CN110405793A - Heavy-duty machinery hand - Google Patents
Heavy-duty machinery hand Download PDFInfo
- Publication number
- CN110405793A CN110405793A CN201910795596.1A CN201910795596A CN110405793A CN 110405793 A CN110405793 A CN 110405793A CN 201910795596 A CN201910795596 A CN 201910795596A CN 110405793 A CN110405793 A CN 110405793A
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- Prior art keywords
- arm
- hinged
- bevel gear
- sleeve
- heavy
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- 230000033001 locomotion Effects 0.000 claims description 6
- 238000004904 shortening Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims 1
- 238000005520 cutting process Methods 0.000 abstract description 3
- 238000003466 welding Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 238000005266 casting Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
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- Engineering & Computer Science (AREA)
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- Prostheses (AREA)
- Manipulator (AREA)
Abstract
A kind of heavy-duty machinery hand, including mechanical arm, attachment device, executive device, the mechanical arm is connect by the attachment device with executive device, realize that a mechanical arm realizes crawl or relief grinding or the switching of the multiple functions such as cutting or welding, it is more stable using three cylinder mechanical arms, and it is suitable for heavily loaded field, the structure of mechanical arm meets the needs of crawl and relief grinding, to realize save the cost, the purpose of steady trouble free service.
Description
Technical field
The present invention relates to manipulator field more particularly to a kind of heavy-duty machinery hands.
Background technique
Mechanical arm is widely studied as critical equipment more main in important manufacturing equipment, is mainly used in machine
The fields such as tool, metallurgy, casting.It can replace people to carry out heavy, dangerous handwork to a certain extent.In particular, in tradition
Casting industry, since casting weight, size are larger, difficult, while more selection is artificial carries out casting grinding, not only efficiency
It is low, recruitment cost is high, and big to human injury.Subsequent there are also many processes to need manipulator, but if divides on production line
It is not equipped with various manipulators, then cost is very high, now needs to propose a kind of versatility heavy-duty machinery for being suitable for production of general-purpose type
Hand to reduce cost, and promotes casting efficiency of post treatment and reduces labor intensity.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of heavy-duty machinery hand, and one aspect disclosed by the invention solves
A technical problem be then to switch different executive devices using the same mechanical arm, realize different function.
The present invention solves a technical solution used by its technical problem:
A kind of heavy-duty machinery hand, including mechanical arm, attachment device, executive device, the mechanical arm are filled by the connection
It sets and is connect with executive device, the mechanical arm includes fixing seat, oil cylinder group, vertical arm group, the first T-shaped piece, horizontal arm group, connection
Head, the oil cylinder group include the second T-shaped piece, vertical telescopic cylinder, balance telescoping cylinder, horizontal extension cylinder, and the vertical arm group includes
Upright arm, vertical links, support link, third T-shaped piece, the horizontal arm group includes horizontal arm and waling stripe；It is described vertical
Telescoping cylinder, the balance telescoping cylinder, the horizontal extension cylinder are sequentially arranged in the same plane from the bottom to top, the vertical telescopic
Cylinder, the balance telescoping cylinder, one end of the horizontal extension cylinder are hinged respectively at three ends of second T-shaped piece, described
It is fixedly connected in the middle part of fixing seat and second T-shaped piece, branch is arranged to oil cylinder group direction in the lower part of the upright arm, i.e., vertically
Arm lower part be in shape of BU branch-like, close the oil cylinder group side branch top and the horizontal extension cylinder are hinged, and lower part and
The balance telescoping cylinder is hinged, and the upright arm lower end and one end that the third T-shaped piece is located at middle part are hinged, the fixing seat
Hinged with one end of the upright arm lower end and the third T-shaped piece simultaneously, the third T-shaped piece is close to oil cylinder group one end
The hinged and opposite other end and the support link are hinged with the vertical telescopic cylinder, the top of the upright arm with it is described
One end that first T-shaped piece is located at middle part is hinged, and first T-shaped piece is close to oil cylinder group one end and described vertical links one end
Hingedly, and the opposite other end and described waling stripe one end are hinged, and the other end of the vertical links and the fixing seat are cut with scissors
It connects, the other end of the support link and the horizontal arm are hinged, the top of described connector the same side and the waling stripe
Hingedly, and lower part and the horizontal arm are hinged, and connector is fixed with the attachment device, wherein the upright arm, described vertical
Connecting rod, the support link three are parallel to each other, and both the horizontal arm and the waling stripe are parallel to each other；The level is even
The line distance of bar both ends hinge joint and the line of horizontal arm both ends hinge joint are equidistant.
