CN112894755A - Mechanical arm for assembly type pipeline operation vehicle and assembly type pipeline operation vehicle - Google Patents
Mechanical arm for assembly type pipeline operation vehicle and assembly type pipeline operation vehicle Download PDFInfo
- Publication number
- CN112894755A CN112894755A CN202110124542.XA CN202110124542A CN112894755A CN 112894755 A CN112894755 A CN 112894755A CN 202110124542 A CN202110124542 A CN 202110124542A CN 112894755 A CN112894755 A CN 112894755A
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- arm
- shaft
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- bearing arm
- connecting shaft
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- 230000005540 biological transmission Effects 0.000 claims description 36
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 210000000078 claw Anatomy 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm for an assembly type pipeline operation vehicle, which comprises: a connecting seat for connecting with an assembly type pipeline operation vehicle; the bearing arm is rotatably connected with the connecting seat; the connecting arm comprises a fixed arm and a telescopic arm, the fixed arm is connected with the telescopic arm, one end of the fixed arm, which is far away from the telescopic arm, is rotatably connected with the bearing arm, and the telescopic arm is used for adjusting the length of the connecting arm; the gripper comprises a connecting part, a movable part and a gripping part. The mechanical arm is adjustable in length, small in structure and convenient to store. The invention also discloses an assembly type pipeline operation vehicle.
Description
Technical Field
The invention relates to a mechanical arm for an assembly type pipeline operation vehicle and also relates to the assembly type pipeline operation vehicle.
Background
The assembly type pipeline has the advantages of large conveying capacity, convenience in laying and unfolding, flexibility in withdrawing and transferring and the like, so that the assembly type pipeline is widely applied to various special occasions such as emergency rescue, disaster relief, battle and the like and is used for long-distance emergency conveying of liquids such as oil, water and the like. At present, most of transport pipes utilize plate-type transport vehicles, the vehicles mostly need to manually use auxiliary loading and unloading equipment and tools to load and unload the pipes, and a large amount of manpower and material resources need to be input.
CN208179537U discloses manipulator with cross dislocation structure mechanical finger, the upper surface of base in the device is provided with the pivot, and the pivot rotates with the base to be connected, and the top of pivot is provided with the bearing arm, and the bearing arm rotates with the pivot to be connected, and the one end that the pivot was kept away from to the bearing arm is provided with the arm, and the arm rotates with the bearing arm to be connected, and the one end that the bearing arm was kept away from to the arm is provided with mechanical finger, and mechanical finger rotates with the arm to be connected. The manipulator cannot meet the grabbing of pipes at different distances and is not suitable for an assembly type pipeline operation vehicle.
CN205600721U discloses a novel industrial operation manipulator, the base of which is connected in turn with a mechanical rear arm and a mechanical front arm through a connecting shaft, the mechanical front arm is connected with a mechanical claw through a gear box, a pair of kneaded bevel gears is arranged in the gear box, and the bevel gears transmit power to the mechanical claw to realize rotation of the mechanical claw. The mechanical hand realizes the axial rotation of the mechanical claw through the kneaded bevel gear, cannot meet the grabbing of pipes with different distances, and is not suitable for an assembly type pipeline operation vehicle.
CN202825851U discloses a robot tail end material taking gripper, which comprises a mechanical finger and a mechanical finger driving mechanism, wherein the mechanical finger driving mechanism comprises an air cylinder and a transmission mechanism; the transmission mechanism comprises a rack fixed on the cylinder and parallel to a piston rod of the cylinder, a transmission block fixed on the piston, an intermediate shaft matched with the transmission block in a single degree of freedom and perpendicular to the piston rod, an intermediate gear fixed on the intermediate shaft and meshed with the rack, a connecting plate fixed on the intermediate shaft, an output shaft matched with the connecting plate in a single degree of freedom rotation and parallel to the intermediate shaft, and an output shaft gear fixed on the output shaft and meshed with the intermediate shaft gear, wherein the mechanical finger is fixed on the output shaft. The mechanical gripper is huge in structure and is not suitable for being used by an assembly type pipeline operation vehicle.
Disclosure of Invention
In view of the above, in one aspect, the present invention provides a robot arm for a fabricated pipeline working vehicle, which is adjustable in length, compact in structure, and easy to store. In another aspect, the present invention provides a fabricated pipeline work vehicle.
The technical problem is solved by the following technical scheme.
