Knotting manipulator suitable for narrow space

Abstract

The utility model provides a knotting manipulator suitable for a narrow space, which relates to the technical field of manipulators and comprises a ring winding mechanism used for pulling a ring winding part to be pulled of a rope to move around a ring supporting mechanism; the ring supporting mechanism is matched with the ring winding mechanism to enable the rope to be wound on the ring supporting mechanism to form a winding structure; the moving-in mechanism is used for moving the to-be-drawn part of the rope to the inner side of the surrounding structure; the ring penetrating mechanism is used for pulling the ring penetrating part to be pulled of the rope to penetrate through the surrounding structure, and the first rope end of the rope does not penetrate through the surrounding structure; and the separating mechanism is used for enabling the surrounding structure to be separated from the ring supporting mechanism in the process that the ring penetrating mechanism pulls the ring penetrating to-be-pulled part of the rope to penetrate through the surrounding structure. The knotting manipulator suitable for the narrow and small space can replace workers to knot single knots on explosive packages, and therefore the problems that manual knotting operation is low in efficiency, unstable in knotting quality, large in working intensity, high in potential safety hazards and the like are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a knotting manipulator suitable for narrow spaces. Background Art

[0002] As an important explosive, explosive packs are widely used in both military and civilian fields. In order to ensure the safety and efficiency of explosive packs, it is crucial to properly knot them. Traditionally, knotting explosive packs is mainly done manually, which has problems such as low operating efficiency, unstable knotting quality, high work intensity, and high safety hazards. Therefore, the development of a manipulator (robot) that can replace manual labor and efficiently and stably complete the knotting of explosive packs has become a current research hotspot. Utility Model Content

[0003] In view of the above situation, the utility model provides a knotting robot suitable for narrow spaces, aiming to solve the technical problems that the traditional knotting work of explosive packages is mainly completed manually, which has low operating efficiency, unstable knotting quality, high work intensity and high safety hazards.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] The utility model provides a knotting manipulator suitable for a narrow space, comprising:

[0006] The looping mechanism is used for the looping part of the traction rope to move around the supporting ring mechanism;

[0007] The support ring mechanism cooperates with the ring winding mechanism to make the rope wind around the support ring mechanism to form a winding structure;

[0008] A moving mechanism, used to move the looped portion of the rope to be pulled to the inner side of the surrounding structure;

[0009] A looping mechanism, used for allowing the looping portion of the traction rope to pass through the surrounding structure, and the first rope end of the rope does not pass through the surrounding structure;

[0010] A separation mechanism, used for separating the surrounding structure from the supporting ring mechanism when the loop-through portion of the traction rope of the loop-through mechanism passes through the surrounding structure;

[0011] The rope comprises a first rope end, a second rope end, a looped portion to be pulled and a looped portion to be pulled, wherein the looped portion to be pulled is close to the first rope end, and the looped portion to be pulled is located between the looped portion to be pulled and the first rope end.

[0012] In some embodiments of the present invention, the surrounding structure is annular or polygonal.

[0013] In some embodiments of the present invention, the support ring mechanism includes a plurality of support members arranged at intervals.

[0014] In some embodiments of the present invention, the ring-winding mechanism includes:

[0015] A clamping assembly, used for clamping the looped portion to be pulled;

[0016] The rotating assembly is used to pull the ring-wrapped part to move around the supporting ring mechanism.

[0017] In some embodiments of the present utility model, the clamping assembly includes a first clamping member and a second clamping member, and the distance between the first clamping member and the second clamping member is adjustable;

[0018] The first clamping member includes a horizontal plate portion and a vertical plate portion, wherein one end of the horizontal plate portion faces the support ring mechanism and is connected to the vertical plate portion; or, one end of the horizontal plate portion is connected to the vertical plate portion and the other end faces the support ring mechanism.

[0019] In some embodiments of the utility model, a rope-supporting rod is transversely arranged on the vertical plate portion, and a part of the looped portion to be pulled can be transversely placed on the rope-supporting rod.

