CN117400234B - Special mechanical arm - Google Patents
Special mechanical arm Download PDFInfo
- Publication number
- CN117400234B CN117400234B CN202311714319.6A CN202311714319A CN117400234B CN 117400234 B CN117400234 B CN 117400234B CN 202311714319 A CN202311714319 A CN 202311714319A CN 117400234 B CN117400234 B CN 117400234B
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- Prior art keywords
- fixedly connected
- motor
- arm body
- base
- mechanical arm
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- 238000004140 cleaning Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 239000003129 oil well Substances 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 239000004744 fabric Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a mechanical arm, in particular to a special mechanical arm. The special mechanical arm has small audience surface for renting or sharing when not in use, and the cost is increased. Therefore, the more flexible and various special mechanical arm can be used across fields in different fields, and the following technical scheme is used: the device comprises a motor I, wherein one end of an arm body I is fixedly connected to an output shaft of the motor I, a motor II is fixedly connected to the other end of the arm body I, one end of an arm body II is fixedly connected to an output shaft of the motor II, a motor III is fixedly connected to the other end of the arm body II, and execution hands are fixedly connected to output shafts of the motor I and the motor III; the arm body I and the arm body II can be V-shaped or collinear. The beneficial effects are that can right when throwing the pipeline in the oil well, or guide the throwing of cable and rope, or clean the operation.
Description
Technical Field
The invention relates to a mechanical arm, in particular to a special mechanical arm.
Background
The special mechanical arm is generally applied to the professional field, equipment which is operated or used by specially trained personnel and assists and/or replaces people to execute tasks can be applied to production processes and construction environments according to the application environment of the mechanical arm, the purpose of the special mechanical arm is relatively exclusive, and the special mechanical arm is applicable to specific working scenes and tasks. This also results in that in some cases, special robots may not be used across fields, limiting their flexibility and versatility. Therefore, the special mechanical arm has small audience surface for renting or sharing when not in use, and the cost is increased. Therefore, the special mechanical arm is more flexible and various, and can be used in different fields, so that the cost is reduced and the utilization rate is improved.
Disclosure of Invention
The special mechanical arm has the beneficial effects that the special mechanical arm can be used for righting when a pipeline is put in an oil well, guiding the putting of a cable and a rope, or cleaning.
The above object is achieved by the following technical scheme:
a special mechanical arm comprises a motor I, wherein one end of an arm body I is fixedly connected to an output shaft of the motor I, a motor II is fixedly connected to the other end of the arm body I, one end of an arm body II is fixedly connected to an output shaft of the motor II, a motor III is fixedly connected to the other end of the arm body II, and an executing hand is fixedly connected to output shafts of the motor I and the motor III; the arm body I and the arm body II can be V-shaped or collinear.
The execution hand includes: the telescopic device comprises a base I, wherein a telescopic cylinder I is fixedly connected to the upper end of the base I, a base II is fixedly connected to the movable end of the telescopic cylinder I, two step rods are connected to the base II in a sliding manner, a limiting part is fixedly connected to one end, close to the base II, of each step rod, a base III is fixedly connected to one end, far away from the base II, of each step rod, a pressure spring is sleeved on each step rod, two ends of each pressure spring respectively abut against the shoulders of the base II and the step rod, two rotary member seats are fixedly connected to the base III, a motor IV is fixedly connected to the base III, and one rotary member is connected to the two rotary member seats in a rotating manner, and synchronous transmission of the rotary members and an output shaft of the motor IV is realized through a belt pulley assembly;
the output shaft of motor I sets up down, and motor I's upper end fixedly connected with one of them base I, motor III's output shaft sets up, and another base I rigid coupling is on motor III's output shaft.
The executing hand further comprises a telescopic cylinder II fixedly connected to the base III, a braking part is fixedly connected to the movable end of the telescopic cylinder II, a braking ring which is concentrically arranged is fixedly connected to the end face of the rotary part, the diameter of the braking ring is smaller than that of the rotary part, and the braking part can be contacted with or separated from the braking ring.
The rotary member is provided with an annular groove.
The opening section of the groove is V-shaped or isosceles trapezoid; when the opening section of the groove is isosceles trapezoid, the part close to the rotating member is the upper bottom of the short side.
The lower extreme of base I can be dismantled and is connected with the frame, and the lower extreme of the arm body I and the arm body II can be dismantled and be connected with the pillar.