In one aspect, the present invention provides a robot arm for a fabricated pipeline work vehicle, comprising:
a connecting seat for connecting with an assembly type pipeline operation vehicle;
the bearing arm is rotatably connected with the connecting seat;
the connecting arm comprises a fixed arm and a telescopic arm, the fixed arm is connected with the telescopic arm, one end of the fixed arm, which is far away from the telescopic arm, is rotatably connected with the bearing arm, and the telescopic arm is used for adjusting the length of the connecting arm; the telescopic arm is provided with a telescopic sleeve structure;
the gripper comprises a connecting part, a movable part, a first transmission shaft and a second transmission shaft of the gripping part; the connecting part is rotationally connected with the telescopic arm; the movable component comprises a movable component connecting part, a first straight-tooth gear and a second straight-tooth gear, the first straight-tooth gear and the second straight-tooth gear are meshed with each other, the movable component connecting part is connected with one end, far away from the telescopic arm, of the connecting part, and the first straight-tooth gear and the second straight-tooth gear are connected to the same side of the movable component connecting part through a first transmission shaft and a second transmission shaft respectively; the gripping member comprises a first portion and a second portion connected to each other, the second portion being provided in an arcuate shape matching the outer diameter of the pipe; the gripping parts comprise at least two groups, wherein the first part of one group of gripping parts is connected with the first transmission shaft, and the first part of the other group of gripping parts is connected with the second transmission shaft. .
According to the robot arm of the present invention, preferably, the first portions of the gripping members of one of the sets are connected to both ends of the first transmission shaft, and the first portions of the gripping members of the other set are connected to both ends of the second transmission shaft.
According to the robot arm of the present invention, it is preferable that the first and second transmission shafts have a length greater than a thickness of the movable member coupling portion so that the first and second transmission shafts can be inserted from one side of the movable member coupling portion and be extended from the other side.
According to the robot arm of the present invention, preferably, the first portion of the gripping member has a minor arc shape.
According to the mechanical arm disclosed by the invention, preferably, the bearing arm is connected with the connecting seat through a first rotating mechanism, and the bearing arm is connected with the connecting arm through a second rotating mechanism;
the bearing arm comprises a first bearing arm and a second bearing arm which are symmetrically arranged, the first bearing arm and the second bearing arm are respectively connected with two sides of the first rotating mechanism in a rotating mode, and the first bearing arm and the second bearing arm are respectively connected with two sides of the second rotating mechanism in a rotating mode.
According to the robot arm of the present invention, preferably, the second rotating mechanism includes a rotating shaft, and the fixed arm is connected to the rotating shaft.
According to the robot arm of the present invention, preferably, the first rotating mechanism includes a first connecting shaft, and the second rotating mechanism further includes a second connecting shaft;
the first connecting shaft is provided with a first side and a second side which are oppositely arranged; one end of the first bearing arm is rotatably connected with the first side of the first connecting shaft, and one end of the second bearing arm is rotatably connected with the second side of the first connecting shaft;
the second connecting shaft is provided with a first side and a second side which are oppositely arranged; the other end of the first bearing arm is connected with the first side of the second connecting shaft, and the other end of the second bearing arm is connected with the second side of the second connecting shaft;
the first side of the first connecting shaft and the first side of the second connecting shaft are positioned on the same side; the second side of the first connecting shaft and the second side of the second connecting shaft are positioned on the same side.
According to the robot arm of the present invention, preferably, the connecting base is provided with a first slide rail, and the connecting base is configured to be connectable with the fabricated pipeline working truck through the first slide rail.
On the other hand, the invention provides an assembly type pipeline operation vehicle which comprises the mechanical arm and a bottom plate, wherein a second sliding rail is arranged on the bottom plate of the assembly type pipeline operation vehicle, the second sliding rail is matched with the first sliding rail, and the mechanical arm is connected with the bottom plate through the first sliding rail and the second sliding rail.
According to the fabricated pipeline working vehicle of the present invention, preferably, the second slide rail is connected to a middle portion of the longitudinal edge of the base plate.
The length of the mechanical arm can be adjusted, the distribution and recovery of pipes with different distances can be met, the size of the mechanical arm can be reduced, the mechanical arm is convenient to store, and the mechanical arm is suitable for outdoor operation. Through the gear drive of two mediating, realized the synchronous opening and shutting of snatching the part, the structure is retrencied.
