CN117047743B - Fixed mechanical arm that pulls in - Google Patents
Fixed mechanical arm that pulls in Download PDFInfo
- Publication number
- CN117047743B CN117047743B CN202311316179.7A CN202311316179A CN117047743B CN 117047743 B CN117047743 B CN 117047743B CN 202311316179 A CN202311316179 A CN 202311316179A CN 117047743 B CN117047743 B CN 117047743B
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- assembly
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- locking
- rod
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- 230000000712 assembly Effects 0.000 claims abstract description 41
- 238000000429 assembly Methods 0.000 claims abstract description 41
- 238000009434 installation Methods 0.000 claims description 13
- 230000005484 gravity Effects 0.000 abstract description 4
- 230000000149 penetrating effect Effects 0.000 abstract 1
- 210000000214 mouth Anatomy 0.000 description 13
- 239000010720 hydraulic oil Substances 0.000 description 10
- 208000027418 Wounds and injury Diseases 0.000 description 9
- 239000004744 fabric Substances 0.000 description 9
- 206010052428 Wound Diseases 0.000 description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 208000003322 Coinfection Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000012824 chemical production Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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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
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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
-
- 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
- B25J15/0047—Gripping heads and other end effectors for internally gripping hollow or recessed objects
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a fixed traction manipulator, and relates to the field of manipulators. The invention comprises a transverse driving assembly, wherein the top of the transverse driving assembly is provided with two retracting assemblies, the transverse driving assembly comprises a driving assembly and a sliding rail assembly, a first electromagnet is arranged between the driving assembly and the sliding rail assembly, and the transverse driving assembly is used for controlling the longitudinal positions of the two retracting assemblies; and two groups of self-locking lifting assemblies are arranged at the top of the transverse driving assembly. When the electric push rod and the air pressure telescopic rod are powered off due to power supply faults, mechanical arm faults and the like, the air pressure telescopic rod stops working, the opening assembly and the retracting assembly lose support and fall under the influence of gravity, and the rebound pushing springs push the locking plate to enable the locking plate to move towards the inside of the corresponding self-locking groove after penetrating through the clamping grooves formed in the moving pipe and the sliding rod, so that the locking plate is clamped on the supporting pipe, the sliding rod is supported and limited, and self-locking is achieved.
Description
Technical Field
The invention relates to a manipulator, in particular to a fixed pulling manipulator, and belongs to the technical field of manipulators.
Background
A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The method is characterized in that various expected operations can be completed through programming, and the method has the advantages of both human and manipulator machines in terms of construction and performance.
The prior Chinese patent application CN111113473A discloses an abutting fixed type adjustable manipulator which comprises a top connecting rod, a middle connecting cover, a side protecting cover, a middle sliding sleeve structure, a plurality of abutting arm structures, springs and lower abutting ends, wherein the top connecting rod penetrates through the middle connecting cover and is in threaded connection with the middle part of the middle connecting cover, the lower part of the top connecting rod is connected with the lower abutting ends, and the side protecting cover is fixed on the lower part of the middle connecting cover; the inside of the middle sliding sleeve structure is annular, and a plurality of mounting ends are arranged on the outer side of the middle sliding sleeve structure; the abutting arm structure comprises a claw arm and a connecting arm.
The existing manipulator generally only plays a role in clamping and fixing in the application process, so that the expansion effect of a cloth bag and an elastic piece is difficult to realize, and in the application process of the manipulator, when a power supply system fails or the manipulator fails, the manipulator can automatically fall down, so that the manipulator is difficult to adapt to the work of knife edges and mouth opening, which is easy to cause loss.
Disclosure of Invention
The invention aims to solve the problem that the manipulator automatically falls down when a power supply system or the manipulator fails. The invention is realized by the following technical scheme: the utility model provides a fixed pulling manipulator, includes horizontal drive assembly, horizontal drive assembly top is provided with two and pulls the subassembly, and the subassembly that pulls includes inserted bar, square groove, derrick mast, driving lever, two derrick mast and driving lever arc angle are opposite, make two driving lever tops have sufficient space, and the position top that pulls after two driving levers pull at this moment and open is comparatively spacious, horizontal drive assembly includes drive assembly and slide rail subassembly, is provided with first electro-magnet between drive assembly and the slide rail subassembly; the top of the transverse driving assembly is provided with two groups of self-locking lifting assemblies, the self-locking lifting assemblies are used for controlling the vertical positions of the retracting assemblies, each self-locking lifting assembly comprises a supporting tube, a sliding rod, an air pressure telescopic rod, a first pressure sensor, a plurality of dampers, a moving tube, a locking plate, an electric push rod, a plurality of pushing springs and a plurality of self-locking grooves, when the electric push rod and the air pressure telescopic rod are powered off due to power supply faults, mechanical arm faults and other conditions, the locking plate is pushed by the rebounded pushing springs, the locking plate can be quickly inserted into the self-locking grooves to support and limit the sliding rod, and the clamping grooves are formed in the sliding rod and the moving tube; the self-locking lifting assembly and the two retracting assemblies are provided with an opening assembly and two longitudinal driving assemblies, the longitudinal driving assemblies comprise a pneumatic cylinder, a magnet sleeve, a pulling plate, a supporting outer tube and a mounting tube, a mounting frame and an electro-hydraulic push rod are arranged between the inserting rod and the mounting tube, the electro-hydraulic push rod works to push the mounting frame, the fixing between the retracting assemblies and the longitudinal driving assemblies is removed, the retracting assemblies can be quickly replaced with parts which are in contact with the opening positions to be pulled, and the requirements of oral surgery and chemical production on work for avoiding mixed infection are met.