Using the mechanical arm of three cylinders, it is more suitable for heavily loaded field, and more stable, safer, especially relief grinding effect is more
Good, the flatness after relief grinding is high.The line distance of waling stripe both ends hinge joint and horizontal arm both ends hinge joint
Line is equidistant so that connector is more steady, and holding horizontality facilitates carrying aid to stablize, and it is smooth to be also conducive to relief grinding.
Guarantee that connector remains horizontality, convenient for movements such as control head pitching, beats.
Preferably, the fixing seat is double-layer structure, i.e., the oil cylinder group and the third T-shaped piece is clipped in the middle；Institute
The lower part for stating vertical links is two parallel branches, i.e., hinged from the two sides of the fixing seat and the fixing seat；The branch
The top of supporting rod is two parallel branches, i.e., hinged from the two sides of the horizontal arm and the horizontal arm.
The structure of this reinforcing makes overall structure firm, is suitable for heavily loaded field, improves safety, and active force point
It is dissipated to bilateral, unilateral stress is reduced.
It preferably, further include rotary table, the rotary table includes fixed disk and revolution driving, the fixed disk and institute
It states fixing seat bottom to be fixedly connected, the revolution driving drives the fixed disk rotation.
It realizes multistation work, reduces the waiting time.
Preferably, the waling stripe includes buffer and horizon bar, one end of the buffer and first T-shaped piece
Hingedly, and the other end and the horizon bar are hinged, and the other end of the horizon bar and the connector are hinged；The buffer packet
Sleeve A, sleeve B, piston rod, spring, adjustment neck ring are included, sleeve A is tubular open at one end, and sleeve B is cylinder open at one end
Shape, and centre is provided with piston rod, piston rod is fixedly connected with closed end, and the sleeve B is closely sleeved on outside the sleeve A
Side, and the free end of piston rod is located in the sleeve A, the outer sheath of the closed end the sleeve A is adjusted equipped with adjustment neck ring
Neck ring is threadedly coupled with the sleeve A, and after the sleeve A is together with sleeve B box set, outside is set with the spring, i.e., described
Spring one end is contacted with the adjustment neck ring, and the other end is contacted with the sleeve B.
It is added to buffer on waling stripe, when mechanical arm moves up and down, there is certain buffering, protection is mechanical
Structure, and it is better than hydraulic cushion, because hydraulic response lag, ineffective, and spring reaction is timely, and effect is good, so that machine
Tool arm is more stable when up and down motion.Remaining position pressure of manipulator can be effectively reduced, structural strength is improved, makes to transport
It is dynamic more steady.
Preferably, the attachment device includes driving end, switch terminal and mounting head, the switch terminal include fixed panel,
Main shaft, bevel gear A, bevel gear B, bevel gear C, sliding block A, slide block B, threaded rod, position-limited rack, described main shaft one end is through described solid
Determine panel, and end is provided with bevel gear A, the main shaft other end is connect with the driving end, the main shaft and the screw thread
Bar is vertically arranged, and the bevel gear A and the bevel gear B are fixed on the threaded rod, and respectively from the two of the bevel gear A
Side is engaged with bevel gear A, and two free ends of the threaded rod are threadedly coupled with the sliding block A and the slide block B respectively, and institute
State the external screw thread hand of spiral phase that the external screw thread that threaded rod is connect with the sliding block A is connect with the threaded rod with the slide block B
Instead, i.e., the described driving end drives bevel gear A main story or reversion on the main shaft, and bevel gear A drives bevel gear B and bevel gear
C rotates threaded rod, and threaded rod drives the sliding block A and slide block B to do relatively close or be relatively distant from movement；The mounting head is
Tubular open at one end, and closed end inner wall is provided with the mounting groove to match with the sliding block A and the slide block B, that is, passes through
The switch terminal is connected or is separated with the mounting head with the slide block B by the sliding block A.
