Punching mechanism of manipulator tail end clamp holder

Abstract

The utility model discloses a punching mechanism of a manipulator tail end clamping device. The punching mechanism comprises a fixed frame, a linear driving mechanism, a movable frame, a drilling machine and a gripper air cylinder. The fixing frame is connected with the manipulator; the linear driving mechanism is connected with the fixing frame; the linear driving mechanism comprises a driving motor, a first sliding block and a lead screw. The lead screw is rotationally connected with the fixing frame, the driving motor is fixedly connected with the fixing frame, and the output end of the driving motor is fixedly connected with the lead screw. The first sliding block is in threaded connection with the lead screw and moves on the surface of the lead screw. The moving frame is connected with the first sliding block and horizontally moves along with the first sliding block. The drilling machine is connected with a drilling air cylinder, the fixed end of the drilling air cylinder is connected with the movable frame, and the telescopic end is connected with the drilling machine. The fixed end of the telescopic air cylinder is connected with the movable frame, and the telescopic end of the telescopic air cylinder is connected with the gripper air cylinder. The punching mechanism disclosed by the utility model is convenient in punching operation in the groove, accurate in punching and high in punching efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel construction equipment, and more specifically to a punching mechanism of a manipulator end clamp. Background Art

[0002] At present, the drilling and installation of expansion screws in the grooves on the sides of tunnels are mainly done manually. Specifically: the drilling positions need to be marked manually, and workers drill holes according to the marked positions. The drilling depth depends on the workers' experience. When encountering steel bars (which can easily cause injuries), the drilling positions need to be moved manually. After drilling, the expansion bolts are manually placed into the holes.

[0003] Due to the small installation space in the tunnel trench, it is entirely manual operation, the labor intensity is high, the environment is harsh, and the drilling position is inaccurate, worker injuries often occur.

[0004] Therefore, it is an urgent problem for technical personnel in this field to develop a punching mechanism for a manipulator end gripper that is easy to operate, accurate in punching, and has high punching efficiency. Utility Model Content

[0005] In view of this, the utility model provides a punching mechanism for a manipulator end clamp which is easy to operate, accurate in punching, and high in punching efficiency.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A punching mechanism for a manipulator end gripper, comprising:

[0008] A fixed frame connected to the manipulator;

[0009] A linear drive mechanism, the linear drive mechanism is connected to the fixed frame; the linear drive mechanism comprises: a drive motor, a first slider and a lead screw; the lead screw is rotatably connected to the fixed frame, the drive motor is fixedly connected to the fixed frame, and its output end is fixedly connected to the lead screw; the first slider is threadedly connected to the lead screw and moves on the surface of the lead screw;

[0010] A moving frame, the moving frame is connected to the first slider and moves horizontally with the first slider;

[0011] A drilling machine, wherein the drilling machine is connected to a drilling cylinder, wherein a fixed end of the drilling cylinder is connected to the movable frame, and a telescopic end is connected to the drilling machine;

[0012] A gripper cylinder is connected to a telescopic cylinder, a fixed end of the telescopic cylinder is connected to the movable frame, and a telescopic end is connected to the gripper cylinder.

[0013] The beneficial effect of adopting the above technical solution is that in the utility model, the drilling machine and the claw cylinder are moved to the specified position by the movable frame, the drilling machine is driven forward by the drilling cylinder to drill, and the claw cylinder is driven forward by the telescopic cylinder to place the expansion bolt, thereby realizing the drilling operation in the cable trench, and the operation is highly accurate, which can improve the processing efficiency.

[0014] Preferably, the linear drive mechanism further comprises a first linear slide rail; the first linear slide rail is fixedly connected to the fixed frame and arranged in parallel with the lead screw; the first slider is slidably connected to the first linear slide rail. The provision of the first linear slide rail can limit the first slider, making the moving path of the first slider more accurate.

[0015] Preferably, the drilling machine is arranged above and below the drilling cylinder, the output end of the drilling cylinder is connected to a first connecting frame, and the two drilling machines are connected to the first connecting frame. The first connecting frame can drive the two drilling machines to perform drilling operations at the same time, which can improve the efficiency of drilling processing.

