CN110216701B

CN110216701B - Special robot hand ware is demolishd to I-shaped canopy in pit

Info

Publication number: CN110216701B
Application number: CN201910397017.8A
Authority: CN
Inventors: 丛佩超; 张欣; 李健; 谢胜德; 凡增杰; 何淳光; 王志光; 高学山
Original assignee: Guangxi University of Science and Technology
Current assignee: Guangxi University of Science and Technology
Priority date: 2019-05-14
Filing date: 2019-05-14
Publication date: 2022-05-31
Anticipated expiration: 2039-05-14
Also published as: CN110216701A

Abstract

The invention discloses a special robot hand executor for removing an I-shaped shed under a mine, which consists of a connecting seat, a hydraulic cylinder, a bracket, a gear mechanism, a rack, a first connecting rod, a second connecting rod, a first claw and a second claw.

Description

Special manipulator executor is demolishd to I canopy in pit

Technical Field

The invention relates to a special robot hand executor for dismantling an I-shaped shed in a mine.

Background

Because the shed legs are manually removed at present, no special equipment is provided, and the mechanical hand actuators existing in the market are all used for clamping objects with regular shapes, such as cylinders. However, the shape of the boundary surface of the shed leg is similar to a letter 'V', and when most of mechanical arms on the market are used for clamping the shed leg, the contact surface is very small, so that the shed leg cannot be firmly clamped.

Disclosure of Invention

In view of the above, the invention aims to provide a special manipulator for removing a mine I-shaped shed, which solves the problem that the clamping contact surface between the clamping end of a common manipulator and a shed leg is small and the clamping is not firm, and can firmly clamp the shed leg by matching with a special machine for removing the mine I-shaped shed, so that the shed leg removing process is smoothly carried out.

The invention adopts the specific technical scheme that:

a special manipulator for dismantling an I-shaped shed under a mine comprises a connecting seat, a hydraulic cylinder, a bracket, a gear mechanism, a rack, a first connecting rod, a second connecting rod, a first claw and a second claw, wherein the hydraulic cylinder is fixedly connected with the connecting seat and the bracket respectively; the output end of the hydraulic cylinder is provided with external threads, the rack shaft is internal threads, and the rack shaft is connected with the output end of the hydraulic cylinder through threads; the gear mechanisms are symmetrically arranged on the brackets at two sides of the rack through bolts, gears on the gear mechanisms are meshed with the rack, and specifically, the bolts penetrate through the centers of the brackets and the gear mechanisms and are fixed by nuts; the tail end of the gear mechanism is movably connected with the connecting rod II through a countersunk head bolt, and the gear end is movably connected with the connecting rod I through a countersunk head bolt; the connecting rod II is movably connected with the claw II through a countersunk head bolt, and the connecting rod I is movably connected with the claw I through a countersunk head bolt; the first claw is connected with the support through a bolt, specifically, the bolt penetrates through the support and the claw and is fixed by the nut, the second claw is connected with the support through the bolt, and specifically, the bolt penetrates through the support and the second claw and is fixed by the nut.

Preferably, four through holes are formed in four corners of the hydraulic cylinder, and four bolts penetrate through the bracket and penetrate through the four through holes of the hydraulic cylinder to be fixedly connected to the connecting seat.

The invention has the beneficial effects that: the robot hand executor provided by the invention is specially designed for the structure of the shed leg, can firmly clamp the shed leg by matching with a machine special for dismantling an I-shaped shed under a mine, ensures that the process of dismantling the shed leg is smoothly carried out, and has simple structure and easy production and processing.

