CN219882488U - Manipulator part storage rack convenient for assembling and disassembling power manipulator - Google Patents
Manipulator part storage rack convenient for assembling and disassembling power manipulator Download PDFInfo
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- CN219882488U CN219882488U CN202321356398.3U CN202321356398U CN219882488U CN 219882488 U CN219882488 U CN 219882488U CN 202321356398 U CN202321356398 U CN 202321356398U CN 219882488 U CN219882488 U CN 219882488U
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- Prior art keywords
- positioning groove
- manipulator
- joint assembly
- support
- component
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- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 43
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 41
- 210000000245 forearm Anatomy 0.000 claims description 7
- 210000001503 joint Anatomy 0.000 description 12
- 238000012423 maintenance Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000002699 waste material Substances 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 239000000941 radioactive substance Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a mechanical arm part storage rack convenient for assembling and disassembling a power mechanical arm, which comprises a shoulder joint assembly, a big arm joint assembly, a small arm joint assembly, a wrist joint assembly and a clamp which are connected with each other. According to the utility model, the shoulder joint assembly positioning groove, the large arm joint assembly positioning groove, the small arm joint assembly positioning groove, the wrist joint assembly positioning groove and the clamp positioning groove which can be used for positioning and placing all parts of the power manipulator are formed in the support, so that time and labor are saved when the power manipulator is assembled and disassembled, the efficiency is high, the use is convenient, the assembly and disassembly operation can be completed through mechanical equipment, and workers do not need to carry and contact the used parts, so that the power manipulator is safer.
Description
Technical Field
The utility model relates to a storage rack, in particular to a mechanical arm part storage rack convenient for assembling and disassembling a power mechanical arm.
Background
In the nuclear waste handling industry, a commonly used mechanism is a powered manipulator, which is a remotely controlled manipulator carried by a rail mounted on a roof wall of a factory building. Because the waste material has strong radioactivity, the radiation amount of each part of the manipulator which is in direct contact with the waste material is the most serious, and the problem that each part of the manipulator is invalid due to radiation of lubricating oil, sealing rings and the like can occur, each part of the power manipulator needs to be replaced after the power manipulator is used for a period of time, and usually, 1-2 sets of spare parts of each part of the manipulator are arranged in a factory, and the spare parts can be replaced when the power manipulator is damaged.
The components of the power manipulator mainly comprise a shoulder joint component, a big arm joint component, a small arm joint component, a wrist joint component and a clamp, wherein the shoulder joint component, the big arm joint component, the small arm joint component and the wrist joint component respectively comprise a female interface and a male interface, the clamp only comprises one interface, the male interface of the shoulder joint component is connected with a driving shaft (commonly called as a Z axis in application) of the driving manipulator, the female interface of the shoulder joint component is connected with the male interface of the big arm joint component, the female interface of the big arm joint component is connected with the male interface of the small arm joint component, the female interface of the small arm joint component is connected with the male interface of the wrist joint component, and the female interface of the wrist joint component is connected with the interface of the clamp.
The traditional disassembly method of each part of the power manipulator is to manually hold and disassemble, then lay down each part of the manipulator, and then manually carry, wherein the weight of the part is tens of kilograms, and the manual carrying difficulty is high. The traditional storage mode of each part of the power manipulator is that the parts are transversely or unordered to be placed in the storage box, when spare parts are replaced, the spare parts are required to be manually taken out and then assembled to corresponding positions, and the interface alignment difficulty between each part is also relatively high during assembly.
In sum, the traditional assembly and disassembly modes of all parts of the power manipulator are time-consuming and labor-consuming, the efficiency is low, the traditional storage mode is horizontal or unordered to put, the use is inconvenient, radioactive substances are easy to remain on used old components, and the damage to human bodies and the health are possibly caused.
Disclosure of Invention
The utility model aims to solve the problems and provide a manipulator component storage rack which is convenient for assembling and disassembling a power manipulator.
The utility model realizes the above purpose through the following technical scheme:
the utility model provides a manipulator part storage frame convenient to power mechanical arm installs and removes, power mechanical arm includes interconnect's shoulder joint subassembly, big arm joint subassembly, forearm joint subassembly, wrist joint subassembly and clamp, the manipulator part storage frame convenient to power mechanical arm installs and removes includes the support, be equipped with on the support and enable the ascending shoulder joint subassembly constant head tank of public interface of shoulder joint subassembly, can make the public interface of big arm joint subassembly is in horizontal big arm joint subassembly constant head tank, can make the public interface of forearm joint subassembly is in horizontal forearm joint subassembly constant head tank, can make the public interface of wrist joint subassembly is in horizontal wrist joint subassembly constant head tank and can make the ascending clamp constant head tank of interface of clamp.
