CN110666829B - Tail end actuating mechanism based on tool changing robot - Google Patents
Tail end actuating mechanism based on tool changing robot Download PDFInfo
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- CN110666829B CN110666829B CN201911055388.4A CN201911055388A CN110666829B CN 110666829 B CN110666829 B CN 110666829B CN 201911055388 A CN201911055388 A CN 201911055388A CN 110666829 B CN110666829 B CN 110666829B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 166
- 238000004140 cleaning Methods 0.000 claims abstract description 21
- 210000000078 claw Anatomy 0.000 claims description 36
- 239000012636 effector Substances 0.000 claims description 17
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 2
- 230000010354 integration Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 14
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- 239000007921 spray Substances 0.000 description 5
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- 238000010586 diagram Methods 0.000 description 3
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- 238000009434 installation Methods 0.000 description 2
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
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Abstract
The invention discloses an end actuating mechanism based on a tool changing robot, which solves the problems of single tool changing function and low tool changing efficiency of the end actuating mechanism for the tool changing robot in the prior art. The invention comprises a movement adjusting mechanism, wherein a clamping jaw assembly, an image acquisition mechanism, a bolt tightening mechanism and a high-pressure cleaning mechanism are arranged on the movement adjusting mechanism, and the clamping jaw assembly, the image acquisition mechanism, the bolt tightening mechanism and the high-pressure cleaning mechanism are positioned on the same plate surface of the movement adjusting mechanism. The tool changing device is ingenious in design, high in structural integration level and flexible in movement, can clamp and hoist the tool, tighten and loosen the bolt and clean the tool at high pressure, can acquire images and monitor the images in real time, improves the tool changing efficiency and the operation safety coefficient, and has high popularization value.
Description
Technical Field
The invention relates to the technical field of shield machine tool changing robots, in particular to a tail end executing mechanism based on a tool changing robot.
Background
The cutter consumption is big, the change is frequent in full-face entry driving machine work progress, often is the manual tool changing among the prior art, and the manual tool changing operation degree of difficulty is big, and is efficient, easily takes place the incident moreover. For guaranteeing the personal safety of constructors, complicated manual tool changing is avoided, tool changing efficiency is improved, material resources and financial resources are saved, and a tool changing robot is used for replacing manpower to change the tool of the shield machine, so that the current research topic is formed.
However, in the current stage, the research on the tool changing robot is less, and particularly, the tool changing robot is provided with the tail end executing mechanism, the function of the existing tail end executing mechanism is single, when the tail end executing mechanism executes actions, the tail end executing mechanism only needs to take and hang the tool far, and the bolt or the nut on the tool is still manually assembled and disassembled. And when terminal actuating mechanism was in the implementation action, its position of clamping jaw subassembly was not adjustable, and the direction of motion is fixed, and it is inconvenient to press from both sides the hobbing cutter clamp of different positions, and in addition, the collection scope of image is limited, can not accurately hold the change operating mode, and tool changing flexibility and tool changing efficiency are not high, and can not wash the cutter in good time, influence change efficiency. In summary, the end effector for the tool changing robot needs to be further improved and reasonably designed to improve the tool changing efficiency.
Disclosure of Invention
Aiming at the defects in the background technology, the invention provides an end actuating mechanism based on a tool changing robot, and solves the problems that the tool changing robot has a single tool changing function and low tool changing efficiency by using the end actuating mechanism in the prior art.
The technical scheme of the invention is realized as follows: the utility model provides an end actuating mechanism based on tool changing robot, includes the motion adjustment mechanism, is equipped with clamping jaw subassembly, image acquisition mechanism, bolt tightening mechanism and high pressure cleaning mechanism on the motion adjustment mechanism, and clamping jaw subassembly, image acquisition mechanism, bolt tightening mechanism and high pressure cleaning mechanism are located the same face of motion adjustment mechanism.
The movement adjusting mechanism comprises a cross-shaped movement seat and a connecting box body, the connecting box body is connected with the cross-shaped movement seat through a first rotating mechanism, and the clamping jaw assembly is arranged on the connecting box body and is in sliding connection with the connecting box body through a sliding driving mechanism.
The cross motion seat comprises a lower plate seat, a middle plate seat and an upper plate seat, the lower plate seat is connected with the middle plate seat through a longitudinal sliding mechanism, and the middle plate seat is connected with the upper plate seat through a transverse sliding mechanism.
The first rotating mechanism comprises a universal joint and two rotating oil cylinders, and the two rotating oil cylinders are positioned on the outer peripheral side of the universal joint; the telescopic directions of the two rotary oil cylinders are vertical, one end of each rotary oil cylinder is hinged with the upper plate seat, and the other end of each rotary oil cylinder is hinged with the connecting box body.
