CN211662062U - Transmission device of rod dropping manipulator - Google Patents
Transmission device of rod dropping manipulator Download PDFInfo
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- CN211662062U CN211662062U CN201922171435.3U CN201922171435U CN211662062U CN 211662062 U CN211662062 U CN 211662062U CN 201922171435 U CN201922171435 U CN 201922171435U CN 211662062 U CN211662062 U CN 211662062U
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 22
- 230000001681 protective effect Effects 0.000 claims description 11
- 230000000694 effects Effects 0.000 abstract 1
- 238000009412 basement excavation Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 238000003466 welding Methods 0.000 description 4
- 238000005553 drilling Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
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Abstract
The utility model belongs to the technical field of the manipulator transmission, especially, transmission of pole manipulator falls, the control range to the manipulator is limited, can not carry out the regulation of height and flexible length, application range is less, if the upset degree of manipulator is too big, cause the unstable problem of centre gripping easily, the scheme is put forward now, it includes base and manipulator mechanism, manipulator mechanism includes the support arm, mechanical centre gripping cylinder, fixed manipulator and rotation manipulator, fixed manipulator and support arm fixed connection, it rotates the manipulator and rotates with the support arm and is connected, mechanical centre gripping cylinder activity sets up on the support arm, the output shaft and the rotation manipulator swing joint of mechanical centre gripping cylinder. The utility model discloses can carry out the regulation of height and flexible length to manipulator mechanism, can control manipulator mechanism's rotation angle, utilize and carry out rotation regulation to manipulator mechanism, avoid the upset degree of manipulator to lead to the fact the centre gripping unstably too greatly.
Description
Technical Field
The utility model relates to a manipulator transmission technical field especially relates to a transmission of mechanical hand of pole falls.
Background
Non-excavation pipelaying rig construction can be divided into three construction stage, be the direction respectively, reaming and pipe dragging, non-excavation pipelaying rig is in the work progress in three stage, the loading and unloading drilling rod that all need not stop, workman's intensity of labour is great relatively, because the bull stick is glossy, and weight is heavier, there is very big potential safety hazard, adopt the manual work to lift the drilling rod of unloading to present non-excavation equipment (directional rig of level), not only the efficiency of construction is low, and very easily cause injury beyond the personnel to pass through the retrieval, the application number: 201721593256.3, the patent document provides a direct drive type automatic rod dropping manipulator, include drive assembly and snatch the subassembly, drive assembly includes hydraulic motor, welding axle and synchronous connecting rod, the welding axle has at the both ends of synchronous connecting rod, the epaxial transmission seat that installs of welding, hydraulic motor installs on the transmission seat, hydraulic motor's axis of rotation and welding axle are connected, it includes the clamp to snatch the subassembly, the hydro-cylinder, upset arm and linking arm, the one end and the transmission seat of linking arm are connected, the other end and the upset arm of linking arm are connected, be equipped with the axis of going up and sell axle and lower axis on the hydro-cylinder, it is connected with the clamp to go up the axis of selling axle, lower axis of selling and upset arm rotatable coupling, clamp and upset arm pass through the. The utility model discloses simple structure, simple to operate have reduced workman's intensity of labour with non-excavation equipment (directional rig of level) when loading and unloading drilling rod to the frequency that has improved the construction has reduced the potential safety hazard.
