CN204381781U - Connector disassembles robot - Google Patents
Connector disassembles robot Download PDFInfo
- Publication number
- CN204381781U CN204381781U CN201420712428.4U CN201420712428U CN204381781U CN 204381781 U CN204381781 U CN 204381781U CN 201420712428 U CN201420712428 U CN 201420712428U CN 204381781 U CN204381781 U CN 204381781U
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- China
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- arm
- supporting leg
- telescopic
- telescopic boom
- pin
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Abstract
The utility model discloses a kind of connector and disassemble robot, it comprises walking chassis, elevating mechanism, Telescopic boom mechanism, rushes body, and elevating mechanism is connected with Telescopic boom mechanism, chassis of walking up and down respectively, rushes body and is arranged on Telescopic boom mechanism; Chassis is fixed with symmetrical four support leg mechanisms in walking; Elevating mechanism comprises large arm outer arm, large arm inner arm, big arm cylinder; Telescopic boom mechanism comprises telescopic arm outer arm, telescopic arm Inner arm, telescopic boom cylinder; Contracting arm outer arm is connected with large arm inner arm, and telescopic arm Inner arm is arranged on the inside of telescopic arm outer arm and can moves left and right, and the cylinder end of telescopic boom cylinder is hinged on telescopic arm outer arm, and rod end is hinged on telescopic arm inner arm; Rush body to be connected on the outer end of telescopic arm inner arm.The utility model connector is disassembled robot and by the relative position of elevating mechanism, rotating mechanism and Telescopic boom mechanism flexible modulation connector and robot actuating mechanism, can be disassembled, improve operating efficiency to connector.
Description
Technical field
The utility model belongs to robotics, especially relates to the robot for disassembling connector.
Background technology
In various equipment, need the position of rotating or dismantling to apply various connector widely, as pin shaft parts, bolt class part etc.Equipment is at the beginning comparatively under news, and pin shaft parts, bolt class part can be disassembled easily, but along with the passing of service time, there will be following several situation: likely produce relative movement between the parts that 1, connector is connected; 2, the dust in work can enter into the gap between connecting hole and connector; 3, the steam in environment can make connector connected parts generation corrosion; 4, connector itself may produce distortion; This several situation all can make connector not easily dismantle, thus hinders the replacing of connector or the replacing of its attaching parts.
Connector disassembling method traditional at present swings sledgehammer impact connector by workman to destroy it, and so not only the labour intensity of workman is large, and inefficiency, also likely security incident occurs.A kind of method is also had to be use hole punched device, although hole punched device can alleviate the labour intensity of workman to a certain extent, it is generally suspended on arm or single track and uses, and this equipment body is separated with Hydraulic Station, can not movement flexibly, manipulate and use very inconvenient.
Utility model content
Problem to be solved in the utility model is to provide a kind of connector and disassembles robot, and it can disassemble the connector in various equipment easily, reduces the labour intensity of workman, improves Labor Safety, and increase work efficiency.The utility model is also applicable to other not easily to the occasion that connector is disassembled.
The utility model connector disassembles robot, and it comprises walking chassis, elevating mechanism, Telescopic boom mechanism, rushes body, and elevating mechanism is connected with Telescopic boom mechanism, chassis of walking up and down respectively, rushes body and is arranged on Telescopic boom mechanism; Described walking chassis being fixed with symmetrical four support leg mechanisms, during for working, propping body or fixing body; Elevating mechanism comprises large arm outer arm, large arm inner arm, big arm cylinder; Large arm outer arm is fixed on walking chassis upper, large arm inner arm be arranged on large arm outer arm inside and can move up and down, big arm cylinder is arranged on the inside of large arm, its cylinder end and large arm outer arm hinged, rod end and large arm inner arm hinged; Telescopic boom mechanism comprises telescopic arm outer arm, telescopic arm Inner arm, telescopic boom cylinder; Contracting arm outer arm is connected with large arm inner arm, and telescopic arm Inner arm is arranged on the inside of telescopic arm outer arm and can moves left and right, and the cylinder end of telescopic boom cylinder is hinged on telescopic arm outer arm, and rod end is hinged on telescopic arm inner arm; Rush body to be connected on the outer end of telescopic arm inner arm.
