CN108555874A - One kind being used for sheet fabrication manipulator - Google Patents
One kind being used for sheet fabrication manipulator Download PDFInfo
- Publication number
- CN108555874A CN108555874A CN201810407944.9A CN201810407944A CN108555874A CN 108555874 A CN108555874 A CN 108555874A CN 201810407944 A CN201810407944 A CN 201810407944A CN 108555874 A CN108555874 A CN 108555874A
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- CN
- China
- Prior art keywords
- manipulator
- mobile base
- groups
- push
- level board
- Prior art date
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses one kind being used for sheet fabrication manipulator, including mobile base, the bottom of the mobile base is equipped with groove, groove is internally provided with level board, level board is equipped with four groups of mounting grooves, it is rotatably connected to traveling wheel in four groups of mounting grooves, regulating device is equipped between level board and mobile base, the both sides of mobile base are equipped with groove, anti-tipping apparatus is equipped in groove, the bottom of mobile base is equipped with supporting rod, and the one end of supporting rod far from mobile base is equipped with liftway, elevating lever is equipped in liftway.When the present invention releases mobile base using the flexible realization traveling wheel of bidirectional electric push rod output end, anti-tipping apparatus can be released simultaneously, it is not only convenient for the movement of device, device is also can avoid when moving to topple over, the producer can be met during use to the mobile needs of manipulator ontology, simultaneously convenient for the mobile repair of manipulator, and the height of manipulator ontology can be adjusted according to actual using needs, applied widely.
Description
Technical field
The present invention relates to manipulator fields, more particularly to one kind being used for sheet fabrication manipulator.
Background technology
Plank (sheet material) is made as the flattened rectangular constructional material plate of normal size, is applied to building row
Industry, for making wall, ceiling or the component on floor.Also refer to metallic plate made of forging, rolling or casting more.It is divided into thin
Plate, middle plate, slab, special heavy plate, the flattened rectangular constructional material plate for being commonly made to normal size.Plank is needed in production and processing
The operations such as to be cut, be polished according to usage, in loading and unloading and production process, for production efficiency and safety
It needs, it is often necessary to be assisted using manipulator.
The manipulator base of the prior art is mostly fixed pedestal, and manipulator can not move after being fixed to above, even if machine
Tool Hand supplementary work sheet machining apparatus stop work, also can not mobile manipulator work at other equipment, cannot be satisfied use
The mobile needs of person, while can not also be moved when manipulator needs repairing, the repair of manipulator is influenced, we design thus
One kind solving problem above for sheet fabrication with manipulator.
Invention content
The purpose of the present invention is to solve disadvantages existing in the prior art, and the one kind proposed is used for sheet fabrication
Manipulator.
To achieve the goals above, present invention employs following technical solutions：
One kind being used for sheet fabrication manipulator, including mobile base, and the bottom of the mobile base is equipped with groove, groove
Be internally provided with level board, level board is equipped with four groups of mounting grooves, and traveling wheel, level board are rotatably connected in four groups of mounting grooves
Regulating device is equipped between mobile base, the both sides of mobile base are equipped with groove, anti-tipping apparatus, mobile bottom are equipped in groove
The bottom of seat is equipped with supporting rod, and the one end of supporting rod far from mobile base is equipped with liftway, elevating lever is equipped in liftway,
The interior bottom end of liftway is equipped with electric pushrod, and the output end of electric pushrod is connected with elevating lever, and elevating lever is pushed away far from electronic
One end of bar is vertically installed with support plate, and the one end of support plate far from elevating lever is equipped with manipulator ontology, and manipulator ontology is remote
One end from support plate is equipped with two groups of clamping jaws, and the both sides up and down of clamping jaw are mounted on camera.