Preferably, the derrick mast is fixedly connected between the deflector rod and the inserted link, the derrick mast and the deflector rod are both provided with a plurality of derricks, the square groove is formed in one side of the inserted link, and the square groove is provided with a plurality of derricks.
Preferably, the installation pipe is sleeved outside the inserted bar, a button is fixedly connected to the top of the installation pipe, the electro-hydraulic push rod is fixedly connected between the installation frame and the installation pipe, and pushes the installation frame to move so that the installation frame leaves from the inside of the square groove formed in the inserted bar, and at the moment, the fixation between the inserted bar and the installation pipe is removed.
Preferably, the installation pipe fixed connection is in arm-tie one end, and installation pipe fixed connection is in arm-tie one end, supports outer tube one end and connects the pneumatic cylinder, supports the outer tube other end and connects the magnet cover, supports the outer tube and all overlaps the arm-tie outside with the magnet cover, and the arm-tie is located the one end and the pneumatic cylinder grafting of supporting the outer tube, and the magnet cover is fixed through magnetic force and arm-tie absorption, and the arm-tie receives the spacing of magnet cover and only can move after receiving certain power, supports the outer tube and magnet cover and locates the arm-tie outside, supports the arm-tie.
Preferably, two second electromagnets are fixedly connected to the outer side of the pneumatic cylinder, two inserting grooves are formed in one end of the pulling plate, the working second electromagnets generate magnetic force and are fixed to the pulling plate, the pulling plate is fixed to one end of the pneumatic cylinder through the second electromagnets, the pulling plate cannot move, two ends of the second electromagnets are inserted into the two inserting grooves respectively, and an end pressure sensor is fixedly connected to one end of the pneumatic cylinder.
Preferably, the opening assembly comprises a piston cylinder and two T-shaped pistons, hydraulic oil is infused into the piston cylinder, the hydraulic oil pushes the two T-shaped pistons to move, the two T-shaped pistons push the two longitudinal driving assemblies to move, the two retraction assemblies installed on the two longitudinal driving assemblies move in opposite directions, the two circular ends of the T-shaped pistons are fixedly connected with the side walls of the two pneumatic cylinders respectively, two limiting rings are arranged between the two T-shaped pistons, the two limiting rings are fixedly connected with the inside of the piston cylinder, a water supply pipe and a pump body are fixedly connected to the outer side of the piston cylinder, the T-shaped pistons move to be limited by the limiting rings, and the work of the water supply pipe and the pump body cannot be blocked by the T-shaped pistons.
Preferably, the support pipe is sleeved outside the sliding rod, the air pressure telescopic rod is fixedly connected inside the support pipe, the first pressure sensor is fixedly connected to the top end of the air pressure telescopic rod, the first pressure sensor is in contact with the bottom of the sliding rod, at the moment, the electric push rod electrically connected with the first pressure sensor works, the electric push rod pushes the lock plate to move to penetrate through the clamping groove formed by the moving pipe and the sliding rod, the dampers are fixedly connected between the moving pipe and the air pressure telescopic rod, the air pressure telescopic rod works to push the first pressure sensor to move upwards, the dampers can be contracted to prevent the moving pipe from moving, and the clamping groove formed by the moving pipe is guaranteed to be aligned with the clamping groove formed by the sliding rod.
Preferably, the self-locking cavity has been seted up to the slide bar bottom, it inserts the self-locking intracavity portion to remove pipe one end, the lock plate sets up in the self-locking intracavity portion, electric putter fixed connection is between lock plate and slide bar, the self-locking intracavity portion is provided with the collar, collar and slide bar fixed connection, the lock plate can insert wherein from inside the lock groove fast, and the self-locking groove card is between stay tube and slide bar, supports spacingly to the slide bar, promote spring fixed connection between collar and lock plate.