The clamping jaw assembly comprises a fixed jaw and a movable jaw, the movable jaw is hinged to the fixed jaw and can be opened and closed through a clamping oil cylinder, and the top of the fixed jaw is connected with a sliding driving mechanism.
The sliding driving mechanism comprises a guide rail, the guide rail is fixed in the connecting box body, a sliding block is arranged on the guide rail in a sliding mode, the sliding block is fixedly connected with the fixed claw, a moving oil cylinder is hinged to the sliding block, and the moving oil cylinder pushes the sliding block to move along the guide rail.
The fixed claw and the movable claw are both U-shaped clamping claws with radian, and the movable claw is connected with the fixed claw through a pin shaft; the clamping end of the fixed claw and the clamping end of the movable claw are in a wrapping state, and clamping grooves are formed in the inner wall of the clamping end of the fixed claw and the inner wall of the clamping end of the movable claw.
The image acquisition mechanism comprises a camera and a multi-degree-of-freedom adjusting platform, and the multi-degree-of-freedom adjusting platform is positioned in the connecting box body and extends upwards out of the connecting box body; the camera is arranged on the upper portion of the multi-freedom-degree adjusting platform through the second rotating mechanism, the multi-freedom-degree adjusting platform comprises a fixed platform and a movable platform, a swinging lifting mechanism is arranged between the fixed platform and the movable platform, and the swinging lifting mechanism drives the movable platform to swing and lift.
The swing lifting mechanism comprises a telescopic piece and a central column, the central column is fixedly and vertically arranged at the lower part of the movable platform and is positioned at the central position of the movable platform, a shaft sleeve is fixedly arranged on the fixed platform, and the lower part of the central column is positioned in the shaft sleeve; the both ends of extensible member are articulated with fixed platform and movable platform respectively, and the extensible member is located the periphery of center post.
The second rotating mechanism comprises a gear disc and a small motor, the gear disc is rotatably arranged on the movable platform, the small motor is fixedly arranged on the movable platform, the small motor drives the gear disc to rotate, and the camera is installed on the gear disc.
The bolt tightening and loosening mechanism comprises a torque driving part, a torque wrench and a flexible end mechanism, the torque driving part is connected with the torque wrench through a connecting rod mechanism, the torque driving part, the connecting rod mechanism and the torque wrench are located in a connecting box body, the flexible end mechanism stretches out of the connecting box body, one end of the torque wrench is connected with the flexible end mechanism, and the torque driving part drives the flexible end mechanism to rotate through the connecting rod mechanism and the torque wrench.
The flexible tail end mechanism comprises an outer sleeve, a middle sleeve and a central sleeve, the middle sleeve is sleeved inside the outer sleeve and connected with the outer sleeve through a first bolt, the central sleeve is sleeved inside the middle sleeve and connected with the middle sleeve through a second bolt, and a nut-shaped clamping groove is formed in the central sleeve.
The outer sleeve, the middle sleeve and the central sleeve are coaxially arranged, and the outer sleeve, the middle sleeve and the central sleeve are provided with radial springs; the top of outer sleeve is equipped with the speed reducer, and the output shaft and the outer sleeve fixed connection of speed reducer, the input shaft and the torque wrench fixed connection of speed reducer.
The connecting rod mechanism comprises a connecting plate and two connecting rods, the connecting plate is fixedly connected with the torque driving piece, one end of each connecting rod is hinged with the connecting plate, and the other end of each connecting rod is provided with a cross-shaped connecting seat; the connecting rod is fixedly connected with the torque wrench through the cross connecting seat, the outer end part of the cross connecting seat is provided with a pre-positioning push rod, and the pre-positioning push rod corresponds to a lug arranged in the connecting box body.
The high-pressure cleaning mechanism comprises a nozzle joint and an interface pipeline, the nozzle joint is sleeved in the interface pipeline and upwards penetrates through the connecting box body, a high-pressure nozzle is arranged at the upper part of the nozzle joint, and the interface pipeline is fixed in the connecting box body and is connected with an external water source.
The spray nozzle is characterized in that roller wheel supports are arranged on two sides of the spray nozzle connector and fixedly connected with the connecting box body, roller wheels are arranged on the roller wheel supports, wheel shafts of the roller wheels are connected with a spray nozzle motor fixed on the connecting box body, and the roller wheels are in friction contact with the spray nozzle connector and can drive the spray nozzle connector to move up and down through rotation of the roller wheels.