In the above patent document, the adjustment range of the manipulator is limited, the height and the telescopic length cannot be adjusted, the use range is small, and when the manipulator is used, if the turnover degree of the manipulator is too large, the clamping is easily unstable.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the regulation scope of manipulator and being limited, can not carry out the regulation of height and flexible length, application range is less, and when using, if the upset degree of manipulator is too big, causes the unstable shortcoming of centre gripping easily, and the transmission of a mechanical arm of drop pole.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a transmission device of a rod dropping mechanical arm comprises a base and a mechanical arm mechanism, wherein the mechanical arm mechanism comprises a supporting arm, a mechanical clamping cylinder, a fixed mechanical arm and a rotating mechanical arm, the fixed mechanical arm is fixedly connected with the supporting arm, the rotating mechanical arm is rotatably connected with the supporting arm, the mechanical clamping cylinder is movably arranged on the supporting arm, an output shaft of the mechanical clamping cylinder is movably connected with the rotating mechanical arm, a rotating column is rotatably arranged at the top of the base, a longitudinal arm is slidably arranged on the rotating column, a connecting arm is rotatably arranged on the longitudinal arm, a telescopic groove is formed in one end of the connecting arm, a telescopic arm is slidably arranged in the telescopic groove and is fixedly connected with the supporting arm, a telescopic adjusting cylinder is fixedly connected on the connecting arm, an output shaft of the telescopic adjusting cylinder is fixedly connected with the supporting arm, an angle adjusting cylinder is, the telescopic degree of the telescopic arm can be adjusted by the telescopic adjusting cylinder, so that the length of the supporting arm is adjusted, and the turning angle of the connecting arm can be adjusted by the angle adjusting cylinder.
Preferably, the first servo motor of top fixedly connected with of base, fixedly connected with gear on first servo motor's the output shaft, the fixed cover in the outside of column spinner is equipped with the ring gear, gear and ring gear meshing, the diameter of gear is less than the diameter of ring gear.
Preferably, the holding tank has been seted up at the top of column spinner, vertical arm and holding tank sliding connection have seted up the cavity on the column spinner, fixedly connected with second servo motor on the bottom inner wall of cavity, and fixed mounting has the screw rod on second servo motor's the output shaft, screw rod and vertical arm threaded connection, and the screw rod rotates with the column spinner to be connected.
Preferably, the limiting grooves are formed in the inner walls of the two sides of the accommodating groove, the limiting blocks are arranged in the two limiting grooves in a sliding mode, the two limiting blocks are fixedly connected with the longitudinal arm, and the limiting blocks limit the longitudinal arm.
Preferably, the breach groove has been seted up at the top of vertical arm, and the back shaft is installed to breach inslot rotation, linking arm and back shaft fixed connection, and the top of base is provided with the protective housing, and the column spinner rotates with the protective housing to be connected, and the protective housing can water proof.
Compared with the prior art, the utility model has the advantages of:
(1) this scheme can adjust the flexible degree of flexible arm through flexible adjust cylinder, and then adjusts the length of support arm, and then adjusts the distance that snatchs of manipulator mechanism, can adapt to different centre gripping and snatch the distance.
(2) This scheme can be adjusted the rotation angle of linking arm through angle adjusting cylinder, and then adjusts manipulator mechanism's rotation angle, can adapt to the different angle that snatchs.
(3) This scheme drives the column spinner through a servo motor and rotates, and then drives manipulator mechanism and rotate, can adapt to different angles, can avoid manipulator mechanism rotation angle too big to cause the centre gripping unstability.
(4) This scheme drives the screw rod through second servo motor and rotates, and the screw rod drives vertical arm and carries out the altitude mixture control, and then adjusts the height that snatchs of manipulator mechanism, can adapt to different high uses, enlarges application range.
The utility model discloses can carry out the regulation of height and flexible length to manipulator mechanism, enlarge application range, can control manipulator mechanism's rotation angle, utilize and carry out rotation regulation to manipulator mechanism, avoid the upset degree of manipulator to lead to the fact the centre gripping unstably too greatly.
Drawings
Fig. 1 is a schematic structural view of a transmission device of a rod dropping manipulator according to the present invention;
fig. 2 is a schematic perspective view of a rotating column and a longitudinal arm of a transmission device of a rod dropping manipulator according to the present invention;
fig. 3 is a schematic view of a overlooking connection structure of a gear and a gear ring of a transmission device of a rod dropping mechanical arm.
In the figure: the mechanical arm comprises a base 1, a longitudinal arm 2, a rotating manipulator 3, a mechanical clamping cylinder 4, a first servo motor 5, a second servo motor 6, a screw rod 7, a thread groove 8, an angle adjusting cylinder 9, a telescopic arm 10, a supporting arm 11, a telescopic adjusting cylinder 12, a connecting arm 13, a limiting block 14, a containing groove 15, a rotating column 16, a notch groove 17, a gear 18 and a gear ring 19.