Preferably, in order to prevent the positioning grooves from affecting each other, facilitate the assembly and disassembly operations of the parts and enable the support structure to be more compact, the big arm joint assembly positioning groove, the small arm joint assembly positioning groove and the wrist joint assembly positioning groove are sequentially arranged in a straight line direction of the support, the shoulder joint assembly positioning groove is arranged at a position, close to the big arm joint assembly positioning groove, on the support, a top plate is arranged at a position, above the shoulder joint assembly positioning groove, on the top plate, vertical top plate through holes are formed in the position, right above the shoulder joint assembly positioning groove, of the two clamp positioning grooves are arranged on the top plate and are positioned above the wrist joint assembly positioning groove in an inclined manner.
Preferably, in order to better fix each joint component to avoid shaking and further improve the positioning precision of each joint component, a shoulder joint component locking buckle is arranged at a position above a shoulder joint component positioning groove on the support, a big arm joint component locking buckle is arranged at a position above a big arm joint component positioning groove on the support, a small arm joint component locking buckle is arranged at a position above a small arm joint component positioning groove on the support, and a wrist joint component locking buckle is arranged at a position beside a wrist joint component positioning groove on the support.
Preferably, in order to facilitate lifting and moving of the whole storage rack through mechanical equipment, lifting rings are respectively arranged at positions, close to four corners, on the support, wherein two lifting rings are respectively arranged at positions, close to two ends, on the top plate.
The utility model has the beneficial effects that:
according to the utility model, the shoulder joint assembly positioning groove, the large arm joint assembly positioning groove, the small arm joint assembly positioning groove, the wrist joint assembly positioning groove and the clamp positioning groove which can be used for positioning and placing all parts of the power manipulator are arranged on the support, so that a driving shaft (commonly called as a Z axis in application) of the driving manipulator can be directly and sequentially butted with all parts on the support when the power manipulator is assembled, all the parts do not need to be taken down from the support and assembled again, all the disassembled parts are directly and sequentially placed in the corresponding positioning grooves when the parts are disassembled, and then are not required to be placed on the ground for carrying, so that the time and labor are saved, the efficiency is higher, the use is convenient, the assembly and disassembly operation can be completed through mechanical equipment, the staff only needs to be simply assisted in a short time, the carrying and contacting of the used parts are not required, the injury of the radiated parts after the use to the staff is avoided, and the safety is higher.
Drawings
FIG. 1 is a perspective view of a power manipulator of the present utility model with parts of the manipulator part storage rack not in place;
FIG. 2 is a perspective view of the power manipulator of the present utility model after components are placed in the manipulator component storage rack;
FIG. 3 is a perspective view of the docking of a drive shaft with a shoulder joint assembly of the present utility model when the power manipulator component storage rack is in use;
FIG. 4 is a perspective view of the docking of the shoulder joint assembly with the forearm joint assembly of the robot component storage rack of the present utility model for easy assembly and disassembly of the power robot;
FIG. 5 is a perspective view of a robotic component storage rack of the present utility model for interfacing a large arm joint assembly with a small arm joint assembly;
FIG. 6 is a perspective view of the arm joint assembly and wrist joint assembly of the present utility model when the power manipulator component storage rack is in use;
FIG. 7 is a perspective view of a hand component storage rack of the present utility model for facilitating assembly and disassembly of a power hand, in use, with a wrist joint assembly in abutting engagement with a clamp.
Detailed Description
The utility model is further described below with reference to the accompanying drawings:
as shown in fig. 1 and 2, the power manipulator of the utility model comprises a shoulder joint assembly 14, a big arm joint assembly 15, a small arm joint assembly 17, a wrist joint assembly 18 and a clamp 16 which are connected with each other, the manipulator component storage rack convenient for the assembly and disassembly of the power manipulator comprises a bracket 1, wherein the bracket 1 is provided with a shoulder joint assembly positioning groove 3 capable of enabling a male interface of the shoulder joint assembly 14 to be upward, a big arm joint assembly positioning groove 9 capable of enabling a male interface of the big arm joint assembly 15 to be horizontal, a small arm joint assembly positioning groove 11 capable of enabling a male interface of the small arm joint assembly 17 to be horizontal, a wrist joint assembly positioning groove 12 capable of enabling a male interface of the wrist joint assembly 18 to be horizontal and a clamp positioning groove 8 capable of enabling an interface of the clamp 16 to be upward.