A kind of connector of the utility model disassembles robot, compared with removing equipment with traditional connector, Remote can be realized by walking chassis and operate its walking, simultaneously by the relative position of elevating mechanism, rotating mechanism and Telescopic boom mechanism flexible modulation connector and robot actuating mechanism, by rushing body, connector is disassembled again, thus reduce labor strength, ensure that Labor Safety, improve operating efficiency.
Accompanying drawing explanation
Fig. 1 is the front view that the utility model connector disassembles robot;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the sectional view of rotational structure and elevating mechanism in the utility model robot;
Schematic diagram when Fig. 4 is the contraction of the utility model support leg mechanism;
Fig. 5 is the left view of Fig. 4;
Fig. 6 is the schematic diagram of the utility model support leg mechanism when stretching out;
Fig. 7 is the outline drawing that the utility model rushes body.
Fig. 8 is the sectional view along A-A line in Fig. 7.
Detailed description of the invention
From Fig. 1, Fig. 2, Fig. 3, the utility model disassembling bolts is with robot device, it comprises walking chassis 1, elevating mechanism, Telescopic boom mechanism, rushes body 11, and elevating mechanism is connected with Telescopic boom mechanism, chassis 1 of walking up and down respectively, rushes body 11 and is arranged on Telescopic boom mechanism; Described walking chassis 1 being fixed with symmetrical four support leg mechanisms, during for working, propping body or fixing body.
Wherein, elevating mechanism comprises large arm outer arm 2, large arm inner arm 3, big arm cylinder 4; Large arm outer arm 2 be fixed on walking top, chassis 1, large arm inner arm 3 be arranged on large arm outer arm 2 inside and can move up and down, big arm cylinder 4 is arranged on the inside of large arm, its cylinder end and large arm outer arm 2 hinged, rod end and large arm inner arm 3 hinged; Telescopic boom mechanism comprises telescopic arm outer arm 8, telescopic arm Inner arm 9, telescopic boom cylinder 10; Contracting arm outer arm 8 is connected with large arm inner arm 3, and telescopic arm Inner arm 9 is arranged on the inside of telescopic arm outer arm 8 and can moves left and right, and the cylinder end of telescopic boom cylinder 10 is hinged on telescopic arm outer arm 8, and rod end is hinged on telescopic arm inner arm 9; Rush body 11 to be connected on the outer end of telescopic arm inner arm 9.
As a kind of improved procedure of the present utility model, the utility model robot also comprises the rotating mechanism be arranged between elevating mechanism and Telescopic boom mechanism, and rotating mechanism comprises pivot bottom part 5, rotates upper-part 6, bearing 12; Pivot bottom part 5 is arranged on large arm inner arm 3 upper end by bolt, rotate upper-part 6 and be arranged on telescopic arm outer arm 8 lower end by bolt, the axle head of its underpart stretches into the endoporus of pivot bottom part 5 and both radial directions exist gap, and the internal-and external diameter of bearing 12 matches with the rotation axle of upper-part 6 bottom, the stepped hole of pivot bottom part 5 upper end respectively; Described bearing 12 is plain thrust bearing.The utility model can realize 360 ° of rotations of Telescopic boom mechanism by rotating mechanism, thus dismounting is in the connector of diverse location more easily, further increases operating efficiency.
In order to ensure rotating mechanism non rotating when dismantling connector, as preferred embodiment of the present utility model, the rotating mechanism of the utility model robot also includes bearing pin 13, and bearing pin 13 is locked by split pin from pivot bottom part 5 and rotating the corresponding hole of upper-part 6 through rear.