Detailed Description
The technical solutions in the embodiments will be described clearly and completely with reference to the drawings in the embodiments, and it is obvious that the described embodiments are only a part of the embodiments, but not all embodiments.
Example one
Referring to fig. 1-3, a transmission device of a rod dropping mechanical arm comprises a base 1 and a mechanical arm mechanism, the mechanical arm mechanism comprises a supporting arm 11, a mechanical clamping cylinder 4, a fixed mechanical arm and a rotating mechanical arm 3, the fixed mechanical arm is fixedly connected with the supporting arm 11, the rotating mechanical arm 3 is rotatably connected with the supporting arm, the mechanical clamping cylinder 4 is movably arranged on the supporting arm 11, an output shaft of the mechanical clamping cylinder 4 is movably connected with the rotating mechanical arm 3, a rotary column 16 is rotatably arranged at the top of the base 1, a longitudinal arm 2 is slidably arranged on the rotary column 16, a connecting arm 13 is rotatably arranged on the longitudinal arm 2, one end of the connecting arm 13 is provided with a telescopic groove, a telescopic arm 10 is slidably arranged in the telescopic groove, the telescopic arm 10 is fixedly connected with the supporting arm 11, a telescopic adjusting cylinder 12 is fixedly connected on the connecting arm 13, an angle adjusting cylinder 9 is movably mounted on the longitudinal arm 2, an output shaft of the angle adjusting cylinder 9 is movably connected with the connecting arm 13, the telescopic degree of the telescopic arm 10 can be adjusted by the telescopic adjusting cylinder 12, the length of the supporting arm 11 is further adjusted, and the angle adjusting cylinder 9 can adjust the turning angle of the connecting arm 13.
In this embodiment, the top of the base 1 is fixedly connected with a first servo motor 5, an output shaft of the first servo motor 5 is fixedly connected with a gear 18, a gear ring 19 is fixedly sleeved on the outer side of the rotary column 16, the gear 18 is meshed with the gear ring 19, and the diameter of the gear 18 is smaller than that of the gear ring 19.
In this embodiment, holding tank 15 has been seted up at the top of column spinner 16, vertical arm 2 and holding tank 15 sliding connection have seted up the cavity on the column spinner 16, fixedly connected with second servo motor 6 on the bottom inner wall of cavity, and fixed mounting has screw rod 7 on second servo motor 6's the output shaft, screw rod 7 and vertical arm 2 threaded connection, and screw rod 7 rotates with column spinner 16 to be connected.
In this embodiment, all seted up the spacing groove on the both sides inner wall of holding tank 15, two equal slidable mounting in the spacing groove have stopper 14, two stopper 14 all with vertical arm 2 fixed connection, stopper 14 is spacing to vertical arm 2.
In this embodiment, breach groove 17 has been seted up at the top of vertical arm 2, and the back shaft is installed to breach groove 17 internal rotation, and linking arm 13 and back shaft fixed connection, the top of base 1 are provided with the protective housing, and the column spinner 16 rotates with the protective housing to be connected, and the protective housing can water protection.
Example two
Referring to fig. 1-3, a transmission device of a rod dropping manipulator comprises a base 1 and a manipulator mechanism, the manipulator mechanism comprises a support arm 11, a mechanical clamping cylinder 4, a fixed manipulator and a rotary manipulator 3, the fixed manipulator is fixedly connected with the support arm 11 through screws, the rotary manipulator 3 is rotatably connected with the support arm, the mechanical clamping cylinder 4 is movably arranged on the support arm 11, an output shaft of the mechanical clamping cylinder 4 is movably connected with the rotary manipulator 3, a rotary column 16 is rotatably arranged at the top of the base 1, a longitudinal arm 2 is slidably arranged on the rotary column 16, a connecting arm 13 is rotatably arranged on the longitudinal arm 2, one end of the connecting arm 13 is provided with a telescopic slot, a telescopic arm 10 is slidably arranged in the telescopic slot, the telescopic arm 10 is fixedly connected with the support arm 11 through screws, a telescopic adjusting cylinder 12 is fixedly connected on the connecting arm 13 through screws, an output shaft of the telescopic adjusting cylinder 12, an angle adjusting cylinder 9 is movably mounted on the longitudinal arm 2, an output shaft of the angle adjusting cylinder 9 is movably connected with the connecting arm 13, the telescopic degree of the telescopic arm 10 can be adjusted by the telescopic adjusting cylinder 12, the length of the supporting arm 11 is further adjusted, and the angle adjusting cylinder 9 can adjust the turning angle of the connecting arm 13.
