CN109048878A - A kind of Gou Wu robot - Google Patents
A kind of Gou Wu robot Download PDFInfo
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- CN109048878A CN109048878A CN201811017450.6A CN201811017450A CN109048878A CN 109048878 A CN109048878 A CN 109048878A CN 201811017450 A CN201811017450 A CN 201811017450A CN 109048878 A CN109048878 A CN 109048878A
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- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 235000012054 meals Nutrition 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The present invention relates to robotic technology fields, it in particular is a kind of Gou Wu robot, including bottom deck assembly, crane, hook component, fixed assembly and control mechanism, the height of hook in the present invention is adjustable, hook can also protract and retraction, hook can also rotate adjusting position around the axis of shaft I, hook can also rotate adjusting position around the axis of shaft II, and hook can rotate adjusting position between two hinged seat I by hinged convex block, complete the movement of some complexity convenient for hook by the mutual cooperation of multiple mechanisms.The crane is hinged on bottom deck assembly, the upper end of crane is arranged in hook component, fixed assembly is fixedly connected on the lower end of crane, and one end of control mechanism is slidably connected on fixed assembly, and the other end of control mechanism is rotatably connected on hook component.
Description
Technical field
The present invention relates to robotic technology fields, are in particular a kind of Gou Wu robots.
Background technique
A kind of intelligent cart meal delivery robot of Patent No. CN201510882670.5, including robot body, carrying
In the cart of robot body arm, which is characterized in that further include ARM control device, the drive with the electrical connection of ARM control device
Dynamic device, voice device, the driving device are connect with the power device for keeping robot body mobile；Robot body bottom
Equipped with the landmark sensor and magnetic navigation sensor being electrically connected with ARM control device.The invention can adjust food delivery position and send
Meal track, prevents robot from thrusting into.But the invention cannot make various movements by the cooperation of multiple mechanisms.
Summary of the invention
The present invention provides a kind of Gou Wu robot, and its advantages are that the height of the hook in the present invention is adjustable, hooks
Son can also protract and retraction, and hook can also rotate adjusting position around the axis of shaft I, and hook can also be around shaft II
Axis rotate adjusting position, and hook can rotate adjusting position between two hinged seat I by hinged convex block, pass through
The movement of some complexity is completed in the mutual cooperation of multiple mechanisms convenient for hook.
The present invention relates to robotic technology fields, are in particular a kind of Gou Wu robot, including bottom deck assembly, lifting
Frame, hook component, fixed assembly and control mechanism, the present invention in hook height it is adjustable, hook can also protract
And retraction, hook can also rotate adjusting position around the axis of shaft I, hook can also be rotated around the axis of shaft II and be adjusted
Section is set, and hook can rotate adjusting position between two hinged seat I by hinged convex block, pass through the phase of multiple mechanisms
Mutually the movement of some complexity is completed in cooperation convenient for hook.
The crane is hinged on bottom deck assembly, and the upper end of crane is arranged in hook component, and fixed assembly is fixed
It is connected to the lower end of crane, one end of control mechanism is slidably connected on fixed assembly, the other end rotation of control mechanism
It is connected on hook component.
The bottom deck assembly includes that bottom plate, electric telescopic rod, sliding cylinder and hinged seat I, the left and right ends of bottom plate upper end are equal
It is fixedly connected with hinged seat I, the lower end of electric telescopic rod is fixedly connected on bottom plate, and the upper end of electric telescopic rod is fixedly connected with
Sliding cylinder.
The crane includes hinged convex block, sill strip, hinged seat II, saddle, upper connecting rod and lower link, and the lower end of sill strip is solid
Surely it is connected with hinged convex block, hinged convex block is hingedly connected between two hinged seat I, and the left and right ends of the upper end hinged seat II are solid
Surely it is connected with hinged seat II, the lower end of two lower links is hingedly connected on two hinged seat II, the left and right ends of saddle
It is hingedly connected upper connecting rod, the lower end of two upper connecting rods is hingedly connected in the upper end of two lower links.
