WO2018188051A1 - Claw for robot of dual-mode linkage structure - Google Patents
Claw for robot of dual-mode linkage structure Download PDFInfo
- Publication number
- WO2018188051A1 WO2018188051A1 PCT/CN2017/080528 CN2017080528W WO2018188051A1 WO 2018188051 A1 WO2018188051 A1 WO 2018188051A1 CN 2017080528 W CN2017080528 W CN 2017080528W WO 2018188051 A1 WO2018188051 A1 WO 2018188051A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- fixed
- robot
- hydraulic pump
- linkage structure
- plate
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
Definitions
- the present invention relates to a claw member of a robot of a dual mode linkage structure.
- a robot is a new type of device that has been developed in a mechanized, automated production process. In the modern production process, the robot is widely used in the automatic production line. The development and production of the robot has become a new technology developed rapidly in the high-tech field. It has further promoted the development of the robot, enabling the robot to Better integration with mechanization and automation. Although the robot is not as flexible as a human hand, it has the characteristics of being able to repeat work and labor, not knowing the fatigue, not afraid of danger, and the power of snatching heavy objects is greater than that of the human hand. Therefore, the robot has been valued by many departments, and more and more Widely used.
- China's plastic machinery has become one of the fastest growing industries in the machinery manufacturing industry, and the annual demand is constantly increasing.
- the rapid development of China's plastic machinery industry mainly has the following two major factors: First, the equipment upgrade and the elimination of old equipment brought about by the demand for high-tech equipment; Second, the rapid development of the domestic plastics processing industry, for plastic machinery Demand.
- a claw member of a robot of a dual mode linkage structure is provided.
- a claw member of a robot with a dual-mode linkage structure which is mainly configured with: a base plate, a guide rail, a grooved base, a square workpiece, Electric hydraulic pump &, electric hydraulic pump b, hoop clamp, nail puller, hoop limit plate, steel hole position, rubber injection tube, electric drill rod clamping head, electro-hydraulic rod, threaded bushing, threaded shaft, transmission a sensing piece and a displacement sensor, wherein the base plate is fixed with a guide rail at a central axis position, and the guide rail has a slot-shaped base through the rear frame of the slider; a threaded bushing is embedded in the end plate of the slot base.
- a threaded shaft is screwed into the threaded sleeve, an electric drill rod clamping head is fixed at one end of the threaded shaft, and an electric hydraulic pump b is fixed at one end; the electric hydraulic pump b controls the opening of the nail puller.
- the square base plate on one end of the trough base is fixed with a square workpiece by bolts, at one end of the block workpiece
- An electric hydraulic pump a is fixed thereon, and the electric hydraulic pump a controls the opening of the hoop clamp; the hoop limit plate is fixed around the hoop clamp.
- the hoop clamp has a steel strip hole position; the steel strip hole has a steel strip inside the hole.
- the trough-shaped base has a hole slot in the other end station plate, and the slot position is matched with the electric drill rod clamping head.
- An electro-hydraulic rod is fixed on one end of the base plate, and a rubber injection tube is fixed on the other end station plate; a glass rubber cylinder is loaded between the injection tube and the electro-hydraulic rod.
- a sensing piece is fixed on a side of the electric hydraulic pump b, and a displacement sensor is fixed on a side surface of the trough-shaped base, and the sensing piece is matched with the displacement sensor.
- the electric drill rod clamping head is clamped with a rotating rod of the hand drill. Further, the displacement sensor can measure the number of times the sensor strip is cut.
- the displacement sensor can measure the depth of the sensing piece cutting. Further, the injection molding angle of the injection tube is adjustable. Further, the forward or reverse stroke of the threaded shaft is 0.7-1.2 cm per revolution. Further, the hoop clamp and the inner wall of the steel strip are covered with rubber skin.
- FIG. 1 is an overall structural view of a claw member of a robot of a dual mode linkage structure according to the present invention.
- Fig. 2 is a structural view showing the core member of the claw member of the robot of the two-mode linkage structure of the present invention.