In this embodiment, the top of the base 1 is fixedly connected with a first servo motor 5 through a screw, an output shaft of the first servo motor 5 is fixedly connected with a gear 18 through a screw, a gear ring 19 is fixedly sleeved on the outer side of the rotary column 16, the gear 18 is meshed with the gear ring 19, and the diameter of the gear 18 is smaller than that of the gear ring 19.
In this embodiment, holding tank 15 has been seted up at the top of column spinner 16, vertical arm 2 and holding tank 15 sliding connection have seted up the cavity on the column spinner 16, through screw fixedly connected with second servo motor 6 on the bottom inner wall of cavity, have screw rod 7 through welded fastening on second servo motor 6's the output shaft, screw rod 7 and vertical arm 2 threaded connection, screw rod 7 rotates with column spinner 16 to be connected.
In this embodiment, all seted up the spacing groove on the both sides inner wall of holding tank 15, two equal slidable mounting in the spacing groove have stopper 14, and two stopper 14 all pass through screw fixed connection with vertical arm 2, and stopper 14 is spacing to vertical arm 2.
In this embodiment, breach groove 17 has been seted up at the top of vertical arm 2, and the back shaft is installed to breach groove 17 internal rotation, and linking arm 13 passes through screw fixed connection with the back shaft, and the top of base 1 is provided with the protective housing, and the column spinner 16 rotates with the protective housing to be connected, and the protective housing can water proof.
In the embodiment, when the mechanical arm grabbing device works, the base 1 is installed on power mechanical equipment, the electrical equipment is powered on and is controlled by the power supply and the controller, the telescopic degree of the telescopic arm 10 can be adjusted through the telescopic adjusting cylinder 12, the length of the supporting arm 11 is further adjusted, the grabbing distance of the mechanical arm mechanism is further adjusted, the overturning angle of the connecting arm 13 can be adjusted through the angle adjusting cylinder 9, the overturning angle of the mechanical arm mechanism can be further adjusted to adapt to different grabbing angles, the screw 7 is driven to rotate by the second servo motor 6, the longitudinal arm 2 is driven to be adjusted in height by the screw 7, the grabbing height of the mechanical arm mechanism is further adjusted, after the mechanical arm grabbing device is adjusted properly, the rotating mechanical arm 3 can be driven to rotate by the mechanical clamping cylinder 4 to grab a drop rod, the rotating column 16 is driven to rotate by the first servo motor 5, the position of the drop rod can be adjusted, the phenomenon that clamping is unstable due to the fact that the turnover angle of the mechanical arm mechanism is too large can be avoided, and the drop rod can be conveniently installed and detached.
The above descriptions are only preferred embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the scope of the present invention, and the technical solutions and the utility model concepts of the present invention are equivalent to, replaced or changed.
Claims (5)
1. A transmission device of a rod-falling manipulator comprises a base (1) and a manipulator mechanism, wherein the manipulator mechanism comprises a support arm (11), a mechanical clamping cylinder (4), a fixed manipulator and a rotary manipulator (3), the fixed manipulator is fixedly connected with the support arm (11), the rotary manipulator (3) is rotatably connected with the support arm, the mechanical clamping cylinder (4) is movably arranged on the support arm (11), an output shaft of the mechanical clamping cylinder (4) is movably connected with the rotary manipulator (3), the transmission device is characterized in that a rotary column (16) is rotatably arranged at the top of the base (1), a longitudinal arm (2) is slidably arranged on the rotary column (16), a connecting arm (13) is rotatably arranged on the longitudinal arm (2), a telescopic groove is formed in one end of the connecting arm (13), a telescopic arm (10) is slidably arranged in the telescopic groove, and the telescopic arm (10) is fixedly connected with the support arm (11), a telescopic adjusting cylinder (12) is fixedly connected to the connecting arm (13), an output shaft of the telescopic adjusting cylinder (12) is fixedly connected with the supporting arm (11), an angle adjusting cylinder (9) is movably mounted on the longitudinal arm (2), and an output shaft of the angle adjusting cylinder (9) is movably connected with the connecting arm (13).