The hook component includes shaft I, stop collar I, square, side rod, motor I, motor rack I, front stall, hook, hook
Stroma, slide plate, cylindrical plate, motor rack II, motor II, shaft II and limit protrusive board, shaft I clearance fit are inserted on saddle,
Shaft I passes through saddle, is fixedly connected on shaft I there are two stop collar I, two stop collar I respectively with the front and back end face paste of saddle
It closes, motor rack II is fixedly connected on saddle, and motor II, the output shaft and shaft I of motor II are fixedly connected on motor rack II
Rear end connected by shaft coupling, the front end of shaft I is fixedly connected with square, and the front end of square is fixedly connected with slide plate, circle
Column plate is slidably connected in slide plate, and cylindrical plate and shaft I are coaxial, is fixedly connected on the outer peripheral surface of cylindrical plate there are two limit convex
Plate, the front end of cylindrical plate are fixedly connected there are two side rod, and slide plate is located between two side rods, the front end of two side rods
Between be fixedly connected with front stall, the lower end of front stall is fixedly connected with motor rack I, and motor I, motor I are fixedly connected on motor rack I
Output shaft on shaft II is connected with by shaft coupling, shaft II passes through front stall, and the upper end of shaft II is fixedly connected with hook seat,
The front end of hook seat is fixedly connected with opening up hook.
The fixed assembly includes plate, riser, slide opening bar, slide opening, mullion and screw thread orifice plate I in rear, hinged convex block
Rear end is fixedly connected with plate in rear, and the rear end of rear middle plate is fixedly connected with screw thread orifice plate I, and the upper end of rear middle plate is fixedly connected with perpendicular
The side of column, rear middle plate is fixedly connected with riser, and the upper end of riser is fixedly connected with slide opening bar, is provided with slide opening on slide opening bar,
The outer end of sliding cylinder is slidably connected on slide opening.
The control mechanism includes hollow vertical bar, screw rod I, motor rack III, motor III, angled seat, hollow cross bar, motor rack
IV, motor IV, screw rod II, screw thread orifice plate II, convex round bar, stop collar II, lantern ring and spreader, the lower end of angled seat are fixedly connected with
Hollow vertical bar, the rectangular sliding hole I of corresponding mullion is provided on hollow vertical bar, and hollow vertical bar is slidably connected at by rectangular sliding hole I
On mullion, the lower end of hollow vertical bar is fixedly connected with motor rack III, and motor III, motor III are fixedly connected on motor rack III
Lower end output shaft screw rod I is connected with by shaft coupling, the lower end of screw rod I is matched by screw thread with screw thread orifice plate I, angled seat
Front end is fixedly connected with hollow cross bar, and the rectangular sliding hole II of corresponding spreader is provided on hollow cross bar, and corresponding spreader is slidably connected
On rectangular sliding hole II, the upper end of spreader is fixedly connected with screw thread orifice plate II, and the upper end of hollow cross bar is fixedly connected with motor rack
It is fixedly connected with motor IV on IV, motor rack IV, screw rod II, screw rod is connected with by shaft coupling on the front end output shaft of motor IV
The front end of II is matched by screw thread with screw thread orifice plate II, and lantern ring is socketed on the outer ring of cylindrical plate, two limit protrusive board difference
It is bonded with the front/rear end of lantern ring, the upper end of lantern ring is fixedly connected with convex round bar, and the upper gap cooperation of convex round bar is inserted in
The front end of spreader is fixedly connected on convex round bar there are two stop collar II, two stop collar II respectively with the upper and lower end face of spreader
It fits.
The motor I, motor II, motor III and motor IV are self-locking speed-down motor.
A kind of Gou Wu robot of the invention has the beneficial effect that
The height of a kind of Gou Wu robot of the present invention, the hook in the present invention is adjustable, hook can also protract and after
Contracting, hook can also rotate adjusting position around the axis of shaft I, and hook can also rotate around the axis of shaft II and adjust position
It sets, and hook can rotate adjusting position between two hinged seat I by hinged convex block, pass through the phase interworking of multiple mechanisms
Close the movement that some complexity are completed convenient for hook
Detailed description of the invention
The present invention will be further described in detail with specific implementation method with reference to the accompanying drawing.