Preferably, the regulating device includes bidirectional electric push rod, push-and-pull rack, sunpender, drive link, transmission gear and biography
Carry-over bar, bidirectional electric push rod are mounted on the bottom center of mobile base, and the both ends of bidirectional electric push rod are respectively connected with push-and-pull tooth
Item, the upside for pushing and pulling rack is equipped with two groups of sunpenders, and two groups of sunpenders are symmetrical about push-and-pull rack, and the top of two groups of sunpenders is vertically pacified
Mounted in the bottom of mobile base, the bottom end of two groups of sunpenders is rotatably connected to horizontally disposed drive link, the center of drive link and two
End is equipped with transmission gear, and central transmission gear is matched with the tooth socket on the upside of push-and-pull rack, and the one of the transmission gear at both ends
Side is equipped with driving rack, and driving rack is vertically mounted on level board.
Preferably, the driving rack is equipped with and the matched transmission tooth socket of transmission gear.
Preferably, the driving rack extends to one end on the outside of mobile base and is equipped with limited block.
Preferably, the anti-tipping apparatus includes connecting rod, telescopic rod and idler wheel, and connecting rod is with push-and-pull rack far from two-way
One end of electric pushrod is connected, and the one end of connecting rod far from push-and-pull rack is equipped with Telescopic path, and the bottom of Telescopic path passes through bullet
Spring is connected with telescopic rod, and the one end of telescopic rod far from spring is rotatably connected to idler wheel.
Preferably, the level board is equipped with equally distributed lightening hole.
Preferably, the supporting rod is equipped with controller, the output end of controller and electric pushrod, bidirectional electric push rod,
Manipulator ontology and camera are electrical connected.
Compared with prior art, the beneficial effects of the invention are as follows：
1, the output end of bidirectional electric push rod will push and pull rack to both sides release in regulating device, pass through the biography of tooth socket and tooth
Dynamic cooperation makes transmission gear rotate, and the transmission gear at both ends is in rotation, by the cooperation with tooth socket on driving rack, makes it will
It pushes away under level board and is contacted with ground, push-and-pull rack is extrapolated when being pushed outwardly, while by anti-tipping apparatus, bidirectional electric push rod
Output end bounces back, and can retract anti-tipping apparatus and traveling wheel in mobile base, and position occurs when preventing mobile base from working
Mobile, the present apparatus can be convenient for the movement of device using regulating device and anti-tipping apparatus, while can avoid machinery in moving process
Hand ontology is toppled over, convenient for according to the position for needing mobile manipulator ontology of actual production, while convenient for the dimension of manipulator ontology
It repaiies；
2, the flexible of electric pushrod output end is controlled by controller, elevating lever, support plate and manipulator sheet may be implemented
The lifting of body, it is applied widely convenient for staff according to actual using the height for needing adjusting manipulator ontology.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram for sheet fabrication manipulator proposed by the present invention；
Fig. 2 is a kind of internal structure schematic diagram for sheet fabrication manipulator proposed by the present invention；
Fig. 3 is a kind of side view of mobile base for sheet fabrication manipulator proposed by the present invention；
Fig. 4 is a kind of upward view of regulating device for sheet fabrication manipulator proposed by the present invention；
Fig. 5 is proposed by the present invention a kind of shows for the level board of sheet fabrication manipulator and the position relationship of traveling wheel
It is intended to.
