CN210264693U - Explosion-proof mechanical arm - Google Patents
Explosion-proof mechanical arm Download PDFInfo
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- CN210264693U CN210264693U CN201921000045.3U CN201921000045U CN210264693U CN 210264693 U CN210264693 U CN 210264693U CN 201921000045 U CN201921000045 U CN 201921000045U CN 210264693 U CN210264693 U CN 210264693U
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Abstract
The utility model discloses an explosion-proof robotic arm, include: the mounting arm, the connecting assembly, the first driving assembly, the second driving assembly and the gripper assembly are arranged on the mounting arm; the coupling assembling includes: a quadrilateral connecting frame and a connecting rod; the first drive assembly includes: the first motor is arranged in a shell at one end of the mounting arm; the second drive assembly includes: the second motor is arranged in a shell at one end of the mounting arm. According to the explosion-proof mechanical arm, the two motors are arranged in the shell of the mounting arm, so that the mounting arm is utilized to protect the two motors, explosion prevention is realized, and the safety is improved; the shell of the motor does not need to be additionally arranged, and the problem that the volume and the weight of each motor are greatly increased after direct explosion prevention and cannot be installed is solved.
Description
Technical Field
The utility model relates to a coal mining technology field especially relates to an explosion-proof robotic arm.
Background
Due to the special environment of coal mining, explosion prevention is required in the coal mining process from the safety point of view. The mechanical arm for coal mining in the prior art needs to be additionally provided with a protective shell to protect structures such as a motor and the like for explosion prevention, so that the overall structure of the mechanical arm for coal mining is large, the load is large, and underground operation is not facilitated.
SUMMERY OF THE UTILITY MODEL
An embodiment of the utility model provides an explosion-proof robotic arm to it is great to solve current explosion-proof robotic arm overall structure, and the more problem of load.
The embodiment of the utility model provides an explosion-proof robotic arm, include: the mounting arm, the connecting assembly, the first driving assembly, the second driving assembly and the gripper assembly are arranged on the mounting arm; wherein, the coupling assembling includes: the two side walls of the quadrilateral connecting frame are in shaft connection with one end of the mounting arm, and the paw component is mounted on the connecting rod; the first drive assembly includes: the first motor is arranged in a shell at one end of the mounting arm, the first synchronous belt wheel is sleeved on an output end of the first motor, the first synchronous belt wheel is connected with the second synchronous belt wheel through the first synchronous belt, the second synchronous belt wheel is sleeved on one end of the first rotating shaft, the first rotating shaft penetrates through one side wall of the quadrilateral connecting frame, the first bevel gear is sleeved on the other end of the first rotating shaft, the first bevel gear is meshed with the second bevel gear, the first bevel gear and the second bevel gear are positioned on the inner side of the quadrilateral connecting frame, and the first speed reducer is arranged on the surface of the quadrilateral connecting frame, which is opposite to the connecting rod, the input end of the first speed reducer penetrates through the surface, opposite to the connecting rod, of the quadrilateral connecting frame, the second bevel gear is sleeved on the input end of the first speed reducer, and the output end of the first speed reducer is connected with the center of the connecting rod; the second drive assembly includes: the second motor is arranged in the shell of one end of the installation arm, the output end of the second motor is sleeved with the third synchronous belt wheel, the third synchronous belt wheel is connected with the fourth synchronous belt wheel through the second synchronous belt, the fourth synchronous belt wheel is sleeved on the input end of the second speed reducer, and the second speed reducer is arranged on the outer surface of the other side wall of the quadrilateral connecting frame.
Further, the gripper assembly comprises: the oil cylinder, the transmission rack, the two gears, the two second rotating shafts and the two claw parts; the piston rod end of the oil cylinder is connected with one end of the transmission rack, two opposite side faces of the transmission rack are respectively provided with a tooth part, the two gears are symmetrically arranged on two sides of the transmission rack, each gear is meshed with the tooth part on one corresponding side of the transmission rack, each second rotating shaft penetrates through each gear, two ends of each second rotating shaft are connected with two side walls of one end of each claw part, and the two claw parts are arranged oppositely.