Fig. 1 is a kind of overall structure diagram one of Gou Wu robot of the present invention；
Fig. 2 is a kind of overall structure diagram two of Gou Wu robot of the present invention；
Fig. 3 is a kind of overall structure diagram three of Gou Wu robot of the present invention；
Fig. 4 is the structural schematic diagram of bottom deck assembly；
Fig. 5 is the structural schematic diagram one of crane；
Fig. 6 is the structural schematic diagram two of crane；
Fig. 7 is the structural schematic diagram one of hook component；
Fig. 8 is the structural schematic diagram two of hook component；
Fig. 9 is the structural schematic diagram one of fixed assembly；
Figure 10 is the structural schematic diagram two of fixed assembly；
Figure 11 is the structural schematic diagram one of control mechanism；
Figure 12 is the partial enlarged view of A in Figure 11；
Figure 13 is the structural schematic diagram two of control mechanism；
Figure 14 is the cross-sectional view that is slidably connected of hollow cross bar and spreader, hollow vertical bar and mullion.
In figure: bottom deck assembly 1；Bottom plate 1-1；Electric telescopic rod 1-2；Sliding cylinder 1-3；Hinged seat I1-4；Crane 2；Hinge
Meet convex block 2-1；Sill strip 2-2；Hinged seat II2-3；Saddle 2-4；Upper connecting rod 2-5；Lower link 2-6；Hook component 3；Shaft I3-1；
Stop collar I3-2；Square 3-3；Side rod 3-4；Motor I3-5；Motor rack I3-6；Front stall 3-7；Hook 3-8；Hook seat 3-9；It is sliding
Rail plate 3-10；Cylindrical plate 3-11；Motor rack II3-12；Motor II3-13；Shaft II3-14；Limit protrusive board 3-15；Fixed Combination
Part 4；Middle plate 4-1 afterwards；Riser 4-2；Slide opening bar 4-3；Slide opening 4-4；Mullion 4-5；Screw thread orifice plate I4-6；Control mechanism 5；It is hollow perpendicular
Bar 5-1；Screw rod I5-2；Motor rack III5-3；Motor III5-4；Angled seat 5-5；Hollow cross bar 5-6；Motor rack IV5-7；Motor
IV5-8；Screw rod II5-9；Screw thread orifice plate II5-10；Convex round bar 5-11；Stop collar II5-12；Lantern ring 5-13；Spreader 5-14.
Specific embodiment
Specific embodiment 1:
Illustrate present embodiment below with reference to Fig. 1-14, in particular it to be one that the present invention relates to robotic technology fields
Zhong Gou object robot, including bottom deck assembly 1, crane 2, hook component 3, fixed assembly 4 and control mechanism 5, the present invention in
Hook 3-8 height it is adjustable, hook 3-8 can also protract and retraction, and hook 3-8 can also be around the axis of shaft I3-1
Line rotates adjusting position, and hook 3-8 can also rotate adjusting position around the axis of shaft II3-14, and hook 3-8 can be with
Adjusting position is rotated between two hinged seat I1-4 by hinged convex block 2-1, hook is convenient for by the mutual cooperation of multiple mechanisms
Sub- 3-8 completes the movement of some complexity.
The crane 2 is hinged on bottom deck assembly 1, and the upper end of crane 2, fixed assembly 4 is arranged in hook component 3
Be fixedly connected on the lower end of crane 2, one end of control mechanism 5 is slidably connected on fixed assembly 4, control mechanism 5 it is another
One end is rotatably connected on hook component 3.
The bottom deck assembly 1 includes bottom plate 1-1, electric telescopic rod 1-2, sliding cylinder 1-3 and hinged seat I1-4, bottom plate 1-1
The left and right ends of upper end are fixedly connected to hinged seat I1-4, and the lower end of electric telescopic rod 1-2 is fixedly connected on bottom plate 1-1,
The upper end of electric telescopic rod 1-2 is fixedly connected with sliding cylinder 1-3.Cunning can be driven when electric telescopic rod 1-2 elongation or shortening
Cylinder 1-3 is increased or is reduced.
The crane 2 include hinged convex block 2-1, sill strip 2-2, hinged seat II2-3, saddle 2-4, upper connecting rod 2-5 and under
Connecting rod 2-6, the lower end of sill strip 2-2 are fixedly connected with hinged convex block 2-1, and hinged convex block 2-1 is hingedly connected to two hinged seat I1-
Between 4, the left and right ends of the upper end hinged seat II2-3 are fixedly connected to hinged seat II2-3, the lower end point of two lower link 2-6
It is not hingedly connected on two hinged seat II2-3, the left and right ends of saddle 2-4 have been hingedly connected upper connecting rod 2-5, on two
The lower end of connecting rod 2-5 is hingedly connected in the upper end of two lower link 2-6.Sill strip 2-2 can be by hinged convex block 2-1 two
It being rotated between a hinged seat I1-4, the lower end of two lower link 2-6 is hingedly connected on two hinged seat II2-3, and two
The upper end of lower link 2-6 close to when, two lower link 2-6 can drive saddle 2-4 to increase by two upper connecting rod 2-5 respectively, two
The upper end of a lower link 2-6 far from when, two lower link 2-6 can drive saddle 2-4 to reduce by two upper connecting rod 2-5 respectively.