In figure：1 mobile base, 2 level boards, 3 traveling wheels, 4 regulating devices, 41 bidirectional electric push rods, 42 push-and-pull racks, 43
Sunpender, 44 drive links, 45 transmission gears, 46 driving racks, 5 anti-tipping apparatus, 51 connecting rods, 52 telescopic rods, 53 idler wheels, 6
Strut, 7 elevating levers, 8 electric pushrods, 9 support plates, 10 manipulator ontologies, 11 clamping jaws, 12 cameras, 13 limited blocks, 14 controls
Device.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-5, a kind of to be used for sheet fabrication manipulator, including mobile base 1, the bottom of mobile base 1 are equipped with
Groove, groove are internally provided with level board 2, and level board 2 is equipped with equally distributed lightening hole, and level board 2 is equipped with four groups of peaces
Tankage is rotatably connected to traveling wheel 3 in four groups of mounting grooves, and regulating device 4 is equipped between level board 2 and mobile base 1, adjusts
Device 4 includes bidirectional electric push rod 41, pushes and pulls rack 42, sunpender 43, drive link 44, transmission gear 45 and driving rack 46, double
The bottom center of mobile base 1 is mounted on to electric pushrod 41, the both ends of bidirectional electric push rod 41 are respectively connected with push-and-pull rack 42,
The upside for pushing and pulling rack 42 is equipped with two groups of sunpenders 43, and two groups of sunpenders 43 are symmetrical about push-and-pull rack 42, the top of two groups of sunpenders 43
End is vertically mounted on the bottom of mobile base 1, and the bottom end of two groups of sunpenders 43 is rotatably connected to horizontally disposed drive link 44, is driven
The center of bar 44 and both ends are equipped with transmission gear 45, and central transmission gear 45 and the tooth socket of 42 upside of push-and-pull rack match
It closes, the side of the transmission gear 45 at both ends is equipped with driving rack 46, and driving rack 46 is vertically mounted on level board 2, transmission
Rack 46 is equipped with extends to the one end in 1 outside of mobile base with 45 matched transmission tooth socket of transmission gear, driving rack 46
Equipped with limited block 13, the both sides of mobile base 1 are equipped with groove, are equipped with anti-tipping apparatus 5 in groove, anti-tipping apparatus 5 includes
Connecting rod 51, telescopic rod 52 and idler wheel 53, connecting rod 51 are connected with the one end of push-and-pull rack 42 far from bidirectional electric push rod 41, even
The one end of extension bar 51 far from push-and-pull rack 42 is equipped with Telescopic path, and the bottom of Telescopic path is connected with telescopic rod 52 by spring,
The one end of telescopic rod 52 far from spring is rotatably connected to idler wheel 53, and the bottom of mobile base 1 is equipped with supporting rod 6, and supporting rod 6 is separate
One end of mobile base 1 is equipped with liftway, is equipped with elevating lever 7 in liftway, and the interior bottom end of liftway is equipped with electronic
The output end of push rod 8, electric pushrod 8 is connected with elevating lever 7, and the one end of elevating lever 7 far from electric pushrod 8 is vertically installed with support
Plate 9, the one end of support plate 9 far from elevating lever 7 are equipped with manipulator ontology 10, the one end of manipulator ontology 10 far from support plate 9
Both sides up and down equipped with two groups of clamping jaws 11, and clamping jaw 11 are mounted on camera 12, and supporting rod 6 is equipped with controller 14, control
The output end of device 14 is electrical connected with electric pushrod 8, bidirectional electric push rod 41, manipulator ontology 10 and camera 12.