The balance of robot entirety during in order to ensure work, Telescopic boom mechanism also comprises balancing weight 7, and balancing weight 7 is arranged on the one end away from telescopic arm Inner arm 9 on telescopic arm outer arm 8.The weight of balancing weight 7 will meet the stability of robot entirety when telescopic arm inner arm 9 reaches farthest.
Elevating mechanism in the utility model robot, Telescopic boom mechanism and rotating mechanism make telescopic arm can realize moving up and down, 360 ° rotate and flexible in certain direction concrete, thus make the working space of robot very large, the connector of far and near each position of height can be dismantled, it can in the work changing connector, reduce the labour intensity of workman, improve Labor Safety, and increase work efficiency.
As a kind of improved procedure of the present utility model, the support leg mechanism in the utility model comprises supporting leg seat 16, supporting leg pin 1, supporting leg 14, connecting rod 15, supporting leg pin 2 17, supporting leg pin 3 18; Supporting leg seat 16 is fixed on walking chassis 1, and top, the middle part of supporting leg 14 are connected on supporting leg seat 16 respectively by supporting leg pin 1, supporting leg pin 2 17, and supporting leg pin 3 18 is equipped with in below; Connecting rod 15 is connected on supporting leg seat 16; Through hole is arranged at the bottom of supporting leg 14, can be fixed by the rivet of supporting leg 14 with ground under special circumstances, make whole machine man-hour more stable.When supporting leg 14 shrinks, the upper and lower side of connecting rod 15 is connected with supporting leg seat 16 respectively by supporting leg pin 1, supporting leg pin 2 17; When supporting leg 14 stretches out, one end of connecting rod 15 is connected to the below of supporting leg seat 16 by supporting leg pin 2 17, the other end is connected to the middle part of supporting leg 14 by supporting leg pin 3 18.
When not needing to use supporting leg, supporting leg 14 is in contraction state, as shown in Figure 4, Figure 5, when needs use support leg mechanism, supporting leg pin 1, supporting leg pin 2 17 are opened, the upper end of connecting rod 15 is taken out from supporting leg pin 1, and the middle part of supporting leg 14 is taken out from supporting leg pin 2 17, finally by supporting leg pin 3 18, supporting leg 14 is connected with connecting rod 15, as shown in Figure 6.
From Fig. 7, Fig. 8 is known, rush body 11 and comprise external shell, be arranged on the hydraulic impactor in external shell, wherein, external shell comprises housing 39, upper, middle and lower handle 20, 21, 22 and suspension ring 28, hydraulic impactor comprises cylinder body 26, piston 25, reversal valve 30, accumulator 27, drill steel seat 24, drill steel cover 23, drill steel 40, bonnet 31, it also comprises the rubber air spring be arranged between hydraulic impactor afterbody and housing 39, rubber air spring comprises lower end-plate 37, link flange 35, air bag 36, upper-end closing plate 34, charge valve 32 and screw 33, rush body 11 to be connected on the outer end of telescopic arm inner arm 9 by suspension ring 28.
Wherein, hydraulic impactor is preferably pure fluid pressure type impactor.There is axle thrust in the hydraulic impactor of liquid gas association type and nitrogen explosion type operation principle, during work, need apply larger axial thrust, the axle thrust applied piston with the nitrogen pressure overcome in the nitrogen chamber of rear portion in the axis of drill steel; And the operation principle of pure hydraulic impactor adopts pure fluid pressure type operation principle, during work, manually just can promote the end that impactor withstands on bolt and carry out impact operation, and not need the strength by other machinery.
Rubber air spring concrete structure as follows: lower end-plate 37 contacts with bonnet 31, upper-end closing plate 34 contacts with the inner face on housing 39 top, and be connected with housing 39 by screw, upper and lower adpting flange 35 is connected by screw 33 with upper and lower side shrouding 34,37 respectively, and the top and bottom of air bag 36 are pressed on respectively on the lower surface of upper-end closing plate 34 and the upper surface of lower end-plate 37, charge valve 32 is arranged in the screwed hole on upper-end closing plate 34, and its gas outlet is positioned at air bag 36.Be filled with air in rubber air spring, both played the effect of vibration isolation, absorb again the kick that hydraulic impactor produces at work.