[0020] In some embodiments of the present invention, the rotating assembly includes:

[0021] Bracket;

[0022] The motor is mounted on the bracket;

[0023] The motor can make the rotating frame drive the clamping assembly to rotate around the support ring mechanism.

[0024] In some embodiments of the present invention, the moving-in mechanism comprises:

[0025] Transverse slide cylinder, used to move the ring-winding mechanism laterally;

[0026] The vertical slide cylinder is installed on the rotating frame and is used to vertically move the horizontal slide cylinder and the ring-winding mechanism.

[0027] In some embodiments of the present invention, the separation mechanism includes an upward moving component for moving the support ring mechanism upward.

[0028] In some embodiments of the present invention, the ring-threading mechanism includes:

[0029] A driving source, whose output end can move up and down;

[0030] A connecting piece connected to an output end of a driving source;

[0031] A hook rope member is rotatably connected to the connecting member, and one end of the hook rope member is bent upward;

[0032] The elastic member has a restoring force for making the angle between the hook rope member and the connecting member acute or right.

[0033] The embodiments of the present invention have at least the following advantages or beneficial effects:

[0034] During the operation of the looping mechanism of the knotting manipulator suitable for a narrow space, the second rope end of the rope can be pulled through the looping structure by an external device to replace the worker's knotting on the explosive package. Figure 2 The single knot shown solves the problems of low efficiency, unstable knotting quality, high work intensity and high safety risks in manual knotting operations.

[0035] Other features and advantages of the present invention will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 is a schematic diagram of the structure of the rope;

[0038] Figure 2 This is a schematic diagram of the structure of a single knot;

[0039] Figure 3 It is a schematic diagram of the structure of a knotting manipulator suitable for a small space;

[0040] Figure 4 It is a structural schematic diagram of the support ring mechanism;

[0041] Figure 5 is a schematic diagram of the structure of the clamping assembly;

[0042] Figure 6 It is a structural schematic diagram of a rotating component;

[0043] Figure 7 for Figure 6 A partial enlarged view of position A in the middle.

[0044] icon:

[0045] 11-first rope end, 12-second rope end, 13-looped portion to be pulled, 14-looped portion to be pulled, 15-encircling structure,

[0046] 21-first clamping member, 211-horizontal plate, 212-vertical plate, 213-rope supporting rod, 22-second clamping member, 23-pneumatic claw hand, 24-rotating frame, 25-motor, 251-rotating plate, 252-cross roller bearing, 26-bracket,

[0047] 31-support, 32-suspension plate, 321-avoidance gap, 33-reinforcement ring, 34-protrusion,

[0048] 41-vertical slide cylinder, 42-horizontal slide cylinder,

[0049] 51-driving cylinder, 52-connecting piece, 53-hook rope piece, 54-elastic piece,

[0050] 61-Lifting cylinder. DETAILED DESCRIPTION

[0051] In the following, only some exemplary embodiments are briefly described. As those skilled in the art can appreciate, the described embodiments can be modified in various different ways without departing from the spirit or scope of the embodiments of the present invention.

[0052] In the description of the embodiments of the present invention, it should be understood that the terms "vertical", "lateral", "upper", "lower", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present invention.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0054] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0055] The embodiments of the present utility model are described in detail below with reference to the accompanying drawings.

[0056] Embodiment, first aspect, see Figure 1~Figure 2 This embodiment provides a rope, including a first rope end 11, a second rope end 12, a looped portion 13 and a looped portion 14.

[0057] The first rope end 11 and the second rope end 12 refer to two ends of the rope respectively.

[0058] The looped portion 13 to be pulled is close to the first rope end 11 , that is, a certain distance is left between the looped portion 13 to be pulled and the first rope end 11 .

[0059] The loop-through waiting portion 14 is located between the loop-around waiting portion 13 and the first rope end 11 .

[0060] Second, see Figure 1 to Figure 7 This embodiment provides a knotting robot suitable for a narrow space, including a ring winding mechanism, a ring supporting mechanism, a moving mechanism, a ring threading mechanism and a separation mechanism.

