CN106041949B - A kind of manipulator suitable for marine marker automatic coupling - Google Patents
A kind of manipulator suitable for marine marker automatic coupling Download PDFInfo
- Publication number
- CN106041949B CN106041949B CN201610464287.2A CN201610464287A CN106041949B CN 106041949 B CN106041949 B CN 106041949B CN 201610464287 A CN201610464287 A CN 201610464287A CN 106041949 B CN106041949 B CN 106041949B
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- China
- Prior art keywords
- positioning
- positioning plate
- guide rail
- fixedly connected
- rail device
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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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- 239000003550 marker Substances 0.000 title description 19
- 230000008878 coupling Effects 0.000 title description 11
- 238000010168 coupling process Methods 0.000 title description 11
- 238000005859 coupling reaction Methods 0.000 title description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 238000009434 installation Methods 0.000 claims abstract 3
- 229910000831 Steel Inorganic materials 0.000 claims 1
- 239000010959 steel Substances 0.000 claims 1
- 238000011084 recovery Methods 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 3
- 239000000725 suspension Substances 0.000 description 19
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 210000000952 spleen Anatomy 0.000 description 1
Classifications
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Clamps And Clips (AREA)
Abstract
本发明公开了一种适用于海上浮标自动挂钩的机械手，包括导轨装置，所述导轨装置的两端分别通过铰链铰接有第一定位板，且两个第一定位板之间形成了用于夹紧海上浮标的第一夹紧槽，第一定位板远离转动轴的一端通过伸缩机构固定连接有第二定位板，且两个第一定位板的相对面通过弹簧固定连接，所述第一定位板远离弹簧的侧面上还开设有固定座，在固定座一侧的第一定位板上还固定安装有勾紧机构，所述导轨装置的顶部开设有安装孔和两个T字形导轨，且两个T字形导轨分别设置在安装孔的前后两侧。本发明降低海上浮标回收工作的危险性，排除动态浮标位置的不确定性，准确使吊钩挂住耳环、定位板的可伸缩设计可以适用不同浮标大小。
The invention discloses a manipulator suitable for automatic hooking of marine buoys, comprising a guide rail device, two ends of the guide rail device are respectively hinged with a first positioning plate through hinges, and a clamp for clamping is formed between the two first positioning plates. Tighten the first clamping groove of the marine buoy, the end of the first positioning plate away from the rotating shaft is fixedly connected with a second positioning plate through a telescopic mechanism, and the opposite surfaces of the two first positioning plates are fixedly connected by springs. A fixing seat is also opened on the side of the plate away from the spring, and a hook-tightening mechanism is also fixedly installed on the first positioning plate on one side of the fixing seat. The top of the guide rail device is provided with a mounting hole and two T-shaped guide rails. Two T-shaped guide rails are respectively arranged on the front and rear sides of the installation hole. The invention reduces the danger of the buoy recovery work at sea, eliminates the uncertainty of the dynamic buoy position, and accurately enables the hook to hang the earring and the retractable design of the positioning plate to be applicable to different buoy sizes.
Description
Technical field
The present invention relates to face type manipulator technical field, specially a kind of machinery suitable for marine marker automatic coupling
Hand.
Background technique
Oceanographic buoy is to be anchored the marine hydrometeorology automatic Observation station that forms based on afloat observation buoy.It
It can be long-term by prescribed requirement, continuously scientific research of seas, offshore oil (gas) is developed, port construction and national defense construction are collected
Required marine hydrometeorology data can especially be collected into the data that research vessel is difficult to the bad weather collected and sea situation, ocean
Place changeable: when and it is bright and sunny, The water is smooth as a mirror；When and terrifying waves, it is in a thundering rage.In order to understand its spleen
Gas, people establish oceanic observation, measurement wave height, ocean current, Hai Wen, tidal level and wind speed on coastal and island.The water such as air pressure
Literary meteorological element has grasped these data, it will brings more conveniences.
Suspension hook on loop wheel machine is mainly manually caught on the earrings on buoy by the recovery operation of marine marker at present, to floating
Mark carries out slinging recycling.Since marine marker is constantly in dynamic, so not only having using suspension hook is manually caught on buoy earrings
There is certain risk, and efficiency is not also high.There is presently no the designs about automatic coupling machinery hand.
Summary of the invention
Technical problem to be solved by the present invention lies in danger brought by the recovery operation for current marine marker
Property, the purpose of the present invention is to provide a kind of face type manipulators that suspension hook is caught on to buoy earrings using pneumatic shuttle, to solve
The problems mentioned above in the background art.
