CN215471239U - A flexible tongs of robot for skate snatchs - Google Patents
A flexible tongs of robot for skate snatchs Download PDFInfo
- Publication number
- CN215471239U CN215471239U CN202121203160.8U CN202121203160U CN215471239U CN 215471239 U CN215471239 U CN 215471239U CN 202121203160 U CN202121203160 U CN 202121203160U CN 215471239 U CN215471239 U CN 215471239U
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- CN
- China
- Prior art keywords
- clamping jaw
- skate
- connecting rod
- grabbing
- robot
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- Expired - Fee Related
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Abstract
The utility model relates to a flexible robot gripper for gripping iron shoes, which comprises a clamping jaw device for gripping the iron shoes, wherein the clamping jaw device is connected with a robot through a clamping jaw connecting rod, a rotary driving device is arranged on the clamping jaw connecting rod, and the rotary driving device can drive the clamping jaw device to horizontally rotate on the clamping jaw connecting rod by a certain angle. According to the flexible gripper of the robot, the rotary driving device can drive the clamping jaw devices to rotate, the clamping jaw devices can clamp iron shoes to place the iron shoes on the rails, the clamping jaw devices can meet the requirement of placing the iron shoes on the two rails in the advancing or retreating direction of the locomotive in cooperation with the robot, and the problems that the labor intensity of manual iron shoe placement is high and the safety cannot be guaranteed are solved.
Description
Technical Field
The utility model relates to the technical field of anti-slip of rail locomotives, in particular to a flexible robot gripper for gripping iron shoes.
Background
The railway is a traffic aorta, and with the rapid development of railway transportation, the number of railway locomotives is more and more, and the use and scheduling are more and more frequent. When the locomotive enters a locomotive service section for maintenance, the locomotive does not have a braking effect when the locomotive stops due to the fact that the locomotive is a wind brake, and only accessories are manually installed to prevent the locomotive from sliding. Because space restriction, the locomotive service section does not possess the safety line condition sometimes, under this kind of condition, because of reasons such as line slope in the section, accident have the locomotive to slide the car hidden danger, slide to the station even when serious, cause accidents such as vehicle collision, casualties, influence station in-station driving, so need the skate to place and block sliding the car on the track, prevent that the vehicle from sliding the car and taking place the accident. Traditional skate is placed the operation and is needed the manual work to go on, and operating personnel uses the instrument to pick up the skate and place on the rail, but manual operation needs to consume a large amount of physical power to easy misoperation arouses the incident.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a robot flexible gripper for gripping iron shoes, which solves the problems of high labor intensity and operation danger of workers caused by manual operation required for placing the iron shoes.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the utility model provides a flexible tongs of robot for skate snatchs, is including being used for pressing from both sides the clamping jaw device of getting the skate, the clamping jaw device passes through the clamping jaw connecting rod and is connected with the robot, be equipped with rotary drive device on the clamping jaw connecting rod, rotary drive device can drive the clamping jaw device is in the certain angle of horizontal rotation on the clamping jaw connecting rod.
Furthermore, the rotary driving device comprises a servo rotary motor and a clamping jaw rotary disc, the rotary servo motor is in transmission connection with the clamping jaw rotary disc, and the clamping jaw rotary disc is fixed at the lower end of the clamping jaw device.
Furthermore, a clamping jaw rotating disc connecting shaft is arranged on the clamping jaw connecting rod and is fixedly connected with the clamping jaw rotating disc, and the clamping jaw rotating disc connecting shaft is in transmission connection with the servo rotating motor through a synchronous belt.
Furthermore, the clamping jaw device is an electric clamping jaw, clamping jaw fingers are arranged on the clamping jaw device, and the clamping jaw fingers are obliquely and downwards arranged and used for placing iron shoes onto rails.
Furthermore, a limiting part used for limiting the rotation angle of the clamping jaw rotary disc is arranged on the rotation path of the clamping jaw rotary disc.
Furthermore, the clamping jaw device is provided with a detection device for detecting whether the clamping jaw fingers clamp the iron shoe or not.
Further, the detection device is a visual detection device.
Further, the clamping jaw connecting rod is connected with a mounting seat, the clamping jaw connecting rod is assembled on the mounting seat in a sliding mode, a linear driving device is arranged on the mounting seat, and the linear driving device can drive the clamping jaw connecting rod to move for a certain distance.
