CN106628136A - Gripping and delivering unmanned aerial vehicle - Google Patents
Gripping and delivering unmanned aerial vehicle Download PDFInfo
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- CN106628136A CN106628136A CN201610934866.9A CN201610934866A CN106628136A CN 106628136 A CN106628136 A CN 106628136A CN 201610934866 A CN201610934866 A CN 201610934866A CN 106628136 A CN106628136 A CN 106628136A
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- 230000003287 optical effect Effects 0.000 claims description 14
- 230000035939 shock Effects 0.000 claims description 7
- 239000006096 absorbing agent Substances 0.000 claims description 6
- 210000000078 claw Anatomy 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 6
- 238000011835 investigation Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000011120 plywood Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/22—Taking-up articles from earth's surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
本发明涉及一种抓取投送无人机，属于机械机器人侦查技术领域。本发明包括机械手装置、气压抬升板、推动气压瓶、脚架装置、电机座、电机、机架、无人机固定板、导轨连接板、导杆、螺旋桨、夹板、气压瓶；电机安装在电机座上，螺旋桨安装在电机的输出轴上，脚架装置安装在机架上，推动气压瓶安装在脚架装置上，无人机固定板安装在机架中部，导轨连接板上安设有导轨，导杆一端位于导轨内，气压抬升板与夹板另一端连接，并连接安装在导杆另一端，机械手装置安装在气压抬升板上。本发明可一物多用，应用范围广；机械机构设计简单，易加工，功能齐全；可降低人的体力劳动，提高工作效率，实现无人机多功能化。
The invention relates to a grabbing and delivering unmanned aerial vehicle, which belongs to the technical field of mechanical robot investigation. The invention includes a manipulator device, an air pressure lifting plate, a push air pressure bottle, a tripod device, a motor seat, a motor, a frame, a UAV fixing plate, a guide rail connecting plate, a guide rod, a propeller, a splint, and an air pressure bottle; the motor is installed on the motor On the seat, the propeller is installed on the output shaft of the motor, the tripod device is installed on the frame, the push air bottle is installed on the tripod device, the UAV fixing plate is installed in the middle of the frame, and the guide rail is installed on the guide rail connecting plate , one end of the guide rod is located in the guide rail, the air pressure lifting plate is connected to the other end of the splint, and is connected and installed on the other end of the guide rod, and the manipulator device is installed on the air pressure lifting plate. The invention can be used for multiple purposes, and has a wide application range; the mechanical mechanism is simple in design, easy to process, and has complete functions; it can reduce human physical labor, improve work efficiency, and realize the multi-function of the drone.
Description
技术领域technical field
本发明涉及一种抓取投送无人机，属于机械机器人侦查技术领域。The invention relates to a grabbing and delivering unmanned aerial vehicle, which belongs to the technical field of mechanical robot investigation.
背景技术Background technique
无人机目前处于迅速发展中的飞行装置，由于其具有机动灵活、反应快速、无人飞行、操作要求低等优点被广泛应用在农业、勘探、摄影、边境巡逻等领域。以上对无人机的应用都是在侦查领域内，限制了无人机的发展，使得无人机应用功能单一。随着经济技术的不断发展,人们生活水平不断提高，在一些特定的场合为了满足特定的需求，使用无人机对一些物品进行抓取、运输和配送，减少运送的时间，提高运送的效率。而且采用无人机对物体进行运输的时候，能够摆脱因为地形，时间的限制，减少工作时对环境的依赖程度，例如选择高尔夫运动的人越来越多，在整个运动过程需要特定的人去找高尔夫球，浪费大量时间。可以在无人机上安装机械手结构，完成代替人为去抓球投放过程，这样既可以准确定位又能节省时间，同时提高无人机的应用功能。Unmanned aerial vehicle (UAV) is currently a rapidly developing flying device. It is widely used in agriculture, exploration, photography, border patrol and other fields due to its advantages of flexible maneuverability, quick response, unmanned flight, and low operation requirements. The above applications of UAVs are all in the field of reconnaissance, which limits the development of UAVs and makes the application functions of UAVs single. With the continuous development of economy and technology, people's living standards continue to improve. In some specific occasions, in order to meet specific needs, drones are used to capture, transport and deliver some items, reducing delivery time and improving delivery efficiency. Moreover, when using drones to transport objects, it can get rid of the constraints of terrain and time, and reduce the dependence on the environment during work. Looking for golf balls, wasting a lot of time. A manipulator structure can be installed on the UAV to complete the process of replacing the artificially grabbing the ball, which can not only accurately locate but also save time, and at the same time improve the application function of the UAV.
