CN116494279A

CN116494279A - Bridge production mechanical arm capable of automatically replacing tool

Info

Publication number: CN116494279A
Application number: CN202310746793.0A
Authority: CN
Inventors: 关刚; 林均盛; 朱健齐; 王凯; 邓文; 陈华坚; 冯文生; 武祖光; 林启鹏
Original assignee: Guangdong Yidinggao Energy Saving Technology Co ltd
Current assignee: Guangdong Yidinggao Energy Saving Technology Co ltd
Priority date: 2023-06-25
Filing date: 2023-06-25
Publication date: 2023-07-28
Anticipated expiration: 2043-06-25
Also published as: CN116494279B

Abstract

The invention provides a mechanical arm capable of automatically replacing tools for bridge production, which belongs to the technical field of automatic equipment and comprises a mechanical arm main body and a tail end tool, wherein the tail end tool is detachably arranged on the mechanical arm main body through a switching structure, the switching structure comprises a fixed seat fixedly arranged on the mechanical arm main body, a hook groove part is arranged at the other end of the fixed seat relative to the mechanical arm main body, the switching structure also comprises a hook sleeve fixedly connected with the tail end tool, a fixed hook matched with the hook groove part and hooked on the other side of the hook sleeve relative to the tail end tool is arranged, a guide post is arranged on one side of the fixed hook, the guide post and the guide groove are matched in the hook sleeve to drive the rotary sleeve to rotate when the hook sleeve is inserted into the fixed seat, so that the extrusion post moves and extrudes the fixed hook to force the fixed hook and the hook groove part to form hooking fixation, and the mechanical arm can complete the replacement of the tail end tool only by extending forwards and backwards without other complex actions.

Description

Bridge production mechanical arm capable of automatically replacing tool

Technical Field

The invention belongs to the technical field of automatic equipment, and particularly relates to a mechanical arm capable of automatically replacing tools for bridge production.

Background

The rigid structure system with closely connected supporting cables is called a cable bridge for short, which is composed of a straight line section, a bent through, a tee joint, a four-way component, a bracket arm type bracket, a hanging bracket and the like in a groove type, tray type or step type, and the cable bridge is divided into a groove type, tray type, ladder type, grid type and other structures, and is composed of a bracket, a bracket arm, a mounting accessory and the like, and various tools are needed in the production link.

However, the existing mechanical arm for bridge production selects different working tools to work according to different working conditions, and the switching structure of the tool at the tail end of the mechanical arm generally utilizes external power such as electric power, hydraulic power, pneumatic power and the like to lock and unlock the tool by the mechanical arm. The operation requirement of the mechanical arm is higher, the complexity of the structure is increased by electric or hydraulic and pneumatic operation, the stability of an electric system is insufficient, the sealing requirement of the structure by hydraulic and pneumatic transmission is higher, the mechanical structure is complex, the operation efficiency is reduced, and the automatic replacement is inconvenient.

Disclosure of Invention

Based on the problems in the prior art, the invention provides a mechanical arm for bridge production, which can automatically replace tools, and comprises a mechanical arm main body and a plurality of end tools, wherein the end tools are detachably arranged on the mechanical arm main body through a switching structure, the switching structure comprises a fixed seat fixedly arranged on the mechanical arm main body, a hook groove part is arranged at the other end of the fixed seat relative to the mechanical arm main body, a rotary sleeve is rotatably arranged on the periphery of the hook groove part of the fixed seat, a plurality of extrusion columns are fixedly arranged on the rotary sleeve, a guide groove is arranged on one side of the extrusion column of the rotary sleeve, an operation space is arranged between the hook groove part and the rotary sleeve, a reset ring is arranged in the operation space in an up-down sliding manner, and the reset ring is elastically connected to the fixed seat through a first reset spring; the switching structure further comprises a hook sleeve fixedly connected with the tail end tool, a plurality of fixed hooks matched with the hook groove parts are arranged on the other side of the hook sleeve relative to the tail end tool, the fixed hooks are connected to the hook sleeve through the elastic rotation of the torsion spring and the rotating shaft, the fixed hooks swing outwards in the natural extension state of the torsion spring, guide posts matched with the guide grooves are arranged on one side of the fixed hooks, the guide posts and the guide grooves are matched with each other to drive the rotating sleeve to rotate when the hook sleeve is inserted into the operation space, so that the extrusion posts move and extrude onto the fixed hooks, and the fixed hooks and the hook groove parts are forced to form hooking fixation.

