Simple swinging gripper structure for removing connecting rod

Abstract

The utility model discloses a simple swing gripper structure for removing a connecting rod, the simple swing gripper structure comprises a horizontal rotating mechanism and a gripper mechanism, the gripper mechanism is connected with the horizontal rotating mechanism, the horizontal rotating mechanism comprises a horizontal arm, a main adjusting arm and a first oil cylinder, the horizontal arm is connected with the main adjusting arm, and the first oil cylinder is connected with the main adjusting arm. The main adjusting arm is integrally connected with a protrusion, one end of the first oil cylinder is connected with the horizontal arm, and the other end of the first oil cylinder is connected with the protrusion. The simple swing gripper structure has the effects that the production cost of the simple swing gripper structure is improved, and the installation workload of the simple swing gripper structure is reduced.

Description

Technical Field

[0001] The present application relates to the field of arch frame installation technology, and in particular to a simple swing gripper structure without a connecting rod. Background Art

[0002] During the initial support of the tunnel, the mechanization level of arch frame installation is getting higher and higher. To ensure the quality and efficiency of the arch frame installation, the construction requires the arch frame installation manipulator to have a large operating range and convenient adjustment. At the same time, it also requires the arch frame installation manipulator to have a certain small-range fine-tuning function to ensure installation accuracy and reduce adjustment time.

[0003] The structure of the gripper swing in the prior art is relatively complex, which makes the processing difficult and the production cost high, and the installation process is also difficult to a certain extent. Utility Model Content

[0004] In order to improve the production cost of the simple swing gripper structure and reduce the installation workload of the simple swing gripper structure, the present application provides a simple swing gripper structure without a connecting rod.

[0005] The present application provides a simple swing gripper structure without a connecting rod, which adopts the following technical solution:

[0006] A simple swing gripper structure without a connecting rod comprises a horizontal rotation mechanism and a gripper mechanism, wherein the gripper mechanism is connected to the horizontal rotation mechanism, the horizontal rotation mechanism comprises a horizontal arm, a main adjusting arm and a first oil cylinder, the horizontal arm is connected to the main adjusting arm, a protrusion is provided on the main adjusting arm, one end of the first oil cylinder is connected to the horizontal arm, and the other end is connected to the protrusion.

[0007] By adopting the above technical solution, the gripper structure realizes the horizontal swing of the gripper mechanism through the horizontal rotation mechanism. The horizontal rotation mechanism is extended and retracted between the protrusion and the horizontal arm through the first oil cylinder, thereby promoting the rotation between the main adjustment arm and the horizontal arm. By reasonably designing the hinge point position, the connecting rod commonly used in the prior art is combined with the main adjustment arm, so that on the basis of meeting the processing range, the production cost of the simple swing gripper structure is improved, and the installation workload of the simple swing gripper structure is greatly reduced.

[0008] Preferably, a first groove is formed on the main adjusting arm, and a second groove is formed on the end of the horizontal arm, and the main adjusting arm and the horizontal arm are connected via the first groove and the second groove.

[0009] By adopting the above technical solution, the main adjusting arm and the horizontal arm are limitedly connected to each other through the engagement of the first groove and the second groove between the main adjusting arm and the horizontal arm, thereby increasing the stability of the connection between the main adjusting arm and the horizontal arm and strengthening the supporting effect between the two.

[0010] Preferably, the first oil cylinder is arranged on one side of the horizontal arm near the protrusion.

[0011] By adopting the above technical solution, not only the first oil cylinder is easy to maintain, but also the mechanical performance of the first oil cylinder acting on the protrusion is improved.

[0012] Preferably, the horizontal arm and / or the main adjusting arm has an arc shape.

[0013] By adopting the above technical solution and adjusting the curvature of the horizontal arm and / or the main adjusting arm, the mechanical performance of the first oil cylinder acting on the protrusion is improved.

[0014] Preferably, it further comprises a vertical adjustment mechanism, one end of which is connected to the horizontal rotation mechanism, and the other end of which is connected to the gripping mechanism.

[0015] By adopting the above technical solution and making the vertical adjustment mechanism, the gripping mechanism has space for vertical upward movement, thereby improving the fine-tuning function of the gripping mechanism and preventing the occurrence of a hard top condition.