Drawings
FIG. 1 is a front view of a robotic arm for a fabricated pipeline work vehicle according to the present invention.
Figure 2 is a side view of a robotic arm for a fabricated pipeline work vehicle according to the present invention.
Fig. 3 is a top view of a fabricated pipeline working vehicle of the present invention.
Fig. 4 is a side view of a fabricated pipeline working vehicle of the present invention.
Fig. 5 is a schematic structural view illustrating a use state of a fabricated pipeline working vehicle according to the present invention.
The reference numerals are detailed below:
100-a robotic arm; 1-a connecting seat; 2-a first rotation mechanism; 21-a first connecting shaft; 3-a load-bearing arm; 31-a first load bearing arm; 32-a second load bearing arm; 4-a second rotating mechanism; 41-a second connecting shaft; 42-rotating shaft; 5-a linker arm; 51-a fixed arm; 52-telescopic arm; 6, gripping the hand; 61-a connecting member; 62-a movable part; 63-a gripping member; 621-moving part connecting part; 622 — first straight-toothed gear; 623-a second spur gear; 200-a base plate; 300-second slide rail.
Detailed Description
The present invention will be further described with reference to the following specific examples, but the scope of the present invention is not limited thereto.
"rotation" in the context of the present invention means rotation in one plane.
The 'fabricated pipeline working vehicle' of the invention refers to a special vehicle for laying and recovering fabricated pipelines.
The bottom plate of the invention is a plate-shaped structure additionally arranged on the chassis of the second type of automobile.
< robot arm for a fabricated pipeline working vehicle >
The robot arm for a fabricated pipeline working vehicle of the present invention comprises: connecting seat, bearing arm, linking arm and tongs. Optionally, the robot arm of the present invention may further comprise a first rotating mechanism and/or a second rotating mechanism.
Connecting seat
The connecting seat is used for being connected with an assembly type pipeline operation vehicle. The connecting seat can be provided with first slide rail, and the connecting seat is connected with assembled pipeline operation car through first slide rail. The shape of the connecting seat is not limited as long as the mechanical arm can be stably connected with the assembly type pipeline operation vehicle. According to one embodiment of the invention, the connecting base has a rectangular parallelepiped configuration.
Bearing arm, first slewing mechanism and second slewing mechanism
In the invention, the bearing arm is rotatably connected with the connecting seat. The bearing arm can be rotationally connected with the connecting seat through the first rotating mechanism. The first rotating mechanism may include a first connecting shaft. In some embodiments, the load bearing arm comprises a first load bearing arm and a second load bearing arm. One end of the first bearing arm is connected with one side of the first connecting shaft, and one end of the second bearing arm is connected with the other side of the first connecting shaft.
The second rotating mechanism of the present invention includes a second connecting shaft and a rotating shaft. The second connecting shaft is connected with the rotating shaft. One ends, far away from the first connecting shaft, of the first bearing arm and the second bearing arm are respectively connected with two sides of the second connecting shaft in a rotating mode. The rotating shaft is used for being connected with the connecting arm in a rotating mode.
The bearing arm comprises a first bearing arm and a second bearing arm which are symmetrically arranged, the first bearing arm and the second bearing arm are respectively connected with two sides of the first rotating mechanism in a rotating mode, and the first bearing arm and the second bearing arm are respectively connected with two sides of the second rotating mechanism in a rotating mode.
The first connecting shaft has a first side and a second side which are oppositely arranged. The second connecting shaft has a first side and a second side which are oppositely arranged. The first side of the first connecting shaft and the first side of the second connecting shaft are positioned on the same side; the second side of the first connecting shaft and the second side of the second connecting shaft are positioned on the same side. One end of the first bearing arm is rotatably connected with the first side of the first connecting shaft, and one end of the second bearing arm is rotatably connected with the second side of the first connecting shaft. The other end of the first bearing arm is connected with the first side of the second connecting shaft, and the other end of the second bearing arm is connected with the second side of the second connecting shaft.
Connecting arm
The connecting arm comprises a fixed arm and a telescopic arm. The fixed arm is connected with the telescopic arm. The telescopic arm is used for adjusting the length of the connecting arm. The telescopic arm may have a telescopic sleeve structure. The one end that the fixed arm kept away from flexible arm rotates with the bearing arm and is connected. The fixed arm can be connected with the bearing arm through a second rotating mechanism in a rotating mode. According to one embodiment of the invention, the fixed arm is rotatably connected to the rotating shaft.