Operation principle：When mobile, keep the output end of bidirectional electric push rod 41 overhanging by controller 14, rack 42 will be pushed and pulled
It being pushed away to both sides, push-and-pull rack 42 makes 44 upper transfer gear 45 of drive link rotate in the process of moving, by the tooth socket of=side, and two
The transmission gear 45 at end, by the cooperation with tooth socket on driving rack 46, makes it that will be pushed away under level board 2 in rotation, until traveling wheel
3 contact with ground, and push-and-pull rack 42 is extrapolated anti-tipping apparatus 5 by connecting rod 51 when being pushed outwardly, can be with auxiliary device
Movement, anti-locking apparatus topples over, and anti-tipping apparatus 5 and traveling wheel 3 can be retracted shifting by the output end retraction of bidirectional electric push rod 41
In dynamic pedestal 1, the movement of position occurs when preventing mobile base 1 from working, when using manipulator ontology 10, camera 12 can be remembered
The working condition for recording clamping jaw 11 controls the flexible of 8 output end of electric pushrod by controller 14, elevating lever 7, support may be implemented
The lifting of plate 9 and manipulator ontology 10 is suitable for the workbench of different height, and the present apparatus is simple in structure, reasonable design, using double
When releasing mobile base to the flexible realization traveling wheel of electric pushrod output end, while anti-tipping apparatus can be released, not only just
In the movement of device, it also can avoid device and topple over when moving, ensure that the safety of equipment movement, and manipulator ontology
Height can according to it is actual using need be adjusted, it is applied widely.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. one kind being used for sheet fabrication manipulator, including mobile base (1), which is characterized in that the bottom of the mobile base (1)
Portion is equipped with groove, and groove is internally provided with level board (2), and level board (2) is equipped with four groups of mounting grooves, turns in four groups of mounting grooves
It is dynamic to be connected with traveling wheel (3), regulating device (4), the both sides of mobile base (1) are equipped between level board (2) and mobile base (1)
Equipped with groove, anti-tipping apparatus (5) is equipped in groove, the bottom of mobile base (1) is equipped with supporting rod (6), and supporting rod (6) is separate
One end of mobile base (1) is equipped with liftway, is equipped with elevating lever (7) in liftway, the interior bottom end of liftway is equipped with
The output end of electric pushrod (8), electric pushrod (8) is connected with elevating lever (7), the one end of elevating lever (7) far from electric pushrod (8)
It is vertically installed with support plate (9), the one end of support plate (9) far from elevating lever (7) is equipped with manipulator ontology (10), manipulator sheet
The one end of body (10) far from support plate (9) is equipped with two groups of clamping jaws (11), and the both sides up and down of clamping jaw (11) are mounted on camera
(12)。
2. according to claim 1 a kind of for sheet fabrication manipulator, which is characterized in that the regulating device (4)
Including bidirectional electric push rod (41), push-and-pull rack (42), sunpender (43), drive link (44), transmission gear (45) and driving rack
(46), bidirectional electric push rod (41) is mounted on the bottom center of mobile base (1), and the both ends of bidirectional electric push rod (41) are all connected with
There is push-and-pull rack (42), the upside of push-and-pull rack (42) is equipped with two groups of sunpenders (43), and two groups of sunpenders (43) are about push-and-pull rack
(42) symmetrically, the top of two groups of sunpenders (43) is vertically mounted on the bottom of mobile base (1), the bottom end rotation of two groups of sunpenders (43)
It is connected with horizontally disposed drive link (44), the center of drive link (44) and both ends are equipped with transmission gear (45), central biography
Moving gear (45) is matched with the tooth socket on the upside of push-and-pull rack (42), and the side of the transmission gear (45) at both ends is equipped with driving cog
Item (46), driving rack (46) are vertically mounted on level board (2).
3. according to claim 2 a kind of for sheet fabrication manipulator, which is characterized in that the driving rack (46)
It is equipped with and the matched transmission tooth socket of transmission gear (45).
4. according to claim 2 a kind of for sheet fabrication manipulator, which is characterized in that the driving rack (46)
It extends to one end on the outside of mobile base (1) and is equipped with limited block (13).
5. according to claim 1 a kind of for sheet fabrication manipulator, which is characterized in that the anti-tipping apparatus
(5) include connecting rod (51), telescopic rod (52) and idler wheel (53), connecting rod (51) is pushed away with push-and-pull rack (42) far from bidirectional electric
One end of bar (41) is connected, and the one end of connecting rod (51) far from push-and-pull rack (42) is equipped with Telescopic path, the bottom of Telescopic path
It is connected with telescopic rod (52) by spring, the one end of telescopic rod (52) far from spring is rotatably connected to idler wheel (53).
6. according to claim 1 a kind of for sheet fabrication manipulator, which is characterized in that on the level board (2)
Equipped with equally distributed lightening hole.
