CN214560994U - Twist with fingers arm end effector of beating leaking stoppage - Google Patents
Twist with fingers arm end effector of beating leaking stoppage Download PDFInfo
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- CN214560994U CN214560994U CN202120408299.XU CN202120408299U CN214560994U CN 214560994 U CN214560994 U CN 214560994U CN 202120408299 U CN202120408299 U CN 202120408299U CN 214560994 U CN214560994 U CN 214560994U
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Abstract
The utility model discloses a twist with fingers arm end effector of beating leaking stoppage, it includes: the device comprises a base, a positioning module, a clamping module and a twisting module, wherein the positioning module comprises a positioning block arranged at the bottom of the base; the clamping module comprises a clamping jaw arranged below the positioning block and a clamping driving unit arranged on the base, and the clamping driving unit is in transmission connection with the clamping jaw; the twisting module comprises an air impact hammer and a rotation driving unit, the air impact hammer is rotatably arranged on the base through a rotating structure, and the rotation driving unit is in transmission connection with the air impact hammer. When the automatic twisting and leaking stoppage device is used, the clamping driving unit drives the clamping jaw to move, so that the pipeline is clamped, when leaking stoppage is performed, the driving unit is rotated to drive the air impact hammer to rotate, the angle between the air impact hammer and the leaking pipeline can be flexibly adjusted, the twisting direction of the air impact hammer is changed, and accordingly automatic twisting and leaking stoppage in multiple directions of the leaking pipeline is achieved.
Description
Technical Field
The utility model relates to a take area to press the field of leaking stoppage equipment, in particular to twist with fingers arm end effector of beating leaking stoppage.
Background
With the continuous development of industrial automation, robots are adopted in more and more industries to replace manual work to perform heavy, time-consuming and dangerous work so as to improve the production efficiency of enterprises. The end effector, which is important in the operation of the robot, is usually mounted at the end of a robot arm and moved to a corresponding position during a work process to perform a corresponding work. For the leakage of pipelines and containers in the production process of enterprises, the existing leakage defects are that the leakage is manually stopped, the efficiency is low, and leakage objects with high temperature, high pressure, corrosiveness and peculiar smell can cause certain potential safety hazards and body damage to leakage stopping operators. It is a development trend to adopt a robot method to replace manual leaking stoppage, and the robot has to have a corresponding end effector to perform leaking stoppage operation. The twisting leaking stoppage end effector of the mechanical arm in the prior art comprises: the patent application numbers are: a mechanical arm end effector for blocking leakage under pressure of CN 201910095030.8; the patent application numbers are: CN201920707519.1 is used for twirling arm end effector of leaking stoppage, these arm end effector have perpendicular leaking stoppage, also have oblique angle leaking stoppage design, they can only realize the leaking stoppage of the unidirectional twirling, when needing to beat the leaking stoppage to one side to the pipeline that reveals, the leaking stoppage of the perpendicular direction of twirling can't satisfy its work demand, and only need to beat the leaking stoppage to one side to it, the effect of leaking stoppage is then not obvious to one side, so the single directional end effector practicality is single.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a twist with fingers arm end effector of beating leaking stoppage to solve one or more technical problem that exist among the prior art, provide a profitable selection or creation condition at least.
The technical scheme adopted for solving the technical problems is as follows:
a twist-to-beat, lost circulation robotic end effector, comprising: the device comprises a base, a positioning module, a clamping module and a twisting module, wherein the positioning module comprises a positioning block arranged at the bottom of the base; the clamping module comprises a clamping jaw arranged below the positioning block and a clamping driving unit arranged on the base, a clamping gap is formed between the clamping jaw and the positioning block, and the clamping driving unit is provided with a clamping driving end which is in transmission connection with the clamping jaw and enables the clamping jaw to move relative to the positioning block so as to change the distance between the clamping gaps; the twisting module comprises an air impact hammer and a rotation driving unit, wherein the air impact hammer is arranged on the base and can be rotatably arranged on the base through a rotating structure, the air impact hammer is provided with a twisting axis, the rotating structure is provided with a rotating axis vertical to the twisting axis, and the rotation driving unit is provided with a rotation driving end which is connected with the air impact hammer in a transmission mode and enables the air impact hammer to wind the rotating driving end rotating by the rotating axis.