To achieve the above object, the invention provides the following technical scheme: a kind of machine suitable for marine marker automatic coupling
Tool hand, including track-type facilities, the both ends of the track-type facilities pass through hinge respectively and are hinged with the first positioning plate, and two first fixed
The first clamping slot for clamping marine marker is formd between the plate of position, the one end of the first positioning plate far from rotation axis passes through flexible
Mechanism is fixedly connected with the second positioning plate, and the opposite face of two the first positioning plates is fixedly connected by spring, and described first is fixed
It is tight to be also fixedly installed with hook far from fixing seat is also provided on the side of spring on the first positioning plate of fixing seat side for position plate
Mechanism offers mounting hole and two T-shaped guide rails at the top of the track-type facilities, and two T-shaped guide rails are separately positioned on
The front and rear sides of mounting hole, are equipped with universal joint in mounting hole, and the side of the T-shaped guide rail is additionally provided with air pressure driving dress
It sets, and the both ends of actuating device of atmospheric pressure are fixedly connected to positioning sliding block, the bottom end of positioning sliding block passes through T-shaped guide rail and exposed
It forms in the bottom of track-type facilities, and between the exposed end of two positioning sliding blocks and is clamped for the second of clamping buoy earrings
Slot, the bottom of the track-type facilities are also fixedly installed with driving mechanism, the both ends of driving mechanism pass through respectively active connection with
The opposite face of two the first positioning plates is fixedly connected.
Preferably, the Gou Jin mechanism includes cable wire, the first air pressure telescopic link and suspension hook, and one end of cable wire and universal joint
Bottom be fixedly connected, the other end of the cable wire passes through fixing seat and the suspension hook that is arranged on the outside of the first positioning plate is fixed connects
It connects, first air pressure telescopic link is fixedly mounted on the outer wall of the first positioning plate by strut.
Preferably, the actuating device of atmospheric pressure includes two air pressure bracing sticks, and the movable end of two air pressure bracing sticks divides
It is not fixedly connected with two positioning sliding blocks.
Preferably, the driving mechanism includes the support frame for being fixedly mounted on track-type facilities bottom, and support frame is far from leading
One end of rail device is fixedly connected with mounting plate, and it is flexible that the second air pressure is fixedly installed in the left and right sides of mounting plate
Bar.
Preferably, the quantity of the spring is two, and two springs are symmetricly set on the first positioning plate.
Preferably, the quantity of the telescopic rod is four, and two telescopic rods are one group.
The present invention provides a kind of manipulators suitable for marine marker automatic coupling, pass through the first positioning plate of setting and drive
Motivation structure allows the carry out activity on track-type facilities by hinge of two the first positioning plates, to carry out to marine buoy
Preliminary clamping, and be very easy to position marine buoy, drive the second positioning plate to determine first by telescoping mechanism
Telescopic moving is carried out on the plate of position, positioning clamping is carried out to different size of buoy, the opposite of marine marker and suspension hook can be positioned
Position reduces the fixation artificially gone to buoy, after preliminary clamp, drives positioning sliding block T-shaped by actuating device of atmospheric pressure
It is slided on guide rail, the earrings of buoy is repositioned, so that it is more firm to clamp buoy, facilitate suspension hook to the hook of earrings
It takes, when hook takes, pushes suspension hook by fixing seat by the first air pressure telescopic link, hook is carried out to the earrings after fixation and is taken, this will generation
For manually buoy is jumped onto, suspension hook is caught on into buoy hangers, the risk of retrievable buoys work is substantially reduced, embodies the automatic of it
Change with hommization.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the manipulator suitable for marine marker automatic coupling proposed by the present invention；
Fig. 2 a, b are a kind of implementation of the manipulator automatic coupling suitable for marine marker automatic coupling proposed by the present invention
Example process；
Fig. 3 is a kind of manipulator closed state structural representation suitable for marine marker automatic coupling proposed by the present invention
Figure.
In figure: 1 track-type facilities, 2 first positioning plates, 3 telescoping mechanisms, 4 second positioning plates, 5 springs, 6 fixing seats, 7 hook tightly
Mechanism, 71 cable wires, 72 first air pressure telescopic links, 73 suspension hooks, 8 mounting holes, 9 T-shaped guide rails, 10 universal joints, 11 air pressures driving dress
It sets, 12 positioning sliding blocks, 13 driving mechanisms, 131 support frames, 132 mounting plates, 133 second air pressure telescopic links.
