CN214744153U - Gear type mechanical arm end effector - Google Patents
Gear type mechanical arm end effector Download PDFInfo
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- CN214744153U CN214744153U CN202120408300.9U CN202120408300U CN214744153U CN 214744153 U CN214744153 U CN 214744153U CN 202120408300 U CN202120408300 U CN 202120408300U CN 214744153 U CN214744153 U CN 214744153U
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Abstract
The utility model discloses a gear formula arm end effector, it includes: the automatic twisting machine comprises a machine base, a positioning module, a clamping module and a twisting module, wherein the positioning module comprises a positioning block fixed at the bottom of the machine base, and a positioning groove is formed in the bottom surface of the positioning block; the clamping module comprises at least one pair of mechanical clamping jaws, a clamping driving unit and a gear transmission assembly, the at least one pair of mechanical clamping jaws are arranged on the left side and the right side of the positioning groove in a bilateral symmetry mode, the gear transmission assembly comprises a driving gear, a driven gear and two transmission gears, the two transmission gears are meshed with each other, the two mechanical clamping jaws are respectively in eccentric connection with the driving gear and the driven gear, and the clamping driving unit is in transmission connection with the driving gear; the twisting module comprises an air impact hammer and a firing pin, wherein the air impact hammer is arranged on the machine base, and the firing pin is arranged on the twisting telescopic end. Compared with the existing slide rail type clamping mode, the gear type clamping mode has higher precision and better centering precision, and eliminates errors of twisting operation caused by pipeline positioning errors.
Description
Technical Field
The utility model relates to a take the field of area leaking stoppage equipment, in particular to gear formula arm end effector.
Background
At present, the majority of the pressure plugging means applied in enterprises are agent injection plugging, magnetic pressure plugging, adhesive plugging, top pressure plugging and building plugging, but most of the pressure plugging operations are carried out manually. In the production process of enterprises, the common leakage mainly occurs in the leakage defects of sand holes, small holes and the like on pipelines, containers and valve bodies. Once a leak occurs, it is usually necessary to make and install clamps to stop the leak, and for the leak caused by the sand holes and the small holes, the machining of the clamps is time-consuming compared with other leak stopping methods. 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 existing end effector based on an industrial robot can only perform pressurized twisting and plugging operation on a pipeline with a smaller diameter due to structural defects. The important reason is that the existing actuator has the defects of positioning and clamping module structure, and the positioning and clamping errors of the pipeline with larger diameter are larger, so that the twisting and leaking stoppage operation of the pipeline with larger diameter can not be well carried out.
SUMMERY OF THE UTILITY MODEL
An object of the present invention is to provide a gear type end effector for a mechanical arm, which solves one or more problems in the prior art and provides at least one of a useful choice and creation conditions.
The technical scheme adopted for solving the technical problems is as follows:
a geared robot arm end effector, comprising: the automatic twisting machine comprises a machine base, a positioning module, a clamping module and a twisting module, wherein the positioning module comprises a positioning block fixed at the bottom of the machine base, and a positioning groove extending forwards and backwards is formed in the bottom surface of the positioning block; the clamping module comprises at least one pair of mechanical clamping jaws, a clamping driving unit and a gear transmission assembly, the mechanical clamping jaws are arranged on the left side and the right side of the positioning groove in a bilateral symmetry mode, the gear transmission assembly comprises a driving gear, a driven gear and two transmission gears, the driving gear, the driven gear and the two transmission gears are rotatably mounted on the base and are meshed with each other, the driving gear is meshed with one of the transmission gears, the driven gear is meshed with the other transmission gear, the driving gear and the driven gear are arranged in a bilateral symmetry mode, the mechanical clamping jaws are provided with clamping ends and connecting ends, the connecting ends of the two mechanical clamping jaws are eccentrically connected with the driving gear and the driven gear respectively, and the clamping driving unit is in transmission connection with the driving gear; the twisting module comprises an air impact hammer and a firing pin, the air impact hammer is arranged on the base, one end of the air impact hammer is a twisting telescopic end, and the firing pin is arranged on the twisting telescopic end.
The utility model has the advantages that: when the mechanical clamping jaw sealing device is used, the positioning groove in the positioning block is abutted to a pipeline to realize radial positioning of the end effector on the pipeline, then the clamping driving unit drives the driving gear to rotate, the driving gear drives the driven gear to rotate reversely through the two transmission gears, so that the two mechanical clamping jaws move in the same speed and opposite directions, after the two mechanical clamping jaws clamp the pipeline, a firing pin arranged on the pneumatic hammer is used for conducting twisting and plugging on leakage points on the pipeline, and after the twisting and plugging is completed, the clamping driving unit drives the driving gear to rotate reversely, so that the two mechanical clamping jaws used for clamping the pipeline are loosened. Compared with the existing slide rail type clamping mode, the gear type clamping mode has higher precision and better centering precision, and eliminates errors of twisting operation caused by pipeline positioning errors to a certain extent.