2. The transmission device of the rod dropping mechanical arm as claimed in claim 1, wherein a first servo motor (5) is fixedly connected to the top of the base (1), a gear (18) is fixedly connected to an output shaft of the first servo motor (5), a gear ring (19) is fixedly sleeved on the outer side of the rotating column (16), and the gear (18) is meshed with the gear ring (19).
3. The transmission device of the drop arm manipulator as claimed in claim 1, wherein the top of the rotary column (16) is provided with a receiving groove (15), the longitudinal arm (2) is slidably connected with the receiving groove (15), the rotary column (16) is provided with a cavity, the inner wall of the bottom of the cavity is fixedly connected with a second servo motor (6), the output shaft of the second servo motor (6) is fixedly provided with a screw (7), and the screw (7) is in threaded connection with the longitudinal arm (2).
4. The transmission device of the drop rod manipulator of claim 3, wherein the inner walls of the two sides of the accommodating groove (15) are respectively provided with a limiting groove, the limiting blocks (14) are respectively arranged in the two limiting grooves in a sliding manner, and the two limiting blocks (14) are respectively fixedly connected with the longitudinal arm (2).
5. The transmission device of the drop rod manipulator as claimed in claim 1, wherein a notch groove (17) is formed in the top of the longitudinal arm (2), a support shaft is rotatably mounted in the notch groove (17), the connecting arm (13) is fixedly connected with the support shaft, a protective shell is arranged on the top of the base (1), and the rotary column (16) is rotatably connected with the protective shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922171435.3U CN211662062U (en) | 2019-12-06 | 2019-12-06 | Transmission device of rod dropping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922171435.3U CN211662062U (en) | 2019-12-06 | 2019-12-06 | Transmission device of rod dropping manipulator |
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| Publication Number | Publication Date |
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| CN211662062U true CN211662062U (en) | 2020-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922171435.3U Active CN211662062U (en) | 2019-12-06 | 2019-12-06 | Transmission device of rod dropping manipulator |
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| CN (1) | CN211662062U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113400343A (en) * | 2021-05-25 | 2021-09-17 | 广东科佩克机器人有限公司 | Robot |
| CN114310864A (en) * | 2022-01-14 | 2022-04-12 | 浙江精尚数控科技有限公司 | A telescopic manipulator with multiple stroke options |
| CN114905533A (en) * | 2022-06-21 | 2022-08-16 | 安徽江河智能装备集团有限公司 | Lining-changing mechanical arm applied to narrow space work |
| CN116901045A (en) * | 2023-09-13 | 2023-10-20 | 艾康恩(深圳)电子科技有限公司 | Electronic product test manipulator |
-
2019
- 2019-12-06 CN CN201922171435.3U patent/CN211662062U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113400343A (en) * | 2021-05-25 | 2021-09-17 | 广东科佩克机器人有限公司 | Robot |
| CN113400343B (en) * | 2021-05-25 | 2024-03-19 | 广东科佩克机器人有限公司 | Robot |
| CN114310864A (en) * | 2022-01-14 | 2022-04-12 | 浙江精尚数控科技有限公司 | A telescopic manipulator with multiple stroke options |
| CN114905533A (en) * | 2022-06-21 | 2022-08-16 | 安徽江河智能装备集团有限公司 | Lining-changing mechanical arm applied to narrow space work |
| CN114905533B (en) * | 2022-06-21 | 2024-04-16 | 安徽江河智能装备集团有限公司 | Lining changing manipulator applied to narrow space work |
| CN116901045A (en) * | 2023-09-13 | 2023-10-20 | 艾康恩(深圳)电子科技有限公司 | Electronic product test manipulator |
| CN116901045B (en) * | 2023-09-13 | 2023-12-22 | 艾康恩(深圳)电子科技有限公司 | Electronic product test manipulator |
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