Gripper
The gripper of the invention comprises a connecting part, a movable part and a gripping part.
The connecting part is rotatably connected with one end of the telescopic arm far away from the fixed arm. The cross-section of the connecting part may be of an approximately triangular configuration. Which has a top corner and two bottom corners. The vicinity of the vertex angle of the connecting part is rotatably connected with the telescopic arm.
The movable part comprises a movable part connecting part, a first straight-tooth gear and a second straight-tooth gear; a first drive shaft and a second drive shaft may also be included. The movable member connecting portion is connected to the connecting member. In some embodiments, the movable member connecting portion is connected to a bottom edge of the connecting member. The movable member connecting portion may have a rectangular parallelepiped structure.
The first straight-tooth gear and the second straight-tooth gear are meshed with each other. The first straight-tooth gear is connected with the movable part connecting part through a first transmission shaft. The second straight-tooth gear is connected with the movable part connecting part through a second transmission shaft. The first straight-tooth gear and the second straight-tooth gear are arranged on the same side of the movable component connecting part. Specifically, the first straight-tooth gear and the second straight-tooth gear are connected to the same side of the movable part connecting part through a first transmission shaft and a second transmission shaft respectively.
The length of the first transmission shaft may be greater than the thickness of the movable member connecting portion, so that the first transmission shaft extends in from one side of the movable member connecting portion and extends out from the other side. The length of the second transmission shaft may be greater than the thickness of the movable part connecting portion so that the second transmission shaft extends in from one side of the movable part connecting portion and extends out from the other side. That is, at least a portion of the first and second transmission shafts is exposed to the outside of the movable member connecting portion for connecting the grasping member.
The gripping member includes a first portion and a second portion connected to each other. The first portion and the second portion may be fixedly connected. The end of the first part far away from the second part is connected with the first transmission shaft or the second rotating shaft. The first portion may be arcuate, preferably a minor arc. The second section is provided in an arcuate, preferably minor arcuate, shape matching the outer diameter of the pipe.
The gripping parts comprise at least two groups, wherein the first part of one group of gripping parts is connected with the first transmission shaft, and the first part of the other group of gripping parts is connected with the second transmission shaft. According to an embodiment of the invention, the first part of one set of gripping members is connected to both ends of the first drive shaft and the first part of the other set of gripping members is connected to both ends of the second drive shaft. Specifically, the grasping members may be provided in two groups or four groups.
< fabricated pipeline working vehicle >
The assembly type pipeline operation vehicle comprises the mechanical arm and the bottom plate. The construction of the robotic arm is as described above. The second slide rail sets up on the bottom plate. The second slide rail is matched with the first slide rail arranged on the connecting seat. The mechanical arm is connected with the bottom plate through the first sliding rail and the second sliding rail. The second sliding rail is connected with the longitudinal edge of the bottom plate; preferably, the second slide rail is connected to the middle of the longitudinal edge of the bottom edge. This enables a more stable gripping of the tube.
Example 1
Fig. 1 and 2 show a robot arm for a fabricated pipeline working vehicle according to the present invention. As shown in fig. 1 and 2, the robot arm of the present embodiment includes a connecting base 1, a first rotating mechanism 2, a bearing arm 3, a second rotating mechanism 4, a connecting arm 5, and a gripper 6.
The connecting seat 1 is provided with a first slide rail, and the first slide rail is connected with the assembly type pipeline operation vehicle. The connecting base 1 may have a rectangular parallelepiped structure.
The bearing arm 3 is rotatably connected with the connecting seat 1 through the first rotating mechanism 2. The bearing arm 3 includes a first bearing arm 31 and a second bearing arm 32 which are symmetrically arranged. The first rotation mechanism 2 includes a first connecting shaft 21. The second rotating mechanism 4 includes a second connecting shaft 41 and a rotating shaft 42. The second connecting shaft 41 is connected to a rotating shaft 42. The first connecting shaft 21 has a first side and a second side disposed oppositely. One end of the first bearing arm 31 is rotatably connected to a first side of the first connecting shaft 21. One end of the second bearing arm 32 is rotatably connected to the second side of the first connecting shaft 21. The second connecting shaft 22 has a first side and a second side disposed opposite to each other. The other end of the first bearing arm 31 is connected to a first side of the second connecting shaft 41. The other end of the second bearing arm 32 is connected to a second side of the second connecting shaft 41. The first side of the first connecting shaft 21 is on the same side as the first side of the second connecting shaft 22; the second side of the first connecting shaft 21 is on the same side as the second side of the second connecting shaft 22.
