CN114800555B - Translation butt joint mechanism in narrow space, material collecting device and working method of material collecting device - Google Patents
Translation butt joint mechanism in narrow space, material collecting device and working method of material collecting device Download PDFInfo
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- CN114800555B CN114800555B CN202210445499.1A CN202210445499A CN114800555B CN 114800555 B CN114800555 B CN 114800555B CN 202210445499 A CN202210445499 A CN 202210445499A CN 114800555 B CN114800555 B CN 114800555B
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- translation
- box body
- rod
- main shaft
- rotationally connected
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a translational butt joint mechanism in a narrow space, a material collecting device and a working method thereof, wherein the translational butt joint mechanism comprises a translational part and a lifting part, the lifting part translates along with the translational part, and the lifting part comprises a box body, a lifting plate and a connecting rod assembly; the connecting rod assembly comprises a main shaft and two translation shafts, wherein the main shaft is rotationally connected to the box body, a balancing weight is fixed on the main shaft to drive the main shaft to rotate, the end part of each translation shaft is positioned in a long groove of the box body, a driving rod is fixed on the main shaft, two ends of each driving rod are respectively rotationally connected with a driven rod, the other end of each driven rod is rotationally connected with the corresponding translation shaft, one or two linkage rods are rotationally connected to each translation shaft, and the top of each linkage rod is rotationally connected to the bottom surface of the lifting plate.
Description
Technical Field
The invention relates to the technical field of mechanical design, in particular to a translation butt joint mechanism with a manipulator operation function in a narrow space and a material collecting device.
Background
Under the special environment that manual work can't direct operation, the material is collected to the little jar body through big main jar body in, the butt joint separation of little jar body and big jar body and the getting of the little jar body are put and are all relied on the manipulator operation to accomplish, and often its operating space is very narrow and small, this greatly increased collection device's design degree of difficulty, have not better solution to the material collection device of manipulator operational function concurrently when under the narrow and small space at present.
The invention provides a material collecting device with a manipulator operation function in a narrow space, which can meet the requirement of manipulator operation in the narrow space and realize the material collecting function.
Disclosure of Invention
The invention aims to solve the problem of manipulator operation of a material collecting device in a narrow space under a special environment in the prior art, and provides a translation butt joint mechanism with a manipulator operation function in a narrow space.
It is a further object of the present invention to provide a material collection device based on the translational docking mechanism.
It is a further object of the present invention to provide a method of operating the translational docking mechanism and the material collection device.
The technical scheme adopted for realizing the purpose of the invention is as follows:
the translation butt joint mechanism comprises a translation part and a lifting part, wherein the lifting part translates along with the translation part, and the lifting part comprises a box body, a lifting plate and a connecting rod assembly;
the connecting rod assembly comprises a main shaft and two translation shafts, the main shaft is rotationally connected to the box body, a balancing weight is fixed on the main shaft to drive the main shaft to rotate, the end part of each translation shaft is located in a long groove of the box body, a driving rod is fixed on the main shaft, two ends of each driving rod are respectively rotationally connected with a driven rod, the other end of each driven rod is rotationally connected with the corresponding translation shaft, one or two linkage rods are rotationally connected to each translation shaft, and the top of each linkage rod is rotationally connected to the bottom surface of the lifting plate.
In the above technical scheme, the middle part of each gangbar is rotationally connected with a supporting rod, the other end of the supporting rod is rotationally connected with the front side plate and the rear side plate of the box body or rotationally connected with the rotating shaft, and two ends of the rotating shaft are respectively fixed on the front side plate and the rear side plate of the box body.
In the above technical scheme, the both ends of main shaft are rotated respectively and are connected on the preceding curb plate and the posterior lateral plate of box, the balancing weight is located outside the box, all be equipped with two on preceding curb plate and the posterior lateral plate of box the slot, every the both ends correspondence of translation axle are located two front and back slots, the middle part of gangbar rotates and connects the bracing piece, the other end of bracing piece rotate connect in the preceding posterior lateral plate of box or with in box fixed connection's the pivot.
In the above technical scheme, the translation part comprises a translation guide rail and a sliding block which is connected to the translation guide rail in a sliding way, wherein the bottom of the box body is fixed on the sliding block and moves along the translation guide rail along with the sliding block.