The utility model has the advantages that: when the leakage stoppage device is used, the clamping driving unit drives the clamping jaw to move, so that a clamping gap between the clamping jaw and the positioning block is reduced, the pipeline is clamped, when leakage stoppage is performed, the rotation driving unit can drive the air impact hammer to rotate around the rotation axis, the angle between the air impact hammer and the leakage pipeline can be flexibly adjusted, the twisting direction of the air impact hammer is changed, and accordingly automatic twisting and leakage stoppage in multiple directions of the leakage pipeline is achieved.
As a further improvement of the technical scheme, the bottom of the positioning block is provided with a positioning groove, the clamping jaw is arranged below the positioning block, and the clamping driving unit is used for driving the clamping jaw to move up and down.
The locating piece passes through the constant head tank and contradicts with the periphery wall of pipeline, realizes the radial positioning of end effector on the pipeline, and later the clamping jaw up moves again, realizes the location centre gripping to the pipeline, has ensured the precision of end effector when doing the operation of twisting with fingers to a certain extent. The cross section of the positioning groove can be in a V shape or a circular arc shape. The constant head tank of V-arrangement is convenient for carry out from the centering to revealing the pipeline.
As a further improvement of the above technical scheme, the locating piece is provided with the first through-hole that link up from top to bottom, the quantity of constant head tank is two, two the interval sets up in the left side border and the right border of locating piece bottom surface about the constant head tank setting is, the constant head tank is and extends the setting about, the clamping jaw is provided with two, and two clamping jaws set up respectively in two the below of constant head tank, the one end of pneumatic impact hammer is for twisting with the fingers and beat flexible end, twist with the fingers and beat flexible end and set up in first through-hole.
This scheme comes the centre gripping pipeline through two pairs of constant head tanks and clamping jaw, can improve the stability to the pipeline centre gripping to flexible end of beating with fingers on the air impact hammer sets up in first through-hole, makes to beat with fingers flexible end and twists with fingers between two centre gripping positions, can improve the stability of beating with fingers.
As a further improvement of the technical scheme, the clamping driving unit comprises two clamping cylinders fixed on the base, and the two clamping cylinders are respectively in transmission connection with the two clamping jaws.
This scheme reciprocates through two clamping cylinder synchronous drive two clamping jaws, realizes the action of centre gripping and unclamping, and the shape of clamping jaw can have the multiple, for example, the clamping jaw can be L type pipe clamp.
As a further improvement of the above technical solution, the rotating structure includes a rotating seat and a rotating shaft, the air hammer is fixedly mounted on the rotating seat, the rotating seat is rotatably connected with the base through the rotating shaft, and the rotating shaft and the rotating axis are coaxially arranged.
In order to improve the rotating stability of the air impact hammer, the air impact hammer is arranged on a rotating seat, and the rotating seat is rotatably connected with the machine base through a rotating shaft.
As a further improvement of the technical scheme, the rotary seat is provided with two air hammer clamping blocks, and the air hammer is clamped between the two air hammer clamping blocks.
When the pneumatic hammer is installed, the pneumatic hammer is clamped on the installation rotating seat through the two pneumatic hammer clamping blocks.
As a further improvement of the above technical solution, an arc-shaped guide groove is provided on the base, the center of the guide groove is concentric with the rotation axis, a guide shaft parallel to the rotation axis is fixed to the rotation base, and the guide shaft is connected with the guide groove in a sliding fit manner.
In order to further improve the twisting stability of the air impact hammer, the rotating stability of the rotating seat can be improved through the sliding fit of the guide shaft and the guide groove in the rotating process of the air impact hammer.
As a further improvement of the above technical solution, two side plates are arranged on the base, the two side plates are arranged on two sides of the rotating base at intervals along the rotation axis, two ends of the rotation axis are rotatably connected with the two side plates respectively, the guide grooves are arranged on the two side plates, and two ends of the guide shaft are connected with the two guide grooves in a sliding fit manner respectively. The bearing capacity of the rotating seat can be further improved by the sliding fit of the two guide grooves and the two ends of the guide shaft.
As a further improvement of the above technical solution, the rotation driving unit includes a rotation motor fixed to the base, the rotation motor is connected to one end of the rotation shaft through a power arm, and the power arm is fixedly connected to one end of the guide shaft. The rotating motor drives the power arm to rotate through the power arm.