The connecting arm 5 includes a fixed arm 51 and a telescopic arm 52. The fixed arm 51 is connected to a telescopic arm 52. An end of the fixed arm 51 remote from the telescopic arm 52 is rotatably connected to the rotating shaft 42. The telescopic arm 52 has a telescopic sleeve structure which adjusts the length of the connecting arm 5.
The hand grip 6 includes a connecting member 61, a movable member 62, and a gripping member 63. The connecting member 61 has an approximately triangular cross-section. The link member 61 is pivotally connected to the telescopic arm 52 near the top corner thereof. The movable member 62 includes a movable member connecting portion 621, a first spur gear 622, and a second spur gear 623; and further includes a first drive shaft and a second drive shaft (not shown). The movable member connecting portion 621 has a rectangular parallelepiped structure. The movable member connecting portion 621 is connected to the bottom side of the connecting member 61. The first spur gear 622 and the second spur gear 623 are meshed with each other. The first spur gear 622 and the second spur gear 623 are connected to the same side of the movable member connecting portion 621 via a first transmission shaft and a second transmission shaft, respectively. The lengths of the first and second transmission shafts are greater than the thickness of the movable part connecting part 621, so that the first and second transmission shafts extend in from one side of the movable part connecting part 621 and extend out from the other side. The gripping member 63 comprises a first portion in the form of a minor arch and a second portion arranged to match the outer diameter of the pipe. The first portion is connected to the second portion. The gripping members 63 are in two sets that match each other. The first part of one set of gripping members 63 is connected to both ends of a first drive shaft and the first part of the other set of gripping members 63 is connected to both ends of a second drive shaft.
The operation of the robot arm is described below.
The rotation of the first rotating mechanism 2 drives the bearing arm 3 to swing, the rotation of the second rotating mechanism 4 drives the connecting arm 5 to swing, and the connecting part 61 swings to drive the gripper 6 to swing. When the first straight-toothed gear 622 and the second straight-toothed gear 623 which are meshed with each other rotate, the grabbing component 63 is driven to open and close synchronously. By adjusting the amount of rotation of the various parts of the robotic arm and the amount of extension and retraction of the telescopic arm 61, pipes can be grasped from various locations on the vehicle or on the ground.
Example 2
Fig. 3 and 4 show a fabricated pipeline working vehicle according to the present invention. As shown in fig. 3 and 4, the fabricated pipeline working vehicle includes the robot arm 100 of embodiment 1 and a floor 200. The bottom plate 200 is provided with a second slide rail 300 matched with the first slide rail, and the second slide rail 300 is connected with the middle part of the longitudinal edge of the bottom plate 200. The robot arm 100 is connected to the base plate 200 by first and second slide rails 300.
In use, the robotic arm 100 is moved along the second slide rail 300 to the side of the fabricated pipeline work vehicle. During non-operation, the robotic arm 100 is stowed inside the fabricated pipeline work vehicle along the second slide rail 300.
The present invention is not limited to the above-described embodiments, and any variations, modifications, and substitutions which may occur to those skilled in the art may be made without departing from the spirit of the invention.
Claims (10)
1. A robotic arm for a fabricated pipeline work vehicle, comprising:
a connecting seat for connecting with an assembly type pipeline operation vehicle;
the bearing arm is rotatably connected with the connecting seat;
the connecting arm comprises a fixed arm and a telescopic arm, the fixed arm is connected with the telescopic arm, one end of the fixed arm, which is far away from the telescopic arm, is rotatably connected with the bearing arm, and the telescopic arm is used for adjusting the length of the connecting arm; the telescopic arm is provided with a telescopic sleeve structure;
the gripper comprises a connecting part, a movable part, a first transmission shaft and a second transmission shaft of the gripping part; the connecting part is rotationally connected with the telescopic arm; the movable component comprises a movable component connecting part, a first straight-tooth gear and a second straight-tooth gear, the first straight-tooth gear and the second straight-tooth gear are meshed with each other, the movable component connecting part is connected with one end, far away from the telescopic arm, of the connecting part, and the first straight-tooth gear and the second straight-tooth gear are connected to the same side of the movable component connecting part through a first transmission shaft and a second transmission shaft respectively; the gripping member comprises a first portion and a second portion connected to each other, the second portion being provided in an arcuate shape matching the outer diameter of the pipe; the gripping parts comprise at least two groups, wherein the first part of one group of gripping parts is connected with the first transmission shaft, and the first part of the other group of gripping parts is connected with the second transmission shaft.