As a further improvement of the above technical solution, the number of the mechanical clamping jaws is two pairs, the two pairs of mechanical clamping jaws are arranged at a front-back interval, the number of the gear transmission assemblies is two, the two gear transmission assemblies are also arranged at a front-back interval at a front-back side and a rear side of the base, the two driving gears are coaxially connected through a transmission shaft, and the clamping driving unit is in transmission connection with the transmission shaft.
The two pairs of mechanical clamping jaws can enlarge the application range and can meet the requirements of positioning and clamping pipelines with larger diameters. And the clamping driving unit synchronously drives the two driving gears to rotate through the transmission shaft, so that synchronous motion of two groups of gear transmission assemblies is ensured, and clamping errors caused by asynchronous motion of the two pairs of mechanical clamping jaws are eliminated to a certain extent.
As a further improvement of the technical scheme, the clamping driving unit comprises a stepping motor, a worm and a worm wheel, the stepping motor is in transmission connection with the worm wheel, the worm wheel is fixedly sleeved on the transmission shaft, the worm is meshed with the worm wheel, and the stepping motor and the base are relatively fixedly arranged.
The transmission shaft is driven to rotate through the transmission pair of the worm and the turbine, the transmission precision is improved, the property of unidirectional self-locking of the worm and the turbine is well utilized, the end effector does not need to control the movement of the stepping motor when clamping a pipeline for twisting operation, the better clamping effect of a leakage pipeline can be realized, the torque output of the stepping motor can be stopped after the clamping module clamps the pipeline, and the energy-saving and environment-friendly effects are realized to a certain extent.
As a further improvement of the technical scheme, the cross section of the positioning groove is V-shaped. The scheme carries out radial positioning of the pipeline through the positioning groove with the V-shaped cross section, on one hand, the positioning is convenient, on the other hand, the positioning precision of the end effector on the pipeline is ensured, and the precision of the end effector during twisting operation is ensured to a certain extent.
As a further improvement of the technical scheme, the air impact hammer is arranged in a downward inclined mode from front to back, and the twisting telescopic end is arranged at the lower end of the air impact hammer.
This can make the firing pin can twist and beat the leaking point tiltably, improves the effect and the efficiency of leaking stoppage.
As a further improvement of the technical scheme, the twisting module further comprises an air hammer base fixed on the top of the machine base and two air hammer clamping blocks arranged on the air hammer base, and the air hammer is clamped between the two air hammer clamping blocks.
When the pneumatic hammer is installed, the pneumatic hammer is clamped and fixed on the pneumatic hammer base through the two pneumatic hammer clamping blocks, and the pneumatic hammer is convenient to disassemble and maintain.
As a further improvement of the technical scheme, the top of the machine base is provided with an installation groove, and the air hammer base is fixedly installed on the installation groove through bolts.
When the pneumatic hammer is installed, the air hammer base is matched with the installing groove in a positioning mode, and the twisting module can be positioned and fixed.
As a further improvement of the above technical solution, the gear-type mechanical arm end effector further includes a quick-change module, and the quick-change module includes a quick-change conversion 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 geared robot arm end effector, wherein two arrows respectively indicate a forward direction and a backward direction, wherein two arrows respectively indicate an upward direction and a downward direction, and wherein two arrows respectively indicate a left direction and a right direction;
FIG. 2 is an exploded view of one embodiment of a geared robotic arm end effector provided by the present invention;
fig. 3 is a front view of one embodiment of a geared robot arm end effector, wherein the two arrows respectively represent an upward direction and a downward direction, and wherein the two arrows respectively represent a left direction and a right direction.
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 3, the gear type end effector for a robot arm of the present invention is configured as follows:
the gear type mechanical arm end effector of the embodiment comprises a base 100, a positioning module, a clamping module, a twisting module and a box body.
The positioning module comprises a positioning block 200 fixed at the bottom of the base 100, a positioning groove 210 extending from front to back is arranged on the bottom surface of the positioning block 200, and the cross section of the positioning groove 210 is in a V shape. The positioning groove 210 with the V-shaped cross section is used for positioning the pipeline in the radial direction, so that the positioning is convenient, the positioning precision of the end effector on the pipeline is guaranteed, and the precision of the end effector during twisting operation is guaranteed to a certain extent.