The fixed seat is fixedly provided with a fixed shell, the inner side of the fixed shell is provided with a rotary bearing, and the inner side of the rotary bearing is fixedly provided with the rotary sleeve.

The rotary sleeve is characterized in that a plurality of through grooves are formed in the inner side of the rotary sleeve, an extrusion column is fixedly mounted in each through groove, the rotary sleeve is arranged at the position between the through grooves, each guide groove comprises a downward extending inlet and outlet section, each inlet and outlet section continuously extends downwards to form a first downward-pressing section, the tail end of each first downward-pressing section is connected with a first locking section inclined downwards to the right, the tail end of each first locking section is connected with a first rising section, the tail end of each first rising section is connected with a second locking section inclined upwards to the right, the tail end of each second locking section is connected with a downward extending second downward-pressing section, the tail end of each second downward-pressing section is connected with a leftward downward-inclined unlocking section, the unlocking section is located below the first locking section, extends to the left side of the first downward-pressing section and is connected with a second rising section, and the tail end of each second rising section is connected to the inlet and outlet section in a rightward upward-inclined mode.

The extrusion column comprises an outer sleeve, a plug is slidably arranged at one end of the outer sleeve, a limiting ring which is in contact with the end of the outer sleeve to limit is arranged at one end of the plug, which is far away from the outer sleeve, a top bead is rotatably arranged at the end of the plug, which is far away from one end of the outer sleeve, and the plug is elastically and slidably connected with the outer sleeve through a spring.

The hook sleeve is provided with a plurality of mounting grooves at the other side relative to the tail end tool, each mounting groove is internally provided with a fixed hook in an elastic rotation mode, the fixed hooks are of an L-shaped structure, the lower surface of each hook groove part is provided with a clamping groove in clearance fit with the corresponding fixed hook, and the fixed hooks form a fixed hooking structure after being hooked into the corresponding clamping grooves; the hook sleeve is provided with the guide bar in the position department between the mounting groove, the week side of hook groove portion is provided with upper and lower guide slot with the guide bar corresponds, and the opening part of upper and lower guide slot is the horn mouth structure.

Wherein the guide posts are disposed at positions between the mounting slots, and the guide posts are further away from the end tool relative to the stationary hooks.

The anti-drop plate is arranged in the hook sleeve in a sliding manner, the anti-drop plate is arranged in the hook sleeve in an elastic sliding manner through a second reset spring, a plurality of anti-drop columns are arranged on the periphery of the anti-drop plate in an elastic sliding manner through springs, the end parts of the anti-drop columns are dome-shaped, clamping holes corresponding to the anti-drop columns are formed in the side walls of the hook sleeve, the anti-drop columns extend out of the hook sleeve from the clamping holes, and the inner diameter of the clamping holes is larger than the outer diameter of the clamping holes; when the anti-falling post is inserted into the clamping hole, the anti-falling plate and the fixed hook are matched to limit the movement of the hook sleeve relative to the hook groove part in the axial direction; the outside of the hook sleeve is provided with a transverse extending bearing bulge on one side of the clamping hole away from the end tool.

The invention has the beneficial effects that:

1. through fixing base, swivel mount, extrusion post, guide way, reset ring, hook bush, fixation hook and the cooperation of guide post, realize the automatic connection and the separation of hook bush and fixing base, the arm only need stretch forward and the action of retreating can accomplish, need not other complicated actions, makes the operation of arm tool change more smooth, convenient, swift and control more easily.

2. The connection and the separation of the hook sleeve and the fixing seat are realized through a pure mechanical structure, electric control is not needed, the influence of external environment is not easy to be influenced, and the whole structure has better stability.