Further, linear drive device includes electronic jar, electronic jar with the clamping jaw connecting rod is connected, be equipped with the slide rail on the mount pad, be equipped with the slider on the clamping jaw connecting rod, the clamping jaw connecting rod passes through the slider sliding assembly is in on the mount pad.
Furthermore, an electric cylinder fixing seat is arranged on the mounting seat, and the electric cylinder is horizontally mounted on the electric cylinder fixing seat.
The utility model has the beneficial effects that:
the utility model discloses a robot flexible gripper for gripping iron shoes, which comprises a clamping jaw device for gripping the iron shoes, wherein the clamping jaw device is connected with a robot through a clamping jaw connecting rod, a rotary driving device is arranged on the clamping jaw connecting rod, and the rotary driving device can drive the clamping jaw device to horizontally rotate on the clamping jaw connecting rod by a certain angle. According to the flexible gripper of the robot, the rotary driving device can drive the clamping jaw devices to rotate, the clamping jaw devices can clamp iron shoes to place the iron shoes on the rails, the clamping jaw devices can meet the requirement of placing the iron shoes on the two rails in the advancing or retreating direction of the locomotive in cooperation with the robot, and the problems that the labor intensity of manual iron shoe placement is high and the safety cannot be guaranteed are solved.
Drawings
FIG. 1 is a schematic diagram of the construction of a robotic flexible gripper for gripping an iron shoe according to the present invention;
FIG. 2 is a schematic view of another angle configuration of the flexible gripper of the present invention for use with a robot for gripping an iron shoe;
FIG. 3 is a schematic view of the structure of FIG. 1 from another perspective;
fig. 4 is a schematic structural diagram of a first limiting block, a second limiting block and a third limiting block in the flexible gripper of the robot for gripping the iron shoes.
Names corresponding to the marks in the figure:
1. clamping jaw device, 11, clamping jaw finger, 2, gyration drive arrangement, 21, clamping jaw gyration dish, 211, third stopper, 22, clamping jaw connecting axle, 23, servo slewing motor, 24, first band pulley, 25, second band pulley, 26, idler, 3, clamping jaw connecting plate, 31, connecting axle support frame, 311, first stopper, 312, second stopper, 32, slider, 4, mount pad, 41, slide rail, 5, visual detection device, 6, electronic jar, 61, electronic jar fixing base, 7, the joint that floats, 8, skate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
Example 1 of the utility model:
as shown in fig. 1-4, the robot flexible gripper for gripping the iron shoe comprises a clamping jaw device 1, a rotary driving device 2 and a linear driving device, wherein the clamping jaw device 1 is arranged at the end part of a clamping jaw connecting plate 3, the driving device can drive the clamping jaw device 1 to rotate, and the linear driving device can drive the clamping jaw connecting plate 3 to move linearly.
As shown in fig. 1, the robot is connected with the clamping jaw connecting plate 3 through the mounting base 4, the clamping jaw device 1 is arranged at the left end of the clamping jaw connecting plate 3, the clamping jaw device 1 is an electric clamping jaw, two clamping jaw fingers 11 are arranged on the clamping jaw device 1, the two clamping jaw fingers 11 can move relatively, and the iron shoe 8 can be clamped on a rail.
As shown in fig. 1, because the clamping jaw device 1 is arranged at the upper end of the clamping jaw connecting plate 3, the clamping jaw fingers 11 can only loosen the iron shoe 8 which is taken by the clamp above the rail when the iron shoe 8 is clamped by the clamping jaw fingers 11 and place the iron shoe 8 on the rail, so that the accuracy of placing the iron shoe 8 is not high, in the embodiment, the clamping jaw fingers 11 are obliquely arranged downwards, and the iron shoe 8 can be completely placed on the rail by the design when the clamping jaw fingers 11 place the iron shoe 8, thereby ensuring the accuracy of placing the iron shoe 8.
The rotary driving device 2 is used for driving the clamping jaw device 1 to rotate, and the rotary driving device 2 comprises a clamping jaw rotary disc 21 and a clamping jaw connecting shaft 22.
The clamping jaw rotary disc 21 is fixed at the lower end of the clamping jaw device 1, a connecting shaft support frame 31 is arranged at the end part of the clamping jaw connecting plate 3, and the clamping jaw connecting shaft 22 is rotatably arranged in the connecting shaft support frame 31. The upper end of clamping jaw connecting shaft 22 and clamping jaw gyration dish 21 fixed connection, the rotation of clamping jaw connecting shaft 22 can drive clamping jaw gyration dish 21 to rotate, and then drives clamping jaw device 1 and rotate.