- a claw member of a robot with a dual-mode linkage structure the main structure of which is: a base plate 1, a guide rail 2, a trough base 3, Square workpiece 4, electric hydraulic pump a5, electric hydraulic pump b6, clamp pliers 7, nail puller 8, hoop limit plate 9, steel strip hole 10, rubber injection tube 11, electric drill rod clamping head 12, electro-hydraulic
- the rod 13 the threaded sleeve 14, the threaded shaft 15, the sensing piece 16, the displacement sensor 17, the guide plate 2 is fixed at the central axis of the base plate 1, and the guide rail 2 has a grooved base through the rear frame of the slider 3;
- the trough base 3 - the end plate is embedded with a threaded bushing 14 , the threaded bushing 14 is screwed with a threaded shaft 15 , the end of the threaded shaft 15 is
- the trough-shaped base 3 is fixed to the end plate by a block workpiece 4, and an electric hydraulic pump a5 is fixed on one end of the block workpiece 4.
- the electro-hydraulic pump a5 controls the opening of the hoop pliers 7.
- a hoop limit plate 9 is fixed to the periphery of the hoop pliers 7.
- the hoop clamp 7 has a steel strip hole 10; the steel strip hole 10 has a steel strip drawn therein.
- the slot base 3 has a hole slot in the other end station plate, and the slot position is matched with the electric drill rod clamping head 12.
- the electro-hydraulic rod 13 is fixed on one end plate of the base plate 1 , and the rubber injection tube 11 is fixed on the other end station plate; a glass rubber cylinder is mounted between the rubber injection tube 11 and the electro-hydraulic rod 13 .
- a sensing piece 16 is fixed to the side of the electro-hydraulic pump b6, and a displacement sensor 17 is fixed to the side of the station plate of the trough-shaped base 3.
- the sensing piece 16 is matched with the displacement sensor 17.
- the electric drill rod clamping head 12 is clamped with a rotating rod of a hand drill.
- the displacement sensor 17 can measure the number of times the sensor strip 16 is cut.
- the displacement sensor 17 can measure the depth at which the sensing piece 16 is cut.
- the injection molding tube 11 has an adjustable injection angle.
- the forward or reverse stroke of the threaded shaft 15 is 0.7-1.2 cm per revolution.
- the hoop clamp 7 and the inner wall of the steel strip are covered with rubber skin.
- the following is a description of the working process of the device. Firstly, fix the base plate 1 to the hand-held bracket, find the position where the nail needs to be removed, firstly fix the tire around the nail with a steel belt lock on the top of the nail, and buckle the two ends of the steel strip into the steel strip hole of the holding clamp 7 In position 1, the electric hydraulic pump a5 is actuated to cause the clamp pliers 7 to contract so that the entire apparatus is clamped to the tire.
- the electric drill pipe clamping head 1 is built into the rotating rod of the electric drill, and the electric hydraulic pump b6 is activated to make the nail puller 8 smash, and the electric drill is started in the direction of the needle, so that the threaded shaft 15 in the threaded sleeve 14 rotates and moves outward. Until the nail remover 8 can hold the position of the nail, the electric hydraulic pump b6 is activated again so that the nail puller 8 is closed to clamp the nail. The electric drill is again activated in the direction of the counterclockwise direction so that the threaded shaft 15 in the threaded sleeve 14 is rotated, so that the threaded shaft 15 is retracted, and the nail nailed to the tire is pulled out during the rotation.
- the grooved base 3 on the moving rail 2 is moved back integrally, and a glass rubber cylinder is loaded between the rubber injection tube 11 and the electrohydraulic rod 13 to align the rubber injection tube 11 with the extracted hole.
- the electro-hydraulic rod 13 is activated to enable the glue in the glass cylinder to be injected into the hole to achieve sealing, thereby avoiding long Due to the intrusion of the rainwater in the hole, the internal decay of the tire was caused.
- this device can also be used directly for glue injection to seal damaged holes.
- the traditional nail pull-out is to use the "sloshing method" to clamp with a pliers, and then shake it hard to pull it out.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A claw for a robot of a dual-mode linkage structure. A guide rail (2) is fixed on the central axis of a base plate (1) of the claw; and a groove-shaped base (3) is mounted over the guide rail behind a slide block; a threaded bushing (14) is embedded in a vertical plate at one end of the groove-shaped base; a threaded shaft (15) is screwed into the threaded bushing; an electric drill rod holder (12) is fixed at one end of the threaded shaft, and a first electric hydraulic pump (6) is fixed at the other end of the threaded shaft; the first electric hydraulic pump controls the opening and closing of a nail drawer (8); and a square workpiece (4) is fixed on the vertical plate at the end of the groove-shaped base by means of bolts. The claw is applicable to repair work for large-diameter automobile tires; in addition, the structure of the device is highly integrated, so that nails in the automobile tires can be removed and holes can be protected in time after the nails are removed.