In the above technical scheme, the balancing weight comprises a cylindrical balancing weight part, a connecting rod and a force application rod, wherein the connecting rod and the force application rod are integrally formed with the balancing weight part, the end part of the connecting rod is fixed on the main shaft, and the balancing weight is stirred by the mechanical arm through the force application rod.
In another aspect of the present invention, the translational docking method of the translational docking mechanism includes the following steps:
the manipulator dials the balancing weight anticlockwise, the main shaft anticlockwise moves, the driven rods on two sides are driven to move along by the driving rod, the linkage rod is driven to move, the linkage rod pushes or pulls the translation shaft to move along the track of the long groove of the box body, under the action of the supporting rod, the lifting plate can parallelly descend, and when the balancing weight is toggled in the opposite direction, the stable lifting of the lifting plate can be realized under the action of gravity of the balancing weight;
under the pushing action of the mechanical arm, the lifting part translates under the action of the translation part.
On the other hand, the material collecting device with the manipulator operation function in the narrow space comprises a receiving tank, a collecting tank and the translation butt joint mechanism, wherein an butt joint port is arranged at the bottom of the receiving tank, and the collecting tank can be butt-jointed on the butt joint port or separated from the butt joint port under the action of the translation butt joint mechanism.
In the above technical scheme, a tray for placing the collecting tank is fixed on the lifting plate.
In the above technical scheme, the tray for placing the collecting tank is located at one side of the box body and right above the translation guide rail.
In the technical scheme, one side of the top opening of the carrying tank is provided with the clamping opening, the carrying tank is fixed on the chassis through the supporting column, and the translation part is assembled on the chassis.
In the above technical scheme, the butt joint mouth is the toper, the accepting jar is funnel type structure, the collecting tank is the cask shape.
In another aspect of the present invention, a material collecting method of the material collecting apparatus includes the steps of: the material is unrestrained in accepting jar, can collect the material to collecting the material jar through funnel formula structure, utilize the manipulator anticlockwise stirring balancing weight, can separate collecting the material jar and interfacing part through link assembly, the rethread manipulator moves the tray and can wholly tie out collecting the material jar below accepting jar, make things convenient for collecting the material jar to take out, on the contrary, can push new collecting the material jar into and dock with accepting jar, utilize manipulator operation centre gripping mouth, shift collecting device to the technology position that needs to accept the material, can carry out the material collection of next time.
Compared with the prior art, the invention has the beneficial effects that:
1. the translation butt joint mechanism can realize translation and lifting in a narrow space, can realize stable ascending and descending under the action of the balancing weight, has high movement stability and can realize accurate butt joint.
2. The material collecting device provided by the invention has the advantages that the manipulator is simple and convenient to operate, the occupied space is small, and the material collecting device is suitable for a material collecting system in a narrow space.
Drawings
FIG. 1 is an outline view of a translating docking mechanism;
FIG. 2 is a schematic view of the translational docking mechanism with the housing omitted;
FIG. 3 is a block diagram of a translational docking mechanism;
FIG. 4 is a schematic structural view of a weight;
FIG. 5 is an outline view of the material collection device;
fig. 6 is a schematic structural diagram of the material collecting device.
In the figure: 1-a chassis; 2-supporting columns; 3-interfacing; 4-a carrying tank; 5-clamping ports; 6, collecting a charging bucket; 7-a translational docking mechanism; 8, a box body; 9-translating the guide rail; 10-a tray; 11-balancing weight; 12-a connecting rod assembly; 13-a slider; 14-a main shaft; 15-a driven rod; 16-supporting rods; 17-linkage rod; 18-a main shaft; 19-a translation axis; 20-an elongated slot; 21-a drive rod; 22-lifting plates; 23-rotating shaft.