The movement adjusting mechanism drives the clamping jaw assembly to move transversely and longitudinally through the cross-shaped moving seat to realize primary adjustment of the position of the clamping jaw assembly, the clamping jaw assembly performs sliding translation under the action of the sliding driving mechanism to realize secondary adjustment of the position of the clamping jaw assembly, and the clamping jaw assembly drives the clamping jaw to translate and rotate under the action of the cross-shaped moving seat, the rotating mechanism and the sliding driving mechanism to adjust the position and the angle of the clamping jaw to adapt to the dismounting and replacing of cutters at different positions. The flexible end mechanism of the bolt tightening and loosening mechanism adopts three sleeve parts which are coaxially arranged, the springs are arranged between the two adjacent sleeves to be connected, the coaxiality of the two sleeves in a static state can be guaranteed, the quick positioning and the quick clamping and connecting cooperation of the bolt or the nut are realized, the safe and efficient operation is realized, and the working efficiency is improved. The image acquisition mechanism adopts a multi-degree-of-freedom adjusting platform and a rotating mechanism which are matched for use, and the multi-degree-of-freedom adjusting platform can drive the camera to swing and lift; the rotating mechanism drives the camera to rotate circumferentially; the camera can adjust the position and the angle of the camera, the camera is convenient to focus quickly, the movement of the tool changing robot tail end executing mechanism is overlapped, the requirement of adjusting the camera shooting position with multiple degrees of freedom is met, and the range of image acquisition is enlarged. A nozzle motor of the high-pressure cleaning mechanism drives the roller to rotate, and the roller and the nozzle joint generate friction to drive the nozzle joint to move up and down, so that the nozzle joint moves up and down in the interface pipeline, and the high-pressure cleaning mechanism is suitable for cleaning cutters at different positions. The tool changing device is ingenious in design, high in structural integration level and flexible in movement, can clamp and hoist the tool, tighten and loosen the bolt and clean the tool at high pressure, can acquire images and monitor the images in real time, improves the tool changing efficiency and the operation safety coefficient, and has high popularization value.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the movement adjusting mechanism of the present invention.
FIG. 3 is a schematic view of the cross motion base of the present invention.
Figure 4 is a schematic view of the jaw assembly of the present invention.
Fig. 5 is a schematic structural diagram of an image acquisition mechanism according to the present invention.
FIG. 6 is a schematic structural diagram of the multi-degree-of-freedom adjustment platform of the present invention.
Fig. 7 is a schematic structural view of the bolt tightening mechanism of the present invention.
Fig. 8 is a schematic view of the internal structure of the flexible tip mechanism of the present invention.
FIG. 9 is a schematic cross-sectional view of the connection box of the present invention.
FIG. 10 is a schematic view of the high pressure cleaning mechanism of the present invention.
FIG. 11 is a schematic cross-sectional view of a high pressure cleaning mechanism of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, in embodiment 1, a tool-changing robot-based end actuating mechanism includes a movement adjusting mechanism 5, a clamping jaw assembly 1, an image collecting mechanism 2, a bolt tightening mechanism 4 and a high-pressure cleaning mechanism 3 are arranged on the movement adjusting mechanism 5, and the clamping jaw assembly 1 is used for clamping and hoisting a tool; the image acquisition mechanism is used for acquiring images when the tail end execution mechanism executes actions, and visual detection is facilitated. The bolt tightening and loosening mechanism 4 is used for screwing a bolt for installing a cutter; the high-pressure cleaning mechanism 3 is used for cleaning the tool to be replaced. The clamping jaw assembly 1, the image acquisition mechanism 2, the bolt tightening mechanism 4 and the high-pressure cleaning mechanism 3 are located on the same plate surface of the movement adjusting mechanism 5, and the five components are matched for use, so that efficient and safe replacement of the cutter is realized.
Further, as shown in fig. 2, the motion adjusting mechanism 5 includes a cross motion base 501 and a connection box 502, the connection box 502 is connected to the cross motion base 501 through a first rotating mechanism 503, that is, the connection box can rotate relative to the cross motion base under the action of the rotating mechanism, and the cross motion base can drive the clamping jaw assembly to move transversely and longitudinally, so as to achieve the first adjustment of the position. The clamping jaw assembly 1 is arranged on the connecting box body 502 and is connected with the connecting box body 502 in a sliding mode through a sliding driving mechanism. The clamping jaw component performs sliding translation under the action of the sliding driving mechanism to realize secondary adjustment of the position of the clamping jaw component, and the clamping jaw is moved and adjusted on the cross-shaped moving seat, the rotating mechanism and the sliding driving mechanism to adapt to the dismounting and replacing of cutters at different positions.