The hook component 3 includes shaft I3-1, stop collar I3-2, square 3-3, side rod 3-4, motor I3-5, motor
Frame I3-6, front stall 3-7, hook 3-8, hook seat 3-9, slide plate 3-10, cylindrical plate 3-11, motor rack II3-12, motor II3-
13, shaft II3-14 and limit protrusive board 3-15, shaft I3-1 clearance fit are inserted on saddle 2-4, and shaft I3-1 passes through saddle 2-
Be fixedly connected on 4, shaft I3-1 there are two stop collar I3-2, two stop collar I3-2 respectively with the front and back end face paste of saddle 2-4
It closes, motor rack II3-12 is fixedly connected on saddle 2-4, and motor II3-13, motor are fixedly connected on motor rack II3-12
The output shaft of II3-13 is connect with the rear end of shaft I3-1 by shaft coupling, and the front end of shaft I3-1 is fixedly connected with square 3-3,
The front end of square 3-3 is fixedly connected with slide plate 3-10, and cylindrical plate 3-11 is slidably connected on slide plate 3-10, cylindrical plate 3-11
It is coaxial with shaft I3-1, it is fixedly connected on the outer peripheral surface of cylindrical plate 3-11 there are two limiting protrusive board 3-15, before cylindrical plate 3-11
Side rod 3-4 there are two being fixedly connected, slide plate 3-10 is held to be located between two side rod 3-4, the front end of two side rod 3-4
Between be fixedly connected with front stall 3-7, the lower end of front stall 3-7 is fixedly connected with motor rack I3-6, is fixedly connected on motor rack I3-6
There is a motor I3-5, shaft II3-14 is connected with by shaft coupling on the output shaft of motor I3-5, shaft II3-14 passes through front stall 3-
7, the upper end of shaft II3-14 is fixedly connected with hook seat 3-9, and the front end of hook seat 3-9 is fixedly connected with opening up hook
3-8.Shaft I3-1 can be rotated on saddle 2-4 by axis of own axes, and the effect of two stop collar I3-2 is to prevent shaft
Opposite sliding occurs between I3-1 and saddle 2-4；Cylindrical plate 3-11 can slide back and forth on slide plate 3-10, thus by hook
3-8 is forward extended out and is retracted backward, and motor II3-13 can drive shaft I3-1 to rotate by axis of own axes when rotating, thus
Square 3-3 and slide plate 3-10 can also be rotated by axis of the axis of shaft I3-1, so that hook 3-8 also can be with the axis of shaft I3-1
Line is axis rotation adjustment position；Motor I3-5 can drive shaft II3-14 to rotate by axis of own axes when rotating, thus axis
Bar II3-14 drives hook seat 3-9 and hook 3-8 to rotate by axis of the axis of shaft II3-14, adjusts the position of hook 3-8.
The fixed assembly 4 includes plate 4-1, riser 4-2, slide opening bar 4-3, slide opening 4-4, mullion 4-5 and screw thread in rear
The rear end of orifice plate I4-6, the rear end of hinged convex block 2-1 middle plate 4-1 after being fixedly connected with, rear middle plate 4-1 are fixedly connected with threaded hole
The upper end of plate I4-6, rear middle plate 4-1 are fixedly connected with mullion 4-5, and the side of rear middle plate 4-1 is fixedly connected with riser 4-2, riser
The upper end of 4-2 is fixedly connected with slide opening bar 4-3, and slide opening 4-4 is provided on slide opening bar 4-3, and the outer end of sliding cylinder 1-3 is slidably connected
On slide opening 4-4.When sliding cylinder 1-3 is increased or reduced, sliding cylinder 1-3 is slided in slide opening 4-4；Sliding cylinder 1-3 increase or
The articulated shaft of the whole articulated position around hinged convex block 2-1 and two hinged seat I1-4 of fixed assembly 4 is driven when person reduces
Rotation, so that the articulated shaft of the whole articulated position around hinged convex block 2-1 and two hinged seat I1-4 of crane 2 be driven to turn
It is dynamic, so that hook 3-8 be driven to rotate around the articulated shaft of the articulated position of hinged convex block 2-1 and two hinged seat I1-4, make to hook
Sub- 3-8 is increased or is reduced in a rotating manner, adjusts the position of hook 3-8.