[0061] The looping mechanism is used for pulling the looping waiting part 13 of the rope to move around the supporting ring mechanism.

[0062] The supporting ring mechanism is used in conjunction with the winding ring mechanism to allow the rope to be wound around the supporting ring mechanism to form a winding structure 15; the winding structure 15 is in a ring or polygonal shape.

[0063] The moving mechanism is used to move the loop-threading portion 14 to the inner side and lower side of the surrounding structure 15 .

[0064] The loop-through mechanism is used to pull the loop-through portion 14 of the rope through the surrounding structure 15 ; during the process of the loop-through mechanism pulling the loop-through portion 14 of the rope through the surrounding structure 15 , the first rope end 11 of the rope does not pass through the surrounding structure 15 .

[0065] The separation mechanism is used to separate the surrounding structure 15 from the supporting ring mechanism when the loop-through waiting portion 14 of the loop-through mechanism pulling rope passes through the surrounding structure 15 .

[0066] During the operation of the looping mechanism of the knotting manipulator suitable for a narrow space, the second rope end 12 of the rope can be pulled through the surrounding structure 15 by means of an external device, so as to replace the worker's operation of making a knot on the explosive pack. Figure 2 The single knot shown solves the problems of low efficiency, unstable knotting quality, high work intensity and high safety risks in manual knotting operations.

[0067] The support ring mechanism includes a plurality of (4) support members 31 arranged in parallel and at intervals, and each support member 31 is enclosed to form a ring structure, so that the ring-winding mechanism can easily wrap the rope around the support ring mechanism to form a surrounding structure 15. In this embodiment, the support member 31 is rod-shaped, and the upper ends of each support member 31 are connected together through a suspension plate 32. A reinforcement ring 33 is provided below the suspension plate 32, and the middle part of each support member 31 is connected to the inner side or outer side of the reinforcement ring 33.

[0068] It should be noted that, in other embodiments, the support members 31 may not be parallel to each other, as long as the support members 31 can be combined to form an annular structure.

[0069] A protrusion 34 is provided on the lower side of the support member 31. The protrusion 34 is provided to prevent the surrounding structure 15 from being prematurely separated from the support member 31 of the supporting ring mechanism under the influence of its own weight when the rope is wrapped around the supporting ring mechanism by the looping mechanism to form the surrounding structure 15, so as to facilitate the subsequent pulling portion 14 of the rope to be pulled through the surrounding structure 15 by the looping mechanism.

[0070] Furthermore, the protrusion 34 is elastic, so that the limiting effect of the protrusion 34 on the surrounding structure 15 is limited, and it is easier to separate the surrounding structure 15 from the supporting ring mechanism through the separation mechanism when the loop-through portion 14 of the rope pulled by the loop-through mechanism passes through the surrounding structure 15.

[0071] The ring-winding mechanism includes a clamping component and a rotating component.

[0072] The clamping assembly is used to clamp the loop-wound portion 13. The clamping assembly includes a first clamping member 21 and a second clamping member 22, the distance between the first clamping member 21 and the second clamping member 22 is adjustable, and the first clamping member 21 and the second clamping member 22 clamp the loop-wound portion 13 together.

[0073] In this embodiment, the spacing between the first clamping member 21 and the second clamping member 22 is adjusted by the pneumatic gripper 23; the first clamping member 21 and the second clamping member 22 are in a 7-shape; the first clamping member 21 and the second clamping member 22 both include a horizontal plate portion 211 and a vertical plate portion 212, one end of the horizontal plate portion 211 is connected to the pneumatic gripper 23 by transmission, the other end faces the support ring mechanism and is connected to the vertical plate portion 212, and a clearance notch 321 for avoiding the vertical plate portion 212 is provided on the suspension plate 32. In other embodiments, the horizontal plate portion 211 and the vertical plate portion 212 may also be arranged as follows: one end of the vertical plate portion 212 is connected to the pneumatic gripper 23 by transmission, one end of the horizontal plate portion 211 is connected to the vertical plate portion 212, and the other end faces the support ring mechanism, so that the suspension plate 32 does not need to have a clearance notch 321 for avoiding the vertical plate portion 212.