Drawings

Fig. 1 is a schematic perspective view of a mechanical arm for bridge production, which can automatically change tools.

Fig. 2 is a schematic perspective view of the switching structure.

Fig. 3 is a schematic cross-sectional view of the transfer structure.

Fig. 4 is an exploded view of the switching structure.

Fig. 5 is a schematic cross-sectional view of a swivel case.

Fig. 6 is a schematic view of the end direction of the transfer structure.

Fig. 7 is a schematic view of the swivel case in an end direction.

Fig. 8 is a cross-sectional view of an extrusion column.

Fig. 9 is an exploded view of the shackle and associated structure.

Fig. 10 is a schematic view of the placement of the shackle onto the storage platform.

Fig. 11 is a schematic cross-sectional view of the hook sleeve placed on the storage table.

Detailed Description

The invention is described in detail below with reference to the drawings and the specific embodiments.

The mechanical arm for bridge production capable of automatically replacing tools comprises a mechanical arm main body 1 and a plurality of end tools, wherein the end tools comprise drilling tools, milling tools, clamping and fixing tools and the like, the end tools are all tools required by the existing production line, a hook sleeve 10 is fixedly connected in the tools, as shown in fig. 10 and 11, the plurality of end tools are placed on a storage table 27 through the hook sleeve 10, a plurality of placement holes matched with the hook sleeve 10 are formed in the storage table 27, when the mechanical arm needs to be installed or replaced, the end tools which need to be used are directly stretched to the storage table 27, the end tools which need to be used are detachably installed on the mechanical arm main body 1 through a switching structure 2, the switching structure 2 comprises a fixing seat 3 fixedly installed on the mechanical arm main body 1, the fixing seat 3 is provided with a hook groove part 4 at the other end relative to the mechanical arm main body 1 through a connecting column, the diameter of the hook groove part 4 is larger than that of the connecting column, the hook groove part 4 forms a plane (the lower surface in fig. 3) perpendicular to the axial direction on the side of the mechanical arm main body 1, and four clamping grooves are uniformly formed on the plane; the fixing base 3 is fixedly provided with a fixing shell 13, the inner side of the fixing shell 13 is provided with a rotary bearing 14, the inner side of the rotary bearing 14 is fixedly provided with a rotary sleeve 5, the rotary sleeve 5 is rotationally connected with the fixing shell 13 through the rotary bearing 14, and the rotary sleeve 5 is coated on the periphery side of the hook groove part 4.

Four through grooves 15 are formed in the inner side of the rotary sleeve 5, one extrusion column 6 is fixedly mounted in each through groove 15, a guide groove 7 is formed in the position, between the through grooves 15, of the rotary sleeve 5, each guide groove 7 comprises a downward extending inlet and outlet section 7a, the inlet and outlet section 7a continues to extend downward to form a first downward pressing section 7b, the tail end of the first downward pressing section 7b is connected with a first locking section 7c inclined downward to the right, the tail end of the first locking section 7c is connected with a first rising section 7d, the tail end of the first rising section 7d is connected with a second locking section 7e inclined upward to the right, the tail end of the second locking section 7e is connected with a second downward pressing section 7f inclined downward, the tail end of the second downward pressing section 7f is connected with a unlocking section 7g inclined downward to the left, the unlocking section 7g is located below the first locking section 7c, the unlocking section 7g extends to the left side of the first downward pressing section 7b and is connected with a second rising section 7h, and the tail end of the second rising section 7h is connected to the second rising section 7h (the direction is based on the direction shown in the right of the description of the inlet and outlet section 7 a); an operation space is arranged between the hook groove part 4 and the rotary sleeve 5, a reset ring 8 is arranged in the operation space in a vertical sliding mode, the reset ring 8 is sleeved on the connecting column, and the reset ring 8 is elastically connected to the fixed seat 3 through a first reset spring 9.