[0016] Preferably, the top and bottom of the drilling cylinder are both provided with a second linear slide rail, and the side of the drilling machine close to the second linear slide rail is provided with a second slider, and the second slider is slidably connected to the second linear slide rail. The provision of the second linear slide rail and the second slider can ensure the accuracy and stability of the drilling cylinder moving to drill.

[0017] Preferably, the gripper cylinder is disposed above and below the telescopic cylinder, the output end of the telescopic cylinder is connected to a second connecting frame, and the two gripper cylinders are connected to the second connecting frame. The second connecting frame can drive the two gripper cylinders to place the expansion bolts at the same time, which can improve the processing efficiency.

[0018] Preferably, the top and bottom of the telescopic cylinder are both provided with a third linear slide rail, and the side of the gripper cylinder close to the third linear slide rail is provided with a third slider, and the third slider is slidably connected to the third linear slide rail. The provision of the third linear slide rail and the third slider can improve the stability of the gripper cylinder during movement.

[0019] Preferably, the clamping end of the gripper cylinder is provided with a gripper for clamping the expansion bolt.

[0020] Preferably, two flat washers are arranged in parallel at one end of the expansion bolt in contact with the air claw, and a spacer sleeve is arranged between the two flat washers.

[0021] Preferably, a clamping protrusion is provided at a position corresponding to the spacer on the inner side of the air gripper, and the clamping protrusion is placed between the two flat washers. The clamping protrusion is placed in the spacer, which can improve the stability of the clamping between the air gripper and the expansion bolt, and can accurately place the expansion bolt into the drilled hole.

[0022] It can be seen from the above technical solution that, compared with the prior art, the utility model discloses a punching mechanism for the end gripper of the manipulator, which has the following beneficial effects:

[0023] (1) The utility model can realize drilling holes on the side wall of the cable trench and placing expansion bolts, eliminating manual operation, and the construction process is simple and accurate, and can also improve construction efficiency and safety;

[0024] (2) It is possible to drill two holes and install two expansion bolts at the same time, which can effectively improve the construction speed;

[0025] (3) The air claw extends into the spacer sleeve through the clamping protrusion, so that the air claw and the expansion bolt are firmly clamped, which can improve the accuracy of installing the expansion bolt. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0027] Figure 1 The accompanying drawing is a schematic structural diagram of the punching mechanism provided by the utility model;

[0028] Figure 2 The accompanying drawing is a schematic diagram of the structure of the punching mechanism provided by the utility model from a top view;

[0029] Figure 3 The accompanying drawings are provided by the utility model Figure 2 A magnified view of the structure at center A;

[0030] Figure 4 The accompanying drawing is a partial structural schematic diagram of the punching mechanism provided by the utility model;

[0031] Figure 5 The accompanying drawings are provided by the utility model Figure 4 A magnified view of the structure at B in the middle;

[0032] Figure 6 The accompanying drawing is a schematic structural diagram of the connection between the fixing frame and the linear driving mechanism in the punching mechanism provided by the utility model.

[0033] Among them, in the figure,

[0034] 1-Fixed frame;

[0035] 2-Linear drive mechanism;

[0036] 21-driving motor; 22-first slider; 23-lead screw; 24-first linear guide rail;

[0037] 3-mobile frame; 4-drilling machine; 5-drilling cylinder;

[0038] 6-hand claw cylinder;

[0039] 61-air claw; 62-clamping convex block;

[0040] 7- telescopic cylinder; 8- first connecting frame; 9- second linear slide rail; 10- second slider; 11- second connecting frame; 12- third linear slide rail; 13- third slider;

[0041] 14- expansion bolt;

[0042] 141-flat washer; 142-spacer. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0044] The utility model discloses a punching mechanism of a manipulator end clamp, comprising:

[0045] A fixed frame 1, wherein the fixed frame 1 is connected to the manipulator;