[0016] Preferably, the vertical adjustment mechanism includes a secondary adjusting arm and a second oil cylinder, a countersunk hole is opened on the main adjusting arm, the secondary adjusting arm is at least partially located in the countersunk hole of the main adjusting arm, one end of the second oil cylinder is connected to the main adjusting arm, and the other end is connected to the secondary adjusting arm.

[0017] By adopting the above technical solution, the second oil cylinder is telescopically driven to drive the auxiliary adjusting arm to telescopically move in the countersunk hole of the main adjusting arm. The countersunk hole can not only accommodate the auxiliary adjusting arm, but also guide the movement direction of the auxiliary adjusting arm.

[0018] Preferably, the gripper mechanism comprises a clamp base, a clamp and a third oil cylinder, wherein the clamp base is connected to the vertical adjustment mechanism, and one end of the third oil cylinder is connected to the vertical adjustment mechanism and the other end is connected to the clamp base, and the clamp is also connected to the clamp base.

[0019] By adopting the above technical solution, the angle of the clamp base is adjusted by the third oil cylinder, thereby enabling the gripper to grasp or place objects at different angles.

[0020] Preferably, the vertical adjustment mechanism comprises an auxiliary adjustment arm, the clamp base is connected to the end of the auxiliary adjustment arm, one end of the third oil cylinder is connected to the auxiliary adjustment arm, and the other end is connected to the clamp base.

[0021] By adopting the above technical solution, the gripping mechanism can adjust its position in the vertical direction through the vertical adjustment mechanism.

[0022] Preferably, the end of the auxiliary adjustment arm is connected to the middle of the clamp base.

[0023] Preferably, the clamp base is provided with a hole near the clamp position.

[0024] In summary, the present application includes at least one of the following beneficial technical effects:

[0025] 1. The gripper structure realizes the horizontal swing of the gripper mechanism through the horizontal rotation mechanism. The horizontal rotation mechanism is extended and retracted between the protrusion and the horizontal arm through the first oil cylinder, thereby promoting the rotation between the main adjustment arm and the horizontal arm. By reasonably designing the hinge point position, the connecting rod commonly used in the prior art is combined with the main adjustment arm, so that on the basis of meeting the processing range, the production cost of the simple swing gripper structure is improved, and the installation workload of the simple swing gripper structure is greatly reduced;

[0026] 2. By adjusting the curvature of the horizontal arm and / or the main adjusting arm, the mechanical performance of the first oil cylinder acting on the protrusion is improved;

[0027] 3. The first oil cylinder is arranged near the protrusion on one side of the horizontal arm, which not only makes the first oil cylinder easy to maintain, but also makes the mechanical performance of the first oil cylinder acting on the protrusion better. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a structural schematic diagram of a simple swing gripper structure in this embodiment;

[0029] Figure 2 This is a right side view of the simple swing gripper structure in this embodiment;

[0030] Figure 3 It is a top view of the simple swing gripper structure in this embodiment.

[0031] Figure numerals: 1. horizontal rotation mechanism; 2. gripper mechanism; 3. horizontal arm; 4. main adjustment arm; 5. first oil cylinder; 6. protrusion; 7. first groove; 8. second groove; 9. vertical adjustment mechanism; 10. auxiliary adjustment arm; 11. clamp base; 12. clamp; 13. third oil cylinder; 14. hole. DETAILED DESCRIPTION

[0032] The following is combined with Figure 1-3 This application is described in further detail.

[0033] Example 1

[0034] The embodiment of the present application discloses a simple swing gripper structure without a connecting rod.

