CN106564046B - A kind of change born of the same parents' charging manipulator - Google Patents
A kind of change born of the same parents' charging manipulator Download PDFInfo
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- CN106564046B CN106564046B CN201510651937.XA CN201510651937A CN106564046B CN 106564046 B CN106564046 B CN 106564046B CN 201510651937 A CN201510651937 A CN 201510651937A CN 106564046 B CN106564046 B CN 106564046B
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- large arm
- connecting rod
- block
- same parents
- sliding block
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- 230000033001 locomotion Effects 0.000 claims description 4
- 230000000452 restraining effect Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000008450 motivation Effects 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 10
- 230000007423 decrease Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 7
- 230000000052 comparative effect Effects 0.000 description 6
- 230000005484 gravity Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000006798 recombination Effects 0.000 description 2
- 238000005215 recombination Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007596 consolidation process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
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Abstract
A kind of change born of the same parents' charging manipulator, the change born of the same parents charging manipulator are made of motor, driving lever, linkage, large arm, sliding block, spring, handgrip, car body, limited block.It is consolidated into change born of the same parents' component by the merging of more components, changes movable part quantity, changing mechanism topological structure, changing mechanism freedom degree, obtains the tripe systems state of mechanism, there is controllable, tunable performance, adapt to different tasks.The change born of the same parents charging manipulator course of work is divided into five sub- working stages: stage of gripping, lifting stage, haulage stage, decline stage, release stage.
Description
Technical field
The present invention relates to charging manipulator design field, especially a kind of change born of the same parents' charging manipulator.
Background technique
Loading machine is a kind of important machinery, and entrucking transport is a large labor intensity and operating condition ten in cargo carrying
Divide arduous work.Currently, bundled good cargo will be completed from the work majority that ground is packed into truck by manpower, this
It works cumbersome and time consuming.Traditional loading machine is mostly hydraulic-driven, and Hydraulic Elements manufacture and maintenance cost are high, and hydraulic oil holds
Easily leakage, and loading machine is fixed freedom degree mechanism, and space is limited, cannot be changed according to functional requirement or environmental change
Become its working space.
Metamorphic mechanisms are that one kind has many characteristics, such as multi-functional phase change, multiple topology variation, multiple degrees of freedom variation
Mechanism.Self recombination and reconstruct can be carried out, changes structure state during exercise according to the variation of functional requirement or environment etc., make to become born of the same parents
Mechanism adapts to different mission requirements, applied to different occasions.In order to overcome conventional hydraulic formula loading machine there are the shortcomings that,
Metamorphic mechanisms theory is designed applied to charging manipulator, designs a kind of change born of the same parents' charging manipulator for meeting carrying demand.Make
Bigger its function of performance of charging manipulator.
Summary of the invention
The object of the present invention is to provide a kind of change born of the same parents' charging manipulators, it can be such that multiple components consolidate by the merging of component
At change born of the same parents' component, change movable part quantity, change topological structure, carries out self recombination and reconstruct, make charging manipulator
The mission requirements for adapting to the different operating stage, are flexibly applied to different occasions.
The present invention reaches above-mentioned purpose by the following technical programs: a kind of change born of the same parents' charging manipulator, by motor, active
Bar, linkage, large arm, sliding block, spring, handgrip, car body, limited block are constituted.
The motor is controllable motors, and motor is connected on the car body, and driving lever passes through programming by motor drive
Realize loading work of the manipulator in working space；The linkage includes first connecting rod, second connecting rod, third connecting rod and
Double leval jib；The limited block includes the first limit block and the second limit block, and two limited blocks are connected in large arm；The slide block set
It in large arm, can be relatively moved between sliding block and large arm, slide block movement distance is limited by the first limit block and the second limit block；
In large arm, one end connection sliding block, the other end is connect the spring pocket with the second limited block, constraint of the sliding block by spring, about
The size of beam force is preset value, and the motion conditions of sliding block are controlled by spring；Large arm and car body, driving lever and first connecting rod, the
One connecting rod and second connecting rod, first connecting rod and third connecting rod, second connecting rod and large arm, third connecting rod and sliding block, fourth link with
Sliding block, fourth link are connected between handgrip, handgrip and large arm by hinge.