The switching of grabbing device and backing-off device is realized using this attachment device, high-efficient, switching is fast, and mounting head is solid
It is scheduled on grabbing device or backing-off device, after reaching switching station, driving switch terminal in driving end is separated with mounting head, then
Replacement, high-efficient, speed is fast.
Preferably, the executive device is one of grabbing device, backing-off device, cutter device or welder.
Preferably, the grabbing device includes fixed disk, crawl arm, horizontal cylinder and inclined cylinder, the fixed disk with it is described
Mounting head closed end is fixedly connected, and the crawl arm that fixed disk is oppositely arranged with two is hinged, one end and side of the horizon bar
The crawl arm top it is hinged, and the crawl arm top of the other end and opposite side is hinged, one end of the inclined cylinder
It is hinged with crawl arm upper inner described in one of them, and the other end tilts down afterwards and on the inside of the crawl arm of opposite side
Hingedly, i.e., the described horizon bar and inclined cylinder elongation or shortening drive two opposite crawl arms are opposite to open and close.
This grabbing device clamping is tight, crawl safety, twin-tub control, while having double shielding, in this way raising safety,
It grabs more firm.
Preferably, the crawl arm includes arm body, handgrip block, and arm body one end and the fixed disk are hinged, and opposite
The other end be provided with handgrip block, two opposite sides of the crawl arm are arranged in the handgrip block, i.e., the described handgrip block is set
The groove for being provided on the inside of the crawl arm, the arm body and matching with the handgrip block is set, the handgrip block passes through
Bolt is fixed in the groove, and the upper surface of the handgrip block protrudes from arm body surface face.
Because the end of crawl arm is the position being prone to wear out, will entirely it be replaced after being often worn out, higher cost, benefit
It is on the one hand save the cost with dismountable handgrip block, only replaces handgrip block just, on the other hand can according to need addition and grab
Hand block changes crawl arm end construction, in this way the extension scope of application.
Preferably, the backing-off device includes mounting rack, motor, grinding head, one end of the mounting rack and the A An
Dress head closed end is fixedly connected, and the motor and the grinding head are mounted on the mounting rack, are beaten described in the motor driven
Bistrique rotation.
Preferably, the grinding head includes shell, rotary shaft, fixed pin, Tapered Cup, grinding wheel, the shell and the peace
It shelves and is fixedly connected, the rotating shaft bearing is mounted in the shell, and the rotary shaft is connect with the motor, the rotation
Shaft is hollow tubular, and the opening of one end is match with the Tapered Cup horn-like, the Tapered Cup and the grinding wheel
Be fixedly connected, the Tapered Cup is arranged in flare openings, and with the rotation axis connection, the fixed pin is from opposite another
One end enters in the rotary shaft, and connect with the Tapered Cup, wherein the fixed pin, the Tapered Cup and the rotary shaft
It is assembled into dismountable integral structure.
Compared with traditional loose tool-broaching mechanism, structure is simpler, compact-sized, saves space, greatly reduces axial dimension,
It is at low cost.
As shown from the above technical solution, one beneficial effect of one aspect bring disclosed by the invention is to realize one
Mechanical arm realizes crawl, relief grinding, cutting or a variety of a function switch of polishing, more stable using three cylinder mechanical arms, and is applicable in
In heavily loaded field, the structure of mechanical arm meets the needs of crawl and relief grinding, thus realize save the cost, the mesh of steady trouble free service
's.
Detailed description of the invention
Attached drawing 1 is the structural schematic diagram of the mechanical arm of the heavy-duty machinery hand of disclosed one embodiment according to the present invention.
Attached drawing 2 is that the mechanical arm of the heavy-duty machinery hand of disclosed one embodiment according to the present invention hides the knot after fixing seat
Structure schematic diagram.
Attached drawing 3 is the mechanical arm broken section structural representation of the heavy-duty machinery hand of disclosed one embodiment according to the present invention
Figure figure.
Attached drawing 4 is the cross-sectional view of the buffer of the heavy-duty machinery hand of disclosed one embodiment according to the present invention.
Attached drawing 5 is a certain working condition signal of the heavy-duty machinery hand mechanical arm of disclosed one embodiment according to the present invention
Figure.