Description
发明名称：一种双模联动结构的机械人的爪件 技术领域 Title of Invention: A Claw of a Robot with a Dual Mode Linkage Structure
[0001] 本发明涉及一种双模联动结构的机械人的爪件。 [0001] The present invention relates to a claw member of a robot of a dual mode linkage structure.
背景技术 Background technique
[0002] 机械手是在机械化， 自动化生产过程中发展起来的一种新型装置。 在现代生产 过程中， 机械手被广泛的运用于自动生产线中， 机械人的研制和生产已成为高 技术领域内， 迅速发展起来的一门新兴的技术， 它更加促进了机械手的发展， 使得机械手能更好地实现与机械化和自动化的有机结合。 机械手虽然还不如人 手那样灵活， 但它具有能不断重复工作和劳动， 不知疲劳， 不怕危险， 抓举重 物的力量比人手力大的特点， 因此， 机械手已受到许多部门的重视， 并越来越 广泛地得到了应用。 我国塑料机械已成为机械制造业发展最快的行业之一， 年 需求量在不断的加大。 我国塑料机械产业的高速发展主要有以下两个大因素： 一是对高技术含量装备的需求所带来的设备更新及陈旧设备的淘汰;二是海内塑 料加工产业的高速发展， 对塑料机械的需求旺盛。 [0002] A robot is a new type of device that has been developed in a mechanized, automated production process. In the modern production process, the robot is widely used in the automatic production line. The development and production of the robot has become a new technology developed rapidly in the high-tech field. It has further promoted the development of the robot, enabling the robot to Better integration with mechanization and automation. Although the robot is not as flexible as a human hand, it has the characteristics of being able to repeat work and labor, not knowing the fatigue, not afraid of danger, and the power of snatching heavy objects is greater than that of the human hand. Therefore, the robot has been valued by many departments, and more and more Widely used. China's plastic machinery has become one of the fastest growing industries in the machinery manufacturing industry, and the annual demand is constantly increasing. The rapid development of China's plastic machinery industry mainly has the following two major factors: First, the equipment upgrade and the elimination of old equipment brought about by the demand for high-tech equipment; Second, the rapid development of the domestic plastics processing industry, for plastic machinery Demand.
技术问题 technical problem
[0003] 提供一种双模联动结构的机械人的爪件。 [0003] A claw member of a robot of a dual mode linkage structure is provided.
问题的解决方案 Problem solution
技术解决方案 Technical solution
[0004] 本发明解决其上述的技术问题所采用以下的技术方案： 一种双模联动结构的机 械人的爪件， 其主要构造有： 基座板、 导轨、 槽形基座、 方块工件、 电动液压 泵&、 电动液压泵 b、 抱箍钳、 拔钉钳、 抱箍限位板、 钢带孔位、 注胶管、 电钻杆 夹持头、 电动液压杆、 螺纹轴套、 螺纹轴、 传感片、 位移传感器， 所述的基座 板中轴线位置上固定有导轨， 导轨通过滑块后架立有槽形基座； 所述的槽形基 座一端站板内嵌有螺纹轴套， 螺纹轴套内拧接有螺纹轴， 螺纹轴一端固定有电 钻杆夹持头， 另外一端固定有电动液压泵 b; 所述的电动液压泵 b控制拔钉钳的 张合。 所述的槽形基座一端站板上通过螺栓固定有方块工件， 在方块工件一端
上固定有电动液压泵 a， 所述的电动液压泵 a控制抱箍钳的的张合； 抱箍钳外围固 定有抱箍限位板。 所述的抱箍钳上幵有钢带孔位； 钢带孔位内拉结有钢带。 所 述的槽形基座另一端站板内幵有孔槽， 孔槽位置大小与电钻杆夹持头相匹配。 所述的基座板一端站板上固定有电动液压杆， 另外一端站板上固定有注胶管； 所述的注胶管与电动液压杆之间装载有玻璃胶筒。 所述的电动液压泵 b侧面固定 有传感片， 槽形基座的站板侧面固定有位移传感器， 传感片与位移传感器相匹 配。 进一步地， 所述的电钻杆夹持头夹持有手电钻的转杆。 进一步地， 所述的 位移传感器可测算传感片切入的次数。 进一步地， 所述的位移传感器可测算传 感片切入的深度。 进一步地， 所述的注胶管注胶角度可调。 进一步地， 所述的 螺纹轴每转一圈其前进或者倒退的行程为 0.7-1.2cm。 进一步地， 所述的抱箍钳 及其钢带内壁上覆有橡胶皮。 [0004] The present invention solves the above technical problems and adopts the following technical solutions: A claw member of a robot with a dual-mode linkage structure, which is mainly configured with: a base plate, a guide rail, a grooved base, a square workpiece, Electric hydraulic pump &, electric hydraulic pump b, hoop clamp, nail puller, hoop limit plate, steel hole position, rubber injection tube, electric drill rod clamping head, electro-hydraulic rod, threaded bushing, threaded shaft, transmission a sensing piece and a displacement sensor, wherein