发明内容Contents of the invention
本发明的目的是提供一种抓取投送无人机，以解决无人机应用功能单一、应用范围窄等问题。The purpose of the present invention is to provide a grabbing and delivering drone to solve the problems of single application function and narrow application range of the drone.
本发明按以下技术方案实现：一种抓取投送无人机，包括机械手装置2、气压抬升板3、推动气压瓶4、脚架装置5、电机座6、电机7、机架9、无人机固定板10、导轨连接板11、导杆12、螺旋桨13、夹板14、气压瓶33；电机座6安装在机架9端部，电机7安装在电机座6上，螺旋桨13安装在电机7的输出轴上，脚架装置5安装在机架9上，推动气压瓶4安装在脚架装置5上，气压瓶33一端安装在推动气压瓶4上，夹板14一端安装在气压瓶33端部，无人机固定板10安装在机架9中部，导轨连接板11连接安装在无人机固定板10上，导轨连接板11上安设有导轨36，导杆12一端位于导轨36内，气压抬升板3与夹板14另一端连接，并连接安装在导杆12另一端，机械手装置2安装在气压抬升板3上，机械手装置2包括机械手爪子1、八轴固定座15、八爪卡盘16、销钉Ⅰ17、连杆Ⅰ18、销钉Ⅱ19、舵机20、固定座21、连杆Ⅱ22、光轴23、轴承Ⅰ24、滑块25、法兰盘Ⅰ27、八爪导向盘28、轴承Ⅱ29、法兰盘Ⅱ38；八轴固定座15安装在八爪卡盘16前部中部，固定座23安装在八爪卡盘16前部周部，光轴23一端安装在固定座21上，光轴23另一端安装在八轴固定座15上，滑块25通过轴承Ⅰ24安装在光轴23上，连杆Ⅱ22一端通过销钉Ⅱ19安装在固定座21上，连杆Ⅰ18一端通过销钉Ⅱ19安装在滑块25上，连杆Ⅰ18另一端通过销钉Ⅰ17安装在连杆Ⅱ22中部，机械手爪子1安装在连杆Ⅱ22另一端，轴承Ⅱ29安装在滑块25上，八爪导向盘28上开设有导向槽26，八爪导向盘28的导向槽26与轴承Ⅱ29配合，舵机20安装在八轴固定座15上，法兰盘Ⅱ38一端安装在舵机20的输出轴上，另一端安装在八爪导向盘28上，八爪导向盘28通过法兰盘Ⅱ38与舵机20连接安装在八爪卡盘16背部，法兰盘Ⅰ27一端通过其上安设有的螺钉30安装在八爪卡盘16背部周部，法兰盘Ⅰ27另一端通过其上安设有的螺钉30安装在气压抬升板3上，机械手装置2通过法兰盘Ⅰ27安装在气压抬升板3上。The present invention is realized according to the following technical solutions: a grabbing and delivering unmanned aerial vehicle, comprising a manipulator device 2, an air pressure lifting plate 3, a push air pressure bottle 4, a tripod device 5, a motor base 6, a motor 7, a frame 9, an Man-machine fixed plate 10, guide rail connecting plate 11, guide rod 12, propeller 13, clamping plate 14, air pressure bottle 33; 7 on the output shaft, the tripod device 5 is installed on the frame 9, the push air pressure bottle 4 is installed on the tripod device 5, the air pressure bottle 33 one end is installed on the push air pressure bottle 4, and the splint 14 one end is installed on the air pressure bottle 33 ends The UAV fixing plate 10 is installed in the middle of the frame 9, the guide rail connecting plate 11 is connected and installed on the UAV fixing plate 10, the guide rail connecting plate 11 is equipped with a guide rail 36, and one end of the guide rod 12 is located in the guide rail 36, The air pressure lifting plate 3 is connected to the other end of the splint 14, and is connected and installed on the other end of the guide rod 12. The manipulator device 2 is installed on the air pressure lifting plate 3. The manipulator device 2 includes the manipulator claw 1, the eight-axis fixing seat 15, and the eight-jaw chuck. 