The switching structure 2 further comprises a hook sleeve 10 fixedly connected with the end tool, four mounting grooves are formed in the other side of the hook sleeve 10 relative to the end tool, a fixed hook 11 is mounted in each mounting groove in an elastic rotation mode through a rotating shaft and a torsion spring, the fixed hook 11 swings outwards in a natural extension state of the torsion spring, the fixed hook 11 is of an L-shaped structure, the lower portion (in the direction of fig. 3) of the fixed hook 11 is in clearance fit with a clamping groove on the lower surface of the hook groove part 4, and a fixed hooking structure is formed after the fixed hook 11 is hooked into the clamping groove, and can limit rotation and axial separation of the hook sleeve 10 relative to the hook groove part 4; the hook sleeve 10 is provided with guide strips 20 at positions between the mounting grooves, upper and lower guide grooves 21 are arranged on the periphery of the hook groove part 4 and correspond to the guide strips 20, and the openings of the upper and lower guide grooves 21 are of a horn mouth structure; the shackle 10 is provided with guide posts 12 cooperating with the guide slots 7 at positions between the mounting slots, and the guide posts 12 are further away from the end tool than the stationary hooks 11.

The anti-drop plate 22 is slidably arranged in the hook sleeve 10, the anti-drop plate 22 is elastically slidably arranged in the hook sleeve 10 through the second return spring 23, four anti-drop columns 24 are elastically slidably arranged on the periphery of the anti-drop plate 22 through the spring, the end parts of the anti-drop columns 24 are dome-shaped, four clamping holes 25 corresponding to the anti-drop columns 24 are arranged on the side wall of the hook sleeve 10, the anti-drop columns 24 extend out of the hook sleeve 10 from the clamping holes 25, and the inner diameter of the clamping holes 25 is larger than the outer diameter; when the falling-off preventing post 24 is inserted into the clamping hole 25, the cooperation of the falling-off preventing plate 22 and the fixed hook 11 limits the movement of the hook sleeve 10 relative to the hook groove part 4 in the axial direction; the outside of the shackle 10 is provided with a laterally projecting bearing projection 26 on the side of the clamping bore 25 facing away from the end tool.

As a preferred embodiment, the extruding column 6 includes an outer sleeve 16, a plug 17 is slidably mounted at one end of the outer sleeve 16, a limiting ring 18 for limiting contact with the end of the outer sleeve 16 is disposed at one end of the plug 17 away from the outer sleeve 16, a top bead 19 is rotatably mounted at the end of the plug 17 away from the end of the outer sleeve 16, the plug 17 is elastically slidably connected with the outer sleeve 16 through a spring, and the structure of the extruding column 6 is provided to help to improve the fault tolerance of the extruding column 6. Because the fixed hook 11 swings outwards naturally, the fixed hook and the outer surface of the hook sleeve 10 are not necessarily located on the same circular ring surface, namely, the ejector 17 is likely to encounter uneven positions in the moving process of the extrusion column 6, and at the moment, the elastic sliding arrangement of the ejector 17 can ensure that the ejector beads 19 can smoothly pass through the concave-convex positions, so that the situation of blocking is avoided.

When the mechanical arm provided in this embodiment is used, the end tool to be used is placed at the storage table 27, as shown in fig. 10 and 11, when the end tool is placed at the storage table 27, the hook sleeve 10 is clamped to the storage table 27 through the supporting protrusion 26, and at this time, the anti-falling post 24 is extruded by the storage table 27 and retracts to a certain extent, so that the anti-falling plate 22 can slide in the hook sleeve 10 under the action of external force.