The frame is the bridge-like structure of opening downward to form two vertically straight plate structures, screw connection has the screw rod on the straight plate structure, and the one end of screw rod is located between two straight plate structures.
One end of the screw rod, which is positioned between the two straight plate structures, is fixedly connected with a pre-tightening piece for increasing the contact area with the straight plate structures.
The rotary member is characterized by further comprising a barrel, wherein two ends of the barrel are detachably connected with a connecting flange respectively, the connecting flange can be detachably connected with the end edge of the rotary member, and the diameter of the connecting flange is larger than that of the rotary member.
The surface of the cylinder is fixedly connected with a magic tape nap surface or a magic tape nap surface.
Drawings
FIG. 1 is a top view of a special robotic arm;
FIG. 2 is a schematic diagram of the structure of motor I, arm I, motor II, arm II and motor III;
FIG. 3 is a schematic diagram of the structure of an implement hand;
FIG. 4 is a schematic view of a partial structure of the implement hand at A in FIG. 3;
FIG. 5 is a schematic view of the structure of a rotating member and a groove;
FIG. 6 is a schematic view of the structure of the frame and screw;
FIG. 7 is a schematic structural view of a strut;
fig. 8 is a schematic structural view of the cartridge and the connecting flange.
In the figure: motor i 11, arm i 12, motor ii 13, arm ii 14, motor iii 15, base i 21, telescopic cylinder i 22, base ii 23, linear driving mechanism 31, pushing member 32, step bar 41, stopper 42, base iii 43, telescopic cylinder ii 51, brake member 52, rotating member seat 61, motor iv 62, rotating member 63, groove 64, brake ring 65, frame 71, screw 72, stay 73, barrel 81, and connecting flange 82.
Detailed Description
Referring to fig. 2, the special mechanical arm comprises a motor I11 with an output shaft arranged downwards, wherein the output shaft of the motor I11 is fixedly connected with the rear end of an arm body I12, the lower end of the front part of the arm body I12 is fixedly connected with a motor II 13, the output shaft of the motor II 13 passes through the arm body I12 from bottom to top, the output shaft of the motor II 13 is fixedly connected with the rear end of an arm body II 14, the arm body II 14 is positioned on the upper side of the arm body I12, the lower end of the front part of the arm body II 14 is fixedly connected with a motor III 15, the output shaft of the motor III 15 passes through the arm body II 14 from bottom to top, the motor I11 is started to drive the arm body I12 to rotate around the output shaft of the motor I11, and the motor II 13 is started to drive the arm body II 14 to rotate around the output shaft of the motor II 13 so as to adjust the included angle between the arm body I12 and the arm body II 14, so that the arm body I12 and the arm body II 14 can form a V shape or be completely unfolded to be collinear;
further, in connection with fig. 1, 3 to 5, two execution hands with mirror symmetry are further included, and for convenience of description, the execution hand located at the rear side is exemplified, including: the telescopic device comprises a base I21, wherein a telescopic cylinder I22 is fixedly connected to the upper end of the base I21, the movable end of the telescopic cylinder I22 is arranged forwards, a base II 23 is fixedly connected to the movable end of the telescopic cylinder I22, two stepped rods 41 extending forwards and backwards are connected to the base II 23 in a sliding manner, the diameters of the front parts of the stepped rods 41 are larger than those of the rear parts of the stepped rods to form shoulders, a limiting part 42 is fixedly connected to the rear ends of the stepped rods 41, the front ends of the two stepped rods 41 are fixedly connected with the same base III 43, a compression spring is sleeved on the smaller-diameter section of the stepped rods 41, two ends of the compression spring are respectively abutted against the base II 23 and the shoulders of the stepped rods 41, a rotary member seat 61 is fixedly connected to the left side and the right side of the front end of the base III 43, a motor IV 62 is arranged leftwards, the same rotary member 63 is rotatably connected to the two rotary member seats 61, a shaft is fixedly connected to the left end of the rotary member 63, and the output shaft of the motor IV 62 is synchronously driven by a belt assembly; the output shaft of the motor I11 is arranged downwards, one of the bases I21 is fixedly connected to the upper end of the motor I11, the output shaft of the motor III 15 is arranged upwards, and the other base I21 is fixedly connected to the output shaft of the motor III 15;
when the arm body I12 and the arm body II 14 are in a V shape, and the axes of the two rotating members 63 are parallel, the two rotating members 63 are used for guiding objects, such as centralizing when the oil well is put into a pipeline, or guiding the release of a cable and a rope;
preferably, the rotary member 63 is provided with an annular groove 64, and the opening section of the groove 64 is V-shaped or isosceles trapezoid; when the opening section of the groove 64 is isosceles trapezoid, the position close to the rotating member 63 is the upper bottom of the short side, so that the number of line contacts is increased when an object is guided, the centering is more accurate and stable, and the limiting on the cable and the rope in throwing is more firm.