16. Pin Ⅰ17, connecting rod Ⅰ18, pin Ⅱ19, steering gear 20, fixed seat 21, connecting rod Ⅱ22, optical axis 23, bearing Ⅰ24, slider 25, flange Ⅰ27, eight-claw guide plate 28, bearing Ⅱ29, method Lanpan II 38; the eight-axis fixed seat 15 is installed in the middle of the front part of the eight-jaw chuck 16, the fixed seat 23 is installed on the front circumference of the eight-jaw chuck 16, one end of the optical axis 23 is installed on the fixed seat 21, and the other end of the optical axis 23 One end is installed on the eight-axis fixed seat 15, the slider 25 is installed on the optical axis 23 through the bearing I24, one end of the connecting rod II22 is installed on the fixed seat 21 through the pin II19, and one end of the connecting rod I18 is installed on the slider 25 through the pin II19 , the other end of the connecting rod I18 is installed in the middle of the connecting rod II22 through the pin I17, the claw 1 of the manipulator is installed on the other end of the connecting rod II22, the bearing II29 is installed on the slider 25, and the eight-claw guide plate 28 is provided with a guide groove 26, and the eight-claw The guide groove 26 of the guide plate 28 cooperates with the bearing II 29, the steering gear 20 is installed on the eight-axis fixed seat 15, one end of the flange plate II 38 is installed on the output shaft of the steering gear 20, and the other end is installed on the eight-claw guide plate 28, The eight-jaw guide plate 28 is connected to the steering gear 20 through the flange II 38 and installed on the back of the eight-jaw chuck 16, and one end of the flange I 27 is installed on the back circumference of the eight-jaw chuck 16 through the screw 30 installed on it. The other end of the flange I27 is installed on the air pressure lifting plate 3 through the screw 30 installed on it, and the manipulator device 2 is installed on the air pressure lifting plate 3 through the flange I27.
所述脚架装置5包括滑动件固定板8、脚架减震31、脚架连接件34、滑动件35、脚架37；滑动件35通过滑动件固定板8安装在机架9上，脚架37一端通过脚架连接件34安装在滑动件35上，脚架减震31安装在脚架37上，推动气压瓶4上安设有气压连接件32，推动气压瓶4通过气压连接件32安装在脚架装置5的脚架37上。Described tripod device 5 comprises slider fixing plate 8, tripod shock absorber 31, tripod connector 34, slider 35, tripod 37; Slider 35 is installed on the frame 9 by slider fixing plate 8, foot One end of the frame 37 is installed on the slider 35 through the tripod connector 34, the tripod shock absorber 31 is installed on the tripod 37, and the air pressure connector 32 is installed on the push air pressure bottle 4, and the push air pressure bottle 4 passes through the air pressure connector 32 Installed on the tripod 37 of the tripod device 5 .