As shown in fig. 1 and 2, the present utility model also discloses the following various more optimal specific structures:
in order to prevent the mutual influence among the positioning grooves, facilitate the assembly and disassembly operations of the parts and enable the structure of the support 1 to be more compact, the big arm joint assembly positioning groove 9, the small arm joint assembly positioning groove 11 and the wrist joint assembly positioning groove 12 are sequentially arranged in a straight line direction of the support 1, the shoulder joint assembly positioning groove 3 is arranged at a position, close to the big arm joint assembly positioning groove 9, on the support 1, a top plate 5 is arranged at a position, located above the shoulder joint assembly positioning groove 3, on the support 1, a vertical top plate through hole 4 is arranged at a position, located right above the shoulder joint assembly positioning groove 3, on the top plate 5, and two clamp positioning grooves 8 are arranged on the top plate 5 and obliquely above the wrist joint assembly positioning groove 12.
In order to better fix each joint component so as to avoid shaking and further improve the positioning precision of each joint component, a shoulder joint component locking buckle 2 is arranged at a position above a shoulder joint component positioning groove 3 on the support 1, a big arm joint component locking buckle 6 is arranged at a position above a big arm joint component positioning groove 9 on the support 1, a small arm joint component locking buckle 10 is arranged at a position above a small arm joint component positioning groove 11 on the support 1, and a wrist joint component locking buckle 13 is arranged at a position beside a wrist joint component positioning groove 12 on the support 1.
In order to facilitate the lifting and moving of the whole storage rack through mechanical equipment, lifting rings 7 are respectively arranged at positions, close to four corners, on the support 1, wherein the two lifting rings 7 are respectively arranged at positions, close to two ends, on the top plate 5.
As shown in fig. 3 to 7, the following specifically describes the application process of the power manipulator by taking the assembly of each component of the power manipulator as an example:
first, the driving shaft (usually called as Z-axis in application) 19 of the driving manipulator is moved to the upper part of the storage rack (located in the maintenance area) where the components are mounted, the driving shaft 19 is located right above the male interface of the shoulder joint assembly 14, and then the driving shaft 19 is passed through the top plate through hole 4 from top to bottom until the driving shaft is in butt joint with the male interface of the shoulder joint assembly 14, as shown in fig. 3; after the butt joint is completed, locking bolts corresponding to the shoulder joint assembly 14 are locked, the shoulder joint assembly locking buckle 2 is loosened, the driving shaft 19 is moved upwards to move upwards to the upper side of the top plate 5 together with the shoulder joint assembly 14, then is moved transversely to the obliquely upper side of the big arm joint assembly 15, and then is moved downwards to be close to the big arm joint assembly 15, so that a female interface of the shoulder joint assembly 14 is aligned with a male interface of the big arm joint assembly 15 and the butt joint is started, as shown in fig. 4; after the butt joint is completed, locking bolts corresponding to the large arm joint assembly 15 are locked, the large arm joint assembly locking buckle 6 is loosened, the driving shaft 19 is moved upwards to be separated from the large arm joint assembly positioning groove 9 together with the shoulder joint assembly 14 and the large arm joint assembly 15, and then the large arm joint assembly is moved transversely in different directions twice and then approaches the small arm joint assembly 17, so that a female interface of the large arm joint assembly 15 is aligned with a male interface of the small arm joint assembly 17 and starts to be in butt joint, as shown in fig. 5; after the butt joint is completed, locking bolts corresponding to the small arm joint assembly 17 are locked, the small arm joint assembly locking buckle 10 is loosened, the driving shaft 19 is moved upwards to be separated from the small arm joint assembly positioning groove 11 together with the shoulder joint assembly 14, the large arm joint assembly 15 and the small arm joint assembly 17, and then the small arm joint assembly 17 is moved transversely in different directions twice and then approaches the wrist joint assembly 18, so that the female interface of the small arm joint assembly 17 is aligned with the male interface of the wrist joint assembly 18 and starts to be in butt joint, as shown in fig. 6; after the butt joint is completed, locking bolts corresponding to the wrist joint assembly 18 are locked, the wrist joint assembly locking buckle 13 is loosened, the driving shaft 19 is moved upwards, so that the driving shaft and the shoulder joint assembly 14, the big arm joint assembly 15, the small arm joint assembly 17 and the wrist joint assembly 18 are moved upwards together to be separated from the wrist joint assembly positioning groove 12, and then the driving shaft and the wrist joint assembly 18 are moved transversely, upwards and transversely in sequence, so that a female interface of the wrist joint assembly 18 is positioned right above an interface of one clamp 16 and starts to be in butt joint, as shown in fig. 7; after the butt joint is completed, the locking bolt corresponding to the clamp 16 is locked, then the female interface of the wrist joint assembly 18 is in butt joint with the other clamp 16 in a similar manner, after the butt joint is completed, the locking bolt corresponding to the clamp 16 is locked, namely, the assembly of all the components of the power manipulator is completed, and then the assembled power manipulator can be moved from a maintenance area to a working area.