The control mechanism 5 includes hollow vertical bar 5-1, screw rod I5-2, motor rack III5-3, motor III5-4, angled seat 5-
5, hollow cross bar 5-6, motor rack IV5-7, motor IV5-8, screw rod II5-9, screw thread orifice plate II5-10, convex round bar 5-11, limit
Position ring II5-12, lantern ring 5-13 and spreader 5-14, the lower end of angled seat 5-5 are fixedly connected with hollow vertical bar 5-1, hollow vertical bar 5-1
On be provided with the rectangular sliding hole I of corresponding mullion 4-5, hollow vertical bar 5-1 is slidably connected on mullion 4-5 by rectangular sliding hole I, empty
The lower end of heart vertical bar 5-1 is fixedly connected with motor rack III5-3, and motor III5-4, motor are fixedly connected on motor rack III5-3
The lower end output shaft of III5-4 is connected with screw rod I5-2 by shaft coupling, and the lower end of screw rod I5-2 passes through screw thread and screw thread orifice plate
I4-6 is matched, and the front end of angled seat 5-5 is fixedly connected with hollow cross bar 5-6, and corresponding spreader 5-14 is provided on hollow cross bar 5-6
Rectangular sliding hole II, corresponding spreader 5-14 is slidably connected on rectangular sliding hole II, and the upper end of spreader 5-14 is fixedly connected with screw thread
Orifice plate II 5-10, the upper end of hollow cross bar 5-6 are fixedly connected with motor rack IV5-7, are fixedly connected with motor on motor rack IV5-7
Screw rod II5-9 is connected with by shaft coupling on the front end output shaft of IV5-8, motor IV5-8, the front end of screw rod II5-9 passes through spiral shell
Line is matched with screw thread orifice plate II5-10, and lantern ring 5-13 is socketed on the outer ring of cylindrical plate 3-11, and two limit protrusive board 3-15 points
It is not bonded with the front/rear end of lantern ring 5-13, the upper end of lantern ring 5-13 is fixedly connected with convex round bar 5-11, convex round bar 5-11
Upper gap cooperation be inserted in the front end of spreader 5-14, be fixedly connected on convex round bar 5-11 there are two stop collar II5-12, two
Upper and lower end face of a stop collar II5-12 respectively with spreader 5-14 fits.Screw rod I5-2 is driven to turn when motor III5-4 is rotated
Dynamic, screw rod I5-2 is matched when rotating with screw thread orifice plate I4-6, and screw rod I5-2 meeting opposite thread orifice plate I4-6 is mobile, to drive
Hollow vertical bar 5-1 is slided on mullion 4-5, the whole height of adjusting control mechanism 5, hollow when hollow vertical bar 5-1 height change
The height of cross bar 5-6 and spreader 5-14 change with hollow vertical bar 5-1, so that spreader 5-14 drives lantern ring 5-13 vertical shift,
Lantern ring 5-13 drives the whole vertical shift of hook component 3, to adjust the height of hook 3-8；Lantern ring 5-13 is socketed in cylindrical plate
On the outer ring of 3-11, cylindrical plate 3-11 can be rotated in lantern ring 5-13 along the axis of lantern ring 5-13, and lantern ring 5-13 will not influence
Cylindrical plate 3-11 is rotated along the axis of lantern ring 5-13；The effect of two limit protrusive board 3-15 is that lantern ring 5-13 is prevented to be detached from cylindrical plate
3-11；Motor IV5-8 rotate when drive screw rod II5-9 rotation, screw rod II5-9 rotate when drive screw thread orifice plate II5-10 forward or
Person moves backward, and screw thread orifice plate II5-10 drives spreader 5-14 and lantern ring 5-13 forward or moves backward, and lantern ring 5-13 drives
Cylindrical plate 3-11 forward or is slided backward on slide plate 3-10, so that hook 3-8 be driven to extend and retract.
The motor I3-5, motor II3-13, motor III5-4 and motor IV5-8 are self-locking speed-down motor.