一种抓取投送无人机的工作原理为：通过无人机供电系统给无人机供电以后，电机7开始转动，带动螺旋桨13转动，使无人机起飞，起飞到达一定的高度以后，进行空中侦查，当发现需要寻找的物体时，无人机降落，启动固定在八爪卡盘16上的舵机20，舵机20开始转动，带动八爪导向盘28转动，八爪导向盘28转动，迫使安装在滑块25顶端的轴承Ⅱ29在八爪导向盘28的导向槽26内转动和沿着导向槽26运动，从而使滑块25沿着光轴23运动，滑块25运动带动与滑块25相连的连杆Ⅰ18运动，连杆Ⅰ18与连杆Ⅱ22通过销钉Ⅰ17连接，连杆Ⅰ18运动带动连杆Ⅱ22运动，实现整个机械手的张开与闭合，进而进行抓取物体并投放物体。The working principle of a grabbing and delivering drone is: after the drone is powered by the drone power supply system, the motor 7 starts to rotate, driving the propeller 13 to rotate, so that the drone takes off, and after the takeoff reaches a certain height, Carry out aerial reconnaissance, when finding the object that needs to look for, unmanned aerial vehicle lands, and starts the steering gear 20 that is fixed on the eight-claw chuck 16, and the steering gear 20 starts to rotate, and drives the eight-claw guide disc 28 to rotate, and the eight-claw guide disc 28 Rotate, forcing the bearing II 29 installed on the top of the slider 25 to rotate in the guide groove 26 of the eight-claw guide plate 28 and move along the guide groove 26, so that the slider 25 moves along the optical axis 23, and the movement of the slider 25 drives the The connecting rod I18 connected to the slider 25 moves, the connecting rod I18 and the connecting rod II22 are connected by the pin I17, the movement of the connecting rod I18 drives the moving of the connecting rod II22, and the opening and closing of the entire manipulator is realized, and then the object is grasped and dropped.
本发明具有以下有益效果：The present invention has the following beneficial effects:
1、增加现有无人机的功能，实现无人机在进行侦查时，可抓取高尔夫球或者形状不定尺寸适中的物体，并可进行准确的投放；1. Increase the functions of the existing drones, so that the drones can grab golf balls or objects of variable shapes and sizes and accurately deliver them when they are conducting investigations;
2、可一物多用，不断抓取高尔夫球，还可抓取其他物体，应用范围广；2. One object can be used for multiple purposes, continuously grabbing golf balls, and can also grab other objects, with a wide range of applications;
3、机械机构设计简单，易加工，功能齐全；3. The mechanical mechanism is simple in design, easy to process, and has complete functions;
4、可降低人的体力劳动，用机械来完成因地形、环境依赖性强的工作，提高工作效率，实现无人机多功能化。4. It can reduce human physical labor, use machinery to complete tasks that are highly dependent on terrain and environment, improve work efficiency, and realize the multi-functionality of drones.
附图说明Description of drawings
图1为本发明的结构示意图；Fig. 1 is a structural representation of the present invention;
图2为本发明的机械手装置结构示意图；Fig. 2 is the structural representation of manipulator device of the present invention;
图3为本发明的八爪卡盘结构示意图；Fig. 3 is a schematic structural view of the eight-jaw chuck of the present invention;
图4为本发明的八轴固定座安装结构示意图；Fig. 4 is a schematic diagram of the installation structure of the eight-axis fixed seat of the present invention;
图5为本发明的八爪导向盘安装结构示意图；Fig. 5 is a schematic diagram of the installation structure of the eight-claw guide plate of the present invention;
图6为本发明的脚架装置结构示意图；Fig. 6 is a schematic structural view of the tripod device of the present invention;
图7为本发明的无人机固定板安装结构示意图；Fig. 7 is a schematic diagram of the installation structure of the UAV fixed plate of the present invention;
图8为本发明的气压抬升板安装安装结构示意图。Fig. 8 is a schematic diagram of the installation and installation structure of the air pressure lifting plate of the present invention.