As a further improvement of the above technical solution, the end effector of the mechanical arm further includes a quick-change module, and the quick-change module includes a quick-change switching disk fixedly disposed relative to the base. The end effector of the mechanical arm is connected with the robot through the quick-change conversion disc, so that the robot can conveniently replace different end effectors, and the end effector can be quickly connected with the robot.
Drawings
The present invention will be further explained with reference to the drawings and examples;
fig. 1 is a schematic structural view of an embodiment of a robot arm end effector, wherein two arrows respectively indicate a forward direction and a backward direction, wherein two arrows respectively indicate a left direction and a right direction, and wherein two arrows respectively indicate an upward direction and a downward direction;
fig. 2 is a schematic structural diagram of an end effector of a robot arm according to an embodiment of the present invention;
fig. 3 is a left side view of an embodiment of a robotic arm end effector provided by the present invention;
fig. 4 is a schematic structural diagram of a robot arm end effector according to an embodiment of the present invention.
Detailed Description
This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, if words such as "a plurality" are used, the meaning is one or more, the meaning of a plurality of words is two or more, and the meaning of more than, less than, more than, etc. is understood as not including the number, and the meaning of more than, less than, more than, etc. is understood as including the number.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
Referring to fig. 1 to 4, the following embodiments are made for the twist-to-twist leaking stoppage of the end effector of the mechanical arm of the present invention:
the end effector of the mechanical arm of the embodiment comprises a base 100, a positioning module, a clamping module and a twisting module.
Wherein, the orientation module is including setting up in the locating piece 200 of frame 100 bottom, for the precision of having ensured end effector when doing the operation of twisting with fingers to and be convenient for carry out self-centering to revealing the pipeline, the bottom of locating piece 200 is provided with constant head tank 210, constant head tank 210 is and extends the setting about being, and the shape of constant head tank 210 cross section of this embodiment is the V-arrangement.
The clamping module comprises a clamping jaw 300 arranged below the positioning block 200 and a clamping driving unit arranged on the machine base 100, a clamping gap is arranged between the clamping jaw 300 and the positioning block 200, and the clamping driving unit is used for enabling the clamping jaw 300 to move relative to the positioning block 200 so as to change the distance of the clamping gap, specifically; the clamping driving unit comprises a clamping cylinder 500 fixed on the machine base 100, the clamping cylinder 500 is in transmission connection with the clamping jaw 300, and the clamping jaw 300 is an L-shaped pipe clamp. During clamping, the positioning block 200 is abutted against the outer peripheral wall of the pipeline through the positioning groove 210, so that the radial positioning of the end effector on the pipeline is realized, and then the clamping jaw 300 moves upwards again, so that the positioning and clamping on the pipeline are realized.
And the twisting module comprises an air impact hammer 400 and a rotary driving unit, wherein the air impact hammer 400 is arranged on the base 100, the air impact hammer 400 is rotatably arranged on the base 100 through a rotating structure, the air impact hammer 400 is provided with a twisting axis, the rotating structure is provided with a rotating axis perpendicular to the twisting axis, and the rotary driving unit is used for enabling the air impact hammer 400 to rotate around the rotating axis, and specifically: the rotating structure comprises a rotating seat 600 and a rotating shaft 610, the air impact hammer 400 is fixedly installed on the rotating seat 600, the rotating seat 600 is rotatably connected with the base 100 through the rotating shaft 610, the rotating shaft 610 is coaxially arranged with the rotating axis, the rotating driving unit comprises a rotating motor 700 which is fixedly arranged relative to the base 100, and the rotating motor 700 is connected with one end of the rotating shaft 610 through a power arm 710.
When the leakage stoppage device is used, the clamping driving unit drives the clamping jaw 300 to move, so that a clamping gap between the clamping jaw 300 and the positioning block 200 is reduced, the pipeline is clamped, when leakage stoppage is performed, the rotary driving unit can drive the air impact hammer 400 to rotate around the rotary axis, the angle between the air impact hammer 400 and the leakage pipeline can be flexibly adjusted, the twisting direction of the air impact hammer 400 is changed, and automatic twisting and leakage stoppage in multiple directions of the leakage pipeline is achieved.