The rotation of clamping jaw connecting axle 22 is driven through servo rotating motor 23, and servo rotating motor 23 is vertical to be established on clamping jaw connecting plate 3, has the certain distance with clamping jaw connecting axle 22, and servo rotating motor 23 output is equipped with first band pulley 24, and clamping jaw connecting axle 22 lower extreme is equipped with second band pulley 25, and first band pulley 24 passes through synchronous belt drive with second band pulley 25 to be connected, and servo rotating motor 23's rotation can drive clamping jaw connecting axle 22 and rotate. In order to keep the transmission of the synchronous belt stable, an idler 26 is arranged on the transmission path of the synchronous belt.
In actual work, the robot is arranged between two rails, a sliding rail 41 for the robot to move along with the length direction of the rails is arranged between the two rails, the robot can move on the sliding rail 41, when the rails need to be placed on the rails, the iron shoes 8 are clamped by the clamping jaw fingers 11 on the clamping jaw device 1, the iron shoes 8 are placed on the rails to prevent the locomotive from sliding, when the iron shoes 8 need to be placed reversely, the servo rotary motor 23 drives the clamping jaw device 1 to rotate 180 degrees, the iron shoes 8 are placed on the rails, similarly, when the iron shoes 8 need to be placed on another rail, the robot drives the clamping jaw device 1 to rotate to the other rail to go out, the above operations are repeated, and the iron shoes 8 can be placed on the rails in the forward direction or the reverse direction.
As shown in fig. 2, in order to avoid serious accidents caused by locomotive sliding due to the fact that the clamping jaw fingers 11 do not clamp the iron shoes 8, the clamping jaw device 1 is provided with the visual detection device 5, and the visual detection device 5 is used for detecting whether the clamping jaw fingers 11 grab the iron shoes 8 or not, so that grabbing accuracy is guaranteed.
As shown in fig. 2 and 4, in order to prevent the rotation of the clamping jaw device 1 from exceeding a specified range, and thus the iron shoe 8 cannot be accurately placed on the rail, two limit blocks are arranged at the upper end of the connecting shaft support frame 31, and are recorded as a first limit block 311 and a second limit block 312, and a limit block is also arranged at the lower end of the clamping jaw rotary disk 21 and is recorded as a third limit block 211, when the clamping jaw device 1 rotates, the first limit block 311, the second limit block 312 and the third limit block 211 cooperate to form a limit portion for limiting the rotation angle of the clamping jaw device 1, so that the rotation angle of the clamping jaw device 1 is between 0 and 180 degrees, namely, the forward and reverse limit position of the rail.
Clamping jaw device 1 in this embodiment not only can place skate 8 accurately on the rail, can also pull out skate 8 that is used for preventing the swift current, and the locomotive need drag skate 8 out of the rail after removing anti-slide state, ensures driving safety, and traditional skate 8 pulls and all is manual operation, has the potential safety hazard and pulls not easily.
As shown in fig. 2 and fig. 3, the clamping jaw connecting plate 3 is slidably assembled on the mounting seat 4, two slide rails 41 are arranged at the lower end of the mounting seat 4 side by side, two slide blocks 32 are correspondingly arranged on the clamping jaw connecting plate 3, the slide blocks 32 are matched with the slide rails 41, the clamping jaw connecting plate 3 can slide on the mounting plate for a certain distance along the length direction of the rail, the movement of the clamping jaw connecting plate 3 is driven by a linear driving device, in the embodiment, the linear driving device adopts an electric cylinder 6, the electric cylinder 6 is horizontally fixed on the mounting seat 4 through an electric cylinder fixing seat 61, the output end of the electric cylinder 6 is connected to the clamping jaw connecting plate 3 for driving the clamping jaw connecting plate 3, in the embodiment, the electric cylinder 6 is connected to the clamping jaw connecting plate 3 by a floating joint 7, as shown in fig. 2, the clamping jaw connecting plate 3 is provided with the electric cylinder 6 connecting plate, the upper end of the electric cylinder 6 is provided with a gap, the output end of the electric cylinder 6 is provided with the floating joint 7, the interface card that floats is established in the opening on the connecting plate of electronic jar 6, and the purpose of design like this is, and the drive power that drags 8 needs of skate is great, and electronic jar 6, slide rail 41, slider 32 or other parts need be changed after arriving life, adopt the interface of floating to be connected with the opening and can conveniently change electronic jar 6, slide rail 41, slider 32.