When the power manipulator is disassembled, firstly, the power manipulator is moved from a working area to a maintenance area, the storage rack without any components is arranged in the maintenance area, firstly, the power manipulator is moved to the upper part of the bracket 1, the two clamps 16 are positioned right above the two clamp positioning grooves 8, then, the power manipulator is moved downwards, the two clamps 16 are positioned in the two clamp positioning grooves 8, then, the corresponding locking bolts are loosened, other components after the two clamps 16 are put down are moved to the vicinity of the wrist joint component positioning groove 12, the method is referred to, the disassembly of the wrist joint component 18, the forearm joint component 17, the big arm joint component 15 and the shoulder joint component 14 is sequentially completed according to the reverse order of the assembly, and all the locking buckles are connected with the corresponding joint components, so that all the disassembly work is completed, the whole process does not need to be moved by a worker and contacted with all the used components, and the personal safety of the worker is effectively protected.
The above embodiments are only preferred embodiments of the present utility model, and are not limiting to the technical solutions of the present utility model, and any technical solution that can be implemented on the basis of the above embodiments without inventive effort should be considered as falling within the scope of protection of the patent claims of the present utility model.
Claims (4)
1. The utility model provides a manipulator part storage frame convenient to power manipulator installs and removes, power manipulator includes interconnect's shoulder joint subassembly, big arm joint subassembly, forearm joint subassembly, wrist joint subassembly and clamp, its characterized in that: the manipulator component storage rack convenient for assembling and disassembling the power manipulator comprises a support, wherein a shoulder joint component positioning groove capable of enabling a male interface of the shoulder joint component to be upward, a big arm joint component positioning groove capable of enabling a male interface of the big arm joint component to be in a transverse direction, a small arm joint component positioning groove capable of enabling a male interface of the small arm joint component to be in a transverse direction, a wrist joint component positioning groove capable of enabling a male interface of the wrist joint component to be in a transverse direction and a clamp positioning groove capable of enabling an interface of a clamp to be upward are arranged on the support.
2. The manipulator component storage rack for facilitating assembly and disassembly of a power manipulator of claim 1, wherein: the arm joint assembly positioning groove, the forearm joint assembly positioning groove and the wrist joint assembly positioning groove are sequentially arranged in one straight line direction of the support, the shoulder joint assembly positioning groove is arranged on the support and is close to the position of the arm joint assembly positioning groove, a top plate is arranged on the support and positioned above the shoulder joint assembly positioning groove, vertical top plate through holes are formed in the top plate and positioned right above the shoulder joint assembly positioning groove, and the two clamp positioning grooves are arranged on the top plate and positioned obliquely above the wrist joint assembly positioning groove.
3. The manipulator component storage rack for facilitating assembly and disassembly of a power manipulator of claim 2, wherein: the position that is located on the support shoulder joint subassembly constant head tank top is equipped with shoulder joint subassembly locking knot, the position that is located on the support big arm joint subassembly constant head tank top is equipped with big arm joint subassembly locking knot, the position that is located on the support little arm joint subassembly constant head tank top is equipped with little arm joint subassembly locking knot, the position that is located on the support wrist joint subassembly constant head tank next door is equipped with wrist joint subassembly locking knot.
4. A robot part storage rack for facilitating power robot assembly and disassembly as claimed in claim 2 or 3, wherein: and hanging rings are respectively arranged at the positions, close to the four corners, on the support, and two hanging rings are respectively arranged at the positions, close to the two ends, on the top plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321356398.3U CN219882488U (en) | 2023-05-31 | 2023-05-31 | Manipulator part storage rack convenient for assembling and disassembling power manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321356398.3U CN219882488U (en) | 2023-05-31 | 2023-05-31 | Manipulator part storage rack convenient for assembling and disassembling power manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219882488U true CN219882488U (en) | 2023-10-24 |
Family
ID=88411978
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321356398.3U Active CN219882488U (en) | 2023-05-31 | 2023-05-31 | Manipulator part storage rack convenient for assembling and disassembling power manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219882488U (en) |
-
2023
- 2023-05-31 CN CN202321356398.3U patent/CN219882488U/en active Active
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