[0035] Reference Figure 1 , Figure 2 and Figure 3, including a horizontal rotation mechanism 1 and a gripping mechanism 2, the horizontal rotation mechanism 1 is connected to the gripping mechanism 2, the horizontal rotation mechanism 1 includes a horizontal arm 3, a main adjusting arm 4 and a first oil cylinder 5, the outer wall of the main adjusting arm 4 is provided with a first groove 7, the first groove 7 is a smooth surface, the end of the horizontal arm 3 near the main adjusting arm 4 is provided with a second groove 8, the main adjusting arm 4 and the horizontal arm 3 are staggered and hinged, and the main adjusting arm 4 and the horizontal arm 3 are interlocked and hinged through the engagement of the first groove 7 and the second groove 8 between the main adjusting arm 4 and the horizontal arm 3, so that the main adjusting arm 4 and the horizontal arm 3 are limitedly connected to each other, thereby increasing the stability of the connection between the main adjusting arm 4 and the horizontal arm 3 and strengthening the supporting effect between the two, and the main adjusting arm 4 has an arc in the horizontal direction, and the horizontal The arm 3 also has an arc corresponding to the main adjusting arm 4. The main adjusting arm 4 is integrally connected with a protrusion 6 in the first groove 7, and there is an angle between the protruding direction of the protrusion 6 and the arc direction of the main adjusting arm 4. One end of the first oil cylinder 5 is hinged to the side of the horizontal arm 3 near the protrusion 6, and the other end is hinged to the protrusion 6. By adjusting the arc of the horizontal arm 3 and the main adjusting arm 4, the mechanical performance of the first oil cylinder 5 acting on the protrusion 6 is better. By reasonably designing the position of the hinge point and the protrusion 6, the connecting rod commonly used in the prior art is combined with the main adjusting arm 4, so that on the basis of meeting the processing range, the production cost of the simple swing gripper structure is improved, and the installation workload of the simple swing gripper structure is greatly reduced.

[0036] The gripper mechanism 2 includes a clamp base 11, a clamp 12 and a third oil cylinder 13. The middle part of the clamp base 11 is hinged to the upper end of the main adjusting arm 4. One end of the third oil cylinder 13 is hinged to the end of the clamp base 11, and the other end is hinged to the main adjusting arm 4. The clamp 12 is arranged on the clamp base 11. The third oil cylinder 13 telescopes and drives the clamp base 11 to rotate in the vertical direction around the end of the main adjusting arm 4, so that the gripper mechanism 2 can be adjusted in angle around the end of the vertical adjusting mechanism 9.

[0037] Furthermore, in this embodiment, the horizontal arm 3 can have an arc shape alone, or the horizontal arm 3 can have an arc shape alone, as long as the horizontal arm 3 and the main adjusting arm 4 do not affect the rotation effect between the first cylinder 5 and the protrusion 6.

[0038] Furthermore, in the present embodiment, the simple swing gripper structure further comprises a vertical adjustment mechanism 9, one end of the vertical adjustment mechanism 9 is connected to the horizontal rotation mechanism 1, and the other end is connected to the gripper mechanism 2, the vertical adjustment mechanism 9 comprises an auxiliary adjustment arm 10 and a second oil cylinder, a countersunk hole is provided on the upper side of the main adjustment arm 4, the auxiliary adjustment arm 10 is located in the countersunk hole, the second oil cylinder is also located in the countersunk hole, and one end of the second oil cylinder is connected to the inner end of the main adjustment arm 4, and the other end is connected to the lower end of the auxiliary adjustment arm 10, the middle part of the clamp base 11 is hinged to the upper end of the auxiliary adjustment arm 10, and the third One end of the cylinder 13 is hinged to the end of the clamp base 11, and the other end is hinged to the auxiliary adjusting arm 10. The clamp 12 is set on the clamp base 11. The extension and retraction of the second cylinder drives the auxiliary adjusting arm 10 to extend and retract in the countersunk hole of the main adjusting arm 4. The countersunk hole can not only accommodate the auxiliary adjusting arm 10, but also guide the movement direction of the auxiliary adjusting arm 10, so that the gripping mechanism 2 has space for vertical upward movement, improves the fine-tuning function of the gripping mechanism 2, and prevents the occurrence of a hard top condition, thereby improving the freedom of the gripping mechanism 2 to adjust the angle around the vertical adjustment mechanism 9.

[0039] Furthermore, in this embodiment, the auxiliary adjusting arm 10 can also be hinged to the end of the clamp base 11; the third cylinder 13 can also be connected to the clamp base 11 at one end and connected to the main adjusting arm 4 at the other end, so that the gripping mechanism can grasp within a large range.

[0040] Furthermore, in the present embodiment, a hole 14 for cooperating with the protrusion 6 of the mechanical device is provided on the clamp base 11 near the position of the clamp 12, and the clamp 12 is squeezed downward perpendicularly to the direction of the clamp base 11 when closed, so that when the hanging basket cooperates with the hole 14 of the clamp base 11, the clamp 12 can be closed to tighten the connection between the hanging basket and the clamp base 11.