The working principle of the invention: electric telescopic rod 1-2 elongation or while shortening can drive sliding cylinder 1-3 increase or
It reduces.Sill strip 2-2 can be rotated between two hinged seat I1-4 by hinged convex block 2-1, the lower end point of two lower link 2-6
Be not hingedly connected on two hinged seat II2-3, the upper end of two lower link 2-6 close to when, two lower link 2-6 can lead to respectively
Crossing two upper connecting rod 2-5 drives saddle 2-4 to increase, the upper end of two lower link 2-6 far from when, two lower link 2-6 can distinguish
Saddle 2-4 is driven to reduce by two upper connecting rod 2-5.Shaft I3-1 can be rotated on saddle 2-4 by axis of own axes, and two
The effect of a stop collar I3-2 is to prevent that opposite sliding occurs between shaft I3-1 and saddle 2-4；Cylindrical plate 3-11 can be in cunning
It is slid back and forth on rail plate 3-10, so that hook 3-8 be forward extended out and retracted backward, motor II3-13 can be with moving axis when rotating
Bar I3-1 is rotated by axis of own axes, so that square 3-3 and slide plate 3-10 can also be rotated by axis of the axis of shaft I3-1,
To which hook 3-8 also can rotate adjustment position by axis of the axis of shaft I3-1；Motor I3-5 can drive shaft when rotating
II3-14 is rotated by axis of own axes, so that shaft II3-14 drives hook seat 3-9 and hook 3-8 with the axis of shaft II3-14
Line is axis rotation, and when the sliding cylinder 1-3 in the position of adjustment hook 3-8 is increased or reduced, sliding cylinder 1-3 is slided in slide opening 4-4；
Sliding cylinder 1-3 increases or drives when reducing the whole hinge around hinged convex block 2-1 and two hinged seat I1-4 of fixed assembly 4
The articulated shaft rotation of position is connect, to drive crane 2 whole around the hinge position of hinged convex block 2-1 and two hinged seat I1-4
The articulated shaft rotation set, to drive hook 3-8 around the hinged of hinged convex block 2-1 and the articulated position of two hinged seat I1-4
Axis rotation, makes hook 3-8 increase or reduce in a rotating manner, adjusts the position of hook 3-8.Band when motor III5-4 is rotated
Dynamic screw rod I5-2 rotation, screw rod I5-2 are matched when rotating with screw thread orifice plate I4-6, and screw rod I5-2 can opposite thread orifice plate I4-6
It is mobile, so that hollow vertical bar 5-1 is driven to slide on mullion 4-5, the whole height of adjusting control mechanism 5, hollow vertical bar 5-1 high
When degree variation, the height of hollow cross bar 5-6 and spreader 5-14 change with hollow vertical bar 5-1, thus spreader 5-14 drive lantern ring
5-13 vertical shift, lantern ring 5-13 drives the whole vertical shift of hook component 3, to adjust the height of hook 3-8；Lantern ring 5-13
It is socketed on the outer ring of cylindrical plate 3-11, cylindrical plate 3-11 can be rotated in lantern ring 5-13 along the axis of lantern ring 5-13, lantern ring
5-13 will not influence cylindrical plate 3-11 and rotate along the axis of lantern ring 5-13；The effect of two limit protrusive board 3-15 is to prevent lantern ring 5-
13 are detached from cylindrical plate 3-11；Screw rod II5-9 rotation is driven when motor IV5-8 is rotated, and screw thread orifice plate is driven when screw rod II5-9 is rotated
II5-10 perhaps moves backward forward screw thread orifice plate II5-10 and drives spreader 5-14 and lantern ring 5-13 forward or move backward,
Lantern ring 5-13 drives cylindrical plate 3-11 forward or to slide backward on slide plate 3-10, so that hook 3-8 be driven to stretch out and contract
It returns.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (7)
1. a kind of Gou Wu robot, including bottom deck assembly (1), crane (2), hook component (3), fixed assembly (4) and control
Mechanism (5) processed, it is characterised in that: the crane (2) is hinged on bottom deck assembly (1), and hook component (3) is arranged in crane
(2) upper end, fixed assembly (4) are fixedly connected on the lower end of crane (2), and one end of control mechanism (5) is slidably connected at
On fixed assembly (4), the other end of control mechanism (5) is rotatably connected on hook component (3).