Attached drawing 6 is a certain working condition signal of the heavy-duty machinery hand mechanical arm of disclosed one embodiment according to the present invention
Figure.
Attached drawing 7 is a certain working condition signal of the heavy-duty machinery hand mechanical arm of disclosed one embodiment according to the present invention
Figure.
Attached drawing 8 is a certain working condition signal of the heavy-duty machinery hand mechanical arm of disclosed one embodiment according to the present invention
Figure.
Attached drawing 9 is that the connector of the heavy-duty machinery hand of disclosed one embodiment and segment attachment arrangement fill according to the present invention
Structural schematic diagram after matching.
Attached drawing 10 is the structure of the attachment device switch terminal of the heavy-duty machinery hand of disclosed one embodiment according to the present invention
Schematic diagram.
Attached drawing 11 is the structure of the attachment device mounting head of the heavy-duty machinery hand of disclosed one embodiment according to the present invention
Schematic diagram.
Attached drawing 12 is that the heavy-duty machinery hand of disclosed one embodiment according to the present invention is equipped with the grabbing device of mounting head
Opening state figure.
Attached drawing 13 is that the heavy-duty machinery hand of disclosed one embodiment according to the present invention is equipped with the grabbing device of mounting head
Clamping state diagram.
Attached drawing 14 is the structural schematic diagram of the heavy-duty machinery hand crawl arm of disclosed one embodiment according to the present invention.
Attached drawing 15 is that the heavy-duty machinery hand of disclosed one embodiment according to the present invention is equipped with the backing-off device of mounting head
Structural schematic diagram.
Attached drawing 16 is the cross-sectional view after the heavy-duty machinery hand grinding head disassembly of disclosed one embodiment according to the present invention.
In figure: mechanical arm 10, fixing seat 11, oil cylinder group 12, the second T-shaped piece 120, vertical telescopic cylinder 121, balance telescoping cylinder
122, horizontal extension cylinder 123, vertical arm group 13, upright arm 130, vertical links 131, support link 132, third T-shaped piece 133,
First T-shaped piece 14, horizontal arm group 15, horizontal arm 150, waling stripe 151, buffer 1510, sleeve A15101, sleeve
B15102, piston rod 15103, adjustment neck ring 15105, horizon bar 1511, connector 16, attachment device 20, drive spring 15104
Moved end 21, switch terminal 22, fixed panel 220, main shaft 221, bevel gear A222, bevel gear B223, bevel gear C224, sliding block
A225, slide block B 226, threaded rod 227, position-limited rack 228, mounting head 23, grabbing device 30, fixed disk 31, crawl arm 32, arm body
320, handgrip block 321, horizontal cylinder 33, inclined cylinder 34, backing-off device 40, mounting rack 41, motor 42, grinding head 43, shell 430,
Rotary shaft 431, fixed pin 432, Tapered Cup 433, grinding wheel 434, rotary table 50.
Specific embodiment
In conjunction with attached drawing of the invention, a technical solution of inventive embodiments is further described in detail.
Embodiment 1:
Referring to shown in attached drawing 1-3, a kind of heavy-duty machinery hand, including mechanical arm 10, attachment device 20, executive device, it is described
Mechanical arm 10 is connect by the attachment device 20 with executive device.Executive device is grabbing device 30, backing-off device 40, cutting
One of device or welder, then heavy-duty machinery hand can be set on heavily loaded AGV, then mobile in workshop, institute
It states executive device and a certain station or multiple stations is just set, then realize the free switching of mechanical arm execution unit, simultaneously
Heavy-duty machinery hand moves freely, and cooperates and completes various work.
The mechanical arm 10 includes fixing seat 11, oil cylinder group 12, vertical arm group 13, the first T-shaped piece 14,150 groups of horizontal arm
15, connector 16.
The oil cylinder group 12 includes the second T-shaped piece 120, vertical telescopic cylinder 121, balance telescoping cylinder 122, horizontal extension cylinder
123。
The vertical arm group 13 includes upright arm 130, vertical links 131, support link 132, third T-shaped piece 133.
150 group 15 of the horizontal arm includes horizontal arm 150 and waling stripe 151.