Preferably, the driving assembly comprises a positive motor, a driving block and a screw rod, the screw rod is fixedly connected to the output end of the positive motor, the driving block is sleeved on the outer side of the screw rod, a nut pair is sleeved on the outer side of the screw rod, the first electromagnet is fixedly connected inside the driving block, the driving block is installed with the screw rod through the first electromagnet, and the driving block cannot perform transverse displacement under the condition that the screw rod does not rotate.
Preferably, the sliding rail assembly comprises a guide rail and two guide plates, the positive and negative motor is fixedly connected to one side inside the guide rail, the screw rod is rotationally connected to the inside of the guide rail, the driving block is arranged inside the guide rail, the rotating screw rod controls the driving block to move through the nut pair and the first electromagnet, the guide plates are arranged inside the driving block and are fixedly connected with the guide rail, and the driving block reciprocates inside the guide rail under the limit of the two guide plates.
The invention provides a fixed pulling manipulator which has the following beneficial effects:
1. according to the fixed traction manipulator, when the electric push rod and the pneumatic telescopic rod are powered off due to power failure, manipulator failure and other conditions, the pneumatic telescopic rod stops working, and the stretching assembly and the traction assembly lose support and fall under the influence of gravity. At this moment, the electric push rod is powered off and is in the condition that the power can be stretched out and drawn back, and a plurality of thrust springs that rebound promote the lock plate at this moment, make the lock plate run through the draw-in groove that moves tube and slide bar were seted up and move to corresponding auto-lock inslot, make the lock plate pass the draw-in groove card between stay tube and slide bar, support spacing to the slide bar, avoid opening subassembly, vertical drive assembly, the automatic whereabouts of retraction subassembly and lead to the retraction subassembly to cause the injury.
2. This fixed manipulator that pulls, control electrohydraulic push rod work promotes the mounting bracket, makes the fixed removal between pulling subassembly and the longitudinal drive subassembly, can change the drag hook that inserted bar, derrick mast, driving lever constitute this moment, makes the pulling subassembly direct can be quick change with the part that needs to pull the position of opening contact, satisfies the needs that these needs of oral cavity operation, chemical industry production avoid mixing the infection work, guarantees the adaptability of manipulator that transverse drive subassembly, two auto-lock lifting unit, opening subassembly, two longitudinal drive subassemblies are constituteed.
3. The fixed pulling manipulator has the advantages that the working opening assembly pushes the draw hook to move in opposite directions, the cloth bag opening, the elastic piece, the wound, the oral cavity and the like are pulled and opened, and the deflector rod is arranged into an arc shape, so that a good pulling and hanging effect can be achieved. The arc angles of the two gin poles and the deflector rods are opposite, so that sufficient space exists at the tops of the two deflector rods, and at the moment, the tops of the positions where the two deflector rods are pulled to open after being pulled and hung are clear, so that the visual field of workers during operation is ensured to watch the inside of cloth bag openings, elastic pieces, wounds, oral cavities and the like.
4. The fixed pulling manipulator controls the working lock of the transverse driving assembly, the working lock of the self-locking lifting assembly and the working lock of the longitudinal driving assembly in advance, so that the positive and negative motor is controlled to work at the transverse position of the self-locking lifting assembly, the pneumatic telescopic rod is controlled to work at the upper and lower positions of the stretching assembly, the pneumatic cylinder is controlled to work at the longitudinal position of the stretching assembly, and a worker can remotely control the positions of the two stretching assemblies through the handheld terminal, thereby realizing the purposes of automatically or manually controlling the two stretching assemblies to stretch cloth bag openings, elastic pieces, wounds, oral cavities and the like.
5. The fixed pulling manipulator is characterized in that a worker holds the longitudinal driving component to pull, controls the vertical, horizontal and longitudinal positions of the pulling component, controls the two pulling components to move to the required position, presses a button when the two pulling hooks move to the required position, is electrically connected with a handheld terminal in the hand of the worker, and is locked by the operation of the transverse driving component, the operation of the self-locking lifting component and the operation of the longitudinal driving component after the button is pressed. At this time, the up and down position of the retracting assembly, the transverse position of the opening assembly and the longitudinal position of the retracting assembly are locked. The working opening assembly pushes the draw hook to move in the opposite direction, and the cloth bag mouth, the elastic piece, the wound, the oral cavity and the like are pulled and opened.
