CN211104005U - Heavy-duty mechanical arm - Google Patents
Heavy-duty mechanical arm Download PDFInfo
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- CN211104005U CN211104005U CN201921386685.2U CN201921386685U CN211104005U CN 211104005 U CN211104005 U CN 211104005U CN 201921386685 U CN201921386685 U CN 201921386685U CN 211104005 U CN211104005 U CN 211104005U
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- 238000005520 cutting process Methods 0.000 claims abstract description 5
- 238000003466 welding Methods 0.000 claims abstract description 4
- 229910001651 emery Inorganic materials 0.000 claims description 4
- 238000005498 polishing Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 12
- 238000005266 casting Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 208000014674 injury Diseases 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
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Abstract
The utility model provides a heavy load manipulator, includes arm, connecting device, executing device, the arm passes through connecting device is connected with executing device, realizes that a arm realizes snatching or relief grinding or cutting or multiple function such as welding switches, uses three jar arms more stable, is applicable to the heavy load field moreover, and the structure of arm satisfies the needs of snatching and relief grinding to realize practicing thrift the cost, the purpose of steady safe work.
Description
Technical Field
The utility model relates to a manipulator field especially relates to a heavy load manipulator.
Background
The mechanical arm is widely researched as a key device of important manufacturing devices, and is mainly applied to the fields of machinery, metallurgy, casting and the like. It can replace the manual work of people for heavy and dangerous to a certain extent. Especially, in the traditional casting industry, because foundry goods weight, size are great, and the transport is difficult, still select for use the manual work to polish still more simultaneously, not only inefficiency, recruitment are with high costs, and the injury is big to the human body moreover. However, if various manipulators are respectively arranged on a production line, the cost is high, and a universal heavy-duty manipulator suitable for production needs to be provided so as to reduce the cost, improve the post-treatment efficiency of castings and reduce the labor intensity.
Disclosure of Invention
The utility model provides a heavy load manipulator, the utility model discloses a technical problem that an aspect was solved uses same arm, then switches different final controlling element, realizes different functions.
The utility model provides a technical scheme that its technical problem adopted is:
a heavy-duty mechanical arm comprises a mechanical arm, a connecting device and an executing device, wherein the mechanical arm is connected with the executing device through the connecting device, the mechanical arm comprises a fixed seat, an oil cylinder group, a vertical arm group, a first T-shaped part, a horizontal arm group and a connecting head, the oil cylinder group comprises a second T-shaped part, a vertical telescopic cylinder, a balance telescopic cylinder and a horizontal telescopic cylinder, the vertical arm group comprises a vertical arm, a vertical connecting rod, a supporting connecting rod and a third T-shaped part, and the horizontal arm group comprises a horizontal arm and a horizontal connecting rod; the vertical telescopic cylinder, the balance telescopic cylinder and the horizontal telescopic cylinder are sequentially arranged in the same plane from bottom to top, one end of each of the vertical telescopic cylinder, the balance telescopic cylinder and the horizontal telescopic cylinder is hinged with three end parts of the second T-shaped part respectively, the fixed seat is fixedly connected with the middle part of the second T-shaped part, the lower part of the vertical arm is provided with a branch towards the direction of the oil cylinder group, namely the lower part of the vertical arm is in a shape of a Chinese character 'bo', the upper part of the branch close to one side of the oil cylinder group is hinged with the horizontal telescopic cylinder, the lower part of the branch is hinged with the balance telescopic cylinder, the lower end of the vertical arm is hinged with one end of the third T-shaped part in the middle part, the fixed seat is hinged with the lower end of the vertical arm and one end of the third T-shaped part simultaneously, one end of the third T-shaped part close to the oil cylinder group is hinged with the vertical telescopic cylinder, the upper part of the vertical arm is hinged with one end, positioned in the middle, of the first T-shaped piece, one end, close to the oil cylinder group, of the first T-shaped piece is hinged with one end of the vertical connecting rod, the other opposite end of the first T-shaped piece is hinged with one end of the horizontal connecting rod, the other end of the vertical connecting rod is hinged with the fixed seat, the other end of the supporting connecting rod is hinged with the horizontal arm, the upper part of the same side of the connecting head is hinged with the horizontal connecting rod, the lower part of the same side of the connecting head is hinged with the horizontal arm, and the connecting head is fixed with the connecting device, wherein the vertical arm, the vertical connecting rod and the supporting connecting rod are parallel to; and the distance of a connecting line of hinged points at two ends of the horizontal connecting rod is equal to the distance of a connecting line of hinged points at two ends of the horizontal arm.