Further, as shown in fig. 3, the cross motion seat 501 includes a lower plate seat 501-1, a middle plate seat 501-2 and an upper plate seat 501-3, the lower plate seat, the middle plate seat and the upper plate seat are designed to be stacked in parallel, the lower plate seat 501-1 is connected with the middle plate seat 501-2 through a longitudinal sliding mechanism to realize longitudinal movement of the cross motion seat, and the middle plate seat 501-2 is connected with the upper plate seat 501-3 through a transverse sliding mechanism to realize transverse movement of the cross motion seat.
Namely, the longitudinal sliding mechanism comprises a longitudinal slide rail 501-4 arranged on the lower plate seat 501-1, a longitudinal oil cylinder 501-5 and a longitudinal slide groove 501-6 arranged at the bottom of the middle plate seat 501-2, the longitudinal slide groove 501-6 is matched with the longitudinal slide rail 501-4, one end of the longitudinal oil cylinder 501-5 is hinged with the lower plate seat 501-1, and the other end is hinged with the middle plate seat 501-2; under the action of the longitudinal oil cylinder, the middle plate seat is pushed to move along the longitudinal slide rail, so that the longitudinal movement of the middle plate seat relative to the lower plate seat is realized. The transverse sliding mechanism comprises a transverse sliding rail 501-7 arranged on the middle plate seat 501-2, a transverse oil cylinder 501-8 and a transverse sliding groove 501-9 arranged at the bottom of the upper plate seat 501-3, wherein the transverse sliding groove 501-9 is matched with the transverse sliding rail 501-7, one end of the transverse oil cylinder 501-8 is hinged with the middle plate seat 501-2, and the other end of the transverse oil cylinder 501-8 is hinged with the upper plate seat 501-3, namely, under the action of the transverse oil cylinder, the upper plate seat is pushed to move along the transverse sliding rail, and the transverse movement of the upper plate seat relative to the middle plate seat is realized. Under the effect of three plate seats, the whole clamping jaw assembly realizes transverse translation and longitudinal translation, changes its position for the change of different position departments cutter.
Further, the first rotating mechanism 503 includes a universal joint 3-1 and two rotating cylinders 3-2, and the two rotating cylinders 3-2 are located on the outer peripheral side of the universal joint 3-1; the two ends of the universal joint 301 are respectively connected with the upper plate seat and the connecting box body, so that the connecting box body rotates relative to the upper plate seat. The two rotary oil cylinders 3-2 are vertical in the stretching direction, one end of the rotary oil cylinder 3-2 is hinged with the upper plate seat 501-3, and the other end is hinged with the connecting box body 502. Two rotary oil cylinders are arranged in a spatial cross shape, and the connecting box bodies are driven to rotate in the same direction when the rotary oil cylinders stretch out and draw back, so that the connecting box bodies rotate around the universal joints, and the rotation of the clamping jaws is further realized.
As shown in fig. 4, in embodiment 2, the clamping jaw assembly 1 includes a fixed jaw 101 and a movable jaw 102, where the movable jaw 102 is hinged to the fixed jaw 101 and is opened and closed by a clamping cylinder 108, that is, under the telescopic action of the clamping cylinder, the movable jaw moves relative to the fixed jaw to grasp a tool. The top of the fixed jaw 101 is connected to a slide driving mechanism. The fixed claw and the movable claw can perform sliding translation under the action of the sliding driving mechanism, so that the position of the fixed claw and the movable claw can be changed, and the tool can be suitable for dismounting and replacing tools at different positions.
Further, the sliding driving mechanism comprises a guide rail 105, the guide rail 105 is fixed in the connecting box body 502, a sliding block 103 is arranged on the guide rail 105 in a sliding mode, the sliding block 103 is fixedly connected with the fixed claw 101, a moving oil cylinder 106 is hinged to the sliding block 103, the moving oil cylinder 106 pushes the sliding block 103 to move along the guide rail 105, and when the position of the clamping jaw assembly is adjusted, the moving oil cylinder is controlled to stretch and contract, the sliding block is pushed to drive the fixed clamping jaw to move along the guide rail, and the horizontal axial position of the clamping. The slider 103 is the concave type seat, and the concave type seat lock is on the dovetail groove of guide rail, keeps the stability of concave type seat, realizes simultaneously that the removal hydro-cylinder does not interfere the connection and steadily stretches out and draws back.