The change born of the same parents charging manipulator course of work is divided into five sub- working stages: stage of gripping, lifting stage, transport
Stage, decline stage, release stage.
Of the invention has the prominent advantages that.
1, become born of the same parents' charging manipulator during the work time, structure can be changed during exercise by the merging of component/separate
State makes loader mechanism adapt to the mission requirements in different operating stage, is flexibly applied to different occasions.
2, become born of the same parents' charging manipulator during loading cargo, only need a drive motor that can complete crawl, lift
The tasks such as liter, transport, decline, release.
3, by the way of motor drive, link transmission, hydraulic system parts machining matching requirements can effectively be overcome
Height, maintenance is difficult, is also easy to produce the disadvantages of oil leak.
Detailed description of the invention
Fig. 1 is change born of the same parents charging manipulator general structure schematic diagram of the present invention.
Fig. 2 (a) is posture before change born of the same parents' charging manipulator of the present invention grabs.
Fig. 2 (b) is posture after change born of the same parents' charging manipulator of the present invention crawl.
Fig. 3 is that change born of the same parents' charging manipulator of the present invention lifts stage posture.
Fig. 4 is change born of the same parents charging manipulator haulage stage posture of the present invention.
Fig. 5 (a) is posture before change born of the same parents' charging manipulator of the present invention declines.
Fig. 5 (b) is posture after change born of the same parents' charging manipulator of the present invention decline.
Fig. 6 is posture when change born of the same parents' charging manipulator of the present invention discharges.
Specific embodiment
Illustrated embodiment is described further technical solution of the present invention with reference to the accompanying drawing.
Comparative diagram 1, change born of the same parents' charging manipulator, by motor 1, driving lever 2, first connecting rod 3, second connecting rod 4, large arm
5, sliding block 6, spring 7, third connecting rod 8, fourth link 9, handgrip 10,13 structure of car body 11, the first limited block 12 and the second limited block
At.Motor 1 is controllable motors, and motor 1 is connected on car body 11, and driving lever 2 is driven by motor 1, real by programming
Existing loading work of the manipulator in working space；First limited block 12 and the second limited block 13 are connected in large arm 5；Sliding block 6
It covers in large arm 5, can be relatively moved between sliding block 6 and large arm 5,6 travel of sliding block is by the first limited block 12 and the second limit
Position block 13 limits；7 sets of spring in large arm 5, one end connection sliding block 6, the other end is connect with the second limited block 13, sliding block 6 by
The constraint of spring 7, the size of restraining force are preset value.
Comparative diagram 2 (a), Fig. 2 (b), when initial, sliding block 6 is in limit on the left position under the elastic force effect of spring 7, works as master
When lever 2 rotates counterclockwise an angle under the driving of motor 1, in the case where manipulator gravity and driving lever 2 drive, manipulator is around big
Fixed hinge between arm 5 and car body 11 rotates clockwise, large arm 5 and ground cargo contacts, at this point, large arm 5 and motor 1,
Car body 11 is merged into change born of the same parents' component, rotates clockwise driving lever 2, and sliding block 6 moves right under the action of third connecting rod 8,
So that the rotation of handgrip 10 is firmly grasped article, completes crawl function.
Comparative diagram 3 continues to rotate driving lever 2, and handgrip 10 firmly grasps article and is in extreme position, and sliding block 6 is accordingly in right pole
Extreme position, at this point, large arm 5, second connecting rod 4, third connecting rod 8, fourth link 9, sliding block 6 and the consolidation of handgrip 10 become a change born of the same parents
Component, under the driving of driving lever 2, large arm 5 is risen, and article is lifted.
Comparative diagram 4, in the haulage stage, each member position of mechanism is remained unchanged, and propelling loading manipulator is mobile, makes cargo
It is placed in above loading platform.