the base plate is fixed with a guide rail at a central axis position, and the guide rail has a slot-shaped base through the rear frame of the slider; a threaded bushing is embedded in the end plate of the slot base. A threaded shaft is screwed into the threaded sleeve, an electric drill rod clamping head is fixed at one end of the threaded shaft, and an electric hydraulic pump b is fixed at one end; the electric hydraulic pump b controls the opening of the nail puller. The square base plate on one end of the trough base is fixed with a square workpiece by bolts, at one end of the block workpiece An electric hydraulic pump a is fixed thereon, and the electric hydraulic pump a controls the opening of the hoop clamp; the hoop limit plate is fixed around the hoop clamp. The hoop clamp has a steel strip hole position; the steel strip hole has a steel strip inside the hole. The trough-shaped base has a hole slot in the other end station plate, and the slot position is matched with the electric drill rod clamping head. An electro-hydraulic rod is fixed on one end of the base plate, and a rubber injection tube is fixed on the other end station plate; a glass rubber cylinder is loaded between the injection tube and the electro-hydraulic rod. A sensing piece is fixed on a side of the electric hydraulic pump b, and a displacement sensor is fixed on a side surface of the trough-shaped base, and the sensing piece is matched with the displacement sensor. Further, the electric drill rod clamping head is clamped with a rotating rod of the hand drill. Further, the displacement sensor can measure the number of times the sensor strip is cut. Further, the displacement sensor can measure the depth of the sensing piece cutting. Further, the injection molding angle of the injection tube is adjustable. Further, the forward or reverse stroke of the threaded shaft is 0.7-1.2 cm per revolution. Further, the hoop clamp and the inner wall of the steel strip are covered with rubber skin.
发明的有益效果 Advantageous effects of the invention
有益效果 Beneficial effect
[0005] 结构简单； 适用于大直径的汽车轮胎的修复工作； 此外器械的结构上采用集成 度高， 一方面可以去除汽车轮胎内的钉子， 另外一方面除掉钉子后， 可以及吋 对孔洞内进行防护。 [0005] Simple structure; Suitable for repairing large-diameter automobile tires; In addition, the structure of the instrument is highly integrated, on the one hand, the nails in the automobile tires can be removed, and on the other hand, after the nails are removed, the holes can be removed. Protection inside.
对附图的简要说明 Brief description of the drawing
附图说明 DRAWINGS
[0006] 图 1为本发明一种双模联动结构的机械人的爪件整体结构图。 图 2为本发明一种 双模联动结构的机械人的爪件核心部件结构图。 图中 1-基座板， 2-导轨， 3-槽 形基座， 4-方块工件， 5-电动液压泵 a， 6-电动液压泵 b， 7-抱箍钳， 8-拔钉钳， 9- 抱箍限位板， 10-钢带孔位， 11-注胶管， 12-电钻杆夹持头， 13-电动液压杆， 14- 螺纹轴套， 15-螺纹轴， 16-传感片， 17-位移传感器。 1 is an overall structural view of a claw member of a robot of a dual mode linkage structure according to the present invention. Fig. 2 is a structural view showing the core member of the claw member of the robot of the two-mode linkage structure of the present invention. In the figure, 1-base plate, 2-rail, 3-groove base, 4-square workpiece, 5-electric hydraulic pump a, 6-electric hydraulic pump b, 7-clamp, 8-pin clamp, 9- hoop limit plate, 10-steel with hole, 11-injection hose, 12-drill pipe grip, 13-electro-hydraulic rod, 14-threaded bushing, 15-threaded shaft, 16-sensing piece , 17-displacement sensor.
