CN213081480U - Multi-degree-of-freedom automatic grabbing manipulator - Google Patents
Multi-degree-of-freedom automatic grabbing manipulator Download PDFInfo
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- CN213081480U CN213081480U CN202021686522.9U CN202021686522U CN213081480U CN 213081480 U CN213081480 U CN 213081480U CN 202021686522 U CN202021686522 U CN 202021686522U CN 213081480 U CN213081480 U CN 213081480U
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- translation guide
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Abstract
A multi-degree-of-freedom automatic grabbing manipulator comprises a swing support, a lifting assembly, a translation guide rail and a paw assembly, wherein the paw assembly is connected to a sliding plate capable of moving left and right along the translation guide rail; the translation guide rail can be on lifting unit horizontal slip, and the hand claw subassembly still includes the connecting plate and sets up on the connecting plate and can control the swing angle hydro-cylinder of hand claw gyration, and the connecting plate can slide on the slide, and the direction of sliding is on a parallel with lifting unit's direction of lift. The utility model discloses simple structure can carry out multi freedom's such as angle follow-up, horizontal migration, vertical lift position and attitude adjustment to the paw to satisfy the needs of snatching and installing the drilling rod on the automatic drilling machine.
Description
Technical Field
The utility model belongs to the technical field of the colliery is rig in the pit, concretely relates to multi freedom's automation snatchs manipulator.
Background
Along with the continuous development of the automatic drilling machine technology in the coal mine, the mechanical arms matched with the automatic drilling machine are also diversified, and according to the use requirements of the mechanical arms, part of the mechanical arms need to meet the requirements that equipment normally grabs a drill rod and meanwhile have the actions of swinging of the mechanical arms, lifting of the mechanical arms, translation and the like. But in reality, the manipulator design that is used for the drilling rod to snatch at present is too complicated, and the probability that breaks down is great in the use, is unfavorable for automatic drilling machine's development and popularization.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a multi freedom's automation snatchs manipulator simplifies its structure to can carry out multi freedom's such as angle follow-up, horizontal migration, vertical lift position and attitude adjustment to the hand claw, with satisfy the needs of snatching and installing the drilling rod on the automatic drilling machine.
In order to realize the purpose, the utility model discloses the technical scheme who adopts is: a multi-degree-of-freedom automatic grabbing manipulator comprises a swing support, a lifting assembly, a translation guide rail and a paw assembly, wherein the paw assembly comprises a pair of paws, the paw assembly is connected to a sliding plate capable of moving left and right along the translation guide rail, the sliding plate is driven by a linear driving mechanism arranged on the translation guide rail to move left and right, the lifting assembly is arranged on the swing support, the swing support is connected with one end of a slewing bearing, the other end of the slewing bearing is connected with a fixed disc, and the rotation axis of the slewing bearing is in the horizontal direction; the translation guide rail is hung on the upper part of the lifting assembly and can horizontally slide on the lifting assembly, the lifting assembly is also provided with a gear and a translation motor I for driving the gear, and the lower part of the translation guide rail is provided with a translation rack meshed with the gear; the gripper assembly further comprises a swing angle oil cylinder capable of controlling the gripper to rotate and a connecting plate arranged on the sliding plate in a sliding mode, the center axis of the gripper rotation is parallel to the lifting direction of the lifting assembly, the length direction of the connecting plate is perpendicular to the moving direction of the sliding plate and parallel to the lifting direction of the lifting assembly, a lifting rack is arranged on one side of the connecting plate along the length direction of the connecting plate, a gear meshed with the lifting rack is further arranged on the sliding plate, and the gear is driven to rotate by a translation motor II to drive the connecting plate to slide linearly relative to the sliding plate; the rotation axis of the gear on the upper part of the lifting assembly and the rotation axis of the gear on the sliding plate are parallel to the rotation axis of the slewing bearing.
The linear driving mechanism is a screw nut structure driven by a screw motor, and the screw nut is connected with the sliding plate.