Further, the locating piece 200 is provided with the first through-hole 220 that link up from top to bottom, the quantity of constant head tank 210 is two, two the interval sets up in the left side border and the right side border of locating piece 200 bottom surface about the constant head tank 210 sets up, the constant head tank 210 extends the setting about being, clamping jaw 300 is provided with two, and two clamping jaws 300 set up respectively in two the below of constant head tank 210, the one end of air impact hammer 400 is for beating flexible end with fingers, beat flexible end with fingers and set up in first through-hole 220, come the centre gripping pipeline through two pairs of constant head tanks 210 and clamping jaw 300, can improve the stability to the pipeline centre gripping to beat flexible end with fingers on the air impact hammer 400 sets up in first through-hole 220 for beat flexible end with fingers and beat with fingers between two centre gripping positions, can improve the stability of beating with fingers.
And then the number of the clamping cylinders 500 is two, the two clamping cylinders 500 are respectively in transmission connection with the two clamping jaws 300, and the two clamping jaws 300 are synchronously driven to move up and down through the two clamping cylinders 500, so that clamping and loosening actions are realized.
In addition, two air hammer clamping blocks 620 are installed on the rotating base 600, the air hammer 400 is clamped between the two air hammer clamping blocks 620, and when the air hammer 400 is installed, the air hammer 400 is clamped on the rotating base 600 through the two air hammer clamping blocks 620.
In order to further improve the twisting stability of the air hammer 400, the base 100 is provided with a guide groove 110 in the shape of an arc, the center of the guide groove 110 is concentric with the rotating shaft 610, the rotating base 600 is fixed with a guide shaft 630 arranged in parallel with the rotating shaft 610, and the guide shaft 630 is connected with the guide groove 110 in a sliding fit manner.
Furthermore, two side plates 120 are disposed on the base 100, the two side plates 120 are disposed on two sides of the rotating base 600 at intervals along the rotation axis, two ends of the rotation axis 610 are respectively rotatably connected with the two side plates 120, the two side plates 120 are both provided with the guide slots 110, and two ends of the guide shaft 630 are respectively connected with the two guide slots 110 in a sliding fit manner. The bearing capacity of the rotating base 600 can be further improved by the sliding fit of the two guide grooves 110 and the two ends of the guide shaft 630, and the power arm 710 is fixedly connected with one end of the guide shaft 630. The rotating motor 700 rotates the power arm 710 through the power arm 710.
The end effector of the mechanical arm further comprises a quick-change module, and the quick-change module comprises a quick-change conversion disc 800 which is fixedly arranged relative to the base 100. The end effector of the mechanical arm is connected with the robot through the quick-change conversion disc 800, so that the robot can conveniently replace different end effectors, and the end effector can be quickly connected with the robot.
A second through hole is correspondingly provided in the housing 100 to be in abutment with the first through hole 220, and the air impact hammer 400 may pass through the first through hole 220 and the second through hole.
The rotating shaft 610 in this embodiment is extended forward and backward, so that the air impact hammer 400 rotates and twists in the axial direction of the pipe, in other embodiments, the rotating shaft 610 may extend in the left-right direction, and the air impact hammer 400 rotates and twists on the outer circumference of the pipe as needed.
In some embodiments, the motor control method may be used to measure the angle of the shaft of the rotating motor 700 by using an encoder, and then calculate the deviation from the specified angle to perform pid calculation, so as to control the pulse frequency of the rotating motor 700, so that the rotating motor 700 is stabilized at the specified angle.
In some embodiments, the cross-section of the detent 210 may be other shapes, such as an arc.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the details of the embodiments shown, but is capable of various modifications and substitutions without departing from the spirit of the invention.
Claims (10)
1. The utility model provides a twist with fingers arm end effector of leaking stoppage, its characterized in that: it includes:
a frame (100);
the positioning module comprises a positioning block (200) arranged at the bottom of the machine base (100);
the clamping module comprises a clamping jaw (300) arranged below the positioning block (200) and a clamping driving unit arranged on the machine base (100), a clamping gap is arranged between the clamping jaw (300) and the positioning block (200), and the clamping driving unit is provided with a clamping driving end which is in transmission connection with the clamping jaw (300) and enables the clamping jaw (300) to move relative to the positioning block (200) so as to change the distance of the clamping gap;
the twisting module comprises an air impact hammer (400) and a rotary driving unit, wherein the air impact hammer (400) and the rotary driving unit are arranged on a base (100), the air impact hammer (400) is rotatably arranged on the base (100) through a rotating structure, the air impact hammer (400) is provided with a twisting axis, the rotating structure is provided with a rotating axis vertical to the twisting axis, and the rotary driving unit is provided with a driving end which is connected with the air impact hammer (400) in a transmission mode and enables the air impact hammer (400) to wind around the rotating axis to rotate.