本发明的实施方式 Embodiments of the invention
[0007] 下面结合附图 1-2对本发明的具体实施方式做一个详细的说明。 实施例: 一种 双模联动结构的机械人的爪件， 其主要构造有： 基座板 1、 导轨 2、 槽形基座 3、
方块工件 4、 电动液压泵 a5、 电动液压泵 b6、 抱箍钳 7、 拔钉钳 8、 抱箍限位板 9、 钢带孔位 10、 注胶管 11、 电钻杆夹持头 12、 电动液压杆 13、 螺纹轴套 14、 螺纹 轴 15、 传感片 16、 位移传感器 17， 所述的基座板 1中轴线位置上固定有导轨 2， 导轨 2通过滑块后架立有槽形基座 3 ; 所述的槽形基座 3—端站板内嵌有螺纹轴套 14， 螺纹轴套 14内拧接有螺纹轴 15， 螺纹轴 15—端固定有电钻杆夹持头 12， 另 外一端固定有电动液压泵 b6; 所述的电动液压泵 b6控制拔钉钳 8的张合。 所述的 槽形基座 3—端站板上通过螺栓固定有方块工件 4， 在方块工件 4一端上固定有电 动液压泵 a5， 所述的电动液压泵 a5控制抱箍钳 7的的张合； 抱箍钳 7外围固定有抱 箍限位板 9。 所述的抱箍钳 7上幵有钢带孔位 10; 钢带孔位 10内拉结有钢带。 所 述的槽形基座 3另一端站板内幵有孔槽， 孔槽位置大小与电钻杆夹持头 12相匹配 。 所述的基座板 1一端站板上固定有电动液压杆 13， 另外一端站板上固定有注胶 管 11 ; 所述的注胶管 11与电动液压杆 13之间装载有玻璃胶筒。 所述的电动液压 泵 b6侧面固定有传感片 16， 槽形基座 3的站板侧面固定有位移传感器 17， 传感片 16与位移传感器 17相匹配。 所述的电钻杆夹持头 12夹持有手电钻的转杆。 所述 的位移传感器 17可测算传感片 16切入的次数。 所述的位移传感器 17可测算传感 片 16切入的深度。 所述的注胶管 11注胶角度可调。 所述的螺纹轴 15每转一圈其 前进或者倒退的行程为 0.7-1.2cm。 所述的抱箍钳 7及其钢带内壁上覆有橡胶皮。 下面针对器械的工作过程进行一个描述。 首先将基座板 1固定于手持支架上， 找 到需要拔除钉子位置处， 在钉子的上方先用钢带锁将轮胎围绕一圈， 并将钢带 两端末扣入抱箍钳 7的钢带孔位 1内， 启动电动液压泵 a5， 使得抱箍钳 7收缩， 以 便整个设备夹紧于轮胎上。 在电钻杆夹持头 1内置入电钻的转杆， 启动电动液压 泵 b6使得拔钉钳 8幵口， 启动电钻顺吋针方向， 使得螺纹轴套 14内的螺纹轴 15转 动， 并向外移动， 直至拔钉钳 8能够夹持钉子的位置， 再次启动电动液压泵 b6使 得拔钉钳 8合拢能够夹住钉子。 再次启动电钻逆吋针方向， 使得螺纹轴套 14内的 螺纹轴 15转动， 从而使得螺纹轴 15向外退， 在转动的过程中被钉在轮胎上的钉 子被拔出。 拨离钉后， 移动导轨 2上的槽形基座 3使其整体往后退， 在注胶管 11 、 电动液压杆 13之间装载一只玻璃胶筒， 将注胶管 11对准被拔离的孔洞内， 启 动电动液压杆 13使得玻璃胶筒内的胶水能够注入孔洞内， 实现封口， 避免了长
期由于孔洞雨水的灌入， 导致了轮胎内部的腐烂。 当然本设备也可以直接用于 注胶， 用于封堵被损坏的孔洞。 传统的钉子拔出， 都是采用"晃动法 "就是用钳子 钳住， 然后使劲的晃动， 使其拔出， 这种传统的方式对汽车轮胎的损坏非常大 ， 本来钉子孔洞不大， 通过晃动后， 孔洞变大反而起不到保护汽车轮胎的要求 了。 以上显示和描述了本发明的基本原理、 主要特征和本发明的优点。 本行业 的技术人员应该了解， 本发明不受上述实施例的限制， 上述实施例和说明书中 描述的只是说明本发明的原理， 在不脱离本发明精神和范围的前提下， 本发明 还会有各种变化和改进， 这些变化和改进都落入要求保护的本发明范围内。 本 发明要求保护范围由所附的权利要求书及其等效物界定。
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A specific embodiment of the present invention will be described in detail below with reference to FIGS. Embodiment: A claw member of a robot with a dual-mode linkage structure, the main structure of which is: a base plate 1, a guide rail 2, a trough base 3, Square workpiece 4, electric hydraulic pump a5, electric hydraulic pump b6, clamp pliers 7, nail puller 8, hoop limit plate 9, steel strip hole 10, rubber injection tube 11, electric drill rod clamping head 12, electro-hydraulic The rod 13, the threaded sleeve 14, the threaded shaft 15, the sensing piece 16, the displacement sensor 17, the guide plate 2 is fixed at the central axis of the base plate 1, and the guide rail 2 has a grooved base through the rear frame of the slider 3; the trough base 3 - the end plate is embedded with a threaded bushing 14 , the threaded bushing 14 is screwed with a threaded shaft 15 , the end of the threaded shaft 15 is fixed with an electric drill rod clamping head 12 , the other end An electric hydraulic pump b6 is fixed; the electric hydraulic pump b6 controls the engagement of the nail pullers 8. The trough-shaped base 3 is fixed to the end plate by a block workpiece 4, and an electric hydraulic pump a5 is fixed on one end of the block workpiece 4. The electro-hydraulic pump a5 controls the opening of the hoop pliers 7. A hoop limit plate 9 is fixed to the periphery of the hoop pliers 7. The hoop clamp 7 has a steel strip hole 10; the steel strip hole 10 has a steel strip drawn therein. The slot base 3 has a hole slot in the other end station plate, and the slot position is matched with the electric drill rod clamping head 12. The electro-hydraulic rod 13 is fixed on one end plate of the base plate 1 , and the rubber injection tube 11 is fixed on the other end station plate; a glass rubber cylinder is mounted between