The mechanical arm with three cylinders is more suitable for the heavy-load field, is more stable and safer, and particularly has better relief grinding effect and high flatness after relief grinding. The connecting line distance of the hinge points at the two ends of the horizontal connecting rod is equal to the connecting line distance of the hinge points at the two ends of the horizontal arm, so that the connector is more stable, the horizontal state is kept, the carrying and the holding are convenient, and the scraper grinding is facilitated to be smooth. The connector is ensured to be always kept in a horizontal state, and the head can be controlled to move in pitch, deflection and the like conveniently.
Preferably, the fixing seat is of a double-layer structure, namely, the oil cylinder group and the third T-shaped piece are clamped in the middle; the lower part of the vertical connecting rod is provided with two parallel branches, namely the lower part of the vertical connecting rod is hinged with the fixed seat from two sides of the fixed seat; the upper part of the support link is two parallel branches, i.e. hinged to the horizontal arm from both sides of the horizontal arm.
The reinforced structure ensures that the whole structure is stable, is suitable for the heavy-load field, improves the safety, and reduces the stress on one side when the acting force is dispersed to two sides.
Preferably, still include rotating base, rotating base includes fixed disk and gyration drive, the fixed disk with fixing base bottom fixed connection, the drive of gyration the fixed disk rotates.
Realize multistation work, reduce latency.
Preferably, the horizontal connecting rod comprises a buffer and a horizontal rod, one end of the buffer is hinged with the first T-shaped part, the other end of the buffer is hinged with the horizontal rod, and the other end of the horizontal rod is hinged with the connecting head; the buffer comprises a sleeve A, a sleeve B, a piston rod, a spring and an adjusting collar, wherein the sleeve A is in a cylindrical shape with an opening at one end, the sleeve B is in a cylindrical shape with an opening at one end, the piston rod is arranged in the middle of the sleeve B, the piston rod is fixedly connected with the closed end, the sleeve B is tightly sleeved on the outer side of the sleeve A, the free end of the piston rod is located in the sleeve A, the adjusting collar is sleeved on the outer side of the closed end of the sleeve A, the adjusting collar is in threaded connection with the sleeve A, the sleeve A and the sleeve B are sleeved together, the spring is sleeved on the outer side, one end of the spring is in contact with the adjusting collar, and.
The buffer is added on the horizontal connecting rod, when the mechanical arm moves up and down, the buffer has certain buffering effect, protects the mechanical structure, and is superior to hydraulic buffering, because hydraulic reaction lags behind, the effect is not good, and the spring reaction is timely, good in effect, so that the mechanical arm moves up and down more stably. The pressure on the rest parts of the manipulator can be effectively reduced, the structural strength is improved, and the movement is more stable.
Preferably, connecting device includes drive end, switching end and installation head, the switching end includes fixed panel, main shaft, bevel gear A, bevel gear B, bevel gear C, slider A, slider B, threaded rod, spacing, main shaft one end is run through fixed panel, and the tip is provided with bevel gear A, the main shaft other end with the drive end is connected, the main shaft with the threaded rod sets up perpendicularly, bevel gear A with bevel gear B is fixed on the threaded rod, and follows respectively bevel gear A's both sides and bevel gear A meshing, two free ends of threaded rod respectively with slider A with slider B threaded connection, just the threaded rod with the external screw thread that slider A is connected with the threaded rod with the external screw thread direction that slider B is connected is opposite, promptly the drive end drive bevel gear A on the main shaft is just passing or the reversal, the bevel gear A drives the bevel gear B and the bevel gear C to rotate a threaded rod, and the threaded rod drives the sliding block A and the sliding block B to move relatively close to or away from each other; the mounting head is a cylinder with an opening at one end, and the inner wall of the closed end is provided with mounting grooves matched with the sliding block A and the sliding block B, namely, the switching end and the mounting head are connected or separated through the sliding block A and the sliding block B.
