CN104626143A - Gear-rack mechanical arm - Google Patents
Gear-rack mechanical arm Download PDFInfo
- Publication number
- CN104626143A CN104626143A CN201510079382.6A CN201510079382A CN104626143A CN 104626143 A CN104626143 A CN 104626143A CN 201510079382 A CN201510079382 A CN 201510079382A CN 104626143 A CN104626143 A CN 104626143A
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- China
- Prior art keywords
- gear
- mechanical arm
- clamping cylinder
- rack
- handgrip
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Abstract
The invention provides a gear-rack mechanical arm which comprises a fixing device, a rotating device, a mechanical arm body and a clamping device. The fixing device comprises a fixing seat, a mounting seat and a hydraulic oil cylinder, wherein the mounting seat is fixed on the fixing seat, and the hydraulic oil cylinder is fixed on the mounting seat. The rotating device comprises a rack, a gear, a gear seat and a connecting shaft, wherein one end of the mechanical arm body is connected with the connecting shaft, the gear sleeves the connecting shaft, the gear seat is disposed above the mounting seat, the rack and the gear are disposed in the gear seat, the gear is meshed with the rack, and the rack is connected with the hydraulic oil cylinder. The clamping device comprises a clamping oil cylinder and a claw, wherein the claw connected with the other end of the mechanical arm body, one end of the clamping oil cylinder is connected with the claw, and the other end of the clamping oil cylinder is connected with the mechanical arm body. The gear-rack mechanical arm is simple in structure, simple to mount, good in oil cylinder impact resistance, and stable and reliable.
Description
Technical field
The present invention relates to rig field of mechanical technique, be specifically related to a kind of rack-and-pinion manipulator.
Background technology
Existing manipulator is generally hydraulic motor formula, in use mainly contains the problem of two aspects: one, sending in bar process, have impact, when being particularly used on big-and-middle-sized rig, because drilling rod is heavier, larger to the impact of rotation motor, cause motor often to damage; Two, because motor has leakage, so manipulator can not be located in centre position.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of rack-and-pinion manipulator, overcome above-mentioned defect, promote rack drives gear by hydraulic jack and rotate, gear driven mechanical arm is rotated, solve large, fragile to rotation motor impulsive force, can not automatically on unload the problem of drilling rod.
For solving the problems of the technologies described above, the invention provides a kind of rack-and-pinion manipulator, comprising fixture, whirligig, mechanical arm and clamping device,
Described fixture comprises holder, mount pad and hydraulic jack, and described mount pad is fixed on described holder, and described mount pad is fixed with hydraulic jack,
Described whirligig comprises tooth bar, gear, pinion stand and connecting axle, one end of described mechanical arm is connected with described connecting axle, described connecting axle is arranged with described gear, described pinion stand is arranged on the top of described mount pad, and described rack and pinion is arranged in described pinion stand, and described gear engages with described tooth bar, described tooth bar is connected with described hydraulic jack, described hydraulic jack promotes described tooth bar and moves forward and backward, and described gear rotates along with the movement of described tooth bar
Described clamping device comprises clamping cylinder, handgrip, described handgrip is connected with the other end of described mechanical arm, described clamping cylinder one end connects described handgrip, the described clamping cylinder other end connects described mechanical arm, when described clamping cylinder stretches, described handgrip is held with a firm grip, and when described clamping cylinder tightens up, described handgrip opens.
As a kind of preferred version of a kind of rack-and-pinion manipulator of the present invention, described handgrip comprise the portion of grabbing and under grab portion, grab one end, portion under described to be fixedly connected with described mechanical arm, grab under described portion's other end with described on grab portion one end be flexibly connected, portion of grabbing on described is connected with one end of described clamping cylinder, the portion's of grabbing motion on the flexible drive of described clamping cylinder is described.
Compared with prior art, a kind of rack-and-pinion manipulator that the present invention proposes, structure installment is simple, and oil cylinder impact resistance is good, reliable and stable.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.Wherein,
Fig. 1 is the main TV structure schematic diagram of a kind of rack-and-pinion manipulator of the present invention; With
Fig. 2 is the side-looking structural representation of a kind of rack-and-pinion manipulator of the present invention.
In Fig. 1 ~ Fig. 2, comprise mechanical arm 1, gear 2, pinion stand 3, tooth bar 4, hydraulic jack 5, mount pad 6, connecting axle 7, drilling rod 8, holder 9, handgrip 10, on grab portion 101, under grab portion 102, clamping cylinder 11.
Detailed description of the invention
A kind of rack-and-pinion manipulator of the present invention, comprises fixture (not shown), whirligig (not shown), mechanical arm 1 and clamping device (not shown).
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, and below in conjunction with detailed description of the invention, the present invention is further detailed explanation.
First, alleged herein " embodiment " or " embodiment " refers to special characteristic, structure or the characteristic that can be contained at least one implementation of the present invention.Different local in this manual " in one embodiment " occurred not all refers to same embodiment, neither be independent or optionally mutually exclusive with other embodiments embodiment.