Further, the gripper assembly further comprises: two rubber plates, each of which is provided on a surface of each of the claw portions opposite to the other claw portion.
Further, the gripper assembly further comprises: the end faces of two ends of the second rotating shaft are fixed on two opposite inner side walls of the hollow shell, and the transmission rack and the gear are located in the hollow shell.
Further, explosion-proof robotic arm still includes: and one side surface of the mounting bracket is connected with one end of the connecting rod, and the other side surface of the mounting bracket is connected with an outer side wall of the hollow shell.
Further, explosion-proof robotic arm still includes: the outer side wall of the hollow connecting support is connected with the opposite other side face of the side face, connected with the connecting rod, of the mounting support, and one end, close to the oil cylinder, of the outer side wall of the hollow shell is connected with the inner side wall of the hollow connecting support.
Further: the other end of the mounting arm is threaded.
Further: the other end of the mounting arm is provided with a locking nut.
Further: two opposite side walls of the other end of the mounting arm are respectively provided with a first through hole for inserting a bolt, and the two first through holes are corresponding in position.
Further: and a mounting disc is arranged on the end face of the other end of the mounting arm, and a second through hole for inserting a bolt is formed in the mounting disc.
The anti-explosion mechanical arm provided by the embodiment of the utility model has the advantages that the two motors are arranged in the shell of the mounting arm, so that the mounting arm is utilized to protect the two motors, and the anti-explosion mechanical arm can be anti-explosion, and the safety is improved; in addition, an additional shell of the motor is not needed, the unsolved problem that the volume and the weight of each motor are greatly increased after direct explosion prevention and the motor cannot be installed is solved, the overall structure is simplified, the load is reduced, the space is saved, and the underground use is facilitated; moreover, the position of the manipulator can be adjusted in two dimensions, so that the control is more flexible and the precision is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of an explosion-proof robot arm according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an explosion-proof mechanical arm according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an external shape of a gripper assembly of an explosion-proof robot arm according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a transmission structure of a gripper assembly of an explosion-proof robot arm according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The embodiment of the utility model discloses explosion-proof robotic arm. The explosion-proof mechanical arm can be arranged on various coal mining devices and is used for mining coal. As shown in fig. 1 and 2, the explosion-proof robot arm includes: the mounting arm 1, coupling assembling, first drive assembly, second drive assembly and hand claw subassembly 2.
The coupling assembling still includes: a quadrangular connecting frame 3 and a connecting rod 4. Two side walls of the quadrilateral connecting frame 3 are connected with one end of the mounting arm 1 through a shaft. The gripper assembly 2 is mounted on a connecting rod 4. The preferred gripper unit 2 has two, symmetrically disposed ends of the connecting rod 4.
The first drive assembly includes: a first motor 5, a first synchronous pulley 6, a second synchronous pulley 7, a first synchronous belt 8, a first rotating shaft 9, a first bevel gear 10, a second bevel gear 11 and a first reducer 12. The first motor 5 is disposed within a housing at one end of the mounting arm 1. The output end of the first motor 5 is sleeved with a first synchronous belt pulley 6. The first timing pulley 6 and the second timing pulley 7 are connected by a first timing belt 8. The second synchronous pulley 7 is fitted over one end of the first rotating shaft 9. The first rotating shaft 9 passes through one side wall of the quadrangular connecting frame 3. A first bevel gear 10 is sleeved on the other end of the first rotating shaft 9. The first bevel gear 10 meshes with the second bevel gear 11. The first bevel gear 10 and the second bevel gear 11 are located inside the quadrangular connecting frame 3. The first speed reducer 12 is provided on a surface of the quadrangular coupling frame 3 opposite to the connecting rod 4. The input end of the first reducer 12 passes through the surface of the quadrilateral connecting frame 3 opposite to the connecting rod 4, and the input end of the first reducer 12 is sleeved with a second bevel gear 11. The output of the first reducer 12 is connected to the center of the connecting rod 4. It should be understood that the center of the connecting rod 4 refers to a central position in a length direction of the connecting rod 4.