图中各标号为：1：机械手爪子、2：机械手装置、3：气压抬升板、4：推动气压瓶、5：脚架装置、6：电机座、7：电机、8：滑动件固定板、9：机架、10：无人机固定板、11：导轨连接板、12：导杆、13螺旋桨、14：夹板、15：八轴固定座、16：八爪卡盘、17：销钉Ⅰ、18：连杆Ⅰ、19：销钉Ⅱ、20：舵机、21：固定座、22：连杆Ⅱ、23：光轴、24：轴承Ⅰ、25：滑块、26：导向槽、27：法兰盘Ⅰ、28：八爪导向盘、29：轴承Ⅱ、30：螺钉、31：脚架减震、32：气压连接件、33：气压瓶、34：脚架连接件、35：滑动件、36：导轨、37：脚架、38：法兰盘Ⅱ。The labels in the figure are: 1: manipulator claw, 2: manipulator device, 3: air pressure lifting plate, 4: pushing air pressure bottle, 5: tripod device, 6: motor seat, 7: motor, 8: sliding part fixing plate, 9: Rack, 10: UAV fixing plate, 11: Rail connecting plate, 12: Guide rod, 13 Propeller, 14: Plywood, 15: Eight-axis fixing seat, 16: Eight-claw chuck, 17: Pin Ⅰ, 18: Connecting rod Ⅰ, 19: Pin Ⅱ, 20: Servo, 21: Fixed seat, 22: Connecting rod Ⅱ, 23: Optical axis, 24: Bearing Ⅰ, 25: Slider, 26: Guide groove, 27: Method Lan plate Ⅰ, 28: eight-claw guide plate, 29: bearing Ⅱ, 30: screw, 31: tripod shock absorption, 32: air pressure connector, 33: air pressure bottle, 34: tripod connector, 35: sliding part, 36: guide rail, 37: tripod, 38: flange II.
具体实施方式detailed description
下面结合附图和实施例，对本发明作进一步说明，但本发明的内容并不限于所述范围。The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but the content of the present invention is not limited to the stated scope.
实施例1：如图1-8所示，一种抓取投送无人机，包括机械手装置2、气压抬升板3、推动气压瓶4、脚架装置5、电机座6、电机7、机架9、无人机固定板10、导轨连接板11、导杆12、螺旋桨13、夹板14、气压瓶33；电机座6安装在机架9端部，电机7安装在电机座6上，螺旋桨13安装在电机7的输出轴上，脚架装置5安装在机架9上，推动气压瓶4安装在脚架装置5上，气压瓶33一端安装在推动气压瓶4上，夹板14一端安装在气压瓶33端部，无人机固定板10安装在机架9中部，导轨连接板11连接安装在无人机固定板10上，导轨连接板11上安设有导轨36，导杆12一端位于导轨36内，气压抬升板3与夹板14另一端连接，并连接安装在导杆12另一端，机械手装置2安装在气压抬升板3上，机械手装置2包括机械手爪子1、八轴固定座15、八爪卡盘16、销钉Ⅰ17、连杆Ⅰ18、销钉Ⅱ19、舵机20、固定座21、连杆Ⅱ22、光轴23、轴承Ⅰ24、滑块25、法兰盘Ⅰ27、八爪导向盘28、轴承Ⅱ29、法兰盘Ⅱ38；八轴固定座15安装在八爪卡盘16前部中部，固定座23安装在八爪卡盘16前部周部，光轴23一端安装在固定座21上，光轴23另一端安装在八轴固定座15上，滑块25通过轴承Ⅰ24安装在光轴23上，连杆Ⅱ22一端通过销钉Ⅱ19安装在固定座21上，连杆Ⅰ18一端通过销钉Ⅱ19安装在滑块25上，连杆Ⅰ18另一端通过销钉Ⅰ17安装在连杆Ⅱ22中部，机械手爪子1安装在连杆Ⅱ22另一端，轴承Ⅱ29安装在滑块25上，八爪导向盘28上开设有导向槽26，八爪导向盘28的导向槽26与轴承Ⅱ29配合，舵机20安装在八轴固定座15上，法兰盘Ⅱ38一端安装在舵机20的输出轴上，另一端安装在八爪导向盘28上，八爪导向盘28通过法兰盘Ⅱ38与舵机20连接安装在八爪卡盘16背部，法兰盘Ⅰ27一端通过其上安设有的螺钉30安装在八爪卡盘16背部周部，法兰盘Ⅰ27另一端通过其上安设有的螺钉30安装在气压抬升板3上，机械手装置2通过法兰盘Ⅰ27安装在气压抬升板3上。Embodiment 1: As shown in Figures 1-8, a grabbing and delivering drone includes a manipulator device 2, an air pressure lifting plate 3, a push air pressure bottle 4, a tripod device 5, a motor base 6, a motor 7, and a machine Frame 9, unmanned aerial vehicle fixed plate 10, guide rail connecting plate 11, guide rod 12, propeller 13, splint 14, air pressure bottle 33; 13 is installed on the output shaft of motor 7, tripod device 5 is installed on the frame 9, promotes air pressure bottle 4 and is installed on the tripod device 5, and one end of air pressure bottle 33 is installed on the push air pressure bottle 4, and splint 14 one ends are installed on At the end of the air pressure bottle 33, the unmanned aerial vehicle fixed plate 10 is installed in the middle part of the frame 9, the guide rail connecting plate 11 is connected and installed on the unmanned aerial vehicle fixed plate 10, the guide rail 36 is