7. according to claim 1 a kind of for sheet fabrication manipulator, which is characterized in that on the supporting rod (6)
Equipped with controller (14), output end and electric pushrod (8), bidirectional electric push rod (41), the manipulator ontology of controller (14)
(10) it is electrical connected with camera (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810407944.9A CN108555874A (en) | 2018-05-02 | 2018-05-02 | One kind being used for sheet fabrication manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810407944.9A CN108555874A (en) | 2018-05-02 | 2018-05-02 | One kind being used for sheet fabrication manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108555874A true CN108555874A (en) | 2018-09-21 |
Family
ID=63537454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810407944.9A Pending CN108555874A (en) | 2018-05-02 | 2018-05-02 | One kind being used for sheet fabrication manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108555874A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182708A (en) * | 2019-06-26 | 2019-08-30 | 江苏航运职业技术学院 | A kind of harbour special mechanical metal structure breakdown maintenance equipment |
| CN111347405A (en) * | 2020-05-25 | 2020-06-30 | 佛山隆深智能装备有限公司 | Carrying manipulator for plate-type furniture |
| CN111360848A (en) * | 2020-04-17 | 2020-07-03 | 重庆慧居智能电子有限公司 | Intelligent household service robot |
| CN111532649A (en) * | 2020-06-01 | 2020-08-14 | 苏州工业园区服务外包职业学院 | Device for logistics scheduling system |
| CN111941383A (en) * | 2020-08-17 | 2020-11-17 | 陈智玲 | Automatic adjusting type industrial robot |
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| JPS6181280A (en) * | 1984-09-27 | 1986-04-24 | Toshiba Corp | Travel system |
| CN105128015A (en) * | 2015-10-08 | 2015-12-09 | 深圳市易致机器人科技有限公司 | Support frame capable of rising and falling automatically and mobile robot having support frame |
| CN205766111U (en) * | 2016-05-03 | 2016-12-07 | 苗庆硕 | A kind of self-regulation mechanical hand |
| CN206588964U (en) * | 2017-04-09 | 2017-10-27 | 合肥特尔卡机器人科技股份有限公司 | A kind of service robot applied to working hall |
| CN206899223U (en) * | 2017-07-19 | 2018-01-19 | 江苏力野精工科技有限公司 | Clamping type industrial machinery arm |
-
2018
- 2018-05-02 CN CN201810407944.9A patent/CN108555874A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6181280A (en) * | 1984-09-27 | 1986-04-24 | Toshiba Corp | Travel system |
| CN105128015A (en) * | 2015-10-08 | 2015-12-09 | 深圳市易致机器人科技有限公司 | Support frame capable of rising and falling automatically and mobile robot having support frame |
| CN205766111U (en) * | 2016-05-03 | 2016-12-07 | 苗庆硕 | A kind of self-regulation mechanical hand |
| CN206588964U (en) * | 2017-04-09 | 2017-10-27 | 合肥特尔卡机器人科技股份有限公司 | A kind of service robot applied to working hall |
| CN206899223U (en) * | 2017-07-19 | 2018-01-19 | 江苏力野精工科技有限公司 | Clamping type industrial machinery arm |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182708A (en) * | 2019-06-26 | 2019-08-30 | 江苏航运职业技术学院 | A kind of harbour special mechanical metal structure breakdown maintenance equipment |
| CN111360848A (en) * | 2020-04-17 | 2020-07-03 | 重庆慧居智能电子有限公司 | Intelligent household service robot |
| CN111347405A (en) * | 2020-05-25 | 2020-06-30 | 佛山隆深智能装备有限公司 | Carrying manipulator for plate-type furniture |
| CN111532649A (en) * | 2020-06-01 | 2020-08-14 | 苏州工业园区服务外包职业学院 | Device for logistics scheduling system |
| CN111941383A (en) * | 2020-08-17 | 2020-11-17 | 陈智玲 | Automatic adjusting type industrial robot |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180921 |
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| WD01 | Invention patent application deemed withdrawn after publication |