Further, the fixed jaw 101 and the movable jaw 102 are both U-shaped clamping jaws with radian, so that the clamping jaws have two clamping fingers which move synchronously and are respectively clamped on two sides of the tool, and stable and firm clamping is realized. The movable jaw 102 is connected with the fixed jaw 102 through a pin 104; the movable claw moves around the pin shaft relative to the fixed claw under the action of the clamping oil cylinder, so that the clamping claw is opened and closed. The clamping end of the fixed claw 101 and the clamping end of the movable claw 102 are in a wrapping state, and the inner walls of the clamping end of the fixed claw 101 and the clamping end of the movable claw 102 are provided with clamping grooves 109. The clamping groove is matched with the cutter shaft of the cutter, so that the cutter shaft can be firmly clamped by the clamping jaw, and the sliding in the clamping process is prevented. One end of the clamping oil cylinder is hinged in the groove on the fixed claw 101, and the other end of the clamping oil cylinder is hinged in the groove on the movable claw 102, so that the surface of the clamping oil cylinder is not beyond the outer surfaces of the fixed claw 101 and the movable claw 102, the clamping oil cylinder is prevented from interfering with other fixed parts in the clamping process, and the flexibility of the clamping jaw is improved.
The other structure is the same as embodiment 1.
As shown in fig. 5, in embodiment 3, an end effector based on a tool-changing robot, the image capturing mechanism 2 includes a camera 201 and a multi-degree-of-freedom adjusting platform 202, and the multi-degree-of-freedom adjusting platform 202 is located in a connecting box 502 and extends upward out of a surface of the connecting box 502 corresponding to a clamping jaw assembly. The camera 201 is arranged on the upper portion of the multi-degree-of-freedom adjusting platform 202 through the second rotating mechanism 203, the multi-degree-of-freedom adjusting platform can drive the camera to swing and lift, and the rotating mechanism drives the camera to rotate to achieve adjustment of the position and the angle of the camera in a matched mode. The multi-degree-of-freedom adjusting platform 202 comprises a fixed platform 2-1 and a movable platform 2-2, wherein a swinging lifting mechanism is arranged between the fixed platform 2-1 and the movable platform 2-2, and the swinging lifting mechanism drives the movable platform 2-2 to swing and lift. Under the action of the swing lifting mechanism, the movable platform can swing and lift obliquely, so that the camera on the upper part rotates, the rapid focusing is facilitated, the moving of the tool changing robot tail end actuating mechanism is limited, and the image acquisition range is enlarged.
Further, as shown in fig. 6, the swing lifting mechanism includes a plurality of telescopic members 2-3 and a central column 2-4, the central column 2-4 is fixedly and vertically disposed at the lower portion of the movable platform 2-2 and is located at the central position of the movable platform 2-2, the plurality of telescopic members 2-3 are disposed on the outer circumference of the movable platform, and the telescopic members 2-3 are telescopic oil cylinders or telescopic air cylinders. A shaft sleeve 2-5 is fixedly arranged on the fixed platform 2-1, and the lower part of the central column 2-4 is positioned in the shaft sleeve 2-5; the lower part of the central column 2-4 can slide and rotate up and down in the shaft sleeve and is used for supporting the movable platform in a follow-up manner. Two ends of the telescopic part 2-3 are respectively hinged with the fixed platform 2-1 and the movable platform 2-2, and the telescopic part 2-3 is positioned around the central column 2-4. The telescopic parts can be four, and the adjustment of the gradient and the inclination direction of the movable platform and the adjustment of the height can be realized through the extension and retraction of the telescopic parts at different positions, so that the camera on the movable platform can move more flexibly, and the rapid focusing and the image acquisition are facilitated.
Further, the second rotating mechanism 203 includes a gear plate 2031 and a small motor 2032, the gear plate 2031 is rotatably disposed on the movable platform 2-2, that is, the gear plate is disposed on the supporting shaft of the movable platform through a bearing, so as to realize the rotation of the gear plate. The small motor 2032 is fixedly arranged on the movable platform 2-2, the small motor 2032 drives the gear plate 2031 to rotate, and the camera 201 is arranged on the gear plate 2031. The small motor drives the gear disc to rotate through the gear, so that the circumferential telecontrol of the camera is realized, and the image acquisition range and the flexibility of image acquisition are increased.
The other structure is the same as embodiment 2.
As shown in fig. 7, in embodiment 4, an end effector based on a tool changing robot, the bolt tightening and loosening mechanism 4 includes a torque driver 401, a torque wrench 404, and a flexible end mechanism 406, the torque driver 401 is connected to the torque wrench 404 through a link mechanism 402, the torque driver 401, the link mechanism 402, and the torque wrench 404 are located in a connection box 502, one end of the torque driver 401 is fixed on the connection box, and the torque driver may be a hydraulic cylinder. The flexible end mechanism 406 extends out of the connection box 502, one end of the torque wrench 404 is connected with the flexible end mechanism 406, and the torque driving member drives the torque wrench to rotate through the link mechanism. The torque driver 401 rotates the flexible end mechanism 406 through the linkage 402 and the torque wrench 404. When the tool is used, the flexible end mechanism clamps a bolt for installing a tool, then the torque driving part 401 drives the flexible end mechanism 406 to rotate through the connecting rod mechanism 402 and the torque wrench 404, corresponding bolts or nuts rotate, whether the bolts are screwed down or not is realized, and the tool is quickly replaced.