The vertical telescopic cylinder 121, the balance telescoping cylinder 122, the horizontal extension cylinder 123 are sequentially arranged from the bottom to top
In the same plane, one end difference of the vertical telescopic cylinder 121, the balance telescoping cylinder 122, the horizontal extension cylinder 123
It is hinged in three ends of second T-shaped piece 120, it is fixedly connected in the middle part of the fixing seat 11 and second T-shaped piece 120,
Branch is arranged to 12 direction of oil cylinder group in the lower part of the upright arm 130, i.e. 130 lower part of upright arm is in shape of BU branch-like, described
It is hinged close to 12 side branch top of oil cylinder group and the horizontal extension cylinder 123, and lower part and the balance telescoping cylinder 122 are cut with scissors
Connect, 130 lower end of upright arm and one end that the third T-shaped piece 133 is located at middle part are hinged, the fixing seat 11 simultaneously with institute
The one end for stating 130 lower end of upright arm and the third T-shaped piece 133 is hinged, and the third T-shaped piece 133 is close to the oil cylinder group 12
One end and the vertical telescopic cylinder 121 are hinged, and the opposite other end and the support link 132 are hinged, the upright arm 130
Top and first T-shaped piece 14 one end for being located at middle part it is hinged, first T-shaped piece 14 is close to described 12 one end of oil cylinder group
It is hinged with the hinged and opposite other end in described 131 one end of vertical links and described 151 one end of waling stripe, it is described vertically to connect
The other end of bar 131 and the fixing seat 11 are hinged, and the other end of the support link 132 and the horizontal arm 150 are hinged, institute
Top and the waling stripe 151 for stating 16 the same side of connector are hinged, and lower part and the horizontal arm 150 are hinged, connector
16 is fixed with the attachment device 20.
Fixing seat 11 is double-layer structure, i.e., the oil cylinder group 12 and the third T-shaped piece 133 is clipped in the middle；It is described to hang down
The lower part of straight connecting rod 131 is two parallel branches, i.e., hinged from the two sides of the fixing seat 11 and the fixing seat 11；It is described
The top of support link 132 is two parallel branches, i.e., hinged from the two sides of the horizontal arm 150 and the horizontal arm 150.
Wherein the upright arm 130, the vertical links 131,132 three of the support link are parallel to each other, the water
Both flat arm 150 and the waling stripe 151 are parallel to each other.The line distance of the 151 both ends hinge joint of waling stripe and institute
The line for stating 150 both ends hinge joint of horizontal arm is equidistant.
Embodiment 2:
Referring to shown in attached drawing 4, on the basis of embodiment 1, waling stripe 151 is divided into two parts, is added to buffer
1510, specific waling stripe 151 includes buffer 1510 and horizon bar 1511, one end of the buffer 1510 and described first
T-shaped piece 14 is hinged, and the other end and the horizon bar 1511 are hinged, the other end of the horizon bar 1511 and the connector 16
Hingedly；The buffer 1510 includes sleeve A15101, sleeve B15102, piston rod 15103, spring 15104, adjustment neck ring
15105, sleeve A15101 are tubular open at one end, and sleeve B15102 is tubular open at one end, and centre is provided with piston
Bar 15103, piston rod 15103 are fixedly connected with closed end, and the sleeve B15102 is closely sleeved on outside the sleeve A15101
Side, and the free end of piston rod 15103 is located in the sleeve A15101, the outer sheath of the closed end the sleeve A15101 is equipped with
Neck ring 15105 is adjusted, and adjusts neck ring 15105 and is threadedly coupled with the sleeve A15101, the spring 15104 is sleeved on suit
On the outside of sleeve A15101 and sleeve B15102 together, i.e., described 15104 one end of spring connects with the adjustment neck ring 15105
Touching, and the other end is contacted with the sleeve B15102.
Embodiment 3:
Referring to shown in attached drawing 5-8, on the basis of embodiment 1 or embodiment 2, including rotary table 50, the revolution
Pedestal 50 includes fixed disk 31 and revolution driving, and the fixed disk 31 is fixedly connected with 11 bottom of fixing seat, the revolution
Driving drives the fixed disk 31 to rotate.Heavy-duty machinery hand can complete the movement of front and back all directions up and down.