Specific embodiment
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 description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, the present invention provides a kind of technical solution: a kind of machinery suitable for marine marker automatic coupling
Hand, including track-type facilities 1, the both ends of track-type facilities 1 pass through hinge respectively and are hinged with the first positioning plate 2, and two first positioning
The first clamping slot for clamping marine marker is formd between plate 2, the one end of the first positioning plate 2 far from rotation axis passes through flexible
Mechanism 3 is fixedly connected with the second positioning plate 4, and the opposite face of two the first positioning plates 2 is fixedly connected by spring 5, spring 5
Quantity is two, and two springs 5 are symmetricly set on the first positioning plate 2, on the first side of the positioning plate 2 far from spring 5 also
Fixing seat 6 is offered, Gou Jin mechanism 7 passes through fixing seat 6 and hook tightly, since the length of fixing seat 6 is greater than to the earrings of buoy
Movable amplitude when first positioning plate 2 opens, so that fixing seat does not appoint Gou Jin mechanism 7 when the first positioning plate 2 opens
What is influenced, and is also fixedly installed with Gou Jin mechanism 7 on the first positioning plate 2 of 6 side of fixing seat, the top of track-type facilities 1 offers
Mounting hole 8 and two T-shaped guide rails 9, and two T-shaped guide rails 9 are separately positioned on the front and rear sides of mounting hole 8, in mounting hole 8
Universal joint 10 is inside installed, when universal joint 10 rotates, track-type facilities 1 follow universal joint 10 to rotate, in order to according to earrings
Towards the direction of adjustment suspension hook 73, it is ensured that suspension hook 73 can accurately catch on buoy earrings, and the side of T-shaped guide rail 9 is additionally provided with
Actuating device of atmospheric pressure 11, actuating device of atmospheric pressure 11 are mounted between two pieces of positioning sliding blocks 12, for controlling two pieces of positioning sliding blocks 12
Clamping and release, and the both ends of actuating device of atmospheric pressure 11 are fixedly connected to positioning sliding block 12, and the bottom end of positioning sliding block 12 is worn
Cross T-shaped guide rail 9 and the exposed bottom in track-type facilities 1, T-shaped guide rail 9 limit positioning sliding block 6 motion range and can root
It is adjusted clamping according to the size of earrings, and is formd between the exposed end of two positioning sliding blocks 12 for clamping buoy earrings
Second clamping slot, the bottom of track-type facilities 1 are also fixedly installed with driving mechanism 13, and the both ends of driving mechanism 13 pass through activity respectively
Connector is fixedly connected with the opposite face of two the first positioning plates 2, and driving mechanism 13 controls the tightening of the first positioning plate 2 and opens
Open, when the pressure that driving mechanism 13 supplies increases, two piece of first positioning plate 2 at leisure away from each other, on the contrary, working as driving machine
When the pressure that structure 13 supplies reduces, two piece of first positioning plate 2 is adjacent to each other at leisure.
In the present invention, Gou Jin mechanism 7 includes cable wire 71, the first air pressure telescopic link 72 and suspension hook 73, and one end of cable wire 71
It is fixedly connected with the bottom of universal joint 10, the other end of cable wire 71 passes through fixing seat 6 and hanging for 2 outside of the first positioning plate is arranged in
Hook 73 is fixedly connected, and the first air pressure telescopic link 72 is fixedly mounted on the outer wall of the first positioning plate 2 by strut, and suspension hook 73 blocks
It connecing in fixing seat 6, Gou Jin mechanism 7 is flexible by the first air pressure telescopic link 72, and drive suspension hook 73 to be detached from out of fixing seat 6, and
Drive suspension hook 73 is passed through hook to earrings out of fixing seat 6 and be taken.
In the present invention, actuating device of atmospheric pressure 11 includes two air pressure bracing sticks, and the movable end of two air pressure bracing sticks divides
It is not fixedly connected with two positioning sliding blocks 12.
In the present invention, support frame 131 of the driving mechanism 13 including being fixedly mounted on 1 bottom of track-type facilities, and support frame 131
One end far from track-type facilities 1 is fixedly connected with mounting plate 132, is fixedly installed in the left and right sides of mounting plate 132
Second air pressure telescopic link 133, and the movable end of two the second air pressure telescopic links 133 is fixedly connected with active connection respectively, is led to
The flexible of the second air pressure telescopic link 132 is crossed to be adjusted the distance between first positioning plate 2.