As a kind of improved procedure of the present utility model, the punching of the utility model fluid pressure type bolt also comprises the vibration absorber be arranged between housing 39 and hydraulic impactor, and vibration absorber comprises a lower cushion blocking 41, sleeve pipe 29, three side cushion blockings 38; Lower cushion blocking 41 is " recessed " shape, interior outer face contacts with the lower surface of drill steel seat 24, the inner face of housing 39 bottom respectively, interior lateral surface contacts with the outer surface of drill steel seat 24, the inner surface of housing 39 respectively, three side cushion blockings 38 are separately positioned on the rear portion, left and right of the cavity formed between cylinder body 26 and housing 39, and all contact with both, sleeve pipe 29 is bolted on shell 39, and contacts with before cylinder body 26.Wherein, the material of lower cushion blocking 41, sleeve pipe 29 and side cushion blocking 38 is preferably polyurethane rubber, and anti-vibration performance is good.The effect of isolation mounting separates hydraulic impactor to contact with the direct of shell 39, avoid the rigid contact of hydraulic impactor and case weld part, make workman when gripping the upper, middle and lower handle 20,21,22 on shell and working, not by the impact of hydraulic impactor vibration.
The advantage of rushing body structure in the utility model is: one, by being provided with rubber air spring and isolation mounting between hydraulic impactor and case weld part, six orientation is carried out hydraulic impactor spacing before and after up and down, is fixed in housing; Two, rubber air spring had both played the effect of vibration isolation, absorbed again the kick that hydraulic impactor produces at work; Three, the effect of isolation mounting separates hydraulic impactor to contact with the direct of shell, avoids the rigid contact of hydraulic impactor and case weld part, makes workman when gripping the upper, middle and lower on shell and doing by hand, by the impact of hydraulic impactor vibration.
During specific works, operating personnel's remote pilot robot ride is to appropriate location, regulate elevating mechanism, rotating mechanism and Telescopic boom mechanism, make to rush body 11 by suspension ring 28 to sling suitable position, three operators gripping handle 20,21,22 respectively, drill steel 40 top rushed to by bolt is pressed in the bolt end face that need dismantle, start hydraulic impactor, piston 25 moves back and forth and hits drill steel 40, drill steel 40 impacts bolt makes bolt be removed, dismantle after first bolt, the step repeated above carries out the dismounting of next root bolt.
The advantage of the utility model robot is: one, robot ambulation distance is far away, scope of activities large, can carry out, particularly disassemble part special formula just to large-scale round the connector needing to disassemble and workpiece; Two, the telescopic extensions of cantilever stretching structure is large, and elevating mechanism, rotating mechanism in addition, makes working range of the present utility model wide; Three, elevating mechanism and telescoping mechanism all use oil cylinder, safety and stable; Four, rush body and absorb kick in unloading process, workman when gripping that the upper, middle and lower on shell is manual to be done, by the impact of hydraulic impactor vibration.Namely robot of the present utility model can realize Remote by walking chassis and operate its walking, simultaneously by the relative position of elevating mechanism, rotating mechanism and telescoping mechanism flexible modulation connector and robot executing agency, by rushing body, connector is disassembled again, thus reduce labor strength, ensure that Labor Safety, improve operating efficiency.
The utility model can be disassembled efficiently to connector, instead of traditional manually to swing sledgehammer method for dismounting, reduces labour intensity, improves operating efficiency and security; Robot of the present utility model adopts motor as power source simultaneously, environmental protection, and working arm can be elevated, flexible and rotation, easy to operate, is specially adapted to disassembling of various connector, greatly reduces job costs.The utility model is also applicable to other by the artificial occasion not easily disassembled connector.