6. The fixed retracting manipulator is used for injecting hydraulic oil into the piston cylinder, the hydraulic oil pushes the two T-shaped pistons to move, the two T-shaped pistons push the two longitudinal driving assemblies to move, and finally the two retracting assemblies mounted on the two longitudinal driving assemblies move in opposite directions. And when the pump body is controlled to work, the pump body extracts hydraulic oil in the piston cylinder, so that the hydraulic oil in the piston cylinder is discharged, the T-shaped piston is reset under the action of negative pressure, and the T-shaped piston is limited by the limiting ring in movement, so that the work of the water supply pipe and the pump body is not blocked by the T-shaped piston.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the portion A of FIG. 1 according to the present invention;
FIG. 3 is a schematic view of a part of the structure of the guide rail of the present invention;
FIG. 4 is a schematic view of a moving tube according to the present invention;
FIG. 5 is a schematic view of a part of the structure of a slide bar according to the present invention;
FIG. 6 is a schematic view of a partial structure of a lock plate according to the present invention;
FIG. 7 is a schematic view of the push spring of the present invention;
FIG. 8 is a schematic view of the structure of portion B of FIG. 6 according to the present invention;
FIG. 9 is a schematic diagram of a second electromagnet according to the present invention;
FIG. 10 is a schematic view of the structure of the mounting bracket of the present invention;
FIG. 11 is a schematic view of a bayonet of the present invention;
FIG. 12 is a schematic view of the construction of the mounting tube of the present invention;
fig. 13 is a schematic view of a partial structure of a piston cylinder according to the present invention.
Reference numerals illustrate: 1. a lateral drive assembly; 101. a forward and reverse motor; 102. a guide rail; 103. a driving block; 104. a first electromagnet; 105. a screw rod; 106. a guide plate; 107. a nut pair; 2. a self-locking lifting assembly; 201. a support tube; 202. a slide bar; 203. an air pressure telescopic rod; 204. a first pressure sensor; 205. a damper; 206. a moving tube; 207. a clamping groove; 208. a self-locking cavity; 209. a lock plate; 210. an electric push rod; 211. a mounting ring; 212. a pushing spring; 213. a self-locking groove; 3. an opening assembly; 301. a piston cylinder; 302. a limiting ring; 303. a T-shaped piston; 304. a pump body; 305. a water supply pipe; 4. a longitudinal drive assembly; 401. a pneumatic cylinder; 402. a magnet sleeve; 403. pulling a plate; 404. supporting the outer tube; 405. a second electromagnet; 406. a plug-in groove; 407. installing a pipe; 408. an end pressure sensor; 5. a retractor assembly; 501. a rod; 502. a square groove; 503. a derrick mast; 504. a deflector rod; 505. a button; 506. a mounting frame; 507. an electrohydraulic push rod.
Detailed Description
The embodiment of the invention provides a fixed retracting manipulator.
Referring to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 and 13, the device comprises a transverse driving component 1, two retracting components 5 are arranged on top of the transverse driving component 1, the retracting components 5 comprise a plunger 501, a square groove 502, a derrick mast 503 and a deflector rod 504, the transverse driving component 1 comprises a driving component and a sliding rail component, and a first electromagnet 104 is arranged between the driving component and the sliding rail component; the top of the transverse driving assembly 1 is provided with two groups of self-locking lifting assemblies 2, the self-locking lifting assemblies 2 are used for controlling the up-down positions of the retracting assemblies 5, the self-locking lifting assemblies 2 comprise supporting tubes 201, sliding rods 202, air pressure telescopic rods 203, first pressure sensors 204, a plurality of dampers 205, moving tubes 206, locking plates 209, electric push rods 210, a plurality of pushing springs 212 and a plurality of self-locking grooves 213, and clamping grooves 207 are formed in the sliding rods 202 and the moving tubes 206; an opening assembly 3 and two longitudinal driving assemblies 4 are arranged between the self-locking lifting assembly 2 and the two retracting assemblies 5, each longitudinal driving assembly 4 comprises a pneumatic cylinder 401, a magnet sleeve 402, a pulling plate 403, a supporting outer tube 404 and a mounting tube 407, a mounting frame 506 and an electro-hydraulic push rod 507 are arranged between each inserting rod 501 and each mounting tube 407, each pulling rod 503 is fixedly connected between each pulling rod 504 and each inserting rod 501, each pulling rod 503 and each pulling rod 504 are provided with a plurality of square grooves 502 are formed in one side of each inserting rod 501, each square groove 502 is provided with a plurality of square grooves, each mounting tube 407 is sleeved on the outer side of each inserting rod 501, a button 505 is fixedly connected to the top of each mounting tube 407, and each electro-hydraulic push rod 507 is fixedly connected between each mounting frame 506 and each mounting tube 407.
In particular, two self-locking lifting assemblies 2 supported by the transverse driving assembly 1 (see below for details of the operation of the transverse driving assembly 1) can perform a transverse reciprocating motion, so that the self-locking lifting assemblies 2 perform a transverse reciprocating motion through a retracting assembly 5 supported by the opening assembly 3 and the longitudinal driving assembly 4. The self-locking lifting assembly 2 (see below for working details of the self-locking lifting assembly 2) is retracted up and down, so that the opening assembly 3 is moved up and down by the retracting assembly 5 supported by the longitudinal driving assembly 4.