the rubber injection tube 11 and the electro-hydraulic rod 13 . A sensing piece 16 is fixed to the side of the electro-hydraulic pump b6, and a displacement sensor 17 is fixed to the side of the station plate of the trough-shaped base 3. The sensing piece 16 is matched with the displacement sensor 17. The electric drill rod clamping head 12 is clamped with a rotating rod of a hand drill. The displacement sensor 17 can measure the number of times the sensor strip 16 is cut. The displacement sensor 17 can measure the depth at which the sensing piece 16 is cut. The injection molding tube 11 has an adjustable injection angle. The forward or reverse stroke of the threaded shaft 15 is 0.7-1.2 cm per revolution. The hoop clamp 7 and the inner wall of the steel strip are covered with rubber skin. The following is a description of the working process of the device. Firstly, fix the base plate 1 to the hand-held bracket, find the position where the nail needs to be removed, firstly fix the tire around the nail with a steel belt lock on the top of the nail, and buckle the two ends of the steel strip into the steel strip hole of the holding clamp 7 In position 1, the electric hydraulic pump a5 is actuated to cause the clamp pliers 7 to contract so that the entire apparatus is clamped to the tire. The electric drill pipe clamping head 1 is built into the rotating rod of the electric drill, and the electric hydraulic pump b6 is activated to make the nail puller 8 smash, and the electric drill is started in the direction of the needle, so that the threaded shaft 15 in the threaded sleeve 14 rotates and moves outward. Until the nail remover 8 can hold the position of the nail, the electric hydraulic pump b6 is activated again so that the nail puller 8 is closed to clamp the nail. The electric drill is again activated in the direction of the counterclockwise direction so that the threaded shaft 15 in the threaded sleeve 14 is rotated, so that the threaded shaft 15 is retracted, and the nail nailed to the tire is pulled out during the rotation. After the nail is removed, the grooved base 3 on the moving rail 2 is moved back integrally, and a glass rubber cylinder is loaded between the rubber injection tube 11 and the electrohydraulic rod 13 to align the rubber injection tube 11 with the extracted hole. Inside, the electro-hydraulic rod 13 is activated to enable the glue in the glass cylinder to be injected into the hole to achieve sealing, thereby avoiding long Due to the intrusion of the rainwater in the hole, the internal decay of the tire was caused. Of course, this device can also be used directly for glue injection to seal damaged holes. The traditional nail pull-out is to use the "sloshing method" to clamp with a pliers, and then shake it hard to pull it out. This traditional way of damage to the car tire is very large, the original nail hole is not big, by shaking After that, the hole became bigger and it did not meet the requirements for protecting the car tires. The basic principles, main features and advantages of the present invention are shown and described above. It should be understood by those skilled in the art that the present invention is not limited by the foregoing embodiments, and that the present invention is only described in the foregoing embodiments and the description of the present invention, without departing from the spirit and scope of the invention. Various changes and modifications are intended to fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and their equivalents.