The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model, all do within principle of the present utility model any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. connector disassembles robot, it is characterized in that: it comprises walking chassis (1), elevating mechanism, Telescopic boom mechanism, rushes body (11), elevating mechanism is connected with Telescopic boom mechanism, chassis (1) of walking up and down respectively, rushes body (11) and is arranged on Telescopic boom mechanism; Described walking chassis (1) being fixed with four symmetrical support leg mechanisms all around, during for working, propping body or fixing body; Elevating mechanism comprises large arm outer arm (2), large arm inner arm (3), big arm cylinder (4); Large arm outer arm (2) is fixed on walking chassis (1) top, large arm inner arm (3) is arranged on the inside of large arm outer arm (2) and can moves up and down, big arm cylinder (4) is arranged on the inside of large arm, its cylinder end and large arm outer arm (2) hinged, rod end and large arm inner arm (3) hinged; Telescopic boom mechanism comprises telescopic arm outer arm (8), telescopic arm Inner arm (9), telescopic boom cylinder (10); Contracting arm outer arm (8) is connected with large arm inner arm (3), telescopic arm Inner arm (9) is arranged on the inside of telescopic arm outer arm (8) and can moves left and right, the cylinder end of telescopic boom cylinder (10) is hinged on telescopic arm outer arm (8), and rod end is hinged on telescopic arm inner arm (9); Rush body (11) to be connected on the outer end of telescopic arm inner arm (9).
2. robot according to claim 1, is characterized in that: robot also comprises the rotating mechanism be arranged between elevating mechanism and Telescopic boom mechanism, and rotating mechanism comprises pivot bottom part (5), rotates upper-part (6), bearing (12); Pivot bottom part (5) is arranged on large arm inner arm (3) upper end by bolt, rotate upper-part (6) and be arranged on telescopic arm outer arm (8) lower end by bolt, the axle head of its underpart stretches into the endoporus of pivot bottom part (5) and both radial directions exist gap, and the internal-and external diameter of bearing (12) matches with the rotation axle of upper-part (6) bottom, the stepped hole of pivot bottom part (5) upper end respectively; Described bearing (12) is plain thrust bearing.
3. robot according to claim 2, is characterized in that: described rotating mechanism also includes bearing pin (13), and bearing pin (13) is locked by split pin from pivot bottom part (5) and rotating upper-part (6) corresponding hole through rear.
4. robot according to claim 1, is characterized in that: described Telescopic boom mechanism also comprises balancing weight (7), and balancing weight (7) is arranged on the one end away from telescopic arm Inner arm (9) on telescopic arm outer arm (8).
5. robot according to claim 1, is characterized in that: described support leg mechanism comprises supporting leg seat (16), supporting leg pin one (19), supporting leg (14), connecting rod (15), supporting leg pin two (17), supporting leg pin three (18); Supporting leg seat (16) is fixed in walking chassis (1), and top, the middle part of supporting leg (14) are connected on supporting leg seat (16) respectively by supporting leg pin one (19), supporting leg pin two (17), and supporting leg pin three (18) is equipped with in below; Connecting rod (15) is connected on supporting leg seat (16); Through hole is arranged at the bottom of supporting leg (14), can be fixed by rivet and ground.
6. robot according to claim 5, is characterized in that: when supporting leg (14) shrinks, and the upper and lower side of connecting rod (15) is connected with supporting leg seat (16) respectively by supporting leg pin one (19), supporting leg pin two (17); When supporting leg (14) stretches out, one end of connecting rod (15) is connected to the below of supporting leg seat (16) by supporting leg pin two (17), the other end is connected to the middle part of supporting leg (14) by supporting leg pin three (18).