[0046] The linear drive mechanism 2 is connected to the fixed frame 1; the linear drive mechanism 2 comprises: a drive motor 21, a first slider 22 and a lead screw 23; the lead screw 23 is rotatably connected to the fixed frame 1, the drive motor 21 is fixedly connected to the fixed frame 1, and its output end is fixedly connected to the lead screw 23; the first slider 22 is threadedly connected to the lead screw 23 and moves on the surface of the lead screw 23;

[0047] The movable frame 3 is connected to the first slider 22 and moves horizontally with the first slider 22;

[0048] A drilling machine 4, the drilling machine 4 is connected to a drilling cylinder 5, the fixed end of the drilling cylinder 5 is connected to the mobile frame 3, and the telescopic end is connected to the drilling machine 4;

[0049] The hand claw cylinder 6 is connected to the telescopic cylinder 7, the fixed end of the telescopic cylinder 7 is connected to the movable frame 3, and the telescopic end is connected to the hand claw cylinder 6.

[0050] In order to further optimize the above technical solution, the linear drive mechanism 2 further includes a first linear slide 24; the first linear slide 24 is fixedly connected to the fixed frame 1 and arranged in parallel with the lead screw 23; the first slider 22 is slidably connected to the first linear slide 24. Two first linear slides 24 are provided, which are respectively arranged in parallel on both sides of the lead screw 23, and the first slider 22 is connected to the lead screw 23 and the two first linear slides 24 at the same time.

[0051] In order to further optimize the above technical solution, a drilling machine 4 is arranged above and below the drilling cylinder 5 , the output end of the drilling cylinder 5 is connected to a first connecting frame 8 , and the two drilling machines 4 are connected to the first connecting frame 8 .

[0052] In order to further optimize the above technical solution, the top and bottom of the drilling cylinder 5 are both provided with a second linear slide rail 9, and the side of the drilling machine 4 close to the second linear slide rail 9 is provided with a second slider 10, and the second slider 10 is slidably connected with the second linear slide rail 9. The drilling machine 4 is connected to the first connecting frame 8, and when the drilling cylinder 5 drives the first connecting frame 8 to move, it will drive the drilling machine 4 and the second slider 10 to move.

[0053] In order to further optimize the above technical solution, gripper cylinders 6 are provided above and below the telescopic cylinder 7 , the output end of the telescopic cylinder 7 is connected to a second connecting frame 11 , and both gripper cylinders 6 are connected to the second connecting frame 11 .

[0054] In order to further optimize the above technical solution, the top and bottom of the telescopic cylinder 7 are both provided with a third linear slide rail 12, and the side of the gripper cylinder 6 close to the third linear slide rail 12 is provided with a third slider 13, and the third slider 13 is slidably connected with the third linear slide rail 12. The gripper cylinder 6 is connected to the second connecting frame 11, and when the telescopic cylinder 7 drives the second connecting frame 11 to move, it drives the gripper cylinder 6 and the third slider 13 to move.

[0055] In order to further optimize the above technical solution, the clamping end of the hand gripper cylinder 6 is provided with an air gripper 61 for clamping the expansion bolt 14. At least two air grippers 61 are provided, which can accurately clamp the expansion bolt 14.

[0056] In order to further optimize the above technical solution, two flat washers 141 are arranged in parallel at one end of the expansion bolt 14 that contacts the air claw 61 , and a spacer sleeve 142 is arranged between the two flat washers 141 .

[0057] In order to further optimize the above technical solution, a clamping protrusion 62 is provided at a position on the inner side of the air gripper 61 corresponding to the spacer 142 , and the clamping protrusion 62 is placed between the two flat washers 141 .

[0058] In order to further optimize the above technical solution, the spacer 142 can also limit the distance between the two flat washers 141 to facilitate the subsequent placement of the cable rack. After the cable rack is placed, the spacer 142 can be crushed when tightening the expansion bolt 14. This can adapt to cable racks of different thicknesses and make the cable rack more securely fixed.