The connecting device is used for realizing the switching between the gripping device and the relief grinding device, the efficiency is high, the switching is fast, the mounting head is fixed on the gripping device or the relief grinding device, after the mounting head reaches the switching station, the driving end drives the switching end to be separated from the mounting head, and then the mounting head is replaced, the efficiency is high, and the speed is fast.
Preferably, the actuating device is one of a gripping device, a relief grinding device, a cutting device or a welding device.
Preferably, grabbing device includes the fixed disk, snatchs arm, horizontal cylinder and slope jar, the fixed disk with installation head blind end fixed connection, the fixed disk is articulated with two relative grabbing arms that set up, the one end and one side of horizon bar snatch arm upper portion articulated, and the other end and relative one side snatch arm upper portion articulated, the one end and one of them of slope jar snatch arm upper portion inboard articulated, and the other end downward sloping back with relative one side snatch arm inboard articulated, promptly the horizon bar with the slope jar extension or shorten and drive relative two snatch the arm and open and shut relatively.
The gripping device is clamped tightly, safe in gripping, controlled by double cylinders and protected by double layers, so that the gripping is more stable while the safety is improved.
Preferably, the grabbing arm comprises an arm body and grabbing hand blocks, one end of the arm body is hinged to the fixed disc, the other end of the arm body is provided with the grabbing hand blocks, the grabbing hand blocks are arranged on two opposite sides of the grabbing arm, namely the grabbing hand blocks are arranged on the inner side of the grabbing arm, grooves matched with the grabbing hand blocks are formed in the arm body, the grabbing hand blocks are fixed in the grooves through bolts, and the upper surfaces of the grabbing hand blocks protrude out of the surface of the arm body.
Because the end part of the grabbing arm is a part easy to wear, the grabbing arm needs to be replaced in a whole after being worn frequently, the cost is high, the detachable grabbing block is utilized to save the cost and only needs to be replaced, and the grabbing block can be added according to the requirement to change the end part structure of the grabbing arm, so that the application range is expanded.
Preferably, the relief grinding device comprises a mounting frame, a motor and a grinding head, one end of the mounting frame is fixedly connected with the closed end of the mounting head, the motor and the grinding head are mounted on the mounting frame, and the motor drives the grinding head to rotate.
Preferably, the head of polishing includes shell, rotation axis, fixed pin, conical member, emery wheel, the shell with mounting bracket fixed connection, the rotation axis bearing is installed in the shell, just the rotation axis with the motor is connected, the rotation axis is the cavity tubulose, and the opening of one end be with conical member assorted loudspeaker form, conical member with emery wheel fixed connection, conical member sets up in loudspeaker form opening, and with the rotation axis is connected, the fixed pin gets into from the relative other end in the rotation axis, and with conical member connects, wherein the fixed pin conical member with the rotation axis equipment is detachable body structure.
Compared with the traditional loose broach mechanism, the loose broach mechanism has the advantages of simpler structure, compact structure, space saving, greatly reduced axial size and low cost.
According to the above technical scheme, the utility model discloses an aspect one beneficial effect who brings is that, realize that a arm realizes snatching, the relief grinding, the cutting or a plurality of function switch of polishing, use three jar arms more stable, be applicable to the heavy load field moreover, the structure of arm satisfies the needs of snatching and the relief grinding to realize practicing thrift the cost, the purpose of steady safe work.
Drawings
Fig. 1 is a schematic structural diagram of a mechanical arm of a heavy-duty manipulator according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural diagram of a heavy-duty manipulator according to an embodiment of the present disclosure after the mechanical arm hides the fixing seat.
Fig. 3 is a schematic view of a partial cross-sectional structure of a mechanical arm of a heavy-duty manipulator according to an embodiment of the present disclosure.
Fig. 4 is a cross-sectional view of a bumper of a heavy-duty robot in accordance with one embodiment of the present disclosure.
Fig. 5 is a schematic diagram of a certain working state of a heavy-duty manipulator arm according to an embodiment of the present disclosure.
Fig. 6 is a schematic diagram of a certain working state of a heavy-duty manipulator arm according to an embodiment of the present disclosure.
Fig. 7 is a schematic diagram of a certain operating state of a heavy-duty manipulator arm according to an embodiment of the present disclosure.
Fig. 8 is a schematic diagram of a certain operating state of a heavy-duty manipulator arm according to an embodiment of the present disclosure.
Fig. 9 is a schematic structural diagram of a heavy-duty manipulator according to an embodiment of the present disclosure after the connecting head and part of the connecting device are assembled.
Fig. 10 is a schematic structural diagram of a switching end of a connecting device of a heavy-duty manipulator according to an embodiment of the present disclosure.
Fig. 11 is a schematic structural diagram of a connecting device mounting head of a heavy-duty robot according to an embodiment of the present disclosure.
Fig. 12 is an open state diagram of a gripping device with a mounting head mounted to a heavy duty robot according to an embodiment of the present disclosure.
Fig. 13 is a clamping state diagram of a gripping device with a mounting head mounted on a heavy-duty manipulator according to an embodiment of the present disclosure.
Fig. 14 is a schematic structural diagram of a heavy-duty manipulator grabbing arm according to an embodiment of the present disclosure.
Fig. 15 is a schematic structural view of a relief grinding device with a mounting head mounted on a heavy-duty manipulator according to an embodiment of the present disclosure.
Fig. 16 is a cross-sectional view of a heavy duty robot sanding head after disassembly according to one embodiment of the present disclosure.
In the figure: the mechanical arm 10, the fixed base 11, the cylinder group 12, the second T-shaped part 120, the vertical telescopic cylinder 121, the balance telescopic cylinder 122, the horizontal telescopic cylinder 123, the vertical arm group 13, the vertical arm 130, the vertical connecting rod 131, the supporting connecting rod 132, the third T-shaped part 133, the first T-shaped part 14, the horizontal arm group 15, the horizontal arm 150, the horizontal connecting rod 151, the buffer 1510, the sleeve a15101, the sleeve B15102, the piston rod 15103, the spring 15104, the adjusting collar 15105, the horizontal rod 1511, the connecting head 16, the connecting device 20, the driving end 21, the switching end 22, the fixed panel 220, the main shaft 221, the bevel gear a222, the bevel gear B223, the bevel gear C224, the slider a225, the slider B226, the threaded rod 227, the limiting frame 228, the mounting head 23, the gripping device 30, the fixed disk 31, the gripping arm 32, the arm body 320, the gripping block 321, the horizontal cylinder 33, the tilting cylinder 34, the relief device 40, the mounting frame 41, A rotating shaft 431, a fixed pin 432, a cone 433, a grinding wheel 434, and a revolving base 50.
Detailed Description
The technical scheme of the embodiment of the utility model is explained in further detail by combining the attached drawings of the utility model.
Example 1:
referring to fig. 1-3, the heavy-duty manipulator comprises a mechanical arm 10, a connecting device 20 and an executing device, wherein the mechanical arm 10 is connected with the executing device through the connecting device 20. The executing device is one of the grabbing device 30, the relief grinding device 40, the cutting device or the welding device, then the heavy-duty manipulator can be arranged on the heavy-duty AGV and then moves in a workshop, the executing device is arranged at a certain station or a plurality of stations, then the free switching of the mechanical arm executing parts is realized, and meanwhile, the free movement of the heavy-duty manipulator is matched and various kinds of work are completed.
The mechanical arm 10 comprises a fixed seat 11, an oil cylinder group 12, a vertical arm group 13, a first T-shaped part 14, a horizontal arm 150 group 15 and a connecting head 16.
The cylinder group 12 includes a second T-shaped member 120, a vertical telescopic cylinder 121, a balance telescopic cylinder 122, and a horizontal telescopic cylinder 123.
The vertical arm set 13 includes a vertical arm 130, a vertical link 131, a support link 132, and a third T-piece 133.
The set 15 of horizontal arms 150 includes horizontal arms 150 and horizontal links 151.
The vertical telescopic cylinder 121, the balance telescopic cylinder 122 and the horizontal telescopic cylinder 123 are sequentially arranged in the same plane from bottom to top, one end of the vertical telescopic cylinder 121, the balance telescopic cylinder 122 and one end of the horizontal telescopic cylinder 123 are respectively hinged with three end parts of the second T-shaped part 120, the fixing seat 11 is fixedly connected with the middle part of the second T-shaped part 120, the lower part of the vertical arm 130 is provided with a branch towards the direction of the oil cylinder group 12, namely the lower part of the vertical arm 130 is in a shape of a Chinese character 'bo', the upper part of the branch close to one side of the oil cylinder group 12 is hinged with the horizontal telescopic cylinder 123, the lower part of the branch is hinged with the balance telescopic cylinder 122, the lower end of the vertical arm 130 is hinged with one end of the third T-shaped part 133 in the middle part, the fixing seat 11 is hinged with the lower end of the vertical arm 130 and one end of the third T-shaped part 133 at the same time, one end of the third T-shaped part 133 close, and the opposite other end is hinged to the supporting link 132, the upper portion of the vertical arm 130 is hinged to one end of the first T-shaped element 14 located in the middle, the first T-shaped element 14 is close to one end of the cylinder group 12 and hinged to one end of the vertical link 131, the opposite other end is hinged to one end of the horizontal link 151, the other end of the vertical link 131 is hinged to the fixing seat 11, the other end of the supporting link 132 is hinged to the horizontal arm 150, the upper portion of the same side of the connector 16 is hinged to the horizontal link 151, the lower portion of the same side of the connector 16 is hinged to the horizontal arm 150, and the connector 16 is fixed to the connecting device 20.
The fixing seat 11 is a double-layer structure, namely, the oil cylinder group 12 and the third T-shaped part 133 are clamped in the middle; the lower part of the vertical connecting rod 131 is two parallel branches, namely, the lower part is hinged with the fixed seat 11 from two sides of the fixed seat 11; the upper portion of the support link 132 is two parallel branches, i.e., hinged to the horizontal arm 150 from both sides of the horizontal arm 150.
Wherein the vertical arm 130, the vertical link 131, and the support link 132 are parallel to each other, and the horizontal arm 150 and the horizontal link 151 are parallel to each other. The distance between the connecting lines of the hinge points at the two ends of the horizontal connecting rod 151 is equal to the distance between the connecting lines of the hinge points at the two ends of the horizontal arm 150.
Example 2:
referring to fig. 4, on the basis of embodiment 1, the horizontal connecting rod 151 is divided into two parts, and a buffer 1510 is added, specifically, the horizontal connecting rod 151 includes a buffer 1510 and a horizontal rod 1511, one end of the buffer 1510 is hinged to the first T-shaped component 14, the other end of the buffer 1510 is hinged to the horizontal rod 1511, and the other end of the horizontal rod 1511 is hinged to the connecting head 16; the buffer 1510 comprises a sleeve A15101, a sleeve B15102, a piston rod 15103, a spring 15104 and an adjusting collar 15105, the sleeve A15101 is in a cylinder shape with an opening at one end, the sleeve B15102 is in a cylinder shape with an opening at one end, the piston rod 15103 is arranged in the middle of the sleeve B15102, the piston rod 15103 is fixedly connected with the closed end, the sleeve B15102 is tightly sleeved outside the sleeve A15101, the free end of the piston rod 15103 is positioned in the sleeve A15101, the adjusting collar 15105 is sleeved outside the closed end of the sleeve A15101, the adjusting collar 15105 is in threaded connection with the sleeve A15101, the spring 15104 is sleeved outside the sleeve A15101 and the sleeve B15102 which are sleeved together, namely, one end of the spring 15104 is in contact with the adjusting collar 15105, and the other end of the spring 151.
Example 3:
referring to fig. 5-8, on the basis of embodiment 1 or embodiment 2, the apparatus includes a rotating base 50, where the rotating base 50 includes a fixed disk 31 and a rotation drive, the fixed disk 31 is fixedly connected to the bottom of the fixed seat 11, and the rotation drive drives the fixed disk 31 to rotate. The heavy-duty manipulator can finish the movement in all directions of up, down, left, right, front and back.
Example 4:
referring to fig. 9 to 11, on the basis of embodiments 1 to 3, the connection device 20 includes a driving end 21, a switching end 22 and a mounting head 23, the switching end 22 includes a fixed panel 220, a main shaft 221, a bevel gear a222, a bevel gear B223, a bevel gear C224, a slider a225, a slider B226, a threaded rod 227 and a limit bracket 228, one end of the main shaft 221 penetrates through the fixed panel 220, and is provided with a bevel gear a222, the other end of the main shaft 221 is connected to the driving end 21, the main shaft 221 is arranged perpendicular to the threaded rod 227, the bevel gear a222 and the bevel gear B223 are fixed to the threaded rod 227 and are engaged with the bevel gear a222 from both sides of the bevel gear a222, two free ends of the threaded rod 227 are respectively in threaded connection with the slider a225 and the slider B226, and an external thread of the threaded rod 227 and the slider a225 are in opposite directions to an external thread of the threaded rod 227 and the slider B226, namely, the driving end 21 drives a bevel gear A222 on the main shaft 221 to rotate forwards or reversely, the bevel gear A222 drives a bevel gear B223 and a bevel gear C224 to rotate a threaded rod 227, and the threaded rod 227 drives the sliding block A225 and the sliding block B226 to move relatively close to or away from each other; the mounting head 23 is a cylinder with an open end, and the inner wall of the closed end is provided with mounting grooves matched with the sliding block a225 and the sliding block B226, that is, the switching end 22 and the mounting head 23 are connected or separated through the sliding block a225 and the sliding block B226.
Example 5:
referring to fig. 12-14, on the basis of embodiment 4, the actuating device is a gripping device 30, the gripping device 30 includes a fixed plate 31, gripping arms 32, a horizontal cylinder 33 and a tilting cylinder 34, the fixed plate 31 is fixedly connected to the closed end of the mounting head 23, the fixed plate 31 is hinged to two opposing gripping arms 32, one end of the horizontal rod 1511 is hinged to the upper portion of one of the gripping arms 32, the other end of the horizontal rod is hinged to the upper portion of the opposing gripping arm 32, one end of the tilting cylinder 34 is hinged to the inner side of one of the gripping arms 32, and the other end of the tilting cylinder 34 is hinged to the inner side of the opposing gripping arm 32 after tilting, that is, the horizontal rod 1511 and the tilting cylinder 34 extend or shorten to drive the opposing gripping arms 32 to open and close relatively.
The grabbing arm 32 comprises an arm body 320 and grabbing hand blocks 321, one end of the arm body 320 is hinged to the fixed disc 31, the other end of the arm body is provided with the grabbing hand blocks 321, the grabbing hand blocks 321 are arranged on two opposite sides of the grabbing arm 32, namely the grabbing hand blocks 321 are arranged on the inner side of the grabbing arm 32, grooves matched with the grabbing hand blocks 321 are formed in the arm body 320, the grabbing hand blocks 321 are fixed in the grooves through bolts, and the upper surfaces of the grabbing hand blocks 321 protrude out of the surface of the arm body 320.
Example 6:
referring to fig. 15-16, on the basis of embodiment 4, the performing device is a relief grinding device 40, the relief grinding device 40 includes a mounting frame 41, a motor 42, and a grinding head 43, one end of the mounting frame 41 is fixedly connected to the closed end of the mounting head 23, the motor 42 and the grinding head 43 are mounted on the mounting frame 41, and the motor 42 drives the grinding head 43 to rotate.
The polishing head 43 comprises a shell 430, a rotating shaft 431, a fixing pin 432, a conical member 433 and a grinding wheel 434, wherein the shell 430 is fixedly connected with the mounting frame 41, the rotating shaft 431 is bearing-mounted in the shell 430, the rotating shaft 431 is connected with the motor 42, the rotating shaft 431 is in a hollow tubular shape, an opening at one end of the rotating shaft 431 is in a horn shape matched with the conical member 433, the conical member 433 is fixedly connected with the grinding wheel 434, the conical member 433 is arranged in the horn-shaped opening and connected with the rotating shaft 431, the fixing pin 432 enters the rotating shaft 431 from the other opposite end of the rotating shaft 431 and is connected with the conical member 433, and the fixing pin 432, the conical member 433 and the rotating shaft 431 are assembled into a detachable integrated structure.