[0074] The rotating assembly is used to pull the looping waiting part 13 to move around the supporting ring mechanism, so that the rope is wrapped around the supporting ring mechanism to form a wrapping structure 15. The rotating assembly includes a rotating frame 24, a motor 25 and a bracket 26.

[0075] The rotating frame 24 is transmission-connected to the clamping assembly.

[0076] The motor 25 is mounted on the bracket 26 , and the motor 25 can enable the rotating frame 24 to drive the clamping assembly to rotate around the support ring mechanism.

[0077] In this embodiment, the output end of the motor 25 is connected to a rotating plate 251, one end of the rotating frame 24 is connected to the upper side of the rotating plate 251, and the lower side of the rotating plate 251 is rotatably connected to the support ring mechanism, so that it is convenient to install the support ring mechanism and it can also ensure that the rotating frame 24 drives the clamping assembly to rotate around the support ring mechanism. The rotation connection between the rotating plate 251 and the support ring mechanism can be achieved through a cross roller bearing 252.

[0078] The moving-in mechanism includes a vertical slide cylinder 41 and a horizontal slide cylinder 42 .

[0079] The transverse slide cylinder 42 is used to move the ring-wrapping mechanism transversely.

[0080] The vertical slide cylinder 41 is mounted on the rotating frame 24 and is used to vertically move the horizontal slide cylinder 42 and the ring-winding mechanism.

[0081] By providing the vertical slide cylinder 41 and the horizontal slide cylinder 42 , it is convenient to move the ring-threading waiting-to-pull portion 14 to the inner side and lower side of the surrounding structure 15 after the surrounding structure 15 is formed.

[0082] The loop-threading mechanism includes a driving source, a connecting member 52 , a hook rope member 53 and an elastic member 54 .

[0083] The output end of the driving source can move up and down. In this embodiment, the driving source includes a driving cylinder 51, and the driving source is rotatably connected to the lower side of the rotating plate 251.

[0084] The connecting member 52 is connected to the output end of the driving source.

[0085] The hook rope member 53 is rotatably connected to the connecting member 52, and one end of the hook rope member 53 is bent upward.

[0086] The elastic member 54 is connected to one end of the hook rope member 53 , and the restoring force of the elastic member 54 is used to make the angle between the hook rope member 53 and the connecting member 52 an acute angle or a right angle.

[0087] After the loop-through waiting portion 14 is moved to the inner side and lower side of the surrounding structure 15 by the moving mechanism, while the separation mechanism separates the surrounding structure 15 from the supporting ring mechanism, the hook rope member 53 of the loop-through mechanism pulls the loop-through waiting portion 14 of the rope upward through the surrounding structure 15 (the first rope end 11 of the rope does not pass through the surrounding structure 15), thereby reducing the diameter of the surrounding structure 15 to achieve the knotting action. The elastic member 54 is provided to facilitate the increase of the angle between the hook rope member 53 and the connecting member 52 after the hook rope member 53 pulls the loop-through waiting portion 14 of the rope upward through the surrounding structure 15, so that the loop-through waiting portion 14 can automatically separate from the hook rope member 53.

[0088] Furthermore, in this embodiment, in order to facilitate the rope hooking member 53 of the looping mechanism to pull the looping waiting portion 14 of the rope upward, a rope supporting rod 213 is transversely arranged on the vertical plate portion 212 of the first clamping member 21 and / or the second clamping member 22. After the first clamping member 21 and the second clamping member 22 clamp the looping waiting portion 13, a part of the looping waiting portion 14 can be transversely placed on the rope supporting rod 213, so as to facilitate the rope hooking member 53 to move upward to hook the looping waiting portion 14.