2. a kind of Gou Wu robot according to claim 1, it is characterised in that: the bottom deck assembly (1) includes bottom plate (1-
1), electric telescopic rod (1-2), sliding cylinder (1-3) and hinged seat I (1-4), the left and right ends of the upper end bottom plate (1-1) are fixed to be connected
It is connected to hinged seat I (1-4), the lower end of electric telescopic rod (1-2) is fixedly connected on bottom plate (1-1), electric telescopic rod (1-2)
Upper end is fixedly connected with sliding cylinder (1-3).
3. a kind of Gou Wu robot according to claim 2, it is characterised in that: (2 include hinged convex block to the crane
(2-1), sill strip (2-2), hinged seat II (2-3), saddle (2-4), upper connecting rod (2-5) and lower link (2-6), sill strip (2-2)
Lower end is fixedly connected with hinged convex block (2-1), and hinged convex block (2-1) is hingedly connected between two hinged seat I (1-4), hingedly
The left and right ends of seat upper end II (2-3) are fixedly connected to hinged seat II (2-3), and the lower end of two lower links (2-6) is cut with scissors respectively
It connecing and is connected on two hinged seat II (2-3), the left and right ends of saddle (2-4) have been hingedly connected upper connecting rod (2-5), and two
The lower end of upper connecting rod (2-5) is hingedly connected in the upper end of two lower links (2-6).
4. a kind of Gou Wu robot according to claim 3, it is characterised in that: the hook component (3) includes shaft I
(3-1), stop collar I (3-2), it square (3-3), side rod (3-4), motor I (3-5), motor rack I (3-6), front stall (3-7), hooks
Son (3-8), hook seat (3-9), slide plate (3-10), cylindrical plate (3-11), motor rack II (3-12), motor II (3-13), axis
Bar II (3-14) and limit protrusive board (3-15), shaft I (3-1) clearance fit are inserted on saddle (2-4), and shaft I (3-1) passes through seat
Block (2-4) is fixedly connected on shaft I (3-1) there are two stop collar I (3-2), two stop collar I (3-2) respectively with saddle (2-
4) front/rear end fitting, motor rack II (3-12) are fixedly connected on saddle (2-4), are fixedly connected on motor rack II (3-12)
Have motor II (3-13), the output shaft of motor II (3-13) is connect with the rear end of shaft I (3-1) by shaft coupling, shaft I (3-
1) front end is fixedly connected with square (3-3), and the front end of square (3-3) is fixedly connected with slide plate (3-10), cylindrical plate (3-
11) be slidably connected on slide plate (3-10), cylindrical plate (3-11) and shaft I (3-1) coaxially, the outer peripheral surface of cylindrical plate (3-11)
On be fixedly connected there are two protrusive board (3-15) is limited, the front end of cylindrical plate (3-11) is fixedly connected there are two side rod (3-4), sliding
Rail plate (3-10) is located between two side rods (3-4), is fixedly connected with front stall (3- between the front end of two side rods (3-4)
7), the lower end of front stall (3-7) is fixedly connected with motor rack I (3-6), and motor I (3-5) is fixedly connected on motor rack I (3-6),
It is connected with shaft II (3-14) on the output shaft of motor I (3-5) by shaft coupling, shaft II (3-14) passes through front stall (3-7), axis
The upper end of bar II (3-14) is fixedly connected with hook seat (3-9), and the front end of hook seat (3-9) is fixedly connected with opening up hook
Sub (3-8).
5. a kind of Gou Wu robot according to claim 4, it is characterised in that: the fixed assembly (4) includes in rear
Plate (4-1), riser (4-2), slide opening bar (4-3), slide opening (4-4), mullion (4-5) and screw thread orifice plate I (4-6), hinged convex block (2-
1) rear end be fixedly connected with after in plate (4-1), it is rear in the rear end of plate (4-1) be fixedly connected with screw thread orifice plate I (4-6), it is rear in
The upper end of plate (4-1) is fixedly connected with mullion (4-5), and the side of rear middle plate (4-1) is fixedly connected with riser (4-2), riser (4-
2) upper end is fixedly connected with slide opening bar (4-3), is provided on slide opening bar (4-3) slide opening (4-4), the outer end of sliding cylinder (1-3)
It is slidably connected on slide opening (4-4).