Claims (10)
1. The utility model provides a heavy load manipulator which characterized in that: the mechanical arm is connected with the execution device through the connecting device and comprises a fixed seat, an oil cylinder group, a vertical arm group, a first T-shaped part, a horizontal arm group and a connector, wherein the oil cylinder group comprises a second T-shaped part, a vertical telescopic cylinder, a balance telescopic cylinder and a horizontal telescopic cylinder, the vertical arm group comprises a vertical arm, a vertical connecting rod, a supporting connecting rod and a third T-shaped part, and the horizontal arm group comprises a horizontal arm and a horizontal connecting rod; the vertical telescopic cylinder, the balance telescopic cylinder and the horizontal telescopic cylinder are sequentially arranged in the same plane from bottom to top, one end of each of the vertical telescopic cylinder, the balance telescopic cylinder and the horizontal telescopic cylinder is hinged with three end parts of the second T-shaped part respectively, the fixed seat is fixedly connected with the middle part of the second T-shaped part, the lower part of the vertical arm is provided with a branch towards the direction of the oil cylinder group, namely the lower part of the vertical arm is in a shape of a Chinese character 'bo', the upper part of the branch close to one side of the oil cylinder group is hinged with the horizontal telescopic cylinder, the lower part of the branch is hinged with the balance telescopic cylinder, the lower end of the vertical arm is hinged with one end of the third T-shaped part in the middle part, the fixed seat is hinged with the lower end of the vertical arm and one end of the third T-shaped part simultaneously, one end of the third T-shaped part close to the oil cylinder group is hinged with the vertical telescopic cylinder, the upper part of the vertical arm is hinged with one end, positioned in the middle, of the first T-shaped piece, one end, close to the oil cylinder group, of the first T-shaped piece is hinged with one end of the vertical connecting rod, the other opposite end of the first T-shaped piece is hinged with one end of the horizontal connecting rod, the other end of the vertical connecting rod is hinged with the fixed seat, the other end of the supporting connecting rod is hinged with the horizontal arm, the upper part of the same side of the connecting head is hinged with the horizontal connecting rod, the lower part of the same side of the connecting head is hinged with the horizontal arm, and the connecting head is fixed with the connecting device, wherein the vertical arm, the vertical connecting rod and the supporting connecting rod are parallel to; and the distance of a connecting line of hinged points at two ends of the horizontal connecting rod is equal to the distance of a connecting line of hinged points at two ends of the horizontal arm.
2. The heavy-duty robot of claim 1, wherein: the fixing seat is of a double-layer structure, namely the oil cylinder group and the third T-shaped piece are clamped in the middle; the lower part of the vertical connecting rod is provided with two parallel branches, namely the lower part of the vertical connecting rod is hinged with the fixed seat from two sides of the fixed seat; the upper part of the support link is two parallel branches, i.e. hinged to the horizontal arm from both sides of the horizontal arm.
3. The heavy-duty robot of claim 1, wherein: still include rotary base, rotary base includes fixed disk and gyration drive, the fixed disk with fixing base bottom fixed connection, gyration drive the fixed disk rotates.
4. The heavy-duty robot of claim 1, wherein: the horizontal connecting rod comprises a buffer and a horizontal rod, one end of the buffer is hinged with the first T-shaped piece, the other end of the buffer is hinged with the horizontal rod, and the other end of the horizontal rod is hinged with the connecting head; the buffer comprises a sleeve A, a sleeve B, a piston rod, a spring and an adjusting collar, wherein the sleeve A is in a cylindrical shape with an opening at one end, the sleeve B is in a cylindrical shape with an opening at one end, the piston rod is arranged in the middle of the sleeve B, the piston rod is fixedly connected with the closed end, the sleeve B is tightly sleeved on the outer side of the sleeve A, the free end of the piston rod is located in the sleeve A, the adjusting collar is sleeved on the outer side of the closed end of the sleeve A, the adjusting collar is in threaded connection with the sleeve A, the sleeve A and the sleeve B are sleeved together, the spring is sleeved on the outer side, one end of the spring is in contact with the adjusting collar, and.
5. The heavy-duty robot of claim 1, wherein: the connecting device comprises a driving end, a switching end and a mounting head, wherein the switching end comprises a fixed panel, a main shaft, a bevel gear A, a bevel gear B, a bevel gear C, a slider A, a slider B, a threaded rod and a limiting frame, one end of the main shaft penetrates through the fixed panel, the end part of the main shaft is provided with the bevel gear A, the other end of the main shaft is connected with the driving end, the main shaft is perpendicular to the threaded rod, the bevel gear A and the bevel gear B are fixed on the threaded rod and are respectively meshed with the bevel gear A from two sides of the bevel gear A, two free ends of the threaded rod are respectively in threaded connection with the slider A and the slider B, external threads connected with the slider A are opposite to external threads connected with the threaded rod B, namely the driving end drives the bevel gear A on the main shaft to positively transmit or reversely rotate, the bevel gear A drives the bevel gear B and the bevel gear C to rotate a threaded rod, and the threaded rod drives the sliding block A and the sliding block B to move relatively close to or away from each other; the mounting head is a cylinder with an opening at one end, and the inner wall of the closed end is provided with mounting grooves matched with the sliding block A and the sliding block B, namely, the switching end and the mounting head are connected or separated through the sliding block A and the sliding block B.