Clamping module includes at least a pair of mechanical clamping jaw 300, presss from both sides tight drive unit and gear drive subassembly, and is at least a pair of mechanical clamping jaw 300 all is bilateral symmetry and sets up in the left and right sides of constant head tank 210, gear drive subassembly includes rotatable driving gear 400, driven gear 500 and two drive gear 600 of installing on frame 100, two drive gear 600 intermeshing, driving gear 400 meshes with one of them drive gear 600, driven gear 500 meshes with another drive gear 600, driving gear 400 is bilateral symmetry with driven gear 500 and sets up, mechanical clamping jaw 300 is provided with clamping end and link, two mechanical clamping jaw 300's link is connected with driving gear 400, driven gear 500 off-centre respectively, press from both sides tight drive unit and driving gear 400 transmission connection.
The twisting module comprises an air impact hammer 700 and a firing pin 710, wherein the air impact hammer 700 is mounted on the machine base 100, one end of the air impact hammer 700 is a twisting telescopic end, and the firing pin 710 is mounted on the twisting telescopic end.
When the clamping device is used, the positioning groove 210 on the positioning block 200 is abutted against a pipeline to realize radial positioning of the end effector on the pipeline, then the clamping driving unit drives the driving gear 400 to rotate, the driving gear 400 drives the driven gear 500 to rotate reversely through the two transmission gears 600, so that the two mechanical clamping jaws 300 move in the same speed and opposite directions, after the two mechanical clamping jaws 300 clamp the pipeline, the leakage points on the pipeline are subjected to twist-beating leakage stoppage through the firing pin 710 installed on the air impact hammer 700, and after the twist-beating leakage stoppage is completed, the clamping driving unit drives the driving gear 400 to rotate reversely, so that the two mechanical clamping jaws 300 used for clamping the pipeline are loosened. Compared with the existing slide rail type clamping mode, the gear type clamping mode has higher precision and better centering precision, and eliminates errors of twisting operation caused by pipeline positioning errors to a certain extent.
Further, mechanical clamping jaw 300's quantity is two pairs, two pairs mechanical clamping jaw 300 is the interval setting around being, gear drive assembly's quantity is two, and two gear drive assemblies also are interval setting in the front side and the rear side of frame 100 around being, two the driving gear 400 passes through transmission shaft 410 coaxial coupling, press from both sides tight drive unit with transmission shaft 410 transmission is connected, two pairs mechanical clamping jaw 300 can enlarge application range, can satisfy and fix a position, press from both sides tightly the great pipeline of footpath. And the clamping driving unit synchronously drives the two driving gears 400 to rotate through the transmission shaft 410, so that synchronous motion of two groups of gear transmission assemblies is ensured, and clamping errors caused by asynchronous motion of the two pairs of mechanical clamping jaws 300 are eliminated to a certain extent.
The clamping driving unit of the embodiment comprises a stepping motor 800, a worm 810 and a turbine 820, wherein the stepping motor 800 is in transmission connection with the worm 810, the turbine 820 is fixedly sleeved on the transmission shaft 410, the worm 810 is meshed with the turbine 820, the stepping motor 800 and the base 100 are relatively fixedly arranged, the transmission shaft 410 is driven to rotate through a transmission pair of the worm 810 and the turbine 820, the transmission precision is improved, the one-way self-locking property of the worm 810 and the turbine 820 is well utilized, the end effector does not need to control the movement of the stepping motor 800 when the clamping module clamps a pipeline for twisting operation, the better clamping effect of a leakage pipeline can be realized, the torque output of the stepping motor 800 can be stopped after the clamping module clamps the pipeline, and the energy conservation and environmental protection are realized to a certain extent.
Wherein the base 100, the stepping motor 800 and the transmission shaft 410 are all installed on the box body.
In this embodiment, the air hammer 700 is inclined downward from front to back, and the twisting telescopic end is disposed at the lower end of the air hammer 700, so that the striker 710 can obliquely twist a leaking point, thereby improving the effect and efficiency of leaking stoppage. Specifically, the method comprises the following steps: the twisting module further comprises an air hammer base 720 fixed on the top of the base 100 and two air hammer clamping blocks 730 arranged on the air hammer base 720, the air hammer 700 is clamped and arranged between the two air hammer clamping blocks 730, and when the twisting module is installed, the air hammer 700 is clamped and fixed on the air hammer base 720 through the two air hammer clamping blocks 730, so that the air hammer 700 is convenient to disassemble and maintain.
