Integrated mechanical gripper of forcible entry device

Abstract

The utility model relates to the technical field of forcible entry devices, in particular to an integrated mechanical gripper of a forcible entry device, which comprises a support arm, the support arm is provided with a cavity, one end of the support arm is rotatably provided with a rotating seat, the rotating seat is positioned in the cavity of the support arm, and two sides of the rotating seat are respectively provided with a mechanical gripper structure and a forcible entry mechanism. A driving mechanism for driving the rotating seat is arranged on the side edge of the support arm, and a spraying head is fixed on the side edge of the support arm. According to the utility model, a plurality of mechanisms are integrated, so that the device can be applied to complex and changeable forcible entry environments, and efficient forcible entry operation can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of demolition devices, in particular to an integrated mechanical gripper for demolition devices. Background Art

[0002] Demolition robots are widely used in metallurgical furnace slag removal, building interior demolition, mining tunnels, cement rotary kilns, emergency rescue and explosion disposal, nuclear facility decommissioning and radioactive waste treatment. They are indispensable intelligent equipment for construction operations in high-risk environments. The main structure of the demolition robot is the mechanical gripper.

[0003] Existing mechanical grippers often have a single demolition tool installed at the end, such as only one gripper, and therefore cannot effectively meet complex and changeable demolition scenarios, resulting in a low demolition efficiency.

[0004] To this end, we propose an integrated mechanical gripper for the demolition device to solve the above problems. Utility Model Content

[0005] The utility model aims to solve the shortcomings in the prior art and proposes an integrated mechanical gripper for a demolition device.

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

[0007] The integrated mechanical gripper of the demolition device comprises a support arm, wherein the support arm is provided with a cavity, one end of the support arm is rotatably provided with a rotating seat, the rotating seat is located in the cavity of the support arm, mechanical gripper structures and demolition mechanisms are respectively provided on both sides of the rotating seat, a driving mechanism for driving the rotating seat is provided on the side of the support arm, and a spray head is fixed on the side of the support arm.

[0008] Preferably, one end of the support arm away from the rotating seat is rotatably connected to the main arm, and a first motor for driving the support arm to rotate is installed on the main arm. The other end of the main arm is provided with a base, and a second motor for controlling the rotation of the main arm is fixed on the base.

[0009] Preferably, the support arm and the main arm are connected by two first hydraulic rods, and the two ends of the first hydraