CN211615608U - Rotation return structure of manipulator arm lock - Google Patents

Abstract

The utility model relates to a rotation return structure of manipulator arm lock, its technical scheme main points are: the clamping device comprises an extension arm and a first clamping arm rotationally connected with the extension arm, wherein a containing groove is formed in the middle of the side wall of the first clamping arm, which deviates from the clamping of the arc-shaped steel plate, a second threaded hole is formed in each of the two opposite sides of the first clamping arm, a second through hole communicated with the containing groove is formed in each second threaded hole, a limiting block is arranged in the containing groove, gaps are reserved between the two sides of the limiting block and the opposite inner walls of the containing groove, and a second return assembly for rotationally returning is arranged on the first clamping arm; the second return assembly comprises a second limiting column arranged in each second through hole, a second positioning bolt in threaded connection with the second threaded hole and a second compression spring clamped between the second limiting column and the second positioning bolt. The utility model has the advantages that: the efficiency of first arm lock centre gripping once more to the arc steel sheet is improved.

Description

Rotation return structure of manipulator arm lock

Technical Field

The utility model relates to a manipulator field, concretely relates to rotation return structure of manipulator arm lock.

Background

A large storage tank refers to a large container of greater than 100 cubic meters capacity that is comprised of tank walls, a tank roof, a tank bottom, and tank accessories for storing crude oil or other petroleum products. Large oil storage tanks are containers for storing oil products, which are the main equipment in oil depots, and are mainly used in oil refineries, oil fields, oil depots and other industries. And the large-scale storage tank is formed by welding a plurality of arc-shaped steel plates.

In the existing construction site, a worker clamps an arc-shaped steel plate through a manipulator, and the manipulator comprises a mounting seat 1 connected with a driving arm of a loader as shown in figure 1; the mounting seat 1 is provided with two supporting arms 21 which are parallel to each other; two ends of each support arm 21 are respectively provided with a telescopic arm 22, each telescopic arm 22 comprises an outer arm 221 and an inner arm 222, the outer arms 221 are vertically and fixedly connected with the end parts of the two support arms 21, and first hydraulic cylinders for driving the outer arms 221 and the inner arms 222 to slide mutually are arranged in the outer arms 221; each rigid coupling of tip that outer arm 221, inner arm 222 deviate from each other has an extension arm 6, and four extension arms 6 are located the homonymy of mount pad 1, and every extension arm 6 is provided with first arm lock 4 towards one side of relative extension arm 6, and first arm lock 4 is located the end of extension arm 6 and rotates with extension arm 6 to be connected, and extension arm 6 slides and is connected with second arm lock 5, and the position of first arm lock 4 and second arm lock 5 corresponds each other.

Because the arc steel sheet is the arc structure, carry out the in-process of centre gripping at first arm lock and second arm lock to the arc steel sheet, can meet the surface of arc steel sheet more and take place to rotate between the extension arm in order to make first arm lock and the laminating of arc steel sheet inseparabler, improved the stability of centre gripping. But unable self return after first arm lock rotates, when staff operate first arm lock and second arm lock once more and carry out the centre gripping to the arc steel sheet, need operating personnel with first arm lock contact on ground, restriction first arm lock rotates, then carry out the centre gripping to the arc steel sheet, but can increase the friction number of times of first arm lock and ground to cause the damage of colliding with of first arm lock easily, thereby reduced the life of first arm lock.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art exists, one of the purposes of the utility model is to provide a rotation return mechanism of manipulator arm lock, its advantage is that break away from the fixed back to the arc steel sheet at first arm lock, first arm lock can self return to break away from the fixed back to the arc steel sheet at first arm lock, first arm lock can self return, thereby improved the efficiency of first arm lock centre gripping once more to the arc steel sheet.

The above technical purpose of the present invention can be achieved by the following technical solutions:

a rotary return structure of a manipulator arm lock comprises an extension arm and a first arm lock rotationally connected with the extension arm, wherein a containing groove is formed in the middle of a side wall of the first arm lock, which deviates from the clamping of an arc-shaped steel plate, the two opposite sides of the first arm lock are respectively provided with a second threaded hole, the two second threaded holes are coaxially arranged, the bottom surface of each second threaded hole is provided with a second perforation mutually communicated with the containing groove, a limiting block is arranged in the containing groove, gaps are reserved on the inner walls of the two sides of the limiting block, which are opposite to the containing groove, the limiting block is detachably connected with the extension arm, a second limiting groove is respectively formed in the positions of the limiting block, which correspond to the two second perforations, and a second return component for rotary return is arranged;

the second return assembly comprises a second limiting column arranged in each second through hole and sliding with the inner wall of the second through hole, a second positioning bolt in threaded connection with the second threaded hole, and a second compression spring clamped between the second limiting column and the second positioning bolt.

By adopting the technical scheme, a worker inserts the limiting block into the accommodating groove of the first clamping arm so as to limit the maximum swing angle of the first clamping arm, then inserts the two second limiting columns into the two second through holes, inserts the two second compression springs into the two second through holes, and finally screws the second positioning bolts into the two second bolt holes, so that the two second compression springs are driven to press the second limiting columns by screwing the two second positioning bolts, the second limiting columns are inserted into the second limiting grooves on two sides of the limiting block, when the first clamping arm rotates, the distance between the second positioning bolt on the corresponding side and the second limiting groove is tightened, the second compression springs are driven to be elastically compressed, when the first clamping arm is separated from the contact with the arc-shaped steel plate, the first clamping arm can be under the elastic acting force of the second compression springs, the first clamping arm is enabled to return to the initial state, the second compression spring on the opposite side limits the continuous rotation of the first clamping arm, and the accuracy of returning the first clamping arm is guaranteed.

The present invention may be further configured in a preferred embodiment as: the stopper has a sliding block towards one side rigid coupling of extension arm, the extension arm has been seted up one towards one side of first arm lock and has been held the gliding sliding tray of sliding block.

Through adopting above-mentioned technical scheme, the offering of sliding tray has played spacing effect to the sliding block, is convenient for confirm the fixed position of stopper and extension arm, has improved the counterpoint efficiency of stopper and extension arm, and then has improved the fixed efficiency of stopper and extension arm.

The present invention may be further configured in a preferred embodiment as: and the limiting block is in threaded connection with a plurality of fixing bolts mutually fixed with the extension arm.

By adopting the technical scheme, the sliding block is matched with the sliding groove, so that the fixing position of the fixing bolt and the extension arm is convenient to position, and the fixing efficiency is improved; and through the revolving of fixing bolt, be convenient for install the operation to the stopper, the operation mode is comparatively simple.

The present invention may be further configured in a preferred embodiment as: the both sides of sliding block respectively the rigid coupling have a spacing draw runner, the relative inside of sliding tray respectively sets up one and holds the gliding cooperation groove of spacing draw runner.

Through adopting above-mentioned technical scheme, gliding in-process in the spout as the sliding block, spacing draw runner is located the cooperation inslot to restricted breaking away from each other of sliding block and sliding tray, thereby played the effect spacing temporarily, improved the counterpoint efficiency of stopper and holding tank.

The present invention may be further configured in a preferred embodiment as: the end face of the second limiting column is a hemispherical face.

Through adopting above-mentioned technical scheme, the terminal surface of the spacing post of second sets up to the hemisphere to make first arm lock rotate more nimble, reduced the wearing and tearing of the spacing toe portion of second and the spacing inslot of second.

The present invention may be further configured in a preferred embodiment as: one side that first arm lock and arc steel sheet pasted sets up to the cambered surface to first arm lock middle part is the minimum of cambered surface.

Through adopting above-mentioned technical scheme, set up one side of first arm lock and arc steel sheet contact into the cambered surface to make the better surface of catering to the arc steel sheet of first arm lock, but also can have the reduction contact stress.

The present invention may be further configured in a preferred embodiment as: and a rubber pad is attached to the arc surface of the first clamping arm.

Through adopting above-mentioned technical scheme, the gap of first arm lock cambered surface and arc steel sheet contact has been compensatied in the setting of rubber pad to improve the frictional force of first arm lock and arc steel sheet, improved the stability of centre gripping.

To sum up, the utility model discloses following beneficial effect has:

firstly, the efficiency of secondary centre gripping has been improved. Due to the arrangement of the second return assembly, the first clamping arm can automatically return to the initial state after rotating, so that the secondary clamping efficiency is improved;

and secondly, the alignment efficiency of the limiting block is improved, and the sliding block is matched with the sliding groove, so that the alignment position of the limiting block and the extension arm is limited, and the second positioning bolt is convenient to screw.

Drawings

Fig. 1 is a schematic view of the overall structure of a robot in the background art;

FIG. 2 is a schematic view showing the connection relationship between the first clip arm and the extension arm according to the present embodiment;

FIG. 3 is an exploded view showing the connection of the first clip arm with the extension arm;

FIG. 4 is an enlarged view of detail A of FIG. 3;

FIG. 5 shows a schematic view of a mating block structure;

FIG. 6 is a cross-sectional view showing the rotational relationship between the first clamp arm and the extension arm;

FIG. 7 is a schematic view showing a connection relationship between the stopper and the extension plate;

fig. 8 is a schematic structural view showing a second return assembly.

In the figure, 1, a mounting seat; 21. a support arm; 22. a telescopic arm; 221. an outer arm; 222. an inner arm; 4. A first clamp arm; 42. a rubber pad; 43. hole turning; 44. a side groove; 45. accommodating grooves; 46. a second threaded hole; 47. a second perforation; 5. a second clamp arm; 6. an extension arm; 61. raising the plate; 62. a fixed shaft; 621. a third threaded hole; 622. caulking grooves; 63. mounting a plate; 631. a counter bore; 632. a card slot; 64. a clamping bolt; 641. a polygonal hole; 642. a limiting groove; 643. a ring groove; 65. a matching block; 66. a limiting rod; 67. a hoop; 68. a sliding groove; 69. a mating groove; 81. A limiting block; 811. a second limit groove; 82. a slider; 83. fixing the bolt; 84. a limiting slide bar; 9. a second return assembly; 91. a second limit post; 92. a second compression spring; 93. and a second positioning bolt.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The utility model provides a mounting structure of manipulator arm lock, as shown in figure 2, including extension arm 6 and first arm lock 4 and the second arm lock 5 of setting at extension arm 6 homonymy, first arm lock 4 and second arm lock 5 set up at extension arm 6 homonymy to first arm lock 4 is located the tip setting of extension arm.

As shown in fig. 3, a circular raising plate 61 is fixedly connected to one side of the extension arm 6 facing the second clamp arm 5, the raising plate 61 is disposed near an end of the extension arm 6, a fixed shaft 62 is coaxially and fixedly connected to one side of the raising plate 61 facing away from the extension arm 6, the diameter of the fixed shaft 62 is smaller than that of the raising plate 61, a rotating hole 43 for accommodating the fixed shaft 62 is formed in the middle of the first clamp arm 4, a circular mounting plate 63 is coaxially disposed on an end surface of the fixed shaft 62, and the diameter of the mounting plate 63 is larger than that of the fixed shaft 62, so that the first clamp arm 4 is restricted from being separated from the fixed shaft 62; a clamping bolt 64 penetrates through one side of the mounting plate 63, which is far away from the fixed shaft 62, and a third threaded hole 621 in threaded fit with the clamping bolt 64 is formed in the end face of the fixed shaft 62, so that the mounting plate 63 and the fixed shaft 62 are mutually fixed by screwing the clamping bolt 64. And raise the setting of board 61, reduced first arm lock 4 and the area of the 6 lateral walls direct contact of extension arm, reduced direct contact wear between first arm lock 4 and the extension arm 6, indirectly improved the life of first arm lock 4.

As shown in fig. 3 and 4, an octagonal prism-shaped fitting block 65 (shown in fig. 5) is coaxially and fixedly connected to one side of the mounting plate 63 facing the fixed shaft 62, a recessed groove 622 matched with the fitting block 65 is formed on the end surface of the fixed shaft 62, and a third threaded hole 621 is formed in the bottom of the recessed groove 622. After the matching block 65 is inserted into the caulking groove 622, the relative rotation between the mounting plate 63 and the fixed shaft 62 is limited, so that in the process of rotating the first clamping arm 4, although the first clamping arm 4 and the mounting plate 63 rub against each other and the mounting plate 63 tends to be driven to rotate, the matching block 65 and the caulking groove 622 are matched with each other to limit the relative rotation between the mounting plate 63 and the fixed shaft 62, thereby reducing the possibility that the clamping bolt 64 is naturally separated.

As shown in fig. 4 and 6, a counter bore 631 accommodating an end of the locking bolt 64 is formed in an end surface of the mounting plate 63 facing away from the fixed shaft 62, so that after the locking bolt 64 is screwed and fixed, the end of the locking bolt 64 is screwed into the counter bore 631, thereby reducing the separation of the locking bolt 64 caused by the collision of the external environment on the locking bolt 64. If screens bolt 64 salient in first arm lock 4 sets up, can cause extra space to occupy, carry out the centre gripping back when first arm lock 4 and second arm lock 5 to the arc steel sheet moreover, the arc steel sheet can break away from each other with the manipulator from the direction towards first arm lock 4, if outer arm 221 and inner arm 222 do not stretch out and draw back sufficient space and can cause colliding with of arc steel sheet and screens bolt 64, can seriously make breaking away from of arc steel sheet and fixed position, cause the potential safety hazard.

As shown in fig. 3 and 6, in order to reduce the occupied space of the thickness of the mounting plate 63, the edge slot 44 for accommodating the edge of the mounting plate 63 is formed at the edge of the rotary hole 43 of the first clamping arm 4 facing the mounting plate 63, so that the side of the mounting plate 63 departing from the fixed shaft 62 is flush with the surface of the first clamping arm 4, the mounting plate 63 is prevented from limiting the first clamping arm 4, the extra space special purpose of the mounting plate 63 is also reduced, and the obstruction is reduced in the clamping process of the arc-shaped steel plate. If the staff maintains the first arm lock 4, only need twist soon through screens bolt 64, can realize dismantling the mounting panel 63, be convenient for to the breaking away from of first arm lock 4 and fixed axle 62, improved maintenance efficiency.

As shown in fig. 4, the end surface of the locking bolt 64 is provided with a multi-edge hole 641 which is convenient for screwing, and the end surface of the locking bolt 64 provided with the multi-edge hole 641 is uniformly provided with six limiting grooves 642 around the center of the end surface, the central lines of the two opposite limiting grooves 642 are arranged in a collinear manner, a limiting rod 66 is jointly placed in the two opposite limiting grooves 642, and the edge of the counter bore 631 is provided with two slots 632 which accommodate the two ends of the limiting rod 66, so that the locking bolt 64 is limited from freely rotating through the limiting rod 66 and the limiting grooves 642 and the slots 632 which are locked at the same time, and the fixing stability of the first clamping arm 4 and the fixed shaft 62 is ensured. And the outer peripheral surface of the end part of the position-locking bolt 64 is also provided with a hoop 67, and the outer peripheral surface of the end part of the position-locking bolt 64 is also provided with a ring groove 643 for locking the hoop 67, so that the position-locking effect is achieved for the hoop 67, and the stability of fixing the hoop 67 and the position-locking bolt 64 is improved.

As shown in fig. 3 and 7, an accommodating groove 45 has been seted up at the side arm middle part that first arm lock 4 deviates from second arm lock 5, the accommodating groove 45 interpolation is equipped with a stopper 81, stopper 81's the opposite sides that carry on the back both sides mutually and accommodating groove 45 leave the space, ensure first arm lock 4 and extension arm 6's rotation space, stopper 81 part inserts into the accommodating groove 45, the part is located outside the accommodating groove 45, stopper 81 is fixed with a sliding block 82 towards one side of extension arm 6, sliding block 82 is located outside first arm lock 4, and extension arm 6 has seted up a sliding tray 68 that holds sliding block 82 towards one side of first arm lock 4, after sliding block 82 inserts into sliding tray 68, thereby stopper 81 and the inside fixed position of accommodating groove 45 have been restricted, the headspace of stopper 81 both sides and accommodating groove 45 inner wall has been ensured. And one thread of the limiting block 81 of the sliding groove 68, which is away from the extension arm 6, is connected with two fixing bolts 83, and the fixing bolts 83 penetrate through the sliding block 82 and are in threaded connection with the bottom of the sliding groove 68. The two opposite sides of the sliding block 82 are fixedly connected with a limiting sliding strip 84 respectively, the limiting sliding ways 231 are arranged along the length direction of the extension arm 6, and the opposite inner walls of the sliding grooves 68 are provided with a matching groove 69 matched with the limiting sliding strip 84 to slide. Therefore, when the limiting slide bar 84 slides in the matching groove 69, the sliding block 82 is limited from being separated from the sliding groove 68, the positioning work of the fixing bolt 83 is easy, and the fixing efficiency of the limiting block 81 is improved.

As shown in fig. 8, second returning assemblies 9 for driving the first clamping arm 4 to rotate and return are disposed at two sides of the first clamping arm 4. Two sides of the first clamping arm 4 are respectively provided with a second threaded hole 46 towards the direction of the accommodating groove 45, the two second threaded holes 46 are coaxially arranged, the bottom surfaces of the two second threaded holes 46 are respectively provided with a second through hole 47 communicated with the accommodating groove 45 towards the direction of the accommodating groove 45, and the positions of the limiting block 81 corresponding to the two second through holes 47 are respectively provided with a second limiting groove 811. The second returning assembly 9 includes two second limiting posts 91 disposed in the two second through holes 47 and slidably connected to the two second through holes 47, the two second limiting posts 91 are respectively provided with a second compression spring 92 toward the direction of each second threaded hole 46, and each second threaded hole 46 is internally threaded with a second positioning bolt 93. When the first clamping arm 4 is in the initial state, the axis of the second through hole 47 is perpendicular to the length direction of the extension arm 6.

When first arm lock 4 and second arm lock 5 carry out the centre gripping to the arc steel sheet, first arm lock 4 can drive the rotation between first arm lock 4 and the extension arm 6 by the centre gripping position to the arc steel sheet, because stopper 81 rigid to the spacing post 91 of second that drives to correspond one side slides in the second is perforated 47, and makes second compression spring 92 elastic compression. After the first clamping arm 4 is separated from the clamping of the arc-shaped steel plate, the first clamping arm 4 is only subjected to the elastic acting force accumulated by the second compression spring 92, so that the first clamping arm 4 is driven to return to the initial state by the elastic acting force of the second compression spring 92, and the first compression springs 72 on the two sides are in a balanced state.

As shown in fig. 8, in order to make the rotation of the first clamping arm 4 more flexible, the end surface of the second limiting column 91 facing the second limiting groove 811 is set to be hemispherical, so that in the rotating process of the first clamping arm 4, the hemispherical end surface of the second limiting column 91 plays a guiding role in facing the inner wall of the second limiting groove 811, and further the rotating flexibility of the first clamping arm 4 is improved.

The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims (7)

1. The utility model provides a rotation return structure of manipulator arm lock, includes extension arm (6) and rotates first arm lock (4) of being connected, its characterized in that with extension arm (6): a containing groove (45) is formed in the middle of the side wall of the first clamping arm (4) away from the clamping of the arc-shaped steel plate, a second threaded hole (46) is formed in the middle of the first clamping arm (4) in the opposite directions of the first clamping arm (4), the two second threaded holes (46) are coaxially arranged, a second through hole (47) communicated with the containing groove (45) is formed in the bottom surface of each second threaded hole (46), a limiting block (81) is arranged in the containing groove (45), gaps are reserved between the two sides of the limiting block (81) and the opposite inner wall of the containing groove (45), the limiting block (81) is detachably connected with the extension arm (6), a second limiting groove (811) is formed in the positions of the limiting block (81) corresponding to the two second through holes (47), and a second return assembly (9) capable of returning in a rotating mode is arranged on the first clamping arm;

the second return assembly (9) comprises a second limiting column (91) which is arranged in each second through hole (47) and slides with the inner wall of the second through hole (47), a second positioning bolt (93) in threaded connection with the second threaded hole (46), and a second compression spring (92) clamped between the second limiting column (91) and the second positioning bolt (93).

2. The rotary return structure of a manipulator arm according to claim 1, characterized in that: one side rigid coupling that stopper (81) were towards extension arm (6) has a sliding block (82), extension arm (6) have been seted up one towards first arm lock (4) one side and have been held sliding block (82) gliding sliding tray (68).

3. The rotary return structure of a manipulator arm according to claim 2, characterized in that: the limiting block (81) is connected with a plurality of fixing bolts (83) which are mutually fixed with the extension arm (6) in a threaded manner.

4. The rotary return structure of a manipulator arm according to claim 3, characterized in that: two sides of the sliding block (82) are fixedly connected with a limiting sliding strip (84), and a matching groove (69) for accommodating the limiting sliding strip (84) to slide is formed in the relative inner part of the sliding groove (68).

5. The rotary return structure of a manipulator arm according to claim 1, characterized in that: the end face of the second limiting column (91) is a hemispherical face.

6. The rotary return structure of a manipulator arm according to claim 1, characterized in that: one side that first arm lock (4) and arc steel sheet pasted sets up to the cambered surface to first arm lock (4) middle part is the minimum of cambered surface.

7. The rotary return structure of a manipulator arm according to claim 6, characterized in that: and a rubber pad (42) is attached to the cambered surface of the first clamping arm (4).

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