The first motor 5 is started, the first motor 5 drives the first synchronous belt pulley 6 to rotate, the first synchronous belt pulley 6 transmits power to the first synchronous belt 8, the first synchronous belt 8 drives the second synchronous belt pulley 7 to rotate, the second synchronous belt pulley 7 drives the first rotating shaft 9 to rotate, the first rotating shaft 9 drives the first bevel gear 10 to rotate, the first bevel gear 10 drives the second bevel gear 11 to rotate, the second bevel gear 11 transmits power to the first speed reducer 12, and the first speed reducer 12 drives the connecting rod 4 to rotate around the center of the connecting rod 4, so that the claw component 2 can rotate on a plane parallel to the connecting rod 4.
The second drive assembly includes: a second motor 13, a third synchronous pulley 14, a fourth synchronous pulley 15, a second synchronous belt 16 and a second speed reducer 17. The second motor 13 is disposed within a housing at one end of the mounting arm 1. A third synchronous pulley 14 is sleeved on the output end of the second motor 13. The third timing pulley 14 and the fourth timing pulley 15 are connected by a second timing belt 16. The fourth synchronous pulley 15 is fitted to the input end of the second reduction gear 17. The second decelerator 17 is provided on the outer surface of the other side wall of the quadrangular coupling frame 3.
The second motor 13 is started, the second motor 13 drives the third synchronous belt pulley 14 to rotate, the third synchronous belt pulley 14 transmits power to the second synchronous belt 16, the second synchronous belt 16 drives the fourth synchronous belt pulley 15 to rotate, the fourth synchronous belt pulley 15 transmits power to the second speed reducer 17, the second speed reducer 17 drives the quadrilateral connecting frame 3 to rotate around the connecting shaft of the quadrilateral connecting frame 3 and the mounting arm 1, the quadrilateral connecting frame 3 drives the connecting rod 4 to rotate in the pitching direction, and therefore the rotation of the paw assembly 2 in the pitching direction is achieved. It should be understood that the term rotation in the pitch direction refers to rotation in the vertical direction.
According to the anti-explosion mechanical arm, the first motor 5 and the second motor 13 are both arranged in the shell of the mounting arm 1, so that the first motor 5 and the second motor 13 are protected by the mounting arm 1, and the anti-explosion mechanical arm can be anti-explosion and improve the safety; in addition, an additional shell of the motor is not needed, the integral structure is simplified, the space is saved, the load is reduced, and the underground use is facilitated.
Preferably, as shown in figures 3 and 4, the gripper assembly 2 comprises: the device comprises an oil cylinder 18, a transmission rack 19, two gears 20, two second rotating shafts and two claw parts 21. The piston rod end of the oil cylinder 18 is connected with one end of the transmission rack 19. An opposite side of the drive rack 19 has teeth. The two gears 20 are symmetrically disposed on both sides of the driving rack 19, and each gear 20 is engaged with the tooth portion of the corresponding side of the driving rack 19. Each second rotation shaft passes through each gear 20, and both ends of each second rotation shaft are connected to both side walls of one end of each claw portion 21. The two claw portions 21 are disposed opposite to each other.
The oil cylinder 18 is started, the oil cylinder 18 pushes the transmission rack 19 to move, the transmission rack 19 drives the two gears 20 to synchronously rotate, the two gears 20 respectively drive the two second rotating shafts to synchronously rotate, and the two second rotating shafts respectively drive the two claw parts 21 to open or close, so that coal mining is completed. Specifically, with reference to the orientation of fig. 4, when the driving rack 19 is moved downward, the two claw portions 21 are opened; when the driving rack 19 is moved upward, the two claw portions 21 are closed.
More preferably, the gripper assembly 2 further comprises: two rubber plates 22. Each rubber plate 22 is provided on a surface of each claw portion 21 opposite to the other claw portion 21.
By providing the rubber plate 22, not only the claw portion 21 can be protected, but also the friction force of the rubber is large, which is more favorable for the claw portion 21 to firmly grip the coal briquette.