[0059] Working process:

[0060] The linear drive mechanism 2 drives the movable frame 3 to move, so that the drilling machine 4 moves to the specified position, and drives the drilling machine 4 to move forward to drill holes through the drilling cylinder 5. After the drilling is completed, the linear drive mechanism 2 continues to drive the movable frame 3 to move, so that the claw cylinder 6 moves to the position corresponding to the drilling hole, and then drives the claw cylinder 6 to move forward through the telescopic cylinder 7 to place the expansion bolt 14, completing the operation of drilling and placing the expansion bolt 14.

[0061] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0062] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A punching mechanism for a manipulator end gripper, characterized in that: include: A fixed frame (1), wherein the fixed frame (1) is connected to the manipulator; A linear drive mechanism (2), the linear drive mechanism (2) being connected to the fixed frame (1); the linear drive mechanism (2) comprising: a drive motor (21), a first slider (22) and a lead screw (23); the lead screw (23) being rotationally connected to the fixed frame (1), the drive motor (21) being fixedly connected to the fixed frame (1), and an output end thereof being fixedly connected to the lead screw (23); the first slider (22) being threadedly connected to the lead screw (23) and moving on the surface of the lead screw (23); A movable frame (3), the movable frame (3) being connected to the first sliding block (22) and being movable horizontally along with the first sliding block (22); A drilling machine (4), wherein the drilling machine (4) is connected to a drilling cylinder (5), wherein the fixed end of the drilling cylinder (5) is connected to the movable frame (3), and the telescopic end is connected to the drilling machine (4); A gripper cylinder (6), the gripper cylinder (6) is connected to a telescopic cylinder (7), the fixed end of the telescopic cylinder (7) is connected to the movable frame (3), and the telescopic end is connected to the gripper cylinder (6).

2. The punching mechanism of the manipulator end gripper according to claim 1, characterized in that: The linear drive mechanism (2) further comprises a first linear slide rail (24); the first linear slide rail (24) is fixedly connected to the fixed frame (1) and arranged in parallel with the lead screw (23); and the first sliding block (22) is slidably connected to the first linear slide rail (24).

3. The punching mechanism of the manipulator end gripper according to claim 1, characterized in that: The drilling machine (4) is arranged above and below the drilling cylinder (5); the output end of the drilling cylinder (5) is connected to a first connecting frame (8), and the two drilling machines (4) are connected to the first connecting frame (8).

4. The punching mechanism of the manipulator end gripper according to claim 3 is characterized in that: The top and bottom of the drilling cylinder (5) are both provided with second linear slide rails (9), and a second slider (10) is provided on the side of the drilling machine close to the second linear slide rail (9), and the second slider (10) is slidably connected to the second linear slide rail (9).

5. The punching mechanism of the manipulator end gripper according to claim 1, characterized in that: The gripper cylinder (6) is arranged above and below the telescopic cylinder (7), the output end of the telescopic cylinder (7) is connected to a second connecting frame (11), and the two gripper cylinders (6) are connected to the second connecting frame (11).

6. The punching mechanism of the manipulator end gripper according to claim 5, characterized in that: The top and bottom of the telescopic cylinder (7) are both provided with a third linear slide rail (12), and the hand claw cylinder (6) is provided with a third slider (13) on one side close to the third linear slide rail (12), and the third slider (13) is slidably connected to the third linear slide rail (12).

7. The punching mechanism of the manipulator end gripper according to claim 1, characterized in that: The clamping end of the hand claw cylinder (6) is provided with an air claw (61) for clamping the expansion bolt (14).

8. The punching mechanism of the manipulator end gripper according to claim 7, characterized in that: Two flat washers (141) are arranged in parallel at one end of the expansion bolt (14) that contacts the air claw (61), and a spacer sleeve (142) is arranged between the two flat washers (141).

9. The punching mechanism of the manipulator end gripper according to claim 8, characterized in that: A clamping protrusion (62) is provided at a position on the inner side of the air claw (61) corresponding to the spacer (142), and the clamping protrusion (62) is placed between the two flat washers (141).

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