Further, as shown in fig. 8, the flexible tip mechanism 406 includes an outer sleeve 4061, a middle sleeve 4062 and a center sleeve 4063, the middle sleeve 4062 is sleeved inside the outer sleeve 4061 and connected to the outer sleeve 4061 through a first bolt 4066, and a slot is formed on a wall of the outer sleeve corresponding to the second bolt to facilitate installation of the second bolt. The central sleeve 4063 is sleeved inside the middle sleeve 4062 and connected with the middle sleeve 4062 through a second bolt 4064, and a nut-shaped slot 4067 is arranged on the central sleeve 4063. Under the action of a torque wrench, the middle sleeve can slightly rotate around the first bolt shaft in the outer sleeve, and meanwhile, the two sleeves are connected through a spring, so that the coaxiality of the two sleeves in a static state can be guaranteed; likewise, the same is true of the connection between the intermediate sleeve and the central sleeve.
Preferably, the outer sleeve 4061, the intermediate sleeve 4062 and the central sleeve 4063 are coaxially arranged, ensuring the coaxiality of the three sleeve installations. The outer and intermediate sleeves 4061, 4062 and 4063 are provided with radial springs 4065; the radial spring is radially arranged between the two adjacent sleeves, the coaxiality of the two sleeves in a static state can be guaranteed, and quick positioning and quick clamping and matching of the bolt or the nut are realized. The top of the outer sleeve 4061 is provided with a speed reducer 405, an output shaft of the speed reducer 405 is fixedly connected with the outer sleeve 4061, and an input shaft of the speed reducer 405 is fixedly connected with the torque wrench 404. The torque wrench is fixedly connected with the outer sleeve of the flexible tail end mechanism through the speed reducer, so that the small extension of the torque driving piece can generate large torque of the flexible tail end mechanism, and the working efficiency of screwing (or unscrewing) the bolt is improved.
Further, as shown in fig. 9, the link mechanism 402 includes a connection plate 4021 and two connection rods 4022, the connection plate 4021 is fixedly connected to the torque driving member 401, the two connection rods 4022 are symmetrically disposed on two sides of the connection plate 4021, and two flexible end mechanisms are correspondingly disposed, and respectively correspond to bolts or nuts on two sides of the cutter. One end of the connecting rod 4022 is hinged to the connecting plate 4021, and the other end is provided with a cross connecting seat 4023; the connecting rod 4022 is fixedly connected with the torque wrench 404 through a cross connecting seat 4023, a pre-positioning push rod 4024 is arranged at the outer end of the cross connecting seat 4023, and the pre-positioning push rod 4024 corresponds to a bump 4025 arranged in the connecting box 502. Connecting rod 4022 sets up perpendicularly with torque wrench 404 promptly, fixes respectively in the both sides of cross connecting seat, and pre-positioning push rod cooperates with the lug of being connected in the box 502 for location torque wrench pivoted angle, when torque driving piece moved extreme position, pre-positioning push rod and lug contact, and lug extrusion pre-positioning push rod can make the inside ratchet mechanism of torque wrench commutate, and contact each time can all make ratchet mechanism commutate once, realizes screwing up and loosening of nut.
The other structure is the same as in example 3.
As shown in fig. 10, in embodiment 5, the high-pressure cleaning mechanism 3 includes a nozzle adapter 302 and an interface pipe 303, the nozzle adapter 302 is sleeved in the interface pipe 303 and penetrates upward through a connection box 502, the nozzle adapter 302 is hermetically connected with the interface pipe 303, and the nozzle adapter 302 can move up and down with the interface pipe 303 to achieve the extension and retraction of the nozzle adapter 302. The upper part of the nozzle joint 302 is provided with a high-pressure nozzle 301, and an interface pipeline 303 is fixed inside the connecting box body 502 and is connected with an external water source. An external water source enters the nozzle joint through the interface pipeline and then is sprayed out through the high-pressure nozzle to clean the designated cutter, so that the cutter is convenient to disassemble.