Further, the lower extreme of base I21 can be dismantled and be connected with frame 71, and the lower extreme of the arm body I12 and the arm body II 14 can be dismantled and be connected with pillar 73 to can prop up and establish at the side of the well, the bottom of preferred frame 71 and pillar 73 all is equipped with the preformed hole, supplies the installation of rag bolt or other fastener.
Further, the executing hand further comprises a telescopic cylinder ii 51 fixedly connected to the base iii 43, a brake member 52 is fixedly connected to the movable end of the telescopic cylinder ii 51, a brake ring 65 concentrically arranged is fixedly connected to the end surface of the rotary member 63, the diameter of the brake ring 65 is smaller than that of the rotary member 63, the distance between the brake member 52 and the brake ring 65 is adjusted by starting the telescopic cylinder ii 51, and when the distance is reduced, the brake member 52 can be in contact with the brake ring 65 to stop the rotation of the rotary member 63 for clamping or guiding stopping; the brake member 52 can disengage from the brake ring 65 when the spacing is increased.
Preferably, the base ii 23 is fixedly connected with a linear driving mechanism 31, the linear driving mechanism 31 is an air cylinder, a hydraulic cylinder or an electric cylinder, preferably a hydraulic cylinder, the movable end of the linear driving mechanism 31 passes through the base ii 23 towards the direction close to the brake ring 65, the movable end of the linear driving mechanism 31 is fixedly connected with a pushing piece 32, the pushing piece 32 can be abutted against the shoulder of the step rod 41 through the expansion and contraction of the linear driving mechanism 31, so that the compression spring cannot be contracted, the brake ring 65 cannot be adaptively contracted, and is suitable for clamping operation, or the pushing piece 32 is separated from the shoulder of the step rod 41, so that the compression spring can be contracted after being pressed, and is suitable for guiding operation of the brake ring 65.
Further, referring to fig. 1, when arm i 12 and arm ii 14 are V-shaped, actuating telescopic cylinder i 22 changes the position of base ii 23 in the telescopic direction of telescopic cylinder i 22, thereby adjusting the spacing between two rotary members 63.
On the other hand, when the arm body i 12 and the arm body ii 14 are completely unfolded and collinear, the axes of the two rotating members 63 are coincident at this time, the two rotating members 63 are inside, at this time, the rotating member seats 61 inside the two rotating members 63 are removed, the brake ring 65 is removed, the outer ends of the two rotating members 63 are fixedly connected with a connecting flange 82 respectively, the diameter of the connecting flange 82 is larger than that of the rotating member 63, a cylinder 81 is fixedly connected between the two connecting flanges 82, a velcro-sticking burr surface or a velcro-sticking burr surface parallel to the axis of the cylinder 81 is fixedly connected with the surface of the cylinder 81, a cleaning cloth is wound on the cylinder 81, and the velcro is fixedly connected with the cleaning cloth, so that the velcro on the cleaning cloth or the velcro on the cylinder 81 is fixed, and two executing hands are deformed into a large-sized cylinder to perform general cleaning, such as cleaning of a sound insulation plate or a photovoltaic plate on a bridge; on the other hand, in fig. 1, the rear base i 21 may also be mounted on a mobile chassis, such as a crawler-type or wheel-type mobile chassis, for easy travel.
Preferably, the frame 71 is a bridge structure with a downward opening to form two vertical straight plate structures, the screw rod 72 is connected to the straight plate structures in a threaded manner, one end of the screw rod 72 is located between the two straight plate structures, a pretension piece for increasing the contact area with the straight plate structures is fixedly connected to one end of the screw rod 72 located between the two straight plate structures, so that the frame 71 is inserted on a guardrail of a lifting device, and the pretension piece is clamped on the guardrail to realize fixation of the lifting device.