Claims
( 1) 一端站板上固定有电动液压杆 （13) ， 另外一端站板上固定有 注胶管 （11) ； 所述的注胶管 （11) 与电动液压杆 （13) 之间装载有 玻璃胶筒。 所述的电动液压泵 b (6) 侧面固定有传感片 （16) ， 槽形 基座 （3) 的站板侧面固定有位移传感器 （17) ， 传感片 （16) 与位 移传感器 ( 17) 相匹配。 (1) An electro-hydraulic rod (13) is fixed on one end station plate, and a rubber injection tube (11) is fixed on the other end station plate; glass glue is loaded between the injection tube (11) and the electro-hydraulic rod (13) cylinder. The electro-hydraulic pump b (6) is fixed with a sensing piece (16) on the side thereof, and a displacement sensor (17), a sensing piece (16) and a displacement sensor are fixed on the side of the station plate of the trough-shaped base (3). ) matches.
[权利要求 2] 根据权利要求 1所述的一种双模联动结构的机械人的爪件， 其特征在 于所述的电钻杆夹持头 （12) 夹持有手电钻的转杆。 [Claim 2] A claw member of a robot of a dual mode linkage structure according to claim 1, wherein the electric drill rod holding head (12) is gripped with a rotating rod of a hand drill.
[权利要求 3] 根据权利要求 1所述的一种双模联动结构的机械人的爪件， 其特征在 于所述的位移传感器 （17) 可测算传感片 （16) 切入的次数。 [Claim 3] A claw member of a robot of a dual mode linkage structure according to claim 1, wherein the displacement sensor (17) measures the number of times the sensor blade (16) is cut.
[权利要求 4] 根据权利要求 1所述的一种双模联动结构的机械人的爪件， 其特征在 于所述的位移传感器 （17) 可测算传感片 （16) 切入的深度。
[Claim 4] A claw member of a robot of a dual mode linkage structure according to claim 1, wherein said displacement sensor (17) measures the depth at which the sensor strip (16) is cut.
[权利要求 5] 根据权利要求 1所述的一种双模联动结构的机械人的爪件， 其特征在 于所述的注胶管 （11) 注胶角度可调。 [Claim 5] A claw member of a robot of a dual mode linkage structure according to claim 1, wherein the injection molding angle of the rubber injection tube (11) is adjustable.
[权利要求 6] 根据权利要求 1所述的一种双模联动结构的机械人的爪件， 其特征在 于所述的螺纹轴 （15) 每转一圈其前进或者倒退的行程为 0.7-1.2cm。 [Claim 6] The claw member of the robot of the dual-mode linkage structure according to claim 1, wherein the threaded shaft (15) advances or retreats by 0.7-1.2 per revolution. Cm.