The side face of the translation guide rail is provided with two rails, and the back face of the sliding plate is provided with clamping grooves capable of being clamped on the two rails.
The lifting assembly comprises a telescopic oil cylinder and a lifting rod, the lifting rod is sleeved in a vertical pipe of the swing support in a sliding mode, the lower end of the telescopic oil cylinder is connected to the outer side of the vertical pipe, and the upper end of the telescopic oil cylinder is connected with the lifting rod.
The upper end of the lifting rod is provided with a translation guide groove, and the translation guide rail is arranged in the translation guide groove in a sliding manner.
The cross sections of the vertical pipe and the lifting rod are square.
And a plurality of reinforcing plates are arranged between the slewing bearing and the swinging bracket.
And a paw oil cylinder for controlling the paw to open and close is arranged between the paw and the swing angle oil cylinder, and the swing angle oil cylinder is fixed on the connecting plate through a support.
The utility model has the advantages of following innovation point: the utility model discloses well elevating module is as one-level elevating system, and the cooperation of lifting rack and gear is as second grade elevating system for the operating range of hand claw subassembly can obtain bigger vertical extension space, but structurally does not additionally occupy the space of vertical direction. Similarly, the cooperation of the translation rack and the gear on the translation guide rail is used as a primary translation mechanism, and the movement of the sliding plate on the translation guide rail is used as a secondary translation mechanism, so that the operating range of the paw component can obtain larger horizontal expansion space, but the structure does not need too much horizontal space occupation. Therefore, the space requirement of the underground operation can be well met.
The utility model discloses except the regulation of two degrees of freedom of horizontal direction and vertical direction, can also adjust the every single move angle of the vertical direction of hand claw and the interior swing angle of horizontal plane, satisfy requirements such as angle, direction that the drilling rod snatched.
The utility model discloses structural design is ingenious, and is rationally distributed, and during the adjustment on each degree of freedom, between each mechanism and the drilling rod all can not cause the interference to other mechanisms, ensures grabbing of drilling rod and going on smoothly of dismouting on the automatic drilling machine.
Drawings
Fig. 1 is a schematic structural view of the present invention;
the labels in the figure are: 1. slewing bearing, 2, fixed disk, 3, rotary motor, 4, swing support, 5, lifting unit, 501, flexible hydro-cylinder, 502, lifter, 503, translation guide way, 6, translation motor I, 7, translation guide rail, 8, translation motor II, 9, lead screw motor, 10, slide, 11, gripper subassembly, 1101, connecting plate, 1102, rotary hydro-cylinder, 1103, gripper hydro-cylinder, 1104, gripper.
Detailed Description
The following detailed description of the present invention is provided with reference to the accompanying drawings and examples, but not to be construed as limiting the present invention in any way.
Referring to the attached drawings, the multi-degree-of-freedom automatic grabbing mechanical arm can be used for an automatic drilling machine under a coal mine well to complete grabbing and mounting of a drill rod. The manipulator comprises a swing support 4, a lifting assembly 5, a translation guide rail 7 and a paw assembly 11, wherein the swing support 4 is a square steel pipe, one end of a slewing bearing 1 for realizing pitching and swinging of the swing support 4 in a vertical plane is fixedly connected with the square steel pipe, the other end of the slewing bearing 1 is fixedly connected with a fixed disc 2, the fixed disc 2 can be fixed on an automatic drilling machine, so that the pitching angle of the swing support 4 can be adjusted after a slewing motor 3 on the slewing bearing 1 works, in order to strengthen the connection between the slewing bearing 1 and the swing support 4, a plurality of reinforcing plates are welded between the slewing bearing 1 and the square steel pipe of the swing support 4, and the slewing bearing 1 adopts a turbine worm mechanism, and the structure belongs to the conventional technology; lifting unit 5 includes telescopic cylinder 501 and lifter 502, and lifter 502 slides and sets up in the square steel pipe of swing bracket 4, and consequently lifter 502 is the square bar, can avoid lifter 502 to appear wrench movement or even rotatory at the lift in-process, telescopic cylinder 501's cylinder body is fixed square steel pipe side, telescopic cylinder 501's piston end fixing one side of lifter 502.