6. The heavy-duty robot of claim 1, wherein: the actuating device is one of a gripping device, a relief grinding device, a cutting device, or a welding device.
7. The heavy-duty robot of claim 6, wherein: grabbing device includes the fixed disk, snatchs the arm, horizontal cylinder and slope jar, fixed disk and installation head blind end fixed connection, the fixed disk is articulated with the snatchs arm of two relative settings, the one end and one side of horizontal connecting rod snatch arm upper portion articulated, and the other end and relative one side snatch arm upper portion articulated, the one end and one of them of slope jar snatch arm upper portion inboard articulated, and the other end downward sloping back with relative one side snatch arm inboard articulated, promptly horizontal connecting rod with the slope jar extension or shorten and drive two relatively snatch the arm and open and shut relatively.
8. The heavy-duty robot of claim 7, wherein: the grabbing arm comprises an arm body and grabbing hand blocks, one end of the arm body is hinged to the fixed disc, the other end of the arm body is provided with the grabbing hand blocks, the grabbing hand blocks are arranged on one side, opposite to the grabbing arm, of the grabbing arm, namely the grabbing hand blocks are arranged on the inner side of the grabbing arm, grooves matched with the grabbing hand blocks are formed in the arm body, the grabbing hand blocks are fixed in the grooves through bolts, and the upper surfaces of the grabbing hand blocks protrude out of the surface of the arm body.
9. The heavy-duty robot of claim 6, wherein: the relief grinding device comprises a mounting frame, a motor and a grinding head, one end of the mounting frame is fixedly connected with the closed end of the mounting head, the motor and the grinding head are mounted on the mounting frame, and the motor drives the grinding head to rotate.
10. The heavy-duty robot of claim 9, wherein: the head of polishing includes shell, rotation axis, fixed pin, conical member, emery wheel, the shell with mounting bracket fixed connection, the rotation axis bearing is installed in the shell, just the rotation axis with the motor is connected, the rotation axis is the cavity tubulose, and the opening of one end be with conical member assorted loudspeaker form, conical member with emery wheel fixed connection, conical member sets up in loudspeaker form opening, and with the rotation axis is connected, the fixed pin gets into from the relative other end in the rotation axis, and with conical member connects, wherein the fixed pin conical member with the rotation axis equipment is detachable body structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921386685.2U CN211104005U (en) | 2019-08-27 | 2019-08-27 | Heavy-duty mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921386685.2U CN211104005U (en) | 2019-08-27 | 2019-08-27 | Heavy-duty mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211104005U true CN211104005U (en) | 2020-07-28 |
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ID=71712157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921386685.2U Withdrawn - After Issue CN211104005U (en) | 2019-08-27 | 2019-08-27 | Heavy-duty mechanical arm |
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| Country | Link |
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| CN (1) | CN211104005U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405793A (en) * | 2019-08-27 | 2019-11-05 | 共享智能铸造产业创新中心有限公司 | Heavy-duty machinery hand |
-
2019
- 2019-08-27 CN CN201921386685.2U patent/CN211104005U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405793A (en) * | 2019-08-27 | 2019-11-05 | 共享智能铸造产业创新中心有限公司 | Heavy-duty machinery hand |
| CN110405793B (en) * | 2019-08-27 | 2023-11-03 | 共享智能装备有限公司 | Heavy-duty manipulator |
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Effective date of registration: 20211119 Address after: 298, ningshuo South Street, Yinchuan economic and Technological Development Zone, Ningxia Hui Autonomous Region Patentee after: KOCEL INTELLIGENT EQUIPMENT Co.,Ltd. Address before: 750021 science and technology building and office building of small and medium sized enterprise entrepreneurial base in economic and Technological Development Zone, 330 Huanghe Road, Xixia District, Yinchuan City, Ningxia Hui Autonomous Region Patentee before: NATIONAL INTELLIGENT FOUNDRY INDUSTRY INNOVATION CENTER |
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