The longitudinal driving component 4 (the working details of the longitudinal driving component 4 are shown below) can longitudinally stretch and retract, so that the retracting component 5 (the working details of the retracting component 5 are shown below) can longitudinally reciprocate, a worker can adjust the up-down position, the transverse position and the longitudinal position of the two retracting components 5 according to the needs, the opening component 3 (the working details of the opening component 3 are shown below) is controlled to adjust the interval between the two retracting components 5, and the mechanical arm formed by the transverse driving component 1, the two self-locking lifting components 2, the opening component 3 and the two longitudinal driving components 4 is used for controlling the two retracting components 5 to open the cloth bag opening, the elastic piece, the wound, the oral cavity and the like, so that the use needs are met.
The electrohydraulic push rod 507 is controlled to work so as to push the mounting frame 506, so that the fixing between the retracting assembly 5 and the longitudinal driving assembly 4 is removed, and the draw hook formed by the inserting rod 501, the derrick mast 503 and the deflector rod 504 can be replaced at the moment, so that the retracting assembly 5 can be quickly replaced with parts which are in contact with the required stretching opening position, the requirements of oral surgery and chemical production on avoiding mixed infection work are met, and the adaptability of the mechanical arm formed by the transverse driving assembly 1, the two self-locking lifting assemblies 2, the stretching assembly 3 and the two longitudinal driving assemblies 4 is ensured.
The operator holds the longitudinal driving component 4 to pull, controls the vertical, horizontal and longitudinal positions of the retracting components 5, controls the two retracting components 5 to move to the required position, presses the button 505 when the two draw hooks move to the required position, the button 505 is electrically connected with a handheld terminal in the hand of the operator, and after the button 505 is pressed, the transverse driving component 1 is locked, the self-locking lifting component 2 is locked, and the longitudinal driving component 4 is locked. The up and down position of the retraction assembly 5, the lateral position of the deployment assembly 3, and the longitudinal position of the retraction assembly 5 are now locked. The working opening assembly 3 pushes the draw hook to move in the opposite direction, the cloth bag mouth, the elastic piece, the wound, the oral cavity and the like are pulled and opened, and the deflector rod 504 is arranged in an arc shape, so that a good pulling and hanging effect can be achieved. The arc angles of the two derrick mast 503 and the deflector rods 504 are opposite, so that the tops of the two deflector rods 504 have sufficient space, and at the moment, the tops of the positions where the two deflector rods 504 are pulled to open after being pulled and hung are clear, so that the visual field of workers during operation is ensured to be seen from the inside of a cloth bag mouth, an elastic piece, a wound, an oral cavity and the like.
Inside the self-locking lifting assembly 2 are provided a locking plate 209 and a plurality of push springs 212. When the electric push rod 210 and the air pressure telescopic rod 203 are powered off due to power supply failure or mechanical arm failure, the air pressure telescopic rod 203 stops working, and the opening assembly 3 and the retracting assembly 5 lose support and fall under the influence of gravity. At this time, the electric push rod 210 is powered off and is in the condition that the electric push rod can stretch and retract under the force, and at this time, the plurality of pushing springs 212 rebounded push the locking plate 209, so that the locking plate 209 penetrates through the moving tube 206 and the clamping groove 207 formed by the sliding rod 202 and moves towards the self-locking groove 213, and the supporting tube 201 is provided with a plurality of self-locking grooves 213, so that the locking plate 209 can be quickly inserted into the self-locking groove 213. The locking plate 209 is clamped on the supporting tube 201, the sliding rod 202 is supported and limited, and the situation that the opening assembly 3, the longitudinal driving assembly 4 and the retracting assembly 5 automatically fall to cause damage to the retracting assembly 5 is avoided.
The automatic control device can control the working locking of the transverse driving assembly 1, the working locking of the self-locking lifting assembly 2 and the working locking of the longitudinal driving assembly 4 in advance, so that the positive and negative motor 101 can control the working of the transverse position of the self-locking lifting assembly 2, the pneumatic telescopic rod 203 can control the upper and lower positions of the opening assembly 3, the pneumatic cylinder 401 can control the longitudinal position of the opening assembly 5, and a worker can remotely control the positions of the two opening assemblies 5 through a handheld terminal, thereby realizing the purpose of automatically or manually controlling the two opening assemblies 5 to open cloth bag openings, elastic pieces, wounds, oral cavities and the like.