2. The end effector of a twist-to-beat lost circulation robotic arm of claim 1, wherein:
the bottom of the positioning block (200) is provided with a positioning groove (210), the clamping jaw (300) is arranged below the positioning block (200), and the clamping driving unit is used for driving the clamping jaw (300) to move up and down.
3. The end effector of a twist-to-beat lost circulation robotic arm of claim 2, wherein:
locating piece (200) are provided with first through-hole (220) that link up from top to bottom, the quantity of constant head tank (210) is two, two constant head tank (210) set up and are left right side border and right side border that the interval set up in locating piece (200) bottom surface about being, extend the setting about constant head tank (210) is, clamping jaw (300) are provided with two, and two clamping jaws (300) set up respectively in two the below of constant head tank (210), the one end of gas impact hammer (400) is for beating flexible end with a twist, it sets up in first through-hole (220) to beat flexible end with a twist.
4. The end effector of a twist-to-beat lost circulation robotic arm of claim 3, wherein:
the clamping driving unit comprises two clamping cylinders (500) fixed on the machine base (100), and the two clamping cylinders (500) are respectively in transmission connection with the two clamping jaws (300).
5. The end effector of a twist-to-beat lost circulation robotic arm of claim 1, wherein:
the rotating structure comprises a rotating seat (600) and a rotating shaft (610), the air impact hammer (400) is fixedly installed on the rotating seat (600), the rotating seat (600) is rotatably connected with the machine base (100) through the rotating shaft (610), and the rotating shaft (610) and the rotating axis are coaxially arranged.
6. The end effector of a twist-to-beat lost circulation robotic arm of claim 5, wherein:
two air hammer clamping blocks (620) are arranged on the rotating seat (600), and the air impact hammer (400) is clamped between the two air hammer clamping blocks (620).
7. The end effector of a twist-to-beat lost circulation robotic arm of claim 5, wherein:
be provided with on frame (100) and be convex guide way (110), the centre of a circle of guide way (110) with axis of rotation (610) are concentric, rotate seat (600) and be fixed with guiding axle (630) with axis of rotation (610) parallel arrangement, guiding axle (630) and guide way (110) sliding fit are connected.
8. The end effector of a twist-to-beat leak stopping robotic arm of claim 7, wherein:
be provided with two curb plates (120) on frame (100), two curb plates (120) are followed the rotation axis is the interval and sets up in the both sides of rotating seat (600), the both ends of axis of rotation (610) rotationally are connected with two curb plates (120) respectively, all are provided with on two curb plates (120) guide way (110), the both ends of guiding axle (630) respectively with two guide way (110) sliding fit connects.
9. The end effector of a twist-to-beat leak stopping robotic arm of claim 7, wherein:
the rotation driving unit comprises a rotation motor (700) fixedly arranged relative to the base (100), the rotation motor (700) is connected with one end of the rotation shaft (610) through a power arm (710), and the power arm (710) is fixedly connected with one end of the guide shaft (630).
10. The end effector of a twist-to-beat lost circulation robotic arm of claim 1, wherein:
the mechanical arm end effector further comprises a quick-change module, and the quick-change module comprises a quick-change conversion disc (800) fixedly arranged relative to the base (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120408299.XU CN214560994U (en) | 2021-02-24 | 2021-02-24 | Twist with fingers arm end effector of beating leaking stoppage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120408299.XU CN214560994U (en) | 2021-02-24 | 2021-02-24 | Twist with fingers arm end effector of beating leaking stoppage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214560994U true CN214560994U (en) | 2021-11-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120408299.XU Active CN214560994U (en) | 2021-02-24 | 2021-02-24 | Twist with fingers arm end effector of beating leaking stoppage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214560994U (en) |
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2021
- 2021-02-24 CN CN202120408299.XU patent/CN214560994U/en active Active
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