One side of the upper portion of the lifting rod 502 is provided with a translation guide groove 503, the translation guide rail 7 is hung in the translation guide groove 503 and can slide left and right along the translation guide groove 503, the left and right sliding of the translation guide rail 7 is controlled by a rack and pinion mechanism, a translation rack in the rack and pinion mechanism is arranged on the lower portion of the translation guide rail 7 along the length direction of the translation guide rail 7, a gear in the rack and pinion mechanism is connected with an output shaft of a translation motor I6 arranged at the upper end of the lifting rod 502, and the gear is meshed with the translation rack.
The track face of the translation guide rail 7 is provided with two parallel tracks, the tracks are laid along the length direction of the translation guide rail 7, the back of one sliding plate 10 is provided with a clamping groove clamped on the tracks and sliding along the tracks, the back of the sliding plate 10 is fixedly connected with a screw nut in a screw nut structure, a screw in the screw nut structure is rotatably arranged in an installation space inside the translation guide rail 7, the screw is arranged in parallel with the tracks, one end of the translation guide rail 7 is provided with a screw motor 9 to drive the screw to rotate, and then the screw drives the sliding plate 10 to linearly slide along the tracks of the translation guide rail 7.
The front face of the sliding plate 10 is connected with a connecting plate 1101 in the gripper assembly 11 in a sliding manner, the sliding direction of the connecting plate 1101 is perpendicular to the translation direction of the sliding plate 10, the sliding of the connecting plate 1101 is also driven by a rack-and-pinion mechanism, namely, a lifting rack is arranged on one side of the connecting plate 1101 along the sliding direction of the connecting plate 1101, a gear meshed with the lifting rack is arranged on one side of the lifting rack, and the gear is rotatably supported on the sliding plate 10 and driven by a translation motor II 8 also arranged on the sliding plate 10.
The gripper assembly 11 further comprises a gripper 1104 capable of being opened and closed, a gripper oil cylinder 1103 for controlling the gripper 1104 to be opened and closed and a swing angle oil cylinder 1102 for controlling the gripper 1104 to rotate, the rotating central axis of the gripper 1104 is parallel to the lifting direction of the lifting assembly 5, the swing angle oil cylinder 1102 is fixed on a connecting plate 1101 through a mounting bracket, the swing angle oil cylinder 1102 is rotatably connected with the gripper oil cylinder 1103, the gripper oil cylinder 1103 is connected with the gripper 1104, and when the swing angle oil cylinder 1102 works, the gripper oil cylinder 1103 and the gripper 1104 synchronously rotate. The control of the gripper cylinder 1103 for opening and closing the gripper 1104 belongs to the conventional technical means, and will not be described herein.
The utility model discloses in, lifting unit 5 has constituted the one-level elevating system of hand claw 1104, and the cooperation of lifting rack and gear has then constituted the second grade elevating system of hand claw 1104, just so expanded the scope of snatching of the vertical direction of manipulator in limited space, same translation guide rail 7 and slide 10 have formed the moving mechanism of two-stage horizontal direction equally, the scope of snatching of manipulator horizontal direction has been expanded, and slewing bearing 1's setting and the adoption of pivot angle hydro-cylinder 1102, can make the manipulator suit with the work angle of rig, the installation of the drilling rod of being convenient for.
The above embodiments are only intended to illustrate the technical solution of the present invention and not to limit the same, and it should be understood by those of ordinary skill in the art that the embodiments of the present invention can be modified or replaced with equivalents with reference to the above embodiments, and any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention are all within the scope of the claims of the present application.