Further, as shown in fig. 11, two sides of the nozzle joint 302 are provided with roller brackets 304, the roller brackets 304 are fixedly connected with the connecting box 502, the roller brackets 304 are provided with rollers 305, and the rollers 305 are rubber wheels or other rollers with a certain friction force. The axle of the roller 305 is connected with the nozzle motor 306 fixed on the connecting box 502, the roller 305 is in friction contact with the nozzle joint 302 and the rotation of the roller 305 can drive the nozzle joint 302 to move up and down. When the nozzle cleaning device is used, the nozzle motor drives the roller to rotate, and the roller and the nozzle joint generate friction to drive the nozzle joint to move up and down, so that the nozzle joint moves up and down in the interface pipeline, and the nozzle cleaning device is suitable for cleaning cutters at different positions.
The other structure is the same as in example 4.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (15)
1. The utility model provides an end actuating mechanism based on tool changing robot which characterized in that: the device comprises a movement adjusting mechanism (5), wherein a clamping jaw assembly (1), an image acquisition mechanism (2), a bolt tightening mechanism (4) and a high-pressure cleaning mechanism (3) are arranged on the movement adjusting mechanism (5), and the clamping jaw assembly (1), the image acquisition mechanism (2), the bolt tightening mechanism (4) and the high-pressure cleaning mechanism (3) are positioned on the same plate surface of the movement adjusting mechanism (5); the movement adjusting mechanism (5) comprises a cross movement seat (501) and a connecting box body (502), the bolt tightening and loosening mechanism (4) comprises a torque driving piece (401), a torque wrench (404) and a flexible tail end mechanism (406), the torque driving piece (401) is connected with the torque wrench (404) through a connecting rod mechanism (402), the connecting rod mechanism (402) comprises a connecting plate (4021) and two connecting rods (4022), the connecting plate (4021) is fixedly connected with the torque driving piece (401), one end of each connecting rod (4022) is hinged to the connecting plate (4021), and the other end of each connecting rod (4022) is provided with a cross connecting seat (4023); the connecting rod (4022) is fixedly connected with the torque wrench (404) through the cross connecting seat (4023), a pre-positioning push rod (4024) is arranged at the outer end of the cross connecting seat (4023), and the pre-positioning push rod (4024) corresponds to a convex block (4025) arranged in the connecting box body (502).
2. The tool-changing robot-based end effector as set forth in claim 1, wherein: the connecting box body (502) is connected with the cross-shaped moving seat (501) through a first rotating mechanism (503), and the clamping jaw assembly (1) is arranged on the connecting box body (502) and is in sliding connection with the connecting box body (502) through a sliding driving mechanism.
3. The tool-changing robot-based end effector as set forth in claim 2, wherein: the cross-shaped moving seat (501) comprises a lower plate seat (501-1), a middle plate seat (501-2) and an upper plate seat (501-3), the lower plate seat (501-1) is connected with the middle plate seat (501-2) through a longitudinal sliding mechanism, and the middle plate seat (501-2) is connected with the upper plate seat (501-3) through a transverse sliding mechanism.
4. The tool-changing robot-based end effector as set forth in claim 2, wherein: the first rotating mechanism (503) comprises a universal joint (3-1) and two rotating oil cylinders (3-2), and the two rotating oil cylinders (3-2) are positioned on the outer peripheral side of the universal joint (3-1); the two rotary oil cylinders (3-2) are vertical in the stretching direction, one end of each rotary oil cylinder (3-2) is hinged with the upper plate seat (501-3), and the other end of each rotary oil cylinder is hinged with the connecting box body (502).
5. Tool-changing robot based end effector according to claim 1 or 2, characterized in that: the clamping jaw assembly (1) comprises a fixed jaw (101) and a movable jaw (102), the movable jaw (102) is hinged to the fixed jaw (101) and can be opened and closed through a clamping oil cylinder (108), and the top of the fixed jaw (101) is connected with a sliding driving mechanism.
6. The tool-changing robot-based end effector as claimed in claim 5, wherein: the sliding driving mechanism comprises a guide rail (105), the guide rail (105) is fixed in a connecting box body (502), a sliding block (103) is arranged on the guide rail (105) in a sliding mode, the sliding block (103) is fixedly connected with a fixed claw (101), a moving oil cylinder (106) is hinged to the sliding block (103), and the moving oil cylinder (106) pushes the sliding block (103) to move along the guide rail (105).
7. The tool-changing robot-based end effector as claimed in claim 6, wherein: the fixed claw (101) and the movable claw (102) are both U-shaped clamping claws with radian, and the movable claw (102) is connected with the fixed claw (101) through a pin shaft (104); the clamping end of the fixed claw (101) and the clamping end of the movable claw (102) are in a wrapping state, and clamping grooves (109) are formed in the inner wall of the clamping end of the fixed claw (101) and the inner wall of the clamping end of the movable claw (102).