Referring to fig. 1 and 9 again, the mounting tube 407 is fixedly connected to one end of the pull plate 403, one end of the outer support tube 404 is connected to the pneumatic cylinder 401, the other end of the outer support tube 404 is connected to the magnet sleeve 402, the outer support tube 404 and the magnet sleeve 402 are both sleeved on the outer side of the pull plate 403, one end of the pull plate 403 located in the outer support tube 404 is connected with the pneumatic cylinder 401 in an inserting manner, two second electromagnets 405 are fixedly connected to the outer side of the pneumatic cylinder 401, two inserting grooves 406 are formed in one end of the pull plate 403, one ends of the two second electromagnets 405 are respectively inserted into the two inserting grooves 406, one end of the pneumatic cylinder 401 is fixedly connected with an end pressure sensor 408, referring to fig. 13, the opening assembly 3 comprises a piston cylinder 301 and two T-shaped pistons 303, circular ends of the two T-shaped pistons 303 are respectively fixedly connected with side walls of the two pneumatic cylinders 401, two limiting rings 302 are arranged between the two T-shaped pistons 303, the two limiting rings 302 are fixedly connected to the inner side of the piston cylinder 301, and the outer side of the piston cylinder 301 is fixedly connected with the water supply pipe 305 and the pump body 304.
With continued reference to fig. 9 and 10, when the button 505 is pressed, the pneumatic cylinder 401 is operated to push the second electromagnet 405 to move, and when the second electromagnet 405 is inserted into the insertion slot 406, the end pressure sensor 408 fixedly connected to one end of the pneumatic cylinder 401 contacts the pull plate 403, the end pressure sensor 408 is operated, and at this time, the second electromagnet 405 is operated and the pneumatic cylinder 401 is suspended. The position of one end of the pneumatic cylinder 401 is fixed, and the second electromagnet 405 in operation generates magnetic force to be fixed with the pull plate 403, and at this time, the pull plate 403 is fixed at one end of the pneumatic cylinder 401 by the second electromagnet 405.
The pneumatic cylinder 401 can drive the pulling plate 403 to move, so that the pulling plate 403 drives the installed retracting assembly 5 to longitudinally reciprocate, and the position of the retracting assembly 5 is controlled.
The outer support tube 404 and the magnet sleeve 402 are sleeved outside the pull plate 403 to support the pull plate 403, and the magnet sleeve 402 is adsorbed and fixed with the pull plate 403 through magnetic force, and the pull plate 403 can move only after being limited by the magnet sleeve 402 and a certain force is applied, so that even if the longitudinal driving assembly 4 does not enter a working locking state or even the pneumatic cylinder 401 fails and is powered off, the pull plate 403 cannot easily move in the longitudinal direction.
Referring to fig. 10, 11 and 12, when the electro-hydraulic push rod 507 is controlled to work, the electro-hydraulic push rod 507 pushes the mounting frame 506 to move, so that the mounting frame 506 is separated from the square groove 502 formed in the plunger 501, at this time, the fixation between the plunger 501 and the mounting tube 407 is removed, and the plunger 501 can be detached from the mounting tube 407, so as to complete the detachment of the retraction assembly 5.
The above-mentioned opening assembly 3 works in detail as follows:
hydraulic oil is infused between the two T-shaped pistons 303 inside the piston cylinder 301 through the water supply pipe 305, the hydraulic oil pushes the two T-shaped pistons 303 to move to two sides, so that the two T-shaped pistons 303 push the two longitudinal driving assemblies 4 to move, and finally the two retracting assemblies 5 mounted on the two longitudinal driving assemblies 4 move to opposite directions. When the pump body 304 is controlled to work, hydraulic oil in the piston cylinder 301 is pumped out through the pump body 304, so that the hydraulic oil in the piston cylinder 301 is discharged, the T-shaped piston 303 is reset under the action of negative pressure, the movement of the T-shaped piston 303 is limited by the limiting ring 302, and the work of the water supply pipe 305 and the pump body 304 is not blocked by the T-shaped piston 303.
Referring to fig. 1, fig. 2, fig. 4, fig. 5, fig. 6, fig. 7 and fig. 8 again, the support tube 201 is sleeved outside the sliding rod 202, the air pressure telescopic rod 203 is fixedly connected inside the support tube 201, the first pressure sensor 204 is fixedly connected to the top end of the air pressure telescopic rod 203, the plurality of dampers 205 are fixedly connected between the moving tube 206 and the air pressure telescopic rod 203, the bottom end of the sliding rod 202 is provided with a self-locking cavity 208, one end of the moving tube 206 is inserted into the self-locking cavity 208, the locking plate 209 is arranged inside the self-locking cavity 208, the electric push rod 210 is fixedly connected between the locking plate 209 and the sliding rod 202, a mounting ring 211 is arranged inside the self-locking cavity 208, the mounting ring 211 is fixedly connected with the sliding rod 202, and the pushing spring 212 is fixedly connected between the mounting ring 211 and the locking plate 209.