Secondly; the present invention utilizes structural representation etc. to be described in detail; when describing the embodiment of the present invention in detail; for ease of explanation; represent that the schematic diagram of rack-and-pinion robot manipulator structure can be disobeyed general ratio and be made partial enlargement; and described schematic diagram is example, it should not limit the scope of protection of the invention at this.In addition, the three dimensions of length, width and the degree of depth should be comprised in actual fabrication.
Refer to Fig. 1 and Fig. 2, Fig. 1 is the main TV structure schematic diagram of a kind of rack-and-pinion manipulator of the present invention; Fig. 2 is the side-looking structural representation of a kind of rack-and-pinion manipulator of the present invention.As depicted in figs. 1 and 2, described fixture comprises holder 9, mount pad 6 and hydraulic jack 5, and described mount pad 6 is fixed on described holder 9, and described mount pad 6 is fixedly installed hydraulic jack 5.
Described whirligig comprises tooth bar 4, gear 2, pinion stand 3 and connecting axle 7, one end of described mechanical arm 1 is connected with described connecting axle 7, described connecting axle 7 is arranged with described gear 2, described pinion stand 3 is arranged on the top of described mount pad 6, described tooth bar 4 and gear 2 are arranged in described pinion stand 3, described gear 2 engages with described tooth bar 4, described tooth bar 4 is connected with described hydraulic jack 5, described hydraulic jack 5 promotes described tooth bar 4 and moves forward and backward, and described gear 2 rotates along with the movement of described tooth bar 4.
Described clamping device comprises clamping cylinder 11, handgrip 10, described handgrip 10 is connected with the other end of described mechanical arm 1, described clamping cylinder 11 one end connects described handgrip 10, described clamping cylinder 11 other end connects described mechanical arm 1, when described clamping cylinder 11 tightens up, described handgrip 10 opens, and now puts into drilling rod 8, when described clamping cylinder 11 stretches, described handgrip 10 is held with a firm grip drilling rod 8.In one embodiment, described handgrip 10 comprise the portion of grabbing 101 and under grab portion 102, the one end of grabbing portion 102 under described is fixedly connected with described mechanical arm 1, grab under described portion 102 other end with described on grab portion 101 one end be flexibly connected, grab portion 101 on described to be connected with one end of described clamping cylinder 11, grab portion 101 on the flexible drive of described clamping cylinder 11 is described and move.
Operation principle and the course of work of middle gear tooth bar manipulator of the present invention are as follows:
As shown in Figure 1, when the present invention works, at A place, position, first load onto drilling rod 8, then described clamping cylinder 11 drives handgrip 10 to rotate the described drilling rod 8 of clamping.Hydraulic jack 5 promotes described tooth bar 4 moving linearly, drives described gear 2 to be rotated counterclockwise.Because described gear 2 is set on described connecting axle 7, and described connecting axle 7 is connected with described mechanical arm 1, therefore described mechanical arm 1 also rotates, described drilling rod 8 is delivered to B place, position, reaches the object sending bar, then during described hydraulic jack 5 counter motion, described gear 2 turns clockwise, described mechanical arm 1 is rotated down, in-position A, is then tightened up by clamping cylinder 11 and unclamps described handgrip 10 and unload described drilling rod 8.
Those of ordinary skill in affiliated field should be understood that, one of feature of the present invention or object are: a kind of rack-and-pinion manipulator of the present invention, and structure installment is simple, and oil cylinder impact resistance is good, and equipment is reliable and stable.
It should be noted that, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (2)
1. a rack-and-pinion manipulator, is characterized in that: comprise fixture, whirligig, mechanical arm (1) and clamping device,
Described fixture comprises holder (9), mount pad (6) and hydraulic jack (5), described mount pad (6) is fixed on described holder (9), described mount pad (6) is fixed with hydraulic jack (5)
Described whirligig comprises tooth bar (4), gear (2), pinion stand (3) and connecting axle (7), one end of described mechanical arm (1) is connected with described connecting axle (7), described connecting axle (7) is arranged with described gear (2), described pinion stand (3) is arranged on the top of described mount pad (6), described tooth bar (4) and gear (2) are arranged in described pinion stand (3), described gear (2) engages with described tooth bar (4), described tooth bar (4) is connected with described hydraulic jack (5), described hydraulic jack (5) promotes described tooth bar (4) and moves forward and backward, described gear (2) rotates along with the movement of described tooth bar (4),
Described clamping device comprises clamping cylinder (11), handgrip (10), described handgrip (10) is connected with the other end of described mechanical arm (1), described clamping cylinder (11) one end connects described handgrip (10), described clamping cylinder (11) other end connects described mechanical arm (1), when described clamping cylinder (11) stretches, described handgrip (10) is held with a firm grip, when described clamping cylinder (11) tightens up, described handgrip (10) opens.