Detailed Description
The invention is described in further detail below with reference to the drawings and the specific examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
1-3, a translation butt joint mechanism with a manipulator operation function in a narrow space comprises a translation part and a lifting part, wherein the lifting part translates along with the translation part, and the lifting part comprises a box body 8, a lifting plate 22 and a connecting rod assembly 12;
the connecting rod assembly 12 comprises a main shaft 18 and two translation shafts 19, the main shaft 18 is rotationally connected to the box body 8, a balancing weight 11 is fixed on the main shaft 18 to drive the main shaft 18 to rotate, the end parts of the translation shafts 19 are located in long grooves 20 of the box body 8, driving rods 21 are fixed on the main shaft 18, two ends of the driving rods 21 are respectively rotationally connected with a driven rod 15, the other ends of the driven rods 15 are rotationally connected with corresponding translation shafts 19, one or two linkage rods 17 are rotationally connected to each translation shaft 19, and the tops of the linkage rods 17 are rotationally connected to the bottom surfaces of lifting plates 22.
The manipulator stirs balancing weight 11 anticlockwise, and main shaft 14 anticlockwise moves, drives the driven bars 15 of both sides through actuating lever 21 and follows the motion to drive the gangbar 17 and remove, the gangbar 17 promotes or pulls translation axle 19 along the long groove 20 orbit motion of box 8, and when counter direction stirs balancing weight 11, under balancing weight 11 gravity effect, can realize lifting plate 22's stable rising, so realize rising, decline and translation action in narrow and small space through the manipulator.
Preferably, two ends of the main shaft 18 are respectively rotatably connected to a front side plate and a rear side plate of the box body 8, the balancing weight 11 is located outside the box body 8, two elongated grooves 20 are respectively formed in the front side plate and the rear side plate of the box body 8, and two ends of each translation shaft 19 are correspondingly located in the front elongated groove 20 and the rear elongated groove 20.
Preferably, a supporting rod 16 is rotatably connected to the middle of each linkage rod 17, the other end of the supporting rod 16 is rotatably connected to the front and rear side plates of the box 8 or rotatably connected to a rotating shaft 23, and two ends of the rotating shaft 23 are respectively fixed to the front side plate and the rear side plate of the box 8.
Preferably, the translation part comprises a translation guide rail 9 and a sliding block 13 slidingly connected to the translation guide rail 9, and the bottom of the box 8 is fixed on the sliding block 13 and moves along the translation guide rail 9 along with the sliding block 13.
Preferably, as shown in fig. 4, the balancing weight 11 includes a cylindrical balancing weight portion 11-1, a connecting rod 11-2 and a force application rod 11-3 which are integrally formed with the balancing weight portion 11-1, wherein the end portion of the connecting rod 11-2 is fixed on the main shaft 18, and a manipulator toggles the balancing weight 11 through the force application rod 11-3, so that the balancing weight 11 with such a structure is more convenient to operate in a narrow space.
Example 2
As shown in fig. 5-6, a material collecting device with a manipulator operation function in a narrow space comprises a receiving tank 4, a collecting tank 6 and a translational docking mechanism according to embodiment 1, wherein a docking port 3 is arranged at the bottom of the receiving tank 4, and the collecting tank 6 can be docked on the docking port 3 or separated from the docking port 3 under the action of the translational docking mechanism.
The tray 10 for placing the collecting tank 6 is fixed on the lifting plate 22, lifting of the collecting tank 6 is achieved under the action of the connecting rod assembly 12, and translation of the collecting tank 6 is achieved under the action of the translation part. When the lifting plate 22 descends, the collection material tank 6 is separated from the butt joint opening 3 of the bearing tank, and similarly, when the lifting plate 22 stably ascends, the collection material tank 6 can ascend, and the collection material tank 6 is stably in butt joint with the butt joint opening 3 of the bearing tank.
The charging bucket 6 is transferred from the outside to be placed on the tray 10 through the operation of the manipulator, the tray 10 is pushed along the translation guide rail 9 to enable the charging bucket 6 to be positioned below the butt joint port 3, and the butt joint of the collecting charging bucket 6 and the butt joint port 3 can be realized by pulling the balancing weight 11 clockwise.
The diameter of the receiving tank 4 can reach 600mm, the diameter of the collecting tank 6 can be smaller than 100mm, and under the condition of ensuring the overall size to be fixed, the placing space of the collecting tank 6 is extremely limited in order to ensure that the material collecting taper of the receiving tank 4 is proper, and the collecting tank 6 is difficult to directly operate by using a mechanical arm. Through translation docking mechanism 7, realize collecting the moving in of material jar 6 and remove, with the butt joint separation of docking port 3, satisfy the manipulator operation requirement.