Specifically, the working details of the self-locking lifting assembly 2 are as follows:
when the button 505 is pressed, the air pressure telescopic rod 203 works to push the first pressure sensor 204 and the moving tube 206 to move upwards, the moving tube 206 moving upwards is inserted into the self-locking cavity 208, then the first pressure sensor 204 is in contact with the bottom of the sliding rod 202, the electric push rod 210 electrically connected with the first pressure sensor 204 works, the working electric push rod 210 pushes the locking plate 209 to move through the locking groove 207 formed in the moving tube 206 and the sliding rod 202, the sliding rod 202 and the moving tube 206 are fixed together, the bottom of the sliding rod 202 is supported by the first pressure sensor 204, and the self-locking lifting assembly 2 is locked.
A damper 205 is fixedly connected between the moving tube 206 and the air pressure telescopic rod 203, so that after the moving tube 206 inserted into the self-locking cavity 208 is limited by the sliding rod 202, a clamping groove 207 formed in the moving tube 206 is aligned with a clamping groove 207 formed in the sliding rod 202, and at the moment, the air pressure telescopic rod 203 works to push the first pressure sensor 204 to move upwards, so that the damper 205 is contracted and the moving tube 206 is not displaced, and the clamping groove 207 formed in the moving tube 206 is aligned with the clamping groove 207 formed in the sliding rod 202.
When the electric push rod 210 and the air telescopic rod 203 are powered off under the conditions of power supply faults, mechanical arm faults and the like, the air telescopic rod 203 stops working, the opening assembly 3 and the retracting assembly 5 lose support and move downwards under the influence of gravity, the electric push rod 210 is powered off and can stretch out and draw back under the condition of being subjected to force, a plurality of pushing springs 212 rebounded at the moment push the lock plate 209, the support tube 201 is provided with a plurality of self-locking grooves 213, the lock plate 209 moves towards the inside of the corresponding self-locking grooves 213, the lock plate 209 can be quickly inserted into the self-locking grooves 213, the lock plate 209 passes through the clamping grooves 207 and is clamped between the support tube 201 and the sliding rod 202, the sliding rod 202 is supported and limited, and the damage to the retracting assembly 5 caused by automatic falling of the opening assembly 3, the longitudinal driving assembly 4 and the retracting assembly 5 during accidental power failure is avoided.
Referring to fig. 1, 2, 3, 10, 11 and 12 again, the driving assembly includes a positive and negative motor 101, a driving block 103 and a screw rod 105, the screw rod 105 is fixedly connected to an output end of the positive and negative motor 101, the driving block 103 is sleeved outside the screw rod 105, a nut pair 107 is sleeved outside the screw rod 105, the first electromagnet 104 is fixedly connected inside the driving block 103, the sliding rail assembly includes a guide rail 102 and two guide plates 106, the positive and negative motor 101 is fixedly connected to one side inside the guide rail 102, the screw rod 105 is rotatably connected inside the guide rail 102, the driving block 103 is arranged inside the guide rail 102, and the guide plates 106 are arranged inside the driving block 103 and are fixedly connected with the guide rail 102.
Specifically, the above-mentioned transverse driving assembly 1 works in the following details:
when the button 505 is pressed, the first electromagnet 104 is electrified to generate magnetic force, the magnetic force is fixed with the nut pair 107 outside the screw rod 105, at this time, the driving block 103 is fixed with the nut pair 107 outside the screw rod 105 through the first electromagnet 104, and under the condition that the screw rod 105 does not rotate, the sliding driving block 103 cannot laterally displace along the inside of the guide rail 102, and at this time, the lateral driving assembly 1 is locked.
In the working locking state of the transverse driving assembly 1, the forward and reverse motor 101 is controlled to work to drive the screw rod 105 to rotate, and the rotating screw rod 105 controls the driving block 103 to move through the nut pair 107 and the first electromagnet 104, so that the driving block 103 reciprocates in the guide rail 102 under the limit of the two guide plates 106.