Claims (8)
1. The special mechanical arm is characterized by comprising a motor I (11), wherein one end of an arm body I (12) is fixedly connected to an output shaft of the motor I (11), a motor II (13) is fixedly connected to the other end of the arm body I (12), one end of an arm body II (14) is fixedly connected to an output shaft of the motor II (13), a motor III (15) is fixedly connected to the other end of the arm body II (14), and execution hands are fixedly connected to output shafts of the motor I (11) and the motor III (15); the arm body I (12) and the arm body II (14) can be V-shaped or collinear;
the execution hand includes: the device comprises a base I (21), a telescopic cylinder I (22) is fixedly connected to the upper end of the base I (21), a base II (23) is fixedly connected to the movable end of the telescopic cylinder I (22), two step rods (41) are connected to the base II (23) in a sliding mode, a limiting part (42) is fixedly connected to one end, close to the base II (23), of each step rod (41), a base III (43) is fixedly connected to one end, far away from the base II (23), of each step rod (41), a pressure spring is sleeved on each step rod (41), two ends of the pressure spring respectively abut against the base II (23) and the shoulder of each step rod (41), two rotary member seats (61) are fixedly connected to the base III (43), a motor IV (62) is fixedly connected to the two rotary member seats (61) in a rotating mode, and synchronous transmission of the rotary members (63) and an output shaft of the motor IV (62) is achieved through a belt pulley assembly;
the output shaft of the motor I (11) is arranged downwards, one of the bases I (21) is fixedly connected to the upper end of the motor I (11), the output shaft of the motor III (15) is arranged upwards, and the other base I (21) is fixedly connected to the output shaft of the motor III (15);
the special mechanical arm also comprises a cylinder (81), wherein two ends of the cylinder (81) are detachably connected with a connecting flange (82), the connecting flange (82) can be detachably connected with the end edge of the rotary member (63), and the diameter of the connecting flange (82) is larger than that of the rotary member (63);
when the arm body I (12) and the arm body II (14) are in a V shape, and the axes of the two rotary members (63) are parallel, the two rotary members (63) are used for guiding objects;
when the arm body I (12) and the arm body II (14) are completely unfolded and collinear, the axes of the two rotary members (63) are overlapped, and the cleaning object is carried out by the cylinder (81).
2. The special mechanical arm according to claim 1, wherein the executing hand further comprises a telescopic cylinder II (51) fixedly connected to the base III (43), a braking member (52) is fixedly connected to the movable end of the telescopic cylinder II (51), a concentrically arranged braking ring (65) is fixedly connected to the end face of the rotating member (63), the diameter of the braking ring (65) is smaller than that of the rotating member (63), and the braking member (52) can be contacted with or separated from the braking ring (65).
3. The special mechanical arm according to claim 1, characterized in that the rotating member (63) is provided with an annular groove (64).
4. A special mechanical arm according to claim 3, characterized in that the opening section of the groove (64) is V-shaped or isosceles trapezoid; when the opening section of the groove (64) is isosceles trapezoid, the part close to the rotating member (63) is the upper bottom of the short side.
5. The special mechanical arm according to claim 1, wherein the lower end of the base I (21) is detachably connected with a frame (71), and the lower ends of the arm body I (12) and the arm body II (14) are detachably connected with a support post (73).
6. The special mechanical arm according to claim 5, wherein the frame (71) is a bridge structure with a downward opening to form two vertical straight plate structures, a screw (72) is connected to the straight plate structures in a threaded manner, and one end of the screw (72) is located between the two straight plate structures.
7. The special manipulator arm as claimed in claim 6, wherein a pretensioning element is fixedly connected to the end of the threaded rod (72) located between the two straight plate structures, which pretensioning element increases the contact area with the straight plate structures.
8. The special mechanical arm according to claim 1, characterized in that a velcro nap or a velcro nap is fixedly connected to the surface of the cylinder (81).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311714319.6A CN117400234B (en) | 2023-12-14 | 2023-12-14 | Special mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311714319.6A CN117400234B (en) | 2023-12-14 | 2023-12-14 | Special mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117400234A CN117400234A (en) | 2024-01-16 |
| CN117400234B true CN117400234B (en) | 2024-02-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311714319.6A Active CN117400234B (en) | 2023-12-14 | 2023-12-14 | Special mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117400234B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN117400234A (en) | 2024-01-16 |
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