6. a kind of Gou Wu robot according to claim 5, it is characterised in that: the control mechanism (5) includes hollow perpendicular
Bar (5-1), screw rod I (5-2), motor rack III (5-3), motor III (5-4), angled seat (5-5), hollow cross bar (5-6), motor rack
IV (5-7), motor IV (5-8), screw rod II (5-9), screw thread orifice plate II (5-10), convex round bar (5-11), stop collar II (5-
12), lantern ring (5-13) and spreader (5-14), the lower end of angled seat (5-5) are fixedly connected with hollow vertical bar (5-1), hollow vertical bar (5-
1) the rectangular sliding hole I of corresponding mullion (4-5) is provided on, hollow vertical bar (5-1) is slidably connected at mullion by rectangular sliding hole I
On (4-5), the lower end of hollow vertical bar (5-1) is fixedly connected with motor rack III (5-3), is fixedly connected on motor rack III (5-3)
Have motor III (5-4), the lower end output shaft of motor III (5-4) is connected with screw rod I (5-2) by shaft coupling, screw rod I (5-2)
Lower end matched with screw thread orifice plate I (4-6) by screw thread, the front end of angled seat (5-5) is fixedly connected with hollow cross bar (5-6),
The rectangular sliding hole II of corresponding spreader (5-14) is provided on hollow cross bar (5-6), corresponding spreader (5-14) is slidably connected at rectangle
On slide opening II, the upper end of spreader (5-14) is fixedly connected with screw thread orifice plate II (5-10), and the upper end of hollow cross bar (5-6) is fixed to be connected
It is connected to motor rack IV (5-7), is fixedly connected on motor rack IV (5-7) motor IV (5-8), the front end output of motor IV (5-8)
It is connected with screw rod II (5-9) on axis by shaft coupling, the front end of screw rod II (5-9) passes through screw thread and screw thread orifice plate II (5-10) phase
Cooperation, lantern ring (5-13) is socketed on the outer ring of cylindrical plate (3-11), two limit protrusive boards (3-15) respectively with lantern ring (5-13)
Front/rear end fitting, the upper end of lantern ring (5-13) is fixedly connected with convex round bar (5-11), the upper end of convex round bar (5-11)
Clearance fit is inserted in the front end of spreader (5-14), is fixedly connected on convex round bar (5-11) there are two stop collar II (5-12), two
Upper and lower end face of a stop collar II (5-12) respectively with spreader (5-14) fits.
7. a kind of Gou Wu robot according to claim 6, it is characterised in that: the motor I (3-5), motor II (3-
13), motor III (5-4) and motor IV (5-8) is self-locking speed-down motor.
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| CN201811017450.6A CN109048878B (en) | 2018-09-01 | 2018-09-01 | A kind of Gou Wu robot |
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|---|---|---|---|
| CN201811017450.6A CN109048878B (en) | 2018-09-01 | 2018-09-01 | A kind of Gou Wu robot |
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| CN109048878B CN109048878B (en) | 2019-09-20 |
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| US20180043529A1 (en) * | 2016-08-09 | 2018-02-15 | Inventec Appliances (Pudong) Corporation | Multiaxial robot |
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|---|---|---|---|---|
| CN101549493A (en) * | 2008-06-19 | 2009-10-07 | 大连理工大学 | Double-arm glass substrate carrying robot |
| CN203357446U (en) * | 2013-07-12 | 2013-12-25 | 中国石油大学(华东) | Drill rod handling mechanical arm |
| CN103737587A (en) * | 2014-01-23 | 2014-04-23 | 昆山威创精密机械有限公司 | Intelligent five-shaft manipulator |
| WO2017218776A1 (en) * | 2016-06-17 | 2017-12-21 | Schaeffler Technologies AG & Co. KG | Modular articulating assembly of a robotic system |
| US20180043529A1 (en) * | 2016-08-09 | 2018-02-15 | Inventec Appliances (Pudong) Corporation | Multiaxial robot |
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|---|---|
| CN109048878B (en) | 2019-09-20 |
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Effective date of registration: 20190819 Address after: 221400 No. 106 Xinbei Road, Xin'an Town, Xinyi City, Xuzhou City, Jiangsu Province Applicant after: Xinyi urban construction and Development Co., Ltd. Address before: Group 9 of Qianhaige Village, Changqing Township, Fulaerji District, Qiqihar City, Heilongjiang Province, 161000 Applicant before: Dan Shumei |
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