Specifically, the gripper assembly 2 further comprises: a hollow housing 23. The end faces of the two ends of the second shaft are fixed to the two opposite inner side walls of the hollow housing 23. The drive rack 19 and the gear 20 are located within a hollow housing 23. It will be appreciated that the other end of the finger portion 21 extends out of the hollow housing 23.
The hollow housing 23 may provide protection for the drive rack 19 and pinion 20, etc. It should be understood that the shape of the hollow housing 23 may be designed according to the shape and the opening range of the claw portion 21, so as to avoid the hollow housing 23 from interfering with the movement of the claw portion 21.
Specifically, this explosion-proof robotic arm still includes: a bracket 24 is mounted. One side of the mounting bracket 24 is connected to one end of the connecting rod 4. The other side of the mounting bracket 24 is connected to an outer side wall of the hollow housing 23, thereby mounting the gripper unit 2 to the connecting rod 4.
More preferably, the explosion-proof mechanical arm further comprises: a hollow connecting bracket 25. One outer side wall of the hollow connecting bracket 25 is connected to the opposite side of the mounting bracket 24 to which the connecting rod 4 is connected, and one end of the outer side wall of the hollow housing 23 adjacent to the cylinder 18 is connected to the inner side wall of the hollow connecting bracket 25, thereby mounting the gripper assembly 2 on the connecting rod 4.
Preferably, the other end of the mounting arm 1 is provided with a thread, and the mounting arm 1 can be mounted on a coal mining device provided with a nut capable of being screwed with the thread, so that the coal mining device can mine coal through the explosion-proof mechanical arm.
Preferably, the other end of the mounting arm 1 is provided with a locking nut, and the mounting arm 1 can be mounted on a coal mining device provided with a screw rod capable of being screwed with the nut, so that the coal mining device can mine coal through the explosion-proof mechanical arm.
Preferably, two opposite side walls of the other end of the mounting arm 1 are respectively provided with a first through hole for inserting a bolt, and the two first through holes correspond to each other in position; therefore, the mounting arm 1 can be mounted on the coal mining device by penetrating the bolt through the first through hole and locking the bolt, and the coal mining device can mine coal through the explosion-proof mechanical arm.
Preferably, an end face of the other end of the mounting arm 1 is provided with a mounting disc, and the mounting disc is provided with a second through hole for inserting a bolt; therefore, the mounting arm 1 can be mounted on the coal mining device by penetrating the bolt through the second through hole and locking the bolt, so that the coal mining device can mine coal through the explosion-proof mechanical arm. Preferably, the number of the second through holes is multiple and the second through holes are symmetrically arranged.
It should be understood that the present invention is not limited thereto, and other structural forms may be selected for the other end of the mounting arm 1 according to the interface of the adapted coal mining device, so as to mount the mounting arm 1 on the coal mining device.