[权利要求 7] 根据权利要求 1所述的一种双模联动结构的机械人的爪件， 其特征在 于所述的抱箍钳 （7) 及其钢带内壁上覆有橡胶皮。
[Claim 7] A claw member of a robot of a dual-mode linkage structure according to claim 1, wherein the inner wall of the hoop clamp (7) and the steel strip is covered with a rubber skin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/080528 WO2018188051A1 (en) | 2017-04-14 | 2017-04-14 | Claw for robot of dual-mode linkage structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/080528 WO2018188051A1 (en) | 2017-04-14 | 2017-04-14 | Claw for robot of dual-mode linkage structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2018188051A1 true WO2018188051A1 (en) | 2018-10-18 |
Family
ID=63792208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2017/080528 WO2018188051A1 (en) | 2017-04-14 | 2017-04-14 | Claw for robot of dual-mode linkage structure |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2018188051A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110265937A (en) * | 2019-04-24 | 2019-09-20 | 武汉船用机械有限责任公司 | Cable fixture and fixing means |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5704591A (en) * | 1995-09-01 | 1998-01-06 | Garlock Equipment Company | Fastener puller |
| CN1785599A (en) * | 2005-11-30 | 2006-06-14 | 李德锵 | Automatic clamping mechanism |
| CN203696930U (en) * | 2014-03-11 | 2014-07-09 | 李春生 | Nail puller |
| CN204160444U (en) * | 2014-07-02 | 2015-02-18 | 王向果 | A kind of waste and old wood nail pull out machine |
| CN106718193A (en) * | 2016-12-29 | 2017-05-31 | 王社锋 | A kind of gardens ancient tree wood is except nail and the apparatus of protection |
| CN206341629U (en) * | 2016-12-29 | 2017-07-21 | 王社锋 | A kind of gardens ancient tree wood is except nail and the apparatus of protection |
-
2017
- 2017-04-14 WO PCT/CN2017/080528 patent/WO2018188051A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5704591A (en) * | 1995-09-01 | 1998-01-06 | Garlock Equipment Company | Fastener puller |
| CN1785599A (en) * | 2005-11-30 | 2006-06-14 | 李德锵 | Automatic clamping mechanism |
| CN203696930U (en) * | 2014-03-11 | 2014-07-09 | 李春生 | Nail puller |
| CN204160444U (en) * | 2014-07-02 | 2015-02-18 | 王向果 | A kind of waste and old wood nail pull out machine |
| CN106718193A (en) * | 2016-12-29 | 2017-05-31 | 王社锋 | A kind of gardens ancient tree wood is except nail and the apparatus of protection |
| CN206341629U (en) * | 2016-12-29 | 2017-07-21 | 王社锋 | A kind of gardens ancient tree wood is except nail and the apparatus of protection |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110265937A (en) * | 2019-04-24 | 2019-09-20 | 武汉船用机械有限责任公司 | Cable fixture and fixing means |
| CN110265937B (en) * | 2019-04-24 | 2021-07-09 | 武汉船用机械有限责任公司 | Cable fixing device and fixing method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204505039U (en) | Quick vice | |
| CN103611839B (en) | A kind of bend pipe feed mechanism of bending machine | |
| CN204171754U (en) | Heavy square position flange york boring air-actuated jaw | |
| CN205602190U (en) | Cable automatic bundling device | |
| CN2744227Y (en) | Hair brush automatic sequence circulating product line feeding working device | |
| WO2018188051A1 (en) | Claw for robot of dual-mode linkage structure | |
| CN204321911U (en) | PVF coating frock is carried out in high-voltage tube seal nipple O type circle spin slot position | |
| CN110695438A (en) | Thin wall blast pipe cutting equipment | |
| CN109590352B (en) | Correction positioning auxiliary structure for automobile hub and use method thereof | |
| CN204585045U (en) | A kind of positioning clamping structure | |
| CN210879385U (en) | Building pipe clamping device | |
| CN107755791B (en) | Automatic pipe feeding and cutting device | |
| CN205362782U (en) | Graduation formula agricultural machinery ring flange drilling mould | |
| GB399992A (en) | Improvements in machines for cutting screw-threads | |
| CN214844461U (en) | Fixing equipment for detecting pulling resistance of reinforcing steel bar | |
| CN203578618U (en) | Pipe bending and feeding mechanism for pipe bending machine | |
| CN206028857U (en) | Water swivel dead head double -end pipe cutter | |
| CN204094004U (en) | Roller for medical calm bends tool | |
| CN112960024A (en) | Pipe clamping device | |
| CN205415050U (en) | Novel milling process clamping machine who takes cylinder constructs | |
| CN204893053U (en) | A processingequipment for processing movable vice jaw | |
| CN216760838U (en) | Auxiliary device for pipeline connection | |
| CN202824817U (en) | Semi-automatic pipe discharger | |
| CN205111394U (en) | Broaching machine chuck handling device | |
| CN213005280U (en) | Panel scribing device for indoor door processing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17905718 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205N DATED 05/12/2019) |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 17905718 Country of ref document: EP Kind code of ref document: A1 |