together, and two the 5th are watched
Take the V-shaped distribution of axis of electric cylinders 30；
The master jaw 32 is mounted on 31 lower end surface of pallet, and four claw arms 33 are evenly distributed on master jaw 32
Lower end surface surrounding, four claws 34 are separately mounted to four 33 ends of claw arm by four second joints 35 of end
Four the 6th hinge stents 36 on.
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: the present invention is rotated left and right by the first servo electric cylinders 4 and the elongation of the first servo electric cylinders 4
The stability of robot is improved, first servo motor 6 drives 7 holder pivots of guide wheel bracket control robot to turn to, passes through two
A Electric Motor Wheel 10 provides driving force；Worm screw 13 is driven to rotate by the second servo motor 15, so that worm gear 12 be made to rotate, second is watched
Taking the flexible of electric cylinders 19 makes planker 21 horizontally slip along guide rail 17, the flexible drive third servo electric cylinders 24 of the 4th servo electric cylinders 26
It moves up and down, master jaw 32 is realized in the Union Movement of third servo electric cylinders 24, the 4th servo electric cylinders 26, the 5th servo electric cylinders 30
Mobile, when use, clamps transformer by four claws 34, and robot is moved to designated position, passes through the drive planker of worm gear 12
21 rotations, moved left and right by planker 21 and master jaw 32 up and down, the movement of front and back transformer is accurately placed at it is specified
Position.
Claims (1)
1. a kind of transformer transfer robot, including pedestal (1), two the first hinge stents (2), two the first joints (3), two
First servo electric cylinders (4), two electric machine supports (5), two first servo motors (6), two guide wheel brackets (7), two lead
To wheel (8), two electronic wheel supports (9), two Electric Motor Wheels (10), shaft (11), worm gear (12), worm screw (13), endless screw support
(14), the second servo motor (15), shaft coupling (16), two guide rails (17), two sliding blocks (18), the second servo electric cylinders (19),
Fixing seat (20), planker (21), the second hinge stent (22), hinged-support (23), third servo electric cylinders (24), two third hinge stents
(25), two the 4th servo electric cylinders (26), two the 4th hinge stents (27), the 5th hinge stent (28), basetray (29), six
5th servo electric cylinders (30), pallet (31), master jaw (32), four claw arms (33), four claws (34), four second joints
(35), four the 6th hinge stents (36), it is characterised in that: the pedestal (1) be it is rectangular, be respectively provided at left and right sides of pan frontward end
One the first hinge stent (2), two the first servo electric cylinders (4) are separately mounted to two by two the first joints (3) of end
On first hinge stent (2), first joint (3) is directly driven by steering engine；First described servo electric cylinders (4) front end is equipped with
Electric machine support (5), first servo motor (6) is mounted on electric machine support (5) upper surface, and motor shaft vertical is downward；Described leads
It is mounted on first servo motor (6) motor shaft to wheel support (7) top, two directive wheels (8) are separately mounted to two guiding
On wheel support (7)；Every side is equipped with an electronic wheel support (9), two Electric Motor Wheels (10) at left and right sides of described pedestal (1) rear
It is separately mounted on two electronic wheel supports (9)；The shaft (11) is rotatably installed in pedestal (1) centre, worm gear (12)
It is mounted on shaft (11) upper surface；Endless screw support (14) are equipped on the right side of described pedestal (1) upper surface, worm screw (13) is mounted on snail
It on bar bracket (14), and is engaged with worm gear (12), second servo motor (15) is fixedly mounted on pedestal (1) upper surface
Endless screw support (14) rear, the second servo motor (15) are connect with worm screw (13) end by shaft coupling (16)；The worm gear
(12) upper surface is set there are two guide rail (17), and guide rail (17) side is fixedly installed with the second servo electric cylinders (19), the second servo electricity
Cylinder (19) is parallel with guide rail (17), and there are two match with two guide rails (17) respectively for planker (21) the lower end surface fixed installation