When the mechanical arm needs to take tools, the mechanical arm main body 1 controls the fixing seat 3 to approach the hook sleeve 10 corresponding to the required tools, the hook groove part 4 is abutted against the anti-falling plate 22, and the anti-falling plate 22 is pressed inwards. Meanwhile, the continuous forward extension of the mechanical arm main body 1 can enable the hook sleeve 10 to be gradually inserted into the operation space, the fixed hook 11 enters the through groove 15, the guide post 12 enters the guide groove 7, the guide post 12 sequentially slides to pass through the in-out section 7a and the first pressing section 7b and then enters the first locking section 7c, at this time, the rotating sleeve 5 rotates under the cooperation of the guide post 12 and the guide groove 7, and the extruding post 6 transversely moves to the vicinity of the root of the fixed hook 11 (the root is one end of the rotational connection of the fixed hook 11 and the hook sleeve 10). At this time, the mechanical arm body 1 is controlled to retreat, and the guide post 12 passes through the first ascending section 7d and the second locking section 7e in sequence, so that the extrusion post 6 moves laterally again. The mechanical arm main body 1 retreats to enable the hook sleeve 10 not to be extruded any more, the hook sleeve 10 is far away from the fixed seat 3 along the axial direction under the action of the reset ring 8 and the first reset spring 9, at the moment, because the extrusion column 6 is near the root of the fixed hook 11, in the process that the hook sleeve 10 is far away, the fixed hook 11 gradually swings inwards under the extrusion of the extrusion column 6 and finally hooks into the clamping groove to form fixed connection. Meanwhile, as the hook sleeve leaves the storage table 27, the anti-falling plate 22 is reset under the action of the second reset spring 23, and the anti-falling post 24 extends out of the hook sleeve 10 from the clamping hole 25, so that the movement of the anti-falling plate 22 is limited. The shackle 10 is now fixedly mounted to the fixing base, i.e. the end tool is mounted.

When the end tool needs to be disassembled, the mechanical arm main body 1 stretches the end tool onto the storage table 27, the anti-falling column 24 is extruded, the limit of the anti-falling plate 22 is released, the guide column 12 can be continuously moved along the second pressing section 7f by continuous forward stretching of the mechanical arm main body 1, when the guide column 12 enters the unlocking section 7g, the rotary sleeve 5 rotates backwards and drives the extrusion column 6 to leave the root of the fixed hook 11, and at the moment, the fixed hook 11 swings outwards under the action of the torsion spring and releases the locking of the hook sleeve. The mechanical arm main body 1 retreats, the guide post 12 returns to the inlet and outlet section 7a along the second ascending section 7h and continuously moves away from the guide groove 7, at this time, the separation of the fixing seat 3 and the hook sleeve 10 is completed, the disassembly of the end tool is realized, and the purpose of quickly replacing the tool can be achieved by reinstalling the required tool.

The above examples illustrate only one embodiment of the invention, which is described in more detail and is not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. The utility model provides a bridge production of removable instrument is with arm, including arm main part (1) and a plurality of terminal instrument, its characterized in that, terminal instrument is detachably installed on arm main part (1) through switching structure (2), switching structure (2) are including fixing base (3) fixed mounting on arm main part (1), fixing base (3) are provided with hook groove portion (4) in the other end relative to arm main part (1), fixing base (3) are installed rotary sleeve (5) at the week side rotation of hook groove portion (4), fixedly installed a plurality of extrusion post (6) on rotary sleeve (5), rotary sleeve (5) are provided with guide way (7) in one side of extrusion post (6), be provided with operating space between hook groove portion (4) and rotary sleeve (5), install reset ring (8) that slide from top to bottom in the operating space, reset ring (8) are connected to fixing base (3) through first reset spring (9) elasticity; the switching structure (2) further comprises a hook sleeve (10) fixedly connected with the tail end tool, a plurality of fixing hooks (11) matched with the hook groove parts (4) are arranged on the other side of the hook sleeve (10) relative to the tail end tool, the fixing hooks (11) are connected to the hook sleeve (10) through the matching elastic rotation of the torsion springs and the rotating shafts, the fixing hooks (11) swing outwards in the natural extension state of the torsion springs, guide posts (12) matched with the guide grooves (7) are arranged on one side of the hook sleeve (10), and the guide posts (12) and the guide grooves (7) are matched in an operation space when the hook sleeve (10) is inserted into the operation space to drive the rotating sleeve (5) to rotate, so that the extrusion posts (6) move and are extruded onto the fixing hooks (11) to force the fixing hooks (11) and the hook groove parts (4) to form hooking fixation.