2. according to rack-and-pinion manipulator according to claim 1, it is characterized in that: described handgrip (10) comprise the portion of grabbing (101) and under grab portion (102), grab portion (102) one end under described to be fixedly connected with described mechanical arm (1), grab under described portion (102) other end with described on grab portion (101) one end be flexibly connected, grab portion (101) on described to be connected with one end of described clamping cylinder (11), on the flexible drive of described clamping cylinder (11) is described, grab portion (101) motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510079382.6A CN104626143A (en) | 2015-02-13 | 2015-02-13 | Gear-rack mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510079382.6A CN104626143A (en) | 2015-02-13 | 2015-02-13 | Gear-rack mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104626143A true CN104626143A (en) | 2015-05-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510079382.6A Pending CN104626143A (en) | 2015-02-13 | 2015-02-13 | Gear-rack mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104626143A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105545232A (en) * | 2016-01-28 | 2016-05-04 | 江苏地龙重型机械有限公司 | Drill pipe feeding mechanism |
| CN105731062A (en) * | 2016-05-04 | 2016-07-06 | 青岛海科佳电子设备制造有限公司 | Manipulator steering device |
| CN106898239A (en) * | 2017-04-21 | 2017-06-27 | 成都福莫斯佰龙智能科技有限公司 | A kind of Fu Mosi robots grippers for being applied to teaching demonstration |
| CN109093591A (en) * | 2018-08-17 | 2018-12-28 | 安徽星宇生产力促进中心有限公司 | A kind of crawler type pickup robot and its application method |
Citations (8)
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| WO1996026813A1 (en) * | 1995-02-27 | 1996-09-06 | Tol-O-Matic, Inc. | Multimotion actuator for a rotary gripper |
| CN101380736A (en) * | 2008-10-20 | 2009-03-11 | 长沙楚天科技有限公司 | Turnover device of mechanical arm |
| CN201498486U (en) * | 2009-09-23 | 2010-06-02 | 外商独资镇江金品机械有限公司 | Automatic takeout device of power-saving fluorescent lamp |
| CN202817110U (en) * | 2012-09-24 | 2013-03-20 | 江苏先特能源装备有限公司 | Battery overturning and deslagging mechanism |
| CN103612260A (en) * | 2013-11-20 | 2014-03-05 | 中铁隆昌铁路器材有限公司 | Hot-processing automatic L-shaped cylinder clamping mechanism |
| CN203542608U (en) * | 2013-09-10 | 2014-04-16 | 舟山海川船舶机械有限公司 | Mechanical gripper for grabbing drill rod |
| CN103787065A (en) * | 2014-01-23 | 2014-05-14 | 宁波超霸能源有限公司 | Mobile turnover device used for battery assembly line |
| CN204546522U (en) * | 2015-02-13 | 2015-08-12 | 江苏谷登工程机械装备有限公司 | A kind of rack-and-pinion manipulator |
-
2015
- 2015-02-13 CN CN201510079382.6A patent/CN104626143A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996026813A1 (en) * | 1995-02-27 | 1996-09-06 | Tol-O-Matic, Inc. | Multimotion actuator for a rotary gripper |
| CN101380736A (en) * | 2008-10-20 | 2009-03-11 | 长沙楚天科技有限公司 | Turnover device of mechanical arm |
| CN201498486U (en) * | 2009-09-23 | 2010-06-02 | 外商独资镇江金品机械有限公司 | Automatic takeout device of power-saving fluorescent lamp |
| CN202817110U (en) * | 2012-09-24 | 2013-03-20 | 江苏先特能源装备有限公司 | Battery overturning and deslagging mechanism |
| CN203542608U (en) * | 2013-09-10 | 2014-04-16 | 舟山海川船舶机械有限公司 | Mechanical gripper for grabbing drill rod |
| CN103612260A (en) * | 2013-11-20 | 2014-03-05 | 中铁隆昌铁路器材有限公司 | Hot-processing automatic L-shaped cylinder clamping mechanism |
| CN103787065A (en) * | 2014-01-23 | 2014-05-14 | 宁波超霸能源有限公司 | Mobile turnover device used for battery assembly line |
| CN204546522U (en) * | 2015-02-13 | 2015-08-12 | 江苏谷登工程机械装备有限公司 | A kind of rack-and-pinion manipulator |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105545232A (en) * | 2016-01-28 | 2016-05-04 | 江苏地龙重型机械有限公司 | Drill pipe feeding mechanism |
| CN105731062A (en) * | 2016-05-04 | 2016-07-06 | 青岛海科佳电子设备制造有限公司 | Manipulator steering device |
| CN105731062B (en) * | 2016-05-04 | 2018-02-06 | 青岛海科佳电子设备制造有限公司 | Manipulator transfer |
| CN106898239A (en) * | 2017-04-21 | 2017-06-27 | 成都福莫斯佰龙智能科技有限公司 | A kind of Fu Mosi robots grippers for being applied to teaching demonstration |
| CN109093591A (en) * | 2018-08-17 | 2018-12-28 | 安徽星宇生产力促进中心有限公司 | A kind of crawler type pickup robot and its application method |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150520 |
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| RJ01 | Rejection of invention patent application after publication |