2. A robotic arm as claimed in claim 1, in which the first parts of one set of gripping members are connected to opposite ends of a first drive shaft and the first parts of the other set of gripping members are connected to opposite ends of a second drive shaft.
3. A robotic arm as claimed in claim 1, in which the length of the first and second drive shafts is greater than the thickness of the movable element coupling portion, thereby enabling the first and second drive shafts to extend in from one side of the movable element coupling portion and out from the other side.
4. A robotic arm as claimed in claim 1, in which the first portion of the gripping member is arcuately shaped in a minor arc.
5. The mechanical arm as claimed in claim 1, wherein the bearing arm is connected with the connecting seat through a first rotating mechanism, and the bearing arm is connected with the connecting arm through a second rotating mechanism;
the bearing arm comprises a first bearing arm and a second bearing arm which are symmetrically arranged, the first bearing arm and the second bearing arm are respectively connected with two sides of the first rotating mechanism in a rotating mode, and the first bearing arm and the second bearing arm are respectively connected with two sides of the second rotating mechanism in a rotating mode.
6. A robotic arm as claimed in claim 5, in which the second rotation mechanism comprises a rotating shaft, the fixed arm being connected to the rotating shaft.
7. A robotic arm as claimed in claim 6, wherein the first turning mechanism comprises a first connecting shaft, the second turning mechanism further comprising a second connecting shaft;
the first connecting shaft is provided with a first side and a second side which are oppositely arranged; one end of the first bearing arm is rotatably connected with the first side of the first connecting shaft, and one end of the second bearing arm is rotatably connected with the second side of the first connecting shaft;
the second connecting shaft is provided with a first side and a second side which are oppositely arranged; the other end of the first bearing arm is connected with the first side of the second connecting shaft, and the other end of the second bearing arm is connected with the second side of the second connecting shaft;
the first side of the first connecting shaft and the first side of the second connecting shaft are positioned on the same side; the second side of the first connecting shaft and the second side of the second connecting shaft are positioned on the same side.
8. A robot arm as claimed in any of claims 1 to 7, wherein the connecting socket is provided with a first slide rail, the connecting socket being arranged to enable connection with the fabricated pipeline work vehicle via the first slide rail.
9. An assembly type pipeline operation vehicle, which is characterized by comprising the mechanical arm and a bottom plate of claim 8, wherein a second slide rail is arranged on the bottom plate of the assembly type pipeline operation vehicle, the second slide rail is matched with the first slide rail, and the mechanical arm is connected with the bottom plate through the first slide rail and the second slide rail.
10. The fabricated pipeline working vehicle of claim 9, wherein the second slide rail is connected to a middle of a longitudinal edge of the floor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110124542.XA CN112894755A (en) | 2021-01-29 | 2021-01-29 | Mechanical arm for assembly type pipeline operation vehicle and assembly type pipeline operation vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110124542.XA CN112894755A (en) | 2021-01-29 | 2021-01-29 | Mechanical arm for assembly type pipeline operation vehicle and assembly type pipeline operation vehicle |
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| CN112894755A true CN112894755A (en) | 2021-06-04 |
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| CN202110124542.XA Pending CN112894755A (en) | 2021-01-29 | 2021-01-29 | Mechanical arm for assembly type pipeline operation vehicle and assembly type pipeline operation vehicle |
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| CN111376296A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Robot arm |
| CN211362256U (en) * | 2019-11-28 | 2020-08-28 | 张静 | Industrial manufacturing workshop assembly manipulator |
| AU2019101620A4 (en) * | 2019-12-16 | 2020-05-14 | Nanjing Yuzhi Intelligent Technology Co.Ltd. | An industrial robot loading and unloading clamping mechanism |
| CN111573524A (en) * | 2020-06-09 | 2020-08-25 | 鄂尔多斯市智博机械制造有限责任公司 | Mine pipeline engineering vehicle |
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Application publication date: 20210604 |