2. The mechanical arm for bridge production capable of automatically replacing tools according to claim 1, wherein a fixed shell (13) is fixedly installed on the fixed base (3), a rotating bearing (14) is installed on the inner side of the fixed shell (13), and the rotating sleeve (5) is fixedly installed on the inner side of the rotating bearing (14).

3. The mechanical arm for bridge production capable of automatically replacing tools according to claim 2, characterized in that a plurality of through grooves (15) are formed in the inner side of the rotary sleeve (5), a corresponding extrusion column (6) is fixedly arranged in each through groove (15), the rotary sleeve (5) is provided with the guide groove (7) at the position between the through grooves (15), the guide groove (7) comprises a downward extending inlet and outlet section (7 a), the inlet and outlet section (7 a) continues to extend downwards to form a first downward pressing section (7 b), the tail end of the first downward pressing section (7 b) is connected with a first locking section (7 c) inclined downwards to the right, the tail end of the first locking section (7 c) is connected with a first rising section (7 d), the tail end of the first rising section (7 d) is connected with a second locking section (7 e) inclined upwards to the right, the tail end of the second locking section (7 e) is connected with a second downward pressing section (7 f) extending downwards, the tail end of the second downward pressing section (7 f) is connected with a second unlocking section (7 g) inclined upwards to the left rising section (7 g), and the tail end of the second downward pressing section (7 g) is connected with a unlocking section (7 g) inclined upwards to the first rising section (7 g).

4. A bridge production mechanical arm with automatic tool changing function according to claim 3, characterized in that the extruding column (6) comprises an outer sleeve (16), one end of the outer sleeve (16) is slidably provided with a plug (17), one end of the plug (17) far away from the outer sleeve (16) is provided with a limiting ring (18) which is in contact limit with the end of the outer sleeve (16), the end of the plug (17) far away from the end of the outer sleeve (16) is rotatably provided with a plug bead (19), and the plug (17) is elastically slidably connected with the outer sleeve (16) through a spring.

5. The mechanical arm for bridge production capable of automatically replacing tools according to claim 4, wherein the hook sleeve (10) is provided with a plurality of mounting grooves at the other side relative to the end tool, a fixed hook (11) is elastically and rotatably arranged in each mounting groove, the fixed hook (11) is of an L-shaped structure, a clamping groove which is in clearance fit with the fixed hook (11) is formed in the lower surface of the hook groove part (4), and a fixed hooking structure is formed after the fixed hook (11) is hooked to the clamping groove; the hook sleeve (10) is provided with guide strips (20) at positions between the mounting grooves, upper and lower guide grooves (21) are correspondingly arranged on the periphery of the hook groove part (4) and correspond to the guide strips (20), and the openings of the upper and lower guide grooves (21) are of a horn mouth structure.

6. The robot arm for bridge production with automatic tool changing according to claim 5, characterized in that the guide posts (12) are arranged at positions between the mounting slots, and that the guide posts (12) are further away from the end tool with respect to the fixing hooks (11).

7. The mechanical arm for bridge production capable of automatically replacing tools according to claim 6, wherein an anti-drop plate (22) is slidably installed in the hook sleeve (10), the anti-drop plate (22) is elastically slidably installed in the hook sleeve (10) through a second return spring (23), a plurality of anti-drop columns (24) are elastically slidably installed on the periphery of the anti-drop plate (22) through springs, the end parts of the anti-drop columns (24) are dome-shaped, clamping holes (25) corresponding to the anti-drop columns (24) are formed in the side walls of the hook sleeve (10), the anti-drop columns (24) extend out of the hook sleeve (10) from the clamping holes (25), and the inner diameter of the clamping holes (25) is larger than the outer diameter; when the anti-falling post (24) is inserted into the clamping hole (25), the cooperation of the anti-falling plate (22) and the fixed hook (11) limits the movement of the hook sleeve (10) relative to the hook groove part (4) in the axial direction; the outside of the hook sleeve (10) is provided with a transverse supporting bulge (26) on the side of the clamping hole (25) away from the end tool.