installed on the guide rail connecting plate 11, and one end of the guide rod 12 is located In the guide rail 36, the air pressure lifting plate 3 is connected with the other end of the clamping plate 14, and is connected and installed on the other end of the guide rod 12. The manipulator device 2 is installed on the air pressure lifting plate 3. Eight-jaw chuck 16, pin Ⅰ17, connecting rod Ⅰ18, pin Ⅱ19, steering gear 20, fixed seat 21, connecting rod Ⅱ22, optical axis 23, bearing Ⅰ24, slider 25, flange Ⅰ27, eight-claw guide plate 28, Bearing II 29, flange II 38; the eight-axis fixed seat 15 is installed in the middle of the front part of the eight-jaw chuck 16, the fixed seat 23 is installed in the front periphery of the eight-jaw chuck 16, and one end of the optical axis 23 is installed on the fixed seat 21, The other end of the optical axis 23 is installed on the eight-axis fixed seat 15, the slider 25 is installed on the optical axis 23 through the bearing I24, one end of the connecting rod II22 is installed on the fixed seat 21 through the pin II19, and one end of the connecting rod I18 is installed on the On the slider 25, the other end of the connecting rod I18 is installed in the middle of the connecting rod II22 through the pin I17, the manipulator claw 1 is installed on the other end of the connecting rod II22, the bearing II29 is installed on the slider 25, and the eight-claw guide plate 28 is provided with a guide groove 26. The guide groove 26 of the eight-claw guide plate 28 cooperates with the bearing II 29, the steering gear 20 is installed on the eight-axis fixing seat 15, one end of the flange II 38 is installed on the output shaft of the steering gear 20, and the other end is installed on the eight-claw guide On the plate 28, the eight-jaw guide plate 28 is connected to the steering gear 20 through the flange II38 and installed on the back of the eight-jaw chuck 16, and one end of the flange I27 is installed on the back of the eight-jaw chuck 16 through the screw 30 installed on it. Around the periphery, the other end of the flange I27 is installed on the air pressure lifting plate 3 through the screw 30 installed thereon, and the manipulator device 2 is installed on the air pressure lifting plate 3 through the flange I27.
脚架装置5包括滑动件固定板8、脚架减震31、脚架连接件34、滑动件35、脚架37；滑动件35通过滑动件固定板8安装在机架9上，脚架37一端通过脚架连接件34安装在滑动件35上，脚架减震31安装在脚架37上，推动气压瓶4上安设有气压连接件32，推动气压瓶4通过气压连接件32安装在脚架装置5的脚架37上。The tripod device 5 comprises a slider fixed plate 8, a tripod shock absorber 31, a tripod connector 34, a slider 35, and a tripod 37; One end is installed on the slider 35 through the tripod connector 34, the tripod shock absorber 31 is installed on the tripod 37, and the air pressure bottle 4 is pushed to be equipped with an air pressure connector 32, and the push air pressure bottle 4 is installed on the On the tripod 37 of tripod device 5.
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| CN106628136B (en) | 2023-03-31 |
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