7. robot according to claim 1, it is characterized in that: the described body (11) that rushes comprises external shell, be arranged on the hydraulic impactor in external shell, wherein, external shell comprises housing (39), upper, middle and lower handle (20, 21, 22) and suspension ring (28), hydraulic impactor comprises cylinder body (26), piston (25), reversal valve (30), accumulator (27), drill steel seat (24), drill steel cover (23), drill steel (40), bonnet (31), it is characterized in that: further comprising the rubber air spring be arranged between hydraulic impactor afterbody and housing (39), rubber air spring comprises lower end-plate (37), link flange (35), air bag (36), upper-end closing plate (34), charge valve (32) and screw (33), rush body (11) to be connected on the outer end of telescopic arm inner arm (9) by suspension ring (28).
8. robot according to claim 7, it is characterized in that: the lower end-plate (37) of rubber air spring contacts with bonnet (31), upper-end closing plate (34) contacts with the inner face on housing (39) top, and be connected with housing (39) by screw, upper and lower adpting flange (35) respectively with upper and lower side shrouding (34, 37) connected by screw (33), and the top and bottom of air bag (36) are pressed on respectively on the lower surface of upper-end closing plate (34) and the upper surface of lower end-plate (37), charge valve (32) is arranged in the screwed hole on upper-end closing plate (34), its gas outlet is positioned at air bag (36).
9. the robot according to claim 7 or 8, it is characterized in that: the punching of fluid pressure type bolt also comprises the vibration absorber be arranged between housing (39) and hydraulic impactor, and vibration absorber comprises a lower cushion blocking (41), sleeve pipe (29), three side cushion blockings (38); Lower cushion blocking (41) is " recessed " shape, interior outer face contacts with the lower surface of drill steel seat (24), the inner face of housing (39) bottom respectively, interior lateral surface contacts with the outer surface of drill steel seat (24), the inner surface of housing (39) respectively, three side cushion blockings (38) are separately positioned on the rear portion, left and right of the cavity formed between cylinder body (26) and housing (39), and all contact with both, sleeve pipe (29) is bolted on shell (39), and contacts with before cylinder body (26).
10. robot according to claim 9, is characterized in that: hydraulic impactor is preferably pure fluid pressure type impactor; The material of lower cushion blocking (41), sleeve pipe (29) and side cushion blocking (38) is polyurethane rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420712428.4U CN204381781U (en) | 2014-11-25 | 2014-11-25 | Connector disassembles robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420712428.4U CN204381781U (en) | 2014-11-25 | 2014-11-25 | Connector disassembles robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204381781U true CN204381781U (en) | 2015-06-10 |
Family
ID=53354536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420712428.4U Expired - Fee Related CN204381781U (en) | 2014-11-25 | 2014-11-25 | Connector disassembles robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204381781U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104985421A (en) * | 2014-11-25 | 2015-10-21 | 惊天智能装备股份有限公司 | Robot for dismantling connecting pieces |
| CN107014418A (en) * | 2017-03-27 | 2017-08-04 | 贵州大学 | A kind of machinery instrument mounting bracket |
| CN107971733A (en) * | 2017-12-27 | 2018-05-01 | 淮南矿业(集团)有限责任公司 | Hydraulic support detaching device for pin shaft |
| CN110271857A (en) * | 2019-05-31 | 2019-09-24 | 温州大学 | Intelligent robot handling system |
-
2014
- 2014-11-25 CN CN201420712428.4U patent/CN204381781U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104985421A (en) * | 2014-11-25 | 2015-10-21 | 惊天智能装备股份有限公司 | Robot for dismantling connecting pieces |
| CN107014418A (en) * | 2017-03-27 | 2017-08-04 | 贵州大学 | A kind of machinery instrument mounting bracket |
| CN107971733A (en) * | 2017-12-27 | 2018-05-01 | 淮南矿业(集团)有限责任公司 | Hydraulic support detaching device for pin shaft |
| CN107971733B (en) * | 2017-12-27 | 2024-03-12 | 淮南矿业(集团)有限责任公司 | Hydraulic support pin shaft dismounting device |
| CN110271857A (en) * | 2019-05-31 | 2019-09-24 | 温州大学 | Intelligent robot handling system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150610 Termination date: 20191125 |