Embodiment 4:
Referring to shown in attached drawing 9-11, on the basis of embodiment 1-3, attachment device 20 includes driving end 21, switch terminal 22
With mounting head 23, the switch terminal 22 includes fixed panel 220, main shaft 221, bevel gear A222, bevel gear B223, bevel gear
The fixed panel is run through in C224, sliding block A225, slide block B 226, threaded rod 227, position-limited rack 228, described 221 one end of main shaft
220, and end is provided with bevel gear A222,221 other end of main shaft is connect with the driving end 21, the main shaft 221 with
The threaded rod 227 is vertically arranged, and the bevel gear A222 and the bevel gear B223 are fixed on the threaded rod 227, and
Engaged respectively from the two sides of the bevel gear A222 with bevel gear A222, two free ends of the threaded rod 227 respectively with institute
Sliding block A225 and the slide block B 226 is stated to be threadedly coupled, and the external screw thread that is connect with the sliding block A225 of the threaded rod 227 and
The external screw thread hand of spiral that the threaded rod 227 is connect with the slide block B 226 is on the contrary, the i.e. described driving end 21 drives the master
Bevel gear A222 main story or reversion on axis 221, bevel gear A222 drive bevel gear B223 and bevel gear C224 to rotate screw thread
Bar 227, threaded rod 227 drive the sliding block A225 and slide block B 226 to do relatively close or be relatively distant from movement；The installation
First 23 be tubular open at one end, and closed end inner wall is provided with the peace to match with the sliding block A225 and the slide block B 226
The switch terminal 22 and the mounting head 23 are connected or are divided by the sliding block A225 and the slide block B 226 by tankage
From.
Embodiment 5:
Referring to shown in attached drawing 12-14, on the basis of embodiment 4, executive device is grabbing device 30, and grabbing device 30 wraps
Include fixed disk 31, crawl arm 32, horizontal cylinder 33 and inclined cylinder 34, the fixed disk 31 and the fixed company in 23 closed end of mounting head
It connects, fixed disk 31 and two crawl arms 32 being oppositely arranged are hinged, the crawl of one end and side of the horizon bar 1511
32 top of arm is hinged, and 32 top of the crawl arm of the other end and opposite side is hinged, one end of the inclined cylinder 34 and its
In 32 upper inner of crawl arm it is hinged, and the other end tilts down afterwards and the inside of the crawl arm of opposite side 32
Hingedly, i.e., the described horizon bar 1511 and the elongation of the inclined cylinder 34 or shortening drive the crawl arms 32 of opposite two opposite
Folding.
Crawl arm 32 includes arm body 320, handgrip block 321, and described 320 one end of arm body and the fixed disk 31 are hinged, and phase
Pair the other end be provided with handgrip block 321, two opposite sides of the crawl arm 32, i.e. institute are arranged in the handgrip block 321
The inside that the crawl arm 32 is arranged in handgrip block 321 is stated, is provided on the arm body 320 and matches with the handgrip block 321
Groove, the handgrip block 321 is bolted in the groove, and the upper surface of the handgrip block 321 protrudes from described
320 surface of arm body.
Embodiment 6:
Referring to shown in attached drawing 15-16, on the basis of embodiment 4, executive device is backing-off device 40, and backing-off device 40 wraps
Mounting rack 41, motor 42, grinding head 43 are included, one end of the mounting rack 41 is fixedly connected with 23 closed end of Ah's mounting head,
The motor 42 and the grinding head 43 are mounted on the mounting rack 41, and the motor 42 drives the grinding head 43 to rotate.
Grinding head 43 includes shell 430, rotary shaft 431, fixed pin 432, Tapered Cup 433, grinding wheel 434, the shell 430
Be fixedly connected with the mounting rack 41,431 bearing of rotary shaft is mounted in the shell 430, and the rotary shaft 431 with
The motor 42 connects, and the rotary shaft 431 is hollow tubular, and the opening of one end is matched with the Tapered Cup 433
Horn-like, the Tapered Cup 433 is fixedly connected with the grinding wheel 434, and the Tapered Cup 433 is arranged in flare openings, and
Connect with the rotary shaft 431, the fixed pin 432 from the opposite other end enter the rotary shaft 431 in, and with the cone
Shape part 433 connects, wherein the fixed pin 432, the Tapered Cup 433 and the rotary shaft 431 are assembled into dismountable one
Structure.