[0041] Furthermore, in this embodiment, the holes 14 on the clamp base 11 are arranged symmetrically, so that the clamp base 11 can be installed regardless of direction, thereby effectively increasing the installation efficiency of the clamp base 11 .

[0042] Furthermore, in this embodiment, it can also include a turntable and a telescopic arm. The turntable is inclined toward the side away from the robotic arm, the upper end of the turntable is hinged to one end of the robotic arm, the middle part of the turntable is hinged to the lower side of the robotic arm with a fourth oil cylinder, the other end of the robotic arm is hinged to the horizontal arm 3, and a fifth oil cylinder is provided between the horizontal arm 3 and the robotic arm. The turntable allows the simple swinging gripper structure to rotate in the horizontal plane, the telescopic arm can rotate in the vertical direction through the fourth oil cylinder, and the fifth oil cylinder is used to keep the horizontal arm 3 parallel to the horizontal plane.

[0043] Furthermore, in the present embodiment, the robotic arm has two or more arm sections, and the robotic arm may be a rope-type hydraulic telescopic mechanism, or a rope-type hydraulic telescopic mechanism.

[0044] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A simple swing gripper structure without a connecting rod, comprising a horizontal rotation mechanism (1) and a gripper mechanism (2), wherein the gripper mechanism (2) is connected to the horizontal rotation mechanism (1), and is characterized in that: The horizontal rotation mechanism (1) comprises a horizontal arm (3), a main adjusting arm (4) and a first oil cylinder (5); the horizontal arm (3) is connected to the main adjusting arm (4); a protrusion (6) is integrally connected to the main adjusting arm (4); one end of the first oil cylinder (5) is connected to the horizontal arm (3) and the other end is connected to the protrusion (6).

2. The simple swing gripper structure according to claim 1, characterized in that: The main adjusting arm (4) is provided with a first groove (7), and the end of the horizontal arm (3) is also provided with a second groove (8); the main adjusting arm (4) and the horizontal arm (3) are connected via the first groove (7) and the second groove (8).

3. The simple swing gripper structure according to claim 1 is characterized in that: The first oil cylinder (5) is arranged on one side of the horizontal arm (3) near the protrusion (6).

4. The simple swing gripper structure according to claim 1, characterized in that: The horizontal arm (3) and / or the main adjustment arm (4) have an arc shape.

5. The simple swing gripper structure according to claim 1 is characterized in that: It also comprises a vertical adjustment mechanism (9), one end of which is connected to the horizontal rotation mechanism (1), and the other end of which is connected to the gripping mechanism (2).

6. The simple swing gripper structure according to claim 5, characterized in that: The vertical adjustment mechanism (9) comprises an auxiliary adjustment arm (10) and a second oil cylinder. A countersunk hole is provided on the main adjustment arm (4). The auxiliary adjustment arm (10) is at least partially located in the countersunk hole of the main adjustment arm (4). One end of the second oil cylinder is connected to the main adjustment arm (4), and the other end is connected to the auxiliary adjustment arm (10).

7. The simple swing gripper structure according to claim 5, characterized in that: The gripper mechanism (2) comprises a clamp base (11), a clamp (12) and a third oil cylinder (13); the clamp base (11) is connected to the vertical adjustment mechanism (9); one end of the third oil cylinder (13) is connected to the vertical adjustment mechanism (9) and the other end is connected to the clamp base (11); the clamp (12) is also connected to the clamp base (11).

8. The simple swing gripper structure according to claim 7, characterized in that: The vertical adjustment mechanism (9) comprises an auxiliary adjustment arm (10), the clamp base (11) is connected to the end of the auxiliary adjustment arm (10), and one end of the third oil cylinder (13) is connected to the auxiliary adjustment arm (10) and the other end is connected to the clamp base (11).

9. The simple swing gripper structure according to claim 8, characterized in that: The end of the auxiliary adjustment arm (10) is connected to the middle of the clamp base (11).

10. The simple swing gripper structure according to claim 7, characterized in that: The clamp base (11) is provided with a hole (14) near the clamp (12).

Images