Drawings

Fig. 1 is a schematic structural diagram of a robot actuator according to embodiment 1;

fig. 2 is a front view of the robot actuator according to embodiment 1;

fig. 3 is a schematic structural view of the gear mechanism.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

Example 1

A special manipulator for dismantling an I-shaped shed under a mine comprises a connecting seat 1, a hydraulic cylinder 2, a support 3, a gear mechanism 4, a rack 5, a first connecting rod 6, a second connecting rod 7, a first claw 8 and a second claw 9, wherein four through holes are formed in four corners of the hydraulic cylinder 2, and four bolts penetrate through the support 3 and penetrate through the four through holes of the hydraulic cylinder 2 to be fixedly connected to the connecting seat 1; the output end of the hydraulic cylinder 2 is provided with external threads, the shaft of the rack 5 is internal threads, and the shaft of the rack 5 is connected with the output end of the hydraulic cylinder 2 through threads; the gear mechanisms 4 are symmetrically arranged on the brackets 3 at two sides of the rack 5 through bolts, the gears on the gear mechanisms are meshed with the rack 5, and specifically, the bolts penetrate through the centers of the brackets 3 and the gear mechanisms 4 and are fixed by nuts; the tail end of the gear mechanism 4 is movably connected with the second connecting rod 7 through a countersunk head bolt, and the gear end is movably connected with the first connecting rod through a countersunk head bolt; the connecting rod II 7 is movably connected with the claw II 9 through a countersunk head bolt, and the connecting rod I6 is movably connected with the claw I8 through a countersunk head bolt; the first claw 8 is connected with the support 3 through a bolt, specifically, the bolt penetrates through the support 3 and the first claw 8 and is fixed through a nut, the second claw 9 is connected with the support 3 through a bolt, and specifically, the bolt penetrates through the support 3 and the second claw 9 and is fixed through a nut.

During operation, the hydraulic cylinder is contracted to drive the rack to retract, the gear meshed with the rack rotates, the gear on the left rotates clockwise, and the gear on the right rotates anticlockwise. On the right side, the first connecting rod and the second connecting rod are symmetrically arranged on two sides of the gear, so that when the gear rotates anticlockwise, the connecting rod is pulled to move downwards, and the second connecting rod moves upwards to drive the first claw and the second claw to close; when the hydraulic cylinder extends out, the rack is driven to extend out, the gear meshed with the rack rotates, the gear on the left rotates anticlockwise, the gear on the right rotates clockwise, and the first claw and the second claw are driven to open. And the motion direction of the action connecting rod I and the motion direction of the action connecting rod II on the right side are the same as that of the action connecting rod II on the right side, namely the claw I and the claw II on the two sides are opened and closed simultaneously, so that the manipulator actuator is clamped and released.

Claims

1. A special manipulator executor for dismantling an I-shaped shed in a mine is characterized by comprising a connecting seat, a hydraulic cylinder, a bracket, a gear mechanism, a rack, a first connecting rod, a second connecting rod, a first claw and a second claw, wherein the hydraulic cylinder is fixedly connected with the connecting seat and the bracket respectively; the output end of the hydraulic cylinder is provided with external threads, the rack shaft is internal threads, and the rack shaft is connected with the output end of the hydraulic cylinder through threads; the gear mechanisms are symmetrically arranged on the brackets at two sides of the rack through bolts, gears on the gear mechanisms are meshed with the rack, and specifically, the bolts penetrate through the centers of the brackets and the gear mechanisms and are fixed by nuts; the tail end of the gear mechanism is movably connected with the connecting rod II through a countersunk head bolt, and the gear end is movably connected with the connecting rod I through a countersunk head bolt; the connecting rod II is movably connected with the claw II through a countersunk head bolt, and the connecting rod I is movably connected with the claw I through a countersunk head bolt; the first claw is connected with the support through a bolt, specifically, the bolt penetrates through the support and the claw and is fixed by the nut, the second claw is connected with the support through the bolt, and specifically, the bolt penetrates through the support and the second claw and is fixed by the nut.

2. The special manipulator for dismantling the I-shaped sheds under the mines as claimed in claim 1, wherein four through holes are formed at four corners of the hydraulic cylinder, and four bolts penetrate through the bracket and pass through the four through holes of the hydraulic cylinder to be fixedly connected to the connecting seat.