The sliding block (18) of conjunction；The fixing seat (20) of second servo electric cylinders (19) telescopic rod end and planker (21) lower end surface is fixed
Connection；The second hinge stent (22) are equipped at planker (21) upper surface rear-center, before the planker (21) upper surface
The end left and right sides is set there are two third hinge stent (25), and third servo electric cylinders (24) are hinged on the by the hinged-support (23) of end
On two hinge stents (22), two the 4th servo electric cylinders (26) one end are respectively hinged on two third hinge stents (25), the other end
It is respectively hinged on two the 4th hinge stents (27) at left and right sides of third servo electric cylinders (24)；The third servo electric cylinders
(24) telescopic rod end is equipped with the 5th hinge stent (28), and basetray (29) upper end is hinged on the 5th hinge stent (28), described
Basetray (29) be circle；Six the 5th servo electric cylinders (30) in pairs, each 5th servo electric cylinders (30)
Cylinder ends be hingedly mounted on basetray (29) lower end surface, the piston rod end of the 5th servo electric cylinders (30) is hingedly installed
The piston rod end of two the 5th servo electric cylinders (30) in pallet (31) top, every group of the 5th servo electric cylinders (30) separates,
Cylinder base is close together, the V-shaped distribution of axis of two the 5th servo electric cylinders (30)；The master jaw (32) is mounted on support
Disk (31) lower end surface, four claw arms (33) are evenly distributed on master jaw (32) lower end surface surrounding, four cards
Pawl (34) is separately mounted to four the 6th hinge stents of four claw arm (33) ends by four second joints (35) of end
(36) on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611263510.3A CN106625565B (en) | 2016-12-30 | 2016-12-30 | A kind of transformer transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611263510.3A CN106625565B (en) | 2016-12-30 | 2016-12-30 | A kind of transformer transfer robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106625565A CN106625565A (en) | 2017-05-10 |
| CN106625565B true CN106625565B (en) | 2019-02-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611263510.3A Active CN106625565B (en) | 2016-12-30 | 2016-12-30 | A kind of transformer transfer robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106625565B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110279469A (en) * | 2019-05-16 | 2019-09-27 | 中国科学院深圳先进技术研究院 | A kind of robot |
| CN111515933B (en) * | 2020-04-24 | 2021-09-10 | 燕山大学 | Floating-base six-degree-of-freedom mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3476266A (en) * | 1967-11-28 | 1969-11-04 | George C Devol | Binary-code controlled apparatus |
| CN203471767U (en) * | 2013-10-11 | 2014-03-12 | 浙江机电职业技术学院 | Robot for carrying out rescue and relief work |
| CN104527495A (en) * | 2014-12-19 | 2015-04-22 | 云南省公路开发投资有限责任公司 | Integrated detection truck for road tunnel defects |
| CN105128957A (en) * | 2015-09-13 | 2015-12-09 | 徐金鹏 | Crawler type explosive-handling robot |
| CN105650539A (en) * | 2016-04-07 | 2016-06-08 | 羊丁 | Outdoor table lamp |
| CN105856189A (en) * | 2016-05-25 | 2016-08-17 | 刘明月 | Automobile hub stacking robot |
| CN106006010A (en) * | 2016-06-30 | 2016-10-12 | 张学衡 | Logistics conveying robot |
-
2016
- 2016-12-30 CN CN201611263510.3A patent/CN106625565B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3476266A (en) * | 1967-11-28 | 1969-11-04 | George C Devol | Binary-code controlled apparatus |
| CN203471767U (en) * | 2013-10-11 | 2014-03-12 | 浙江机电职业技术学院 | Robot for carrying out rescue and relief work |
| CN104527495A (en) * | 2014-12-19 | 2015-04-22 | 云南省公路开发投资有限责任公司 | Integrated detection truck for road tunnel defects |
| CN105128957A (en) * | 2015-09-13 | 2015-12-09 | 徐金鹏 | Crawler type explosive-handling robot |
| CN105650539A (en) * | 2016-04-07 | 2016-06-08 | 羊丁 | Outdoor table lamp |
| CN105856189A (en) * | 2016-05-25 | 2016-08-17 | 刘明月 | Automobile hub stacking robot |
| CN106006010A (en) * | 2016-06-30 | 2016-10-12 | 张学衡 | Logistics conveying robot |
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| CN106625565A (en) | 2017-05-10 |
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