[0089] The separation mechanism includes an upward moving assembly for moving the ring support mechanism upward, and the upward moving assembly includes a pen-shaped lifting cylinder 61, one end of the lifting cylinder 61 is rotatably connected to the lower side of the rotating plate 251, and the other end is connected to the suspension plate 32 of the ring support mechanism. When the ring-threading waiting part 14 of the traction rope of the ring-threading mechanism passes through the surrounding structure 15, the suspension plate 32 is moved upward by the lifting cylinder 61, so that the surrounding structure 15 can be separated from the ring support mechanism.

[0090] It can be seen from the foregoing that the above-mentioned knotting robot suitable for narrow spaces has a compact structure, occupies little space when working, and is particularly suitable for use in narrow spaces.

[0091] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. In the absence of conflicts, the embodiments of the present application and the features in the embodiments may be combined with each other at will. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A knotting manipulator suitable for use in a narrow space, characterized in that: include: The looping mechanism is used for the looping part of the traction rope to move around the supporting ring mechanism; A support ring mechanism, cooperating with the ring winding mechanism so that the rope is wound around the support ring mechanism to form a winding structure; A moving mechanism, used to move the looped portion of the rope to be pulled to the inner side of the surrounding structure; A looping mechanism, used for allowing the looping portion of the traction rope to pass through the surrounding structure, and the first rope end of the rope does not pass through the surrounding structure; A separation mechanism, used for separating the surrounding structure from the supporting ring mechanism when the loop-through portion of the traction rope of the loop-through mechanism passes through the surrounding structure; Wherein, the rope includes a first rope end, a second rope end, a loop-around portion to be pulled and a loop-through portion to be pulled, the loop-around portion to be pulled is close to the first rope end, and the loop-through portion to be pulled is located between the loop-around portion to be pulled and the first rope end.

2. The knotting robot suitable for narrow space according to claim 1, characterized in that: The surrounding structure is annular or polygonal.

3. The knotting robot suitable for narrow space according to claim 1, characterized in that: The support ring mechanism includes a plurality of support members arranged at intervals.

4. The knotting robot suitable for narrow space according to claim 1, characterized in that: The ring-winding mechanism comprises: A clamping assembly, used for clamping the looped portion to be pulled; The rotating assembly is used for pulling the ring-wrapping portion to be pulled around the supporting ring mechanism to move.

5. The knotting robot suitable for narrow space according to claim 4, characterized in that: The clamping assembly comprises a first clamping member and a second clamping member, and the distance between the first clamping member and the second clamping member is adjustable; The first clamping member includes a horizontal plate portion and a vertical plate portion; one end of the horizontal plate portion faces the support ring mechanism and is connected to the vertical plate portion; or one end of the horizontal plate portion is connected to the vertical plate portion and the other end faces the support ring mechanism.

6. The knotting robot suitable for narrow space according to claim 5, characterized in that: A rope-supporting rod is transversely arranged on the vertical plate portion, and a part of the ring-threading portion to be pulled can be transversely placed on the rope-supporting rod.

7. The knotting robot suitable for narrow space according to claim 4, characterized in that: The rotating assembly comprises: Bracket; The motor is mounted on the bracket; The rotating frame, the motor can enable the rotating frame to drive the clamping assembly to rotate around the support ring mechanism.

8. The knotting robot suitable for narrow space according to claim 7, characterized in that: The transfer mechanism comprises: A transverse slide cylinder, used for laterally moving the ring winding mechanism; The vertical slide cylinder is installed on the rotating frame and is used to vertically move the horizontal slide cylinder and the ring-winding mechanism.

9. The knotting robot suitable for narrow space according to claim 1, characterized in that: The separation mechanism comprises an upward moving component for moving the support ring mechanism upward.

10. The knotting robot suitable for a narrow space according to any one of claims 1 to 9, characterized in that: The ring-piercing mechanism comprises: A driving source, whose output end can move up and down; A connecting piece connected to the output end of the driving source; A hook rope member is rotatably connected to the connecting member, and one end of the hook rope member is bent upward; The elastic member has a restoring force for making the angle between the hook rope member and the connecting member an acute angle or a right angle.

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