CN211362326U - Ore snatchs manipulator - Google Patents
Ore snatchs manipulator Download PDFInfo
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- CN211362326U CN211362326U CN201922031794.9U CN201922031794U CN211362326U CN 211362326 U CN211362326 U CN 211362326U CN 201922031794 U CN201922031794 U CN 201922031794U CN 211362326 U CN211362326 U CN 211362326U
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- clamping jaw
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- distribution device
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Abstract
An ore grabbing manipulator comprises a power distribution device, a horizontal connecting flange positioned below the power distribution device, a connecting lifting rod connected between the power distribution device and the horizontal connecting flange, and a clamping jaw arranged below the horizontal connecting flange; the clamping jaws can move horizontally and vertically under the action of the power distribution device. The ore grabbing manipulator of the utility model adopts the power distribution device to operate the lifting connecting rod to move the horizontal connecting flange in the horizontal direction and the vertical direction, and adopts the clamping jaw connected below the horizontal connecting flange to grab the ore, wherein the swing arm adopted by the power distribution device drives the lifting rod to enable the clamping jaw to move rapidly, and the hoisting structure has strong lifting capacity; in addition, the horizontal connecting flange adopts an air pressure crack detection mode, and a transition block with an inclination angle sensor is arranged above the clamping jaw, so that accidental collision in the clamping process can be interrupted or alarmed in time.
Description
Technical Field
The utility model relates to an ore screening clamp gets the mechanical equipment field, and more specifically the ore snatchs manipulator that says so relates to.
Background
In the modern life, the most advanced technology is in the form of a new moon, and the most important difference between the mechanical arm and the human arm is in flexibility and endurance. That is, the maximum advantage of the manipulator can repeatedly do the same action, and the manipulator can never feel tired under the normal condition of the machine. The application of mechanical arms is more and more extensive, the mechanical arms are high-tech automatic production equipment developed in recent decades, and the operation accuracy and the operation capability in the environment are improved. The existing mechanical arm is mostly set to move and clamp the workpiece in a fixed route according to the program, but is not suitable for moving objects such as ore in the process of conveying, and has slow speed and limited clamping capacity for heavier ore.
SUMMERY OF THE UTILITY MODEL
The utility model provides an ore grabbing manipulator, which adopts a power distribution device to operate a lifting connecting rod to move a horizontal connecting flange in the horizontal direction and the vertical direction, and adopts a clamping jaw connected below the horizontal connecting flange to grab the ore, wherein the lifting rod is driven by a swing arm adopted by the power distribution device to enable the clamping jaw to move rapidly, and the hoisting structure has strong lifting capacity; in addition, the horizontal connecting flange adopts an air pressure crack detection mode, and a transition block with an inclination angle sensor is arranged above the clamping jaw, so that accidental collision in the clamping process can be interrupted or alarmed in time.
The utility model discloses a concrete technical scheme as follows: an ore grabbing manipulator comprises a power distribution device, a horizontal connecting flange positioned below the power distribution device, a connecting lifting rod connected between the power distribution device and the horizontal connecting flange, and a clamping jaw arranged below the horizontal connecting flange; the clamping jaws can move horizontally and vertically under the action of the power distribution device.
Therefore, the connection lifting rod can be operated by the power distribution device to realize quick movement of the horizontal connection flange, and the clamping jaw has better lifting force on ores in a hoisting mode and is more stable.
As the utility model discloses a preferred, power distribution device includes horizontal installation's triangle flange, three outside swing arms that extend are installed to circumference array around the triangle flange, the swing arm by install in the last gear motor control of triangle flange possesses the action of vertical rotation wobbling.
The first speed reduction motor is a motor and is connected with the rotating shaft of the swing arm through a speed reducer, so that the swing arm is ensured to run stably.
Preferably, the horizontal connecting flange comprises three outwardly protruding mounting seats in a circumferential array.
As the utility model discloses a preferred, connect lift bar three groups altogether, every group two connect respectively in the swing arm stretch out the end both sides and the mount pad both sides, and the upper end with the swing arm stretches out to connect through first joint bearing between the end, the lower extreme with connect through second joint bearing between the mount pad.
Therefore, the connecting lifting rod is connected with the swing arm and the mounting seat through the first joint bearing and the second joint bearing, and the motion of the swing arm can drive the horizontal connecting flange to move freely; the total 6 of the connecting lifting rods can enhance the lifting strength, and the connecting lifting rods are generally carbon drill rods, so that the connecting lifting rods are light in weight, high in strength, capable of moving quickly and high in stability.
As the utility model discloses a preferred, horizontal flange is inside to be equipped with the micropore of ventilating, the micropore of ventilating with second joint bearing install in the hole intercommunication of mount pad department.
The horizontal connecting flange is connected by an air pipe and is always ventilated, air pressure is transmitted to the inner hole of the second joint bearing arranged at the mounting seat through the ventilating micropores, air pressure is reduced if the horizontal connecting flange is cracked due to collision, and the controller controls the manipulator to pause or provide an alarm.
As the utility model discloses a preferred, horizontal connecting flange with be connected with the transition piece between the clamping jaw, the internally mounted of transition piece has inclination sensor, the transition piece with swing joint between the horizontal connecting flange.
Therefore, the transition block can be controlled to pause or provide an alarm when the clamping jaw is greatly collided to cause the transition block to be inclined too much, and the inclination angle sensor provides a feedback signal when the transition block is inclined by more than 10 degrees.
As the utility model discloses a preferred, the clamping jaw includes fixing base and claw dish, claw dish at least two and symmetry articulate in around the fixing base, the fixing base with transition piece rigid coupling.
Thereby, the inclination of the jaw is transferred to the transition block.
As the utility model discloses a preferred, horizontal connection flange the transition piece with the fixing base center has passed clamping jaw control shaft, clamping jaw control shaft passes first clamping jaw control chuck and second clamping jaw control chuck are installed to the below of fixing base, jaw dish upper portion is equipped with the clamp acting plate of inboard extension, clamp acting plate extends to first clamping jaw control chuck with between the second clamping jaw control chuck.
Whereby said second jaw operating chuck urges said nip apply plate to rotate downwardly as said jaw operating shaft moves downwardly, thereby separating said jaw discs; said first jaw actuation chuck urging said chuck apply plate to rotate upwardly as said jaw actuation shaft moves upwardly, thereby causing said chuck to clamp; in addition, the clamping jaw can be relative clamping jaw operating shaft free rotation can adapt to the appearance of snatching the ore and snatch, improves the stability of snatching.
As the utility model discloses a preferred, power distribution device installs second gear motor at the center, second gear motor below with be connected with the connecting axle between the clamping jaw operating shaft upper end, both ends about the connecting axle with second gear motor with all connect through universal joint between the clamping jaw operating shaft.
Therefore, the power distribution device is connected with the clamping jaws through four groups of connecting rods of the connecting lifting rod and the connecting shaft, so that the lifting strength is stronger; the connecting shaft adopts an inner shaft and an outer shaft which are in threaded fit, so that the rotating action of the second speed reducing motor can be converted into the telescopic action of the connecting shaft.
As the utility model discloses a preferred, the control is installed to clamping jaw operating shaft top the third gear motor that clamping jaw operating shaft goes up and down, third gear motor with be connected with the extension spring between the center of power distribution device below.
Therefore, the power distribution device is connected with the clamping jaw through the connecting lifting rod and the tension spring, the tension spring does not need to be controlled, and the reaction speed is higher.
To sum up, the utility model discloses following beneficial effect has:
the ore grabbing manipulator of the utility model adopts the power distribution device to operate the lifting connecting rod to move the horizontal connecting flange in the horizontal direction and the vertical direction, and adopts the clamping jaw connected below the horizontal connecting flange to grab the ore, wherein the swing arm adopted by the power distribution device drives the lifting rod to enable the clamping jaw to move rapidly, and the hoisting structure has strong lifting capacity; in addition, the horizontal connecting flange adopts an air pressure crack detection mode, and a transition block with an inclination angle sensor is arranged above the clamping jaw, so that accidental collision in the clamping process can be interrupted or alarmed in time.
Drawings
Fig. 1 is a perspective view 1 of the ore gripping manipulator of the present invention;
fig. 2 is a perspective view 1 of the power distribution device of the ore gripping manipulator of the present invention after the top housing is removed;
fig. 3 is a perspective view 2 of the ore gripping manipulator of the present invention;
fig. 4 is a cross-sectional view of a horizontal connecting flange of the ore gripping manipulator of the present invention;
fig. 5 is a schematic connection diagram of a connecting shaft of the ore gripping manipulator of embodiment 1 of the present invention;
fig. 6 is a schematic connection diagram of a third gear motor and a tension spring of the ore gripping manipulator of the present invention in embodiment 2;
in the figure, 1-power distribution device, 11-triangular flange, 12-swing arm, 13-first speed reduction motor, 14-second speed reduction motor, 2-horizontal connecting flange, 21-mounting seat, 22-ventilation micropore, 3-connecting lifting rod, 31-first joint bearing, 32-second joint bearing, 4-clamping jaw, 41-fixing seat, 42-clamping jaw disc, 421-clamping acting plate, 5-transition block, 6-clamping jaw operating shaft, 61-first clamping jaw operating chuck, 62-second clamping jaw operating chuck, 7-connecting shaft, 71-universal coupling, 8-third speed reduction motor and 9-tension spring.
Detailed Description
The present invention will be further explained by the following embodiments with reference to the attached drawings.
Referring to fig. 1, 2 and 3, an ore grabbing manipulator comprises a power distribution device 1, a horizontal connecting flange 2 located below the power distribution device 1, a connecting lifting rod 3 connected between the power distribution device 1 and the horizontal connecting flange 2, and a clamping jaw 4 installed below the horizontal connecting flange 2; the chuck jaws 4 are horizontally and vertically moved by the power distribution device 1.
From this, handle through power distribution device 1 and connect lift bar 3 and can realize the quick travel to horizontal flange 2, and the clamping jaw 4 adopts the lifting force of hoist and mount mode to the ore better to it is more stable.
As shown in fig. 2, the power distribution device 1 includes a horizontally installed triangular flange 11, three swing arms 12 extending outward are installed in a circumferential array around the triangular flange 11, and the swing arms 12 are controlled by a first reduction motor 13 installed on the triangular flange 11 to have a vertical rotational swing motion.
The first speed reduction motor 13 is connected between the motor and the rotating shaft of the swing arm 12 through a speed reducer, so that the swing arm 12 is ensured to run stably.
As shown in fig. 4, the horizontal attachment flange 2 includes a circumferential array of three outwardly projecting mounting seats 21.
As shown in fig. 1, 2 and 3, the lifting rods 3 are connected in three groups, each two groups are respectively connected to two sides of the extending end of the swing arm 12 and two sides of the mounting base 21, the upper end of the connecting rod is connected with the extending end of the swing arm 12 through a first joint bearing 31, and the lower end of the connecting rod is connected with the mounting base 21 through a second joint bearing 32.
Therefore, the connecting lifting rod 3 is connected with the swing arm 12 and the mounting seat 21 through the first joint bearing 31 and the second joint bearing 32, and the movement of the swing arm 12 can drive the horizontal connecting flange 2 to move freely; the total 6 of connecting lift bar 3 can strengthen lifting strength to connecting lift bar 3 and generally adopting the carbon drill rod, the light intensity of quality is high, can quick travel and stability strong.
As shown in fig. 4, the horizontal connecting flange 2 is provided with a ventilation micro hole 22 inside, and the ventilation micro hole 22 is communicated with an inner hole of the second joint bearing 32 installed at the installation seat 21.
The horizontal connecting flange 2 is always ventilated through the air pipe connection, air pressure is transmitted to the inner hole of the mounting seat 21 through the ventilation micropores 22, the second joint bearing 32 is mounted at the inner hole, if the horizontal connecting flange 2 is cracked due to collision, air pressure is reduced, and the controller controls the mechanical arm to pause or provide an alarm.
As shown in fig. 1, 2 and 3, a transition block 5 is connected between the horizontal connecting flange 2 and the clamping jaw 4, an inclination angle sensor is installed inside the transition block 5, and the transition block 5 is movably connected with the horizontal connecting flange 2.
Therefore, the transition block 5 can be controlled to pause or provide an alarm when the clamping jaw 4 is strongly collided to cause the transition block 5 to be excessively inclined, and the inclination angle sensor provides a feedback signal when the transition block 5 is inclined by more than 10 degrees.
As shown in fig. 1, 2 and 3, the clamping jaw 4 includes a fixed seat 41 and at least two jaw discs 42, the jaw discs 42 are symmetrically hinged around the fixed seat 41, and the fixed seat 41 is fixedly connected with the transition block 5.
Thereby, the inclination of the jaw 4 is transferred to the transition piece 5.
As shown in fig. 3, 5 and 6, a clamping jaw operating shaft 6 passes through the centers of the horizontal connecting flange 2, the transition block 5 and the fixed seat 41, a first clamping jaw operating chuck 61 and a second clamping jaw operating chuck 62 are installed on the clamping jaw operating shaft 6 passing through the lower part of the fixed seat 41, a clamping acting plate 421 extending inwards is arranged on the upper part of the clamping jaw disc 42, and the clamping acting plate 421 extends to the position between the first clamping jaw operating chuck 61 and the second clamping jaw operating chuck 62.
Thus, when the jaw operating shaft 6 moves downward, the second jaw operating chuck 62 pushes the clamping acting plate 421 to rotate downward, thereby separating the jaw plates 42; when the jaw operating shaft 6 moves upward, the first jaw operating chuck 61 pushes the clamping acting plate 421 to rotate upward, so that the jaw plate 42 is clamped; in addition, clamping jaw 4 can be relative clamping jaw operating shaft 6 free rotation, can adapt to the appearance of snatching the ore and snatch, improves the stability of snatching.
Example 1:
as shown in fig. 5, a second gear motor 14 is installed in the center of the power distribution device 1, a connecting shaft 7 is connected between the lower side of the second gear motor 14 and the upper end of the clamping jaw operating shaft 6, and the upper end and the lower end of the connecting shaft 7 are connected with the second gear motor 14 and the clamping jaw operating shaft 6 through universal couplings 71.
Therefore, the power distribution device 1 is connected with the clamping jaw 4 through four groups of connecting rods which are used for connecting the lifting rod 3 and the connecting shaft 7, so that the lifting strength is stronger; the connecting shaft 7 adopts an inner shaft and an outer shaft which are in threaded fit, so that the rotating action of the second speed reducing motor 14 can be converted into the telescopic action of the connecting shaft 7.
Example 2:
as shown in fig. 6, a third speed reduction motor 8 for controlling the lifting of the clamping jaw operating shaft 6 is arranged above the clamping jaw operating shaft 6, and a tension spring 9 is connected between the third speed reduction motor 8 and the lower center of the power distribution device 1.
Therefore, the power distribution device 1 is connected with the clamping jaw 4 through the connecting lifting rod 3 and the tension spring 9, the tension spring 9 does not need to be controlled, and the reaction speed is higher.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the spirit and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made by the technical solution of the present invention by those skilled in the art should fall into the protection scope of the present invention, and the technical contents claimed by the present invention have been fully recorded in the claims.
Claims (10)
1. The utility model provides an ore snatchs manipulator which characterized in that: the device comprises a power distribution device (1), a horizontal connecting flange (2) positioned below the power distribution device (1), a connecting lifting rod (3) connected between the power distribution device (1) and the horizontal connecting flange (2), and a clamping jaw (4) installed below the horizontal connecting flange (2); the clamping jaw (4) has horizontal and vertical movement actions under the action of the power distribution device (1).
2. An ore gripping manipulator as claimed in claim 1, wherein: the power distribution device (1) comprises a triangular flange (11) which is horizontally installed, three swing arms (12) which extend outwards are installed on the periphery of the triangular flange (11) in a circumferential array mode, and the swing arms (12) are controlled to rotate up and down by a first speed reduction motor (13) installed on the triangular flange (11).
3. An ore gripping manipulator as claimed in claim 2, wherein: the horizontal connecting flange (2) comprises three mounting seats (21) which are arranged in a circumferential array and protrude outwards.
4. An ore gripping manipulator as claimed in claim 3, wherein: the three groups of the connecting lifting rods (3) are arranged, each group of two connecting lifting rods are respectively connected to two sides of the extending end of the swing arm (12) and two sides of the mounting seat (21), the upper end of each connecting lifting rod is connected with the extending end of the swing arm (12) through a first joint bearing (31), and the lower end of each connecting lifting rod is connected with the mounting seat (21) through a second joint bearing (32).
5. An ore gripping manipulator as claimed in claim 4, wherein: and a ventilation micropore (22) is formed in the horizontal connecting flange (2), and the ventilation micropore (22) is communicated with an inner hole formed in the mounting seat (21) and formed by the second joint bearing (32).
6. An ore gripping manipulator as claimed in claim 1, wherein: horizontal flange (2) with be connected with transition piece (5) between clamping jaw (4), transition piece (5) internally mounted has inclination sensor, transition piece (5) with swing joint between horizontal flange (2).
7. An ore gripping manipulator as claimed in claim 6, wherein: the clamping jaw (4) comprises a fixed seat (41) and at least two claw discs (42), the claw discs (42) are symmetrically hinged to the periphery of the fixed seat (41), and the fixed seat (41) is fixedly connected with the transition block (5).
8. An ore gripping manipulator as claimed in claim 7, wherein: horizontal flange (2) transition block (5) with fixing base (41) center is passed and is had clamping jaw control shaft (6), clamping jaw control shaft (6) are passed first clamping jaw control chuck (61) and second clamping jaw control chuck (62) are installed to the below of fixing base (41), jaw dish (42) upper portion is equipped with to the inboard clamp that extends and acts on board (421), clamp acts on board (421) extend to first clamping jaw control chuck (61) with between second clamping jaw control chuck (62).
9. An ore gripping manipulator as claimed in claim 8, wherein: second gear motor (14) is installed at power distribution device (1) center, second gear motor (14) below with be connected with connecting axle (7) between clamping jaw operating shaft (6) upper end, both ends about connecting axle (7) with second gear motor (14) with all connect through universal joint (71) between clamping jaw operating shaft (6).
10. An ore gripping manipulator as claimed in claim 8, wherein: the third gear motor (8) of controlling clamping jaw operation shaft (6) lift is installed to clamping jaw operation shaft (6) top, third gear motor (8) with be connected with extension spring (9) between power distribution device (1) below center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922031794.9U CN211362326U (en) | 2019-11-22 | 2019-11-22 | Ore snatchs manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922031794.9U CN211362326U (en) | 2019-11-22 | 2019-11-22 | Ore snatchs manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN211362326U true CN211362326U (en) | 2020-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922031794.9U Active CN211362326U (en) | 2019-11-22 | 2019-11-22 | Ore snatchs manipulator |
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| Country | Link |
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| CN (1) | CN211362326U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757495A (en) * | 2019-11-22 | 2020-02-07 | 许德兴 | Ore snatchs manipulator |
-
2019
- 2019-11-22 CN CN201922031794.9U patent/CN211362326U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757495A (en) * | 2019-11-22 | 2020-02-07 | 许德兴 | Ore snatchs manipulator |
| CN110757495B (en) * | 2019-11-22 | 2024-05-24 | 云南三明鑫疆磷业股份有限公司 | Ore grabbing manipulator |
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