Claims (8)
1. The utility model provides a multi freedom's automation snatchs manipulator which characterized in that: the lifting mechanism comprises a swing bracket, a lifting assembly, a translation guide rail and a paw assembly, wherein the paw assembly comprises a pair of paws, the paw assembly is connected to a sliding plate capable of moving left and right along the translation guide rail, the sliding plate is driven by a linear driving mechanism arranged on the translation guide rail to move left and right, the lifting assembly is arranged on the swing bracket, the swing bracket is connected with one end of a slewing bearing, the other end of the slewing bearing is connected with a fixed disc, and the rotation axis of the slewing bearing is in the horizontal direction; the translation guide rail is hung on the upper part of the lifting assembly and can horizontally slide on the lifting assembly, the lifting assembly is also provided with a gear and a translation motor I for driving the gear, and the lower part of the translation guide rail is provided with a translation rack meshed with the gear; the gripper assembly further comprises a swing angle oil cylinder capable of controlling the gripper to rotate and a connecting plate arranged on the sliding plate in a sliding mode, the center axis of the gripper rotation is parallel to the lifting direction of the lifting assembly, the length direction of the connecting plate is perpendicular to the moving direction of the sliding plate and parallel to the lifting direction of the lifting assembly, a lifting rack is arranged on one side of the connecting plate along the length direction of the connecting plate, a gear meshed with the lifting rack is further arranged on the sliding plate, and the gear is driven to rotate by a translation motor II to drive the connecting plate to slide linearly relative to the sliding plate; the rotation axis of the gear on the upper part of the lifting assembly and the rotation axis of the gear on the sliding plate are parallel to the rotation axis of the slewing bearing.
2. The multi-degree-of-freedom automatic grabbing manipulator as claimed in claim 1, wherein: the linear driving mechanism is a screw nut structure driven by a screw motor, and the screw nut is connected with the sliding plate.
3. The multi-degree-of-freedom automatic grabbing manipulator as claimed in claim 1, wherein: the side face of the translation guide rail is provided with two rails, and the back face of the sliding plate is provided with clamping grooves capable of being clamped on the two rails.
4. The multi-degree-of-freedom automatic grabbing manipulator as claimed in claim 1, wherein: the lifting assembly comprises a telescopic oil cylinder and a lifting rod, the lifting rod is sleeved in a vertical pipe of the swing support in a sliding mode, the lower end of the telescopic oil cylinder is connected to the outer side of the vertical pipe, and the upper end of the telescopic oil cylinder is connected with the lifting rod.
5. The multi-degree-of-freedom automatic grabbing manipulator as claimed in claim 4, wherein: the upper end of the lifting rod is provided with a translation guide groove, and the translation guide rail is arranged in the translation guide groove in a sliding manner.
6. The multi-degree-of-freedom automatic grabbing manipulator as claimed in claim 4, wherein: the cross sections of the vertical pipe and the lifting rod are square.
7. The multi-degree-of-freedom automatic grabbing manipulator as claimed in claim 1, wherein: and a plurality of reinforcing plates are arranged between the slewing bearing and the swinging bracket.
8. The multi-degree-of-freedom automatic grabbing manipulator as claimed in claim 1, wherein: and a paw oil cylinder for controlling the paw to open and close is arranged between the paw and the swing angle oil cylinder, and the swing angle oil cylinder is fixed on the connecting plate through a support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021686522.9U CN213081480U (en) | 2020-08-13 | 2020-08-13 | Multi-degree-of-freedom automatic grabbing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021686522.9U CN213081480U (en) | 2020-08-13 | 2020-08-13 | Multi-degree-of-freedom automatic grabbing manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213081480U true CN213081480U (en) | 2021-04-30 |
Family
ID=75630097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021686522.9U Active CN213081480U (en) | 2020-08-13 | 2020-08-13 | Multi-degree-of-freedom automatic grabbing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213081480U (en) |
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2020
- 2020-08-13 CN CN202021686522.9U patent/CN213081480U/en active Active
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