To sum up, the anti-explosion mechanical arm of the embodiment of the utility model can replace manual work to carry out operations such as loading and unloading, and overcomes the defects of manual work and unloading; the two motors are arranged in the shell of the mounting arm, so that the mounting arm is utilized to protect the two motors, and the anti-explosion effect is realized, and the safety is improved; in addition, an additional shell of the motor is not needed, the unsolved problem that the volume and the weight of each motor are greatly increased after direct explosion prevention and the motor cannot be installed is solved, the overall structure is simplified, the load is reduced, the space is saved, and the underground use is facilitated; moreover, the position of the manipulator can be adjusted in two dimensions, so that the control is more flexible and the precision is high.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An explosion-proof robotic arm, comprising: the mounting arm, the connecting assembly, the first driving assembly, the second driving assembly and the gripper assembly are arranged on the mounting arm;
wherein, the coupling assembling includes: the two side walls of the quadrilateral connecting frame are in shaft connection with one end of the mounting arm, and the paw component is mounted on the connecting rod;
the first drive assembly includes: the first motor is arranged in a shell at one end of the mounting arm, the first synchronous belt wheel is sleeved on an output end of the first motor, the first synchronous belt wheel is connected with the second synchronous belt wheel through the first synchronous belt, the second synchronous belt wheel is sleeved on one end of the first rotating shaft, the first rotating shaft penetrates through one side wall of the quadrilateral connecting frame, the first bevel gear is sleeved on the other end of the first rotating shaft, the first bevel gear is meshed with the second bevel gear, the first bevel gear and the second bevel gear are positioned on the inner side of the quadrilateral connecting frame, and the first speed reducer is arranged on the surface of the quadrilateral connecting frame, which is opposite to the connecting rod, the input end of the first speed reducer penetrates through the surface, opposite to the connecting rod, of the quadrilateral connecting frame, the second bevel gear is sleeved on the input end of the first speed reducer, and the output end of the first speed reducer is connected with the center of the connecting rod;
the second drive assembly includes: the second motor is arranged in the shell of one end of the installation arm, the output end of the second motor is sleeved with the third synchronous belt wheel, the third synchronous belt wheel is connected with the fourth synchronous belt wheel through the second synchronous belt, the fourth synchronous belt wheel is sleeved on the input end of the second speed reducer, and the second speed reducer is arranged on the outer surface of the other side wall of the quadrilateral connecting frame.
2. An explosion proof robotic arm as claimed in claim 1 wherein the gripper assembly comprises: the oil cylinder, the transmission rack, the two gears, the two second rotating shafts and the two claw parts; the piston rod end of the oil cylinder is connected with one end of the transmission rack, two opposite side faces of the transmission rack are respectively provided with a tooth part, the two gears are symmetrically arranged on two sides of the transmission rack, each gear is meshed with the tooth part on one corresponding side of the transmission rack, each second rotating shaft penetrates through each gear, two ends of each second rotating shaft are connected with two side walls of one end of each claw part, and the two claw parts are arranged oppositely.
3. An explosion proof robotic arm as claimed in claim 2 wherein the gripper assembly further comprises: two rubber plates, each of which is provided on a surface of each of the claw portions opposite to the other claw portion.
4. An explosion proof robotic arm as claimed in claim 2 wherein the gripper assembly further comprises: the end faces of two ends of the second rotating shaft are fixed on two opposite inner side walls of the hollow shell, and the transmission rack and the gear are located in the hollow shell.
5. The explosion-proof robotic arm of claim 4, further comprising: and one side surface of the mounting bracket is connected with one end of the connecting rod, and the other side surface of the mounting bracket is connected with an outer side wall of the hollow shell.
6. An explosion-proof robotic arm as claimed in claim 5, further comprising: the outer side wall of the hollow connecting support is connected with the opposite other side face of the side face, connected with the connecting rod, of the mounting support, and one end, close to the oil cylinder, of the outer side wall of the hollow shell is connected with the inner side wall of the hollow connecting support.
7. An explosion-proof robotic arm as claimed in claim 1, in which: the other end of the mounting arm is threaded.
8. An explosion-proof robotic arm as claimed in claim 1, in which: the other end of the mounting arm is provided with a locking nut.
9. An explosion-proof robotic arm as claimed in claim 1, in which: two opposite side walls of the other end of the mounting arm are respectively provided with a first through hole for inserting a bolt, and the two first through holes are corresponding in position.
10. An explosion-proof robotic arm as claimed in claim 1, in which: and a mounting disc is arranged on the end face of the other end of the mounting arm, and a second through hole for inserting a bolt is formed in the mounting disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921000045.3U CN210264693U (en) | 2019-06-30 | 2019-06-30 | Explosion-proof mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921000045.3U CN210264693U (en) | 2019-06-30 | 2019-06-30 | Explosion-proof mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210264693U true CN210264693U (en) | 2020-04-07 |
Family
ID=70046149
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921000045.3U Active CN210264693U (en) | 2019-06-30 | 2019-06-30 | Explosion-proof mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210264693U (en) |
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2019
- 2019-06-30 CN CN201921000045.3U patent/CN210264693U/en active Active
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