Comparative diagram 5 (a), Fig. 5 (b), driving lever 2 rotate clockwise certain angle, because the gravity of large arm 5 and article is long-range
In the elastic force of spring, sliding block 6 second connecting rod 4, third connecting rod 8, fourth link 9, is slided still in limit on the right-right-hand limit position, large arm 5 at this time
Block 6 and handgrip 10 still consolidate as change born of the same parents' component, under the gravity of large arm 5 and article, the change born of the same parents component around large arm 5 with
Fixed hinge between car body 11 rotates clockwise, and article is laid down, and realizes decline function.
Comparative diagram 6 continues to rotate driving lever 2, and sliding block 6 moves downward under the effect of the elastic force of third connecting rod 8 and spring 7,
Rotate handgrip 10, releasing completes release function, and cargo loading finishes.
Claims (2)
1. a kind of change born of the same parents' charging manipulator, which is characterized in that the charging manipulator by motor, driving lever, linkage, large arm,
Sliding block, spring, handgrip, car body, limited block are constituted；The linkage includes first connecting rod, second connecting rod, third connecting rod and the 4th
Connecting rod；The limited block includes the first limit block and the second limit block, and two limited blocks are connected in large arm；The slide block set exists
In large arm, it can be relatively moved along large arm, slide block movement distance is limited by the first limit block and the second limit block；The spring pocket exists
In large arm, one end connection sliding block, the other end is connect with the second limited block；Large arm and car body, driving lever and first connecting rod, the first company
Bar and second connecting rod, first connecting rod and third connecting rod, second connecting rod and large arm, third connecting rod and sliding block, fourth link and sliding block,
It is connected between fourth link and handgrip, handgrip and large arm by hinge.
2. change born of the same parents' charging manipulator according to claim 1, which is characterized in that the motor is controllable motors, electricity
Motivation is connected on the car body, and driving lever realizes loading work of the manipulator in working space by motor drive, by programming；
The slide block set can relatively move between sliding block and large arm in large arm, and slide block movement distance is by the first limited block and second
Limited block limitation；The spring pocket is in large arm, and one end connection sliding block, the other end is connect with the second limited block, and sliding block is by bullet
The constraint of spring, the size of restraining force are preset value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510651937.XA CN106564046B (en) | 2015-10-10 | 2015-10-10 | A kind of change born of the same parents' charging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510651937.XA CN106564046B (en) | 2015-10-10 | 2015-10-10 | A kind of change born of the same parents' charging manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106564046A CN106564046A (en) | 2017-04-19 |
| CN106564046B true CN106564046B (en) | 2019-03-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510651937.XA Expired - Fee Related CN106564046B (en) | 2015-10-10 | 2015-10-10 | A kind of change born of the same parents' charging manipulator |
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| Country | Link |
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| CN (1) | CN106564046B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE445622B (en) * | 1984-11-28 | 1986-07-07 | Avp Robot Ab | DEVICE FOR COLLECTION AND SETTING OF A TOOL |
| SU1684021A1 (en) * | 1988-11-24 | 1991-10-15 | Алма-Атинский городской центр научно-технического творчества молодежи "Контакт" | Manipulator |
| JPH08276386A (en) * | 1995-04-07 | 1996-10-22 | Minayori Kumamoto | Drive control for each driving source in two joint arm mechanism mounted with two joint simultaneous driving source |
| ES2360680B1 (en) * | 2008-08-07 | 2012-04-19 | Francisco Andres Pepiol Espallargas | POLYARTICULATED ARM. |
| CN102108717B (en) * | 2010-12-10 | 2012-06-06 | 广西大学 | Loading mechanism with metamorphic function and implementation method thereof |
| CN102990663A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Single-motor driving type metamorphic stacker crane |
| CN103168570B (en) * | 2013-04-11 | 2015-04-01 | 广西大学 | Human-driven cane loader with metamorphic function |
| CN204675415U (en) * | 2015-05-07 | 2015-09-30 | 佳木斯大学 | A kind of Bian Bao Container Loading mechanism |
| CN205009210U (en) * | 2015-10-10 | 2016-02-03 | 佳木斯大学 | Novel become born of same parents loader hand |
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2015
- 2015-10-10 CN CN201510651937.XA patent/CN106564046B/en not_active Expired - Fee Related
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| CN106564046A (en) | 2017-04-19 |
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