Claims (10)
1. a kind of heavy-duty machinery hand, it is characterised in that: including mechanical arm, attachment device, executive device, the mechanical arm passes through institute
It states attachment device to connect with executive device, the mechanical arm includes fixing seat, oil cylinder group, vertical arm group, the first T-shaped piece, level
Arm group, connector, the oil cylinder group includes the second T-shaped piece, vertical telescopic cylinder, balances telescoping cylinder, horizontal extension cylinder, described vertical
Arm group includes upright arm, vertical links, support link, third T-shaped piece, and the horizontal arm group includes horizontal arm and waling stripe；
The vertical telescopic cylinder, the balance telescoping cylinder, the horizontal extension cylinder are sequentially arranged in the same plane from the bottom to top, described
Vertical telescopic cylinder, described one end for balancing telescoping cylinder, the horizontal extension cylinder are respectively at three ends of second T-shaped piece hinge
It connects, is fixedly connected in the middle part of the fixing seat and second T-shaped piece, the lower part of the upright arm is divided to the setting of oil cylinder group direction
Branch, i.e. upright arm lower part are in shape of BU branch-like, and the close oil cylinder group side branch top and the horizontal extension cylinder are hinged,
And lower part and the balance telescoping cylinder are hinged, the upright arm lower end and one end that the third T-shaped piece is located at middle part are hinged, institute
It is hinged with one end of the upright arm lower end and the third T-shaped piece simultaneously to state fixing seat, the third T-shaped piece is close to the oil
The hinged and opposite other end and the support link are hinged with the vertical telescopic cylinder for cylinder group one end, the upright arm it is upper
Portion and one end that first T-shaped piece is located at middle part are hinged, first T-shaped piece close to oil cylinder group one end with it is described vertical
Connecting rod one end is hinged, and the opposite other end and described waling stripe one end are hinged, the other end of the vertical links with it is described
Fixing seat is hinged, and the other end of the support link and the horizontal arm are hinged, the top of described connector the same side with it is described
Waling stripe is hinged, and lower part and the horizontal arm are hinged, and connector is fixed with the attachment device, wherein the upright arm,
The vertical links, the support link three are parallel to each other, and both the horizontal arm and the waling stripe are parallel to each other；Institute
The line of the line distance and horizontal arm both ends hinge joint of stating waling stripe both ends hinge joint is equidistant.
2. heavy-duty machinery hand according to claim 1, it is characterised in that: the fixing seat is double-layer structure, i.e., will be described
Oil cylinder group and the third T-shaped piece are clipped in the middle；The lower part of the vertical links is two parallel branches, i.e., from the fixation
The two sides and the fixing seat of seat are hinged；The top of the support link is two parallel branches, i.e., from the horizontal arm
Two sides and the horizontal arm are hinged.
3. heavy-duty machinery hand according to claim 1, it is characterised in that: it further include rotary table, the rotary table packet
Fixed disk and revolution driving are included, the fixed disk is fixedly connected with the fixing seat bottom, and the revolution driving driving is described solid
Price fixing rotation.
4. heavy-duty machinery hand according to claim 1, it is characterised in that: the waling stripe includes buffer and level
Bar, one end of the buffer and first T-shaped piece are hinged, and the other end and the horizon bar are hinged, the horizon bar
The other end and the connector are hinged；The buffer includes sleeve A, sleeve B, and piston rod, adjusts neck ring at spring, and sleeve A is
Tubular open at one end, sleeve B is tubular open at one end, and centre is provided with piston rod, the fixed company of piston rod and closed end
It connects, the sleeve B is closely sleeved on the outside of the sleeve A, and the free end of piston rod is located in the sleeve A, the sleeve A
The outer sheath of closed end adjusts neck ring and is threadedly coupled with the sleeve A equipped with adjustment neck ring, the sleeve A and sleeve B box set
After together, outside is set with the spring, i.e., the described spring one end is contacted with the adjustment neck ring, and the other end and the sleeve
B contact.