The top of the machine base 100 is provided with a mounting groove 110, the air hammer base 720 is fixedly mounted on the mounting groove 110 through bolts, and when the air hammer base 720 is mounted, the air hammer base 720 is matched with the mounting groove 110 in a positioning manner, so that the positioning and the fixing of the twisting module can be realized.
In addition, the gear-type mechanical arm end effector further comprises a quick-change module, and the quick-change module comprises a quick-change conversion disc 900 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 900, so that the robot can conveniently replace different end effectors, and the end effector can be quickly connected with the robot.
In some embodiments, the cross-section of the detent 210 may be other shapes, such as an arc.
In some embodiments, the clamping drive unit may be another drive element, for example a direct drive of a servo motor.
In some embodiments, the worm 810 and the drive shaft 410 may both be fixed by a rotational bearing, reducing friction.
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 (8)
1. A gear type mechanical arm end effector is characterized in that: it includes:
a frame (100);
the positioning module comprises a positioning block (200) fixed at the bottom of the machine base (100), and a positioning groove (210) extending forwards and backwards is formed in the bottom surface of the positioning block (200);
clamping module, it includes mechanical clamping jaw (300), presss from both sides tight drive unit and gear drive assembly, the quantity of mechanical clamping jaw (300) is at least a pair of, and is at least a pair of mechanical clamping jaw (300) all is bilateral symmetry and sets up in the left and right sides of constant head tank (210), gear drive assembly is including rotatable driving gear (400), driven gear (500) and two drive gear (600) of installing on frame (100), two drive gear (600) intermeshing, driving gear (400) and one of them drive gear (600) meshing, driven gear (500) and another one drive gear (600) meshing, driving gear (400) and driven gear (500) are bilateral symmetry and set up, mechanical clamping jaw (300) are provided with clamping end and link, two the link of mechanical clamping jaw (300) respectively with driving gear (400), The driven gear (500) is eccentrically connected, and the clamping driving unit is in transmission connection with the driving gear (400);
the twisting module comprises an air impact hammer (700) and a firing pin (710), wherein the air impact hammer (700) is installed on the base (100), one end of the air impact hammer (700) is a twisting telescopic end, and the firing pin (710) is installed on the twisting telescopic end.
2. The geared robot arm end effector of claim 1, wherein:
the quantity of mechanical clamping jaw (300) is two pairs, two pairs mechanical clamping jaw (300) is interval setting around being, gear drive assembly's quantity is two, and two gear drive assemblies also are interval setting around being in the front side and the rear side of frame (100), two driving gear (400) are through transmission shaft (410) coaxial coupling, press from both sides tight drive unit with transmission shaft (410) transmission is connected.
3. The geared robot arm end effector of claim 2, wherein:
the clamping driving unit comprises a stepping motor (800), a worm (810) and a worm wheel (820), the stepping motor (800) is in transmission connection with the worm wheel (810), the worm wheel (820) is fixedly sleeved on the transmission shaft (410), the worm wheel (810) is meshed with the worm wheel (820), and the stepping motor (800) and the base (100) are relatively fixedly arranged.
4. The geared robot arm end effector of claim 1, wherein:
the cross section of the positioning groove (210) is V-shaped.
5. The geared robot arm end effector of claim 1, wherein:
the pneumatic impact hammer (700) is arranged from front to back in a downward inclined mode, and the twisting telescopic end is arranged at the lower end of the pneumatic impact hammer (700).
6. The geared robot arm end effector of claim 5, wherein:
the twisting module further comprises an air hammer base (720) fixed to the top of the machine base (100) and two air hammer clamping blocks (730) arranged on the air hammer base (720), and the air hammer (700) is clamped between the two air hammer clamping blocks (730).
7. The geared robot arm end effector of claim 6, wherein:
the top of the machine base (100) is provided with a mounting groove (110), and the air hammer base (720) is fixedly mounted on the mounting groove (110) through bolts.
8. The geared robot arm end effector of claim 1, wherein:
the gear type mechanical arm end effector further comprises a quick-change module, and the quick-change module comprises a quick-change conversion disc (900) which is fixedly arranged relative to the base (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120408300.9U CN214744153U (en) | 2021-02-24 | 2021-02-24 | Gear type mechanical arm end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120408300.9U CN214744153U (en) | 2021-02-24 | 2021-02-24 | Gear type mechanical arm end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214744153U true CN214744153U (en) | 2021-11-16 |
Family
ID=78589650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120408300.9U Active CN214744153U (en) | 2021-02-24 | 2021-02-24 | Gear type mechanical arm end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214744153U (en) |
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2021
- 2021-02-24 CN CN202120408300.9U patent/CN214744153U/en active Active
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