In the present invention, telescoping mechanism 3 includes two telescopic rods, and two telescopic rods are symmetricly set on the one of the first positioning plate
End, four telescopic rods are mounted between the first positioning plate 2 and the second positioning plate 4, can be carried out according to the size of practical marine marker
Adjustment.
When by adjusting universal joint 10, making direction and the earrings of suspension hook 73 in use, determine position and the size of buoy
Direction is consistent, then adjusts driving mechanism 13, and two piece of first positioning plate 2 is slowly tightened under the action of spring 8, clamp sea
Buoy, later under the pressure of actuating device of atmospheric pressure 11, two pieces of positioning sliding blocks 12 are slowly tightened, and clamp the ear on marine marker
Ring after having had good positioning, drives Gou Jin mechanism 7, and suspension hook 73 is made to catch on the earrings of marine marker, while the increase pressure of driving mechanism 13
Power, two piece of first positioning plate 2 open.
The present invention reduces the risk of marine marker recovery operation, excludes the uncertainty of dynamic buoy position, accurately makes
Suspension hook tangles earrings, the scalable design of positioning plate can be applicable in not concentric float size.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464287.2A CN106041949B (en) | 2016-06-21 | 2016-06-21 | A kind of manipulator suitable for marine marker automatic coupling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464287.2A CN106041949B (en) | 2016-06-21 | 2016-06-21 | A kind of manipulator suitable for marine marker automatic coupling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106041949A CN106041949A (en) | 2016-10-26 |
| CN106041949B true CN106041949B (en) | 2019-01-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610464287.2A Expired - Fee Related CN106041949B (en) | 2016-06-21 | 2016-06-21 | A kind of manipulator suitable for marine marker automatic coupling |
Country Status (1)
| Country | Link |
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| CN (1) | CN106041949B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107267730A (en) * | 2017-08-21 | 2017-10-20 | 江门市弈创企业管理咨询有限公司 | A kind of adjustable heat-treatment furnace suspension bracket |
| CN110341895B (en) * | 2019-07-15 | 2024-02-13 | 广东海洋大学 | Unmanned buoy recovery device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4621852A (en) * | 1984-01-30 | 1986-11-11 | Syuichi Maki | Inching apparatus for robot hands |
| CN201012863Y (en) * | 2007-02-12 | 2008-01-30 | 常熟市三禾计量设备厂 | Paw structure of intelligent mechanical arm piling machine |
| CN201325060Y (en) * | 2008-12-19 | 2009-10-14 | 河北科技大学 | Guide rail push-pull mechanical hand |
| US7887108B1 (en) * | 2007-08-16 | 2011-02-15 | Sage Automation, Inc. | Adjustable tine clamp systems and methods |
| CN201923667U (en) * | 2011-01-06 | 2011-08-10 | 安徽森科新材料有限公司 | Gypsum block stacking manipulator |
| CN103342175A (en) * | 2013-07-27 | 2013-10-09 | 枣庄市三维技术有限公司 | Powder material automatic bagging manipulator |
| CN206085056U (en) * | 2016-06-21 | 2017-04-12 | 广东技术师范学院 | Manipulator suitable for marine buoy automatic coupling |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01169841A (en) * | 1987-12-25 | 1989-07-05 | Hitachi Ltd | Bulb transfer device for color picture tube |
| JP2600486B2 (en) * | 1990-11-28 | 1997-04-16 | 三菱電機株式会社 | Robot hand device |
-
2016
- 2016-06-21 CN CN201610464287.2A patent/CN106041949B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4621852A (en) * | 1984-01-30 | 1986-11-11 | Syuichi Maki | Inching apparatus for robot hands |
| CN201012863Y (en) * | 2007-02-12 | 2008-01-30 | 常熟市三禾计量设备厂 | Paw structure of intelligent mechanical arm piling machine |
| US7887108B1 (en) * | 2007-08-16 | 2011-02-15 | Sage Automation, Inc. | Adjustable tine clamp systems and methods |
| CN201325060Y (en) * | 2008-12-19 | 2009-10-14 | 河北科技大学 | Guide rail push-pull mechanical hand |
| CN201923667U (en) * | 2011-01-06 | 2011-08-10 | 安徽森科新材料有限公司 | Gypsum block stacking manipulator |
| CN103342175A (en) * | 2013-07-27 | 2013-10-09 | 枣庄市三维技术有限公司 | Powder material automatic bagging manipulator |
| CN206085056U (en) * | 2016-06-21 | 2017-04-12 | 广东技术师范学院 | Manipulator suitable for marine buoy automatic coupling |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106041949A (en) | 2016-10-26 |
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