5. heavy-duty machinery hand according to claim 1, it is characterised in that: the attachment device includes driving end, switch terminal
And mounting head, the switch terminal include fixed panel, main shaft, bevel gear A, bevel gear B, bevel gear C, sliding block A, slide block B, screw thread
Bar, position-limited rack, the fixed panel is run through in described main shaft one end, and end is provided with bevel gear A, the main shaft other end and institute
The connection of driving end is stated, the main shaft is vertically arranged with the threaded rod, described in the bevel gear A and the bevel gear B are fixed on
On threaded rod, and engaged respectively from the two sides of the bevel gear A with bevel gear A, two free ends of the threaded rod respectively with
The sliding block A and the slide block B are threadedly coupled, and the external screw thread and the threaded rod that the threaded rod is connect with the sliding block A
The external screw thread hand of spiral that is connect with the slide block B on the contrary, the i.e. described driving end drive bevel gear A main story on the main shaft or
Person's reversion, bevel gear A drive bevel gear B and bevel gear C to rotate threaded rod, and threaded rod drives the sliding block A and slide block B to do relatively
It is close or be relatively distant from movement；The mounting head is tubular open at one end, and closed end inner wall is provided with and the sliding block A
The mounting groove to match with the slide block B, i.e., by the sliding block A and the slide block B by the switch terminal and the mounting head
Connection or separation.
6. heavy-duty machinery hand according to claim 1, it is characterised in that: the executive device is grabbing device, relief grinding dress
It sets, one of cutter device or welder.
7. heavy-duty machinery hand according to claim 6, it is characterised in that: the grabbing device include fixed disk, crawl arm,
Horizontal cylinder and inclined cylinder, the fixed disk are fixedly connected with the mounting head closed end, fixed disk with two be oppositely arranged grab
Take arm hinged, one end of the horizon bar and the crawl arm top of side are hinged, and the other end and opposite side is described
Crawl arm top is hinged, and one end of the inclined cylinder and crawl arm upper inner described in one of them are hinged, and the other end is downward
Hinged with the crawl arm of opposite side inside after inclination, i.e., the described horizon bar and inclined cylinder elongation or shortening drive
Two opposite crawl arms are opposite to be opened and closed.
8. heavy-duty machinery hand according to claim 7, it is characterised in that: the crawl arm includes arm body, handgrip block, described
Arm body one end and the hinged and opposite other end of the fixed disk are provided with handgrip block, and the handgrip block setting is described in two
The opposite side of crawl arm, i.e., the described handgrip block are arranged in the inside of the crawl arm, are provided on the arm body and grab with described
The groove that hand block matches, the handgrip block are bolted in the groove, and the upper surface of the handgrip block protrudes from
Arm body surface face.
9. heavy-duty machinery hand according to claim 6, it is characterised in that: the backing-off device includes mounting rack, motor, beats
Bistrique, one end of the mounting rack are fixedly connected with Ah's mounting head closed end, and the motor and the grinding head are mounted on
On the mounting rack, the rotation of grinding head described in the motor driven.
10. heavy-duty machinery hand according to claim 9, it is characterised in that: the grinding head includes shell, rotary shaft, consolidates
Rationed marketing, Tapered Cup, grinding wheel, the shell are fixedly connected with the mounting rack, and the rotating shaft bearing is mounted in the shell,
And the rotary shaft is connect with the motor, the rotary shaft is hollow tubular, and the opening of one end is and the Tapered Cup phase
Matched horn-like, the Tapered Cup is fixedly connected with the grinding wheel, and the Tapered Cup is arranged in flare openings, and with institute
Rotation axis connection is stated, the fixed pin enters in the rotary shaft from the opposite other end, and connect with the Tapered Cup, wherein
The fixed pin, the Tapered Cup and the rotary shaft are assembled into dismountable integral structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910795596.1A CN110405793B (en) | 2019-08-27 | 2019-08-27 | Heavy-duty manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910795596.1A CN110405793B (en) | 2019-08-27 | 2019-08-27 | Heavy-duty manipulator |
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| CN110405793A true CN110405793A (en) | 2019-11-05 |
| CN110405793B CN110405793B (en) | 2023-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910795596.1A Active CN110405793B (en) | 2019-08-27 | 2019-08-27 | Heavy-duty manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497618A (en) * | 2020-11-17 | 2021-03-16 | 安徽智汇和科技服务有限公司 | Mechanical arm |
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| Publication number | Publication date |
|---|---|
| CN110405793B (en) | 2023-11-03 |
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