8. Tool-changing robot based end effector according to claim 2 or 7, characterized in that: the image acquisition mechanism (2) comprises a camera (201) and a multi-degree-of-freedom adjusting platform (202), wherein the multi-degree-of-freedom adjusting platform (202) is positioned in the connecting box body (502) and extends upwards out of the connecting box body (502); the camera (201) is arranged on the upper portion of the multi-degree-of-freedom adjusting platform (202) through the second rotating mechanism (203), the multi-degree-of-freedom adjusting platform (202) comprises a fixed platform (2-1) and a movable platform (2-2), a swinging lifting mechanism is arranged between the fixed platform (2-1) and the movable platform (2-2), and the swinging lifting mechanism drives the movable platform (2-2) to swing and lift.
9. The tool-changing robot-based end effector as set forth in claim 8, wherein: the swing lifting mechanism comprises a telescopic piece (2-3) and a central column (2-4), the central column (2-4) is fixedly and vertically arranged at the lower part of the movable platform (2-2) and is positioned at the central position of the movable platform (2-2), a shaft sleeve (2-5) is fixedly arranged on the fixed platform (2-1), and the lower part of the central column (2-4) is positioned in the shaft sleeve (2-5); two ends of the telescopic piece (2-3) are respectively hinged with the fixed platform (2-1) and the movable platform (2-2), and the telescopic piece (2-3) is positioned around the central column (2-4).
10. The tool-changing robot-based end effector as set forth in claim 8, wherein: second rotary mechanism (203) includes toothed disc (2031) and small motor (2032), and toothed disc (2031) rotates and sets up on moving platform (2-2), and small motor (2032) is fixed to be set up on moving platform (2-2), and small motor (2032) drive toothed disc (2031) rotate, and camera (201) is installed on toothed disc (2031).
11. Tool-changing robot based end effector according to claim 1 or 2 or 10, characterized in that: the torque driving piece (401), the connecting rod mechanism (402) and the torque wrench (404) are located in the connecting box body (502), the flexible tail end mechanism (406) extends out of the connecting box body (502), one end of the torque wrench (404) is connected with the flexible tail end mechanism (406), and the torque driving piece (401) drives the flexible tail end mechanism (406) to rotate through the connecting rod mechanism (402) and the torque wrench (404).
12. The tool-changing robot-based end effector as set forth in claim 11, wherein: flexible end mechanism (406) includes outer sleeve (4061), middle sleeve (4062) and center sleeve (4063), and middle sleeve (4062) cover is established and is connected with outer sleeve (4061) inside outer sleeve (4061) and through first bolt (4066), and center sleeve (4063) cover is established and be connected with middle sleeve (4062) inside middle sleeve (4062) and through second bolt (4064), is equipped with nut-shaped draw-in groove (4067) on center sleeve (4063).
13. The tool-changing robot-based end effector as claimed in claim 12, wherein: the outer sleeve (4061), the middle sleeve (4062) and the central sleeve (4063) are coaxially arranged, and the outer sleeve (4061), the middle sleeve (4062) and the central sleeve (4063) are provided with radial springs (4065); the top of the outer sleeve (4061) is provided with a speed reducer (405), an output shaft of the speed reducer (405) is fixedly connected with the outer sleeve (4061), and an input shaft of the speed reducer (405) is fixedly connected with the torque wrench (404).
14. Tool-changing robot based end effector according to claim 2 or 10 or 13, characterized in that: the high-pressure cleaning mechanism (3) comprises a nozzle connector (302) and an interface pipeline (303), the nozzle connector (302) is sleeved in the interface pipeline (303) and upwards penetrates through the connecting box body (502), a high-pressure nozzle (301) is arranged on the upper portion of the nozzle connector (302), and the interface pipeline (303) is fixed inside the connecting box body (502) and is connected with an external water source.
15. The tool-changing robot-based end effector as claimed in claim 14, wherein: the nozzle joint is characterized in that roller supports (304) are arranged on two sides of the nozzle joint (302), the roller supports (304) are fixedly connected with the connecting box body (502), rollers (305) are arranged on the roller supports (304), a wheel shaft of each roller (305) is connected with a nozzle motor (306) fixed on the connecting box body (502), and the rollers (305) are in friction contact with the nozzle joint (302) and can drive the nozzle joint (302) to move up and down through rotation of the rollers (305).
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| CN201911055388.4A CN110666829B (en) | 2019-10-31 | 2019-10-31 | Tail end actuating mechanism based on tool changing robot |
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| CN201911055388.4A CN110666829B (en) | 2019-10-31 | 2019-10-31 | Tail end actuating mechanism based on tool changing robot |
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