The clamping jaw connecting plate 3 is assembled on the mounting seat 4 in a sliding mode, so that the function of dragging the iron shoe 8 can be realized, when the iron shoe 8 is placed, the clamping jaw device 1 can also move within a certain range along the length direction of the rail, and the iron shoe 8 can be placed on the rail more accurately.
According to the flexible robot gripper for grabbing the iron shoes 8, the servo rotary motor 23 is adopted to control the clamping jaw device 1 to rotate, the electric cylinder 6 is adopted to drive the clamping jaw device 1 to move along the length direction of the rails, the electric cylinder 6 provides certain driving force, the iron shoes 8 can be placed in the positive and negative directions of the rails, the iron shoes 8 can be dragged in the positive and negative directions of the rails, the flexible gripper is matched with a robot to place and drag the iron shoes 8 on the two rails, the capability of the robot for placing and dragging the rails in a narrow space of the two rails is greatly improved, manual iron shoe grabbing and placing operation is replaced, the working efficiency is improved, and the safety of workers is protected.
Claims (10)
1. The utility model provides a flexible tongs of robot for skate snatchs which characterized in that: including the clamping jaw device that is used for pressing from both sides to get the skate, the clamping jaw device passes through the clamping jaw connecting rod and is connected with the robot, be equipped with rotary drive device on the clamping jaw connecting rod, rotary drive device can drive clamping jaw device is in certain angle of horizontal rotation on the clamping jaw connecting rod.
2. The robotic flexible grip for skate grabbing of claim 1 wherein: the rotary driving device comprises a servo rotary motor and a clamping jaw rotary disc, the servo rotary motor is in transmission connection with the clamping jaw rotary disc, and the clamping jaw rotary disc is fixed at the lower end of the clamping jaw device.
3. The robotic flexible grip for skate grabbing of claim 2, characterized by: the clamping jaw rotating disc connecting shaft is arranged on the clamping jaw connecting rod and fixedly connected with the clamping jaw rotating disc, and the clamping jaw rotating disc connecting shaft is in transmission connection with the servo rotating motor through a synchronous belt.
4. The robotic flexible grip for skate grabbing of claim 1 wherein: the clamping jaw device is an electric clamping jaw, clamping jaw fingers are arranged on the clamping jaw device, and the clamping jaw fingers are obliquely and downwards arranged and used for placing iron shoes onto rails.
5. The robotic flexible grip for skate grabbing of claim 2, characterized by: and a limiting part for limiting the rotation angle of the clamping jaw rotary disc is arranged on the rotation path of the clamping jaw rotary disc.
6. The robotic flexible grip for skate grabbing of claim 1 wherein: and the clamping jaw device is provided with a detection device for detecting whether the clamping jaw fingers clamp the iron shoe or not.
7. The robotic flexible grip for skate grabbing of claim 6, wherein: the detection device is a visual detection device.
8. A robotic flexible grip for skate gripping as defined in any one of claims 1-7 wherein: the clamping jaw connecting rod is connected with a mounting seat, the clamping jaw connecting rod is assembled on the mounting seat in a sliding mode, a linear driving device is arranged on the mounting seat, and the linear driving device can drive the clamping jaw connecting rod to move for a certain distance.
9. The robotic flexible grip for skate grabbing of claim 8, wherein: the linear driving device comprises an electric cylinder, the electric cylinder is connected with the clamping jaw connecting rod, a sliding rail is arranged on the mounting seat, a sliding block is arranged on the clamping jaw connecting rod, and the clamping jaw connecting rod is assembled on the mounting seat in a sliding mode through the sliding block.
10. The robotic flexible grip for skate grabbing of claim 9, wherein: the mounting seat is provided with an electric cylinder fixing seat, and the electric cylinder is horizontally mounted on the electric cylinder fixing seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121203160.8U CN215471239U (en) | 2021-05-28 | 2021-05-28 | A flexible tongs of robot for skate snatchs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121203160.8U CN215471239U (en) | 2021-05-28 | 2021-05-28 | A flexible tongs of robot for skate snatchs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215471239U true CN215471239U (en) | 2022-01-11 |
Family
ID=79781691
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121203160.8U Expired - Fee Related CN215471239U (en) | 2021-05-28 | 2021-05-28 | A flexible tongs of robot for skate snatchs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215471239U (en) |
-
2021
- 2021-05-28 CN CN202121203160.8U patent/CN215471239U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220111 |