Claims (5)
1. The utility model provides a fixed tractive manipulator, includes transverse drive subassembly (1), its characterized in that: the device is characterized in that two retracting assemblies (5) are arranged at the top of the transverse driving assembly (1), each retracting assembly (5) comprises an inserting rod (501), a square groove (502), a derrick mast (503) and a deflector rod (504), the derrick mast (503) is fixedly connected between the deflector rod (504) and the inserting rods (501), the derrick mast (503) and the deflector rods (504) are all provided with a plurality of rods, the square groove (502) is formed in one side of each inserting rod (501), and the square groove (502) is provided with a plurality of rods;
the transverse driving assembly (1) comprises a driving assembly and a sliding rail assembly, and a first electromagnet (104) is arranged between the driving assembly and the sliding rail assembly; the utility model discloses a self-locking device for the air conditioner, which is characterized in that two groups of self-locking lifting assemblies (2) are arranged at the top of a transverse driving assembly (1), the self-locking lifting assemblies (2) are used for controlling the upper and lower positions of a retracting assembly (5), the self-locking lifting assemblies (2) comprise supporting pipes (201), sliding rods (202), air pressure telescopic rods (203), a first pressure sensor (204), a plurality of dampers (205), a moving pipe (206), locking plates (209), an electric push rod (210), a plurality of pushing springs (212) and a plurality of self-locking grooves (213), clamping grooves (207) are formed in the sliding rods (202) and the moving pipe (206), the supporting pipes (201) are provided with a plurality of self-locking grooves (213), the supporting pipes (201) are sleeved outside the sliding rods (202), the air pressure telescopic rods (203) are fixedly connected inside the supporting pipes (201), the first pressure sensors (204) are fixedly connected to the top ends of the air pressure telescopic rods (203), the dampers (205) are fixedly connected between the moving pipe (206) and the air pressure telescopic rods (203), the bottom ends of the sliding rods (202) are provided with self-locking grooves (208), one ends of the sliding rods (208) are provided with self-locking grooves (208), the electric push rod (210) is fixedly connected between the lock plate (209) and the sliding rod (202), a mounting ring (211) is arranged in the self-locking cavity (208), the mounting ring (211) is fixedly connected with the sliding rod (202), the pushing spring (212) is fixedly connected between the mounting ring (211) and the lock plate (209), and the lock plate (209) penetrates through the clamping groove (207) and then is inserted into the self-locking groove (213);
the driving assembly comprises a positive and negative motor (101), a driving block (103) and a screw rod (105), wherein the screw rod (105) is fixedly connected to the output end of the positive and negative motor (101), the driving block (103) is sleeved on the outer side of the screw rod (105), a nut pair (107) is sleeved on the outer side of the screw rod (105), and the first electromagnet (104) is fixedly connected inside the driving block (103);
an opening assembly (3) and two longitudinal driving assemblies (4) are arranged between the self-locking lifting assembly (2) and the two retracting assemblies (5), each longitudinal driving assembly (4) comprises a pneumatic cylinder (401), a magnet sleeve (402), a pull plate (403), a supporting outer tube (404) and a mounting tube (407), the mounting tube (407) is fixedly connected to one end of the pull plate (403), one end of the supporting outer tube (404) is connected with the pneumatic cylinders (401), the other end of the supporting outer tube (404) is connected with the magnet sleeve (402), the supporting outer tube (404) and the magnet sleeve (402) are sleeved on the outer sides of the pull plates (403), and one end of the pull plates (403) located in the supporting outer tube (404) is spliced with the pneumatic cylinders (401); and a mounting frame (506) and an electro-hydraulic push rod (507) are arranged between the inserted link (501) and the mounting pipe (407).
2. The fixed retractor manipulator of claim 1, wherein: the installation pipe (407) is sleeved outside the inserted link (501), a button (505) is fixedly connected to the top of the installation pipe (407), and the electro-hydraulic push rod (507) is fixedly connected between the installation frame (506) and the installation pipe (407).
3. The fixed retractor manipulator of claim 1, wherein: two second electromagnets (405) are fixedly connected to the outer side of the pneumatic cylinder (401), two inserting grooves (406) are formed in one end of the pulling plate (403), one ends of the two second electromagnets (405) are respectively inserted into the two inserting grooves (406), and an end pressure sensor (408) is fixedly connected to one end of the pneumatic cylinder (401).
4. The fixed retractor manipulator of claim 1, wherein: opening subassembly (3) including piston cylinder (301), two T shape pistons (303), two the circular end of T shape piston (303) respectively with the lateral wall fixed connection of two pneumatic cylinders (401), two be provided with two spacing rings (302) between T shape piston (303), two spacing rings (302) are inside all fixed connection piston cylinder (301), piston cylinder (301) outside fixedly connected with delivery pipe (305) and pump body (304).
5. The fixed retractor manipulator of claim 1, wherein: the sliding rail assembly comprises a guide rail (102) and two guide plates (106), the positive and negative motor (101) is fixedly connected to one side inside the guide rail (102), the screw rod (105) is rotationally connected to the inside of the guide rail (102), the driving block (103) is arranged inside the guide rail (102), and the guide plates (106) are arranged inside the driving block (103) and are fixedly connected with the guide rail (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311316179.7A CN117047743B (en) | 2023-10-12 | 2023-10-12 | Fixed mechanical arm that pulls in |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311316179.7A CN117047743B (en) | 2023-10-12 | 2023-10-12 | Fixed mechanical arm that pulls in |
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| Publication Number | Publication Date |
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| CN117047743A CN117047743A (en) | 2023-11-14 |
| CN117047743B true CN117047743B (en) | 2024-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311316179.7A Active CN117047743B (en) | 2023-10-12 | 2023-10-12 | Fixed mechanical arm that pulls in |
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| Publication number | Publication date |
|---|---|
| CN117047743A (en) | 2023-11-14 |
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