Preferably, the tray 10 is located at one side of the box 8 and directly above the translation guide rail 9, so as to reserve an operation space for the manipulator to operate the balancing weight 11.
Preferably, a clamping opening 5 is arranged on one side of the top opening of the carrying tank 4, the carrying tank 4 is fixed on the chassis 1 through the support column 2, and the translation part is assembled on the chassis 1. After the collecting tank 6 and the carrying tank 4 are in butt joint, the whole material can be transferred to a process position through the clamping opening 5 clamped by the manipulator for collecting the material.
Preferably, the butt joint opening 3 is tapered, so that the smoothness of butt joint can be improved, the receiving tank 4 is of a funnel structure, and the collecting tank 6 is of a barrel shape.
Example 3
The collection method of the material collection device according to embodiment 2, comprising the steps of:
the material spills in accepting jar 4, can collect the material to collect jar 6 through funnel formula structure in, utilize the manipulator anticlockwise stirring balancing weight, can separate collection jar 6 and butt joint mouth 3 through link assembly, and the rethread manipulator moves tray 10 and can wholly take collection jar 6 translation out accepting jar 4 below, conveniently collects jar 6 and take out. In contrast, a new collecting tank 6 can be pushed in and is in butt joint with the carrying tank 4, and the mechanical arm is used for operating the clamping opening 5 to transfer the collecting device to a process position where materials need to be carried out, so that the next material collection can be carried out.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "under" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "lower" may encompass both an upper and lower orientation. The device may be otherwise positioned (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second", and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (9)
1. The translation butt joint mechanism with the manipulator operation function in a narrow space is characterized by comprising a translation part and a lifting part, wherein the lifting part translates along with the translation part, and the lifting part comprises a box body, a lifting plate and a connecting rod assembly;
the connecting rod assembly comprises a main shaft and two translation shafts, the main shaft is rotationally connected to the box body, a balancing weight is fixed on the main shaft to drive the main shaft to rotate, the end parts of the translation shafts are positioned in the long grooves of the box body, driving rods are fixed on the main shaft, two ends of each driving rod are respectively rotationally connected with a driven rod, the other ends of the driven rods are rotationally connected with the corresponding translation shafts, one or two linkage rods are rotationally connected to each translation shaft, and the tops of the linkage rods are rotationally connected to the bottom surface of the lifting plate;
the middle part of each linkage rod is rotationally connected with a supporting rod, the other end of each supporting rod is rotationally connected with the front side plate and the rear side plate of the box body or rotationally connected with a rotating shaft, and two ends of the rotating shaft are respectively fixed on the front side plate and the rear side plate of the box body;
the two ends of the main shaft are respectively and rotatably connected to the front side plate and the rear side plate of the box body, the balancing weights are positioned outside the box body, two long grooves are formed in the front side plate and the rear side plate of the box body, two ends of each translation shaft are correspondingly positioned in the front long groove and the rear long groove, the middle part of the linkage rod is rotatably connected with the supporting rod, and the other end of the supporting rod is rotatably connected to the front side plate and the rear side plate of the box body or a rotating shaft fixedly connected with the box body;
the balancing weight comprises a cylindrical balancing weight part, a connecting rod and a force application rod, wherein the connecting rod and the force application rod are integrally formed with the balancing weight part, the end part of the connecting rod is fixed on the main shaft, and the balancing weight is poked by the mechanical arm through the force application rod.
2. The translational docking mechanism of claim 1, wherein the translational portion comprises a translational rail and a slider slidably coupled to the translational rail, the bottom of the housing being secured to the slider for movement therewith along the translational rail.
3. The translational docking method of a translational docking mechanism according to any one of claims 1 to 2, comprising the steps of:
the manipulator dials the balancing weight anticlockwise, the main shaft anticlockwise moves, the driven rods on two sides are driven to move along by the driving rod, the linkage rod is driven to move, the linkage rod pushes or pulls the translation shaft to move along the track of the long groove of the box body, under the action of the supporting rod, the lifting plate can parallelly descend, and when the balancing weight is toggled in the opposite direction, the stable lifting of the lifting plate can be realized under the action of gravity of the balancing weight;
under the pushing action of the mechanical arm, the lifting part translates under the action of the translation part.
4. The utility model provides a narrow and small space possesses material collection device of manipulator operation function, its characterized in that includes accepting jar, collection material jar and the translation docking mechanism of any one of claims 1-2, the bottom of accepting jar is equipped with the butt joint mouth, collection material jar is under the effect of translation docking mechanism can dock on the butt joint mouth or with the butt joint mouth separation.
5. The material collection apparatus of claim 4, wherein a tray for receiving the collection canister is secured to the lift plate.
6. The material collection apparatus of claim 4, wherein a tray for receiving a collection canister is located on one side of the housing directly above the translating rail.
7. The material collecting apparatus as claimed in claim 4, wherein a holding port is provided at a top opening side of the receiving tank, the receiving tank is fixed to the chassis via a support column, and the translation portion is fitted to the chassis.
8. The material collection apparatus of claim 4, wherein the interface is tapered, the receiving tank is funnel-shaped, and the collection tank is barrel-shaped.
9. The material collecting method of the material collecting apparatus as claimed in claim 4, comprising the steps of: the material is unrestrained in accepting jar, can collect the material to collecting the material jar through funnel formula structure, utilize the manipulator anticlockwise stirring balancing weight, can separate collecting the material jar and interfacing part through link assembly, the rethread manipulator moves the tray and can wholly tie out collecting the material jar below accepting jar, make things convenient for collecting the material jar to take out, on the contrary, can push new collecting the material jar into and dock with accepting jar, utilize manipulator operation centre gripping mouth, shift collecting device to the technology position that needs to accept the material, can carry out the material collection of next time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210445499.1A CN114800555B (en) | 2022-04-26 | 2022-04-26 | Translation butt joint mechanism in narrow space, material collecting device and working method of material collecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210445499.1A CN114800555B (en) | 2022-04-26 | 2022-04-26 | Translation butt joint mechanism in narrow space, material collecting device and working method of material collecting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114800555A CN114800555A (en) | 2022-07-29 |
| CN114800555B true CN114800555B (en) | 2023-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210445499.1A Active CN114800555B (en) | 2022-04-26 | 2022-04-26 | Translation butt joint mechanism in narrow space, material collecting device and working method of material collecting device |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05347349A (en) * | 1992-06-12 | 1993-12-27 | Yamazaki Denki:Kk | Continuous tray transfer device in furnace |
| CN103317511A (en) * | 2013-06-19 | 2013-09-25 | 北京交通大学 | Multiple connection rod inserting movement mechanism |
| CN110686121A (en) * | 2019-09-11 | 2020-01-14 | 江苏丰又环境科技有限公司 | Pipeline opening and closing control device |
| CN213859839U (en) * | 2020-07-29 | 2021-08-03 | 泉州市德化县丰弘机械有限公司 | A rotatory elevating gear and automatic roll extrusion production line for automatic roll extrusion |
| CN216104383U (en) * | 2021-08-05 | 2022-03-22 | 安徽锐谷科技有限公司 | Logistics loading and unloading lifting AGV robot |
-
2022
- 2022-04-26 CN CN202210445499.1A patent/CN114800555B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05347349A (en) * | 1992-06-12 | 1993-12-27 | Yamazaki Denki:Kk | Continuous tray transfer device in furnace |
| CN103317511A (en) * | 2013-06-19 | 2013-09-25 | 北京交通大学 | Multiple connection rod inserting movement mechanism |
| CN110686121A (en) * | 2019-09-11 | 2020-01-14 | 江苏丰又环境科技有限公司 | Pipeline opening and closing control device |
| CN213859839U (en) * | 2020-07-29 | 2021-08-03 | 泉州市德化县丰弘机械有限公司 | A rotatory elevating gear and automatic roll extrusion production line for automatic roll extrusion |
| CN216104383U (en) * | 2021-08-05 | 2022-03-22 | 安徽锐谷科技有限公司 | Logistics loading and unloading lifting AGV robot |
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| Publication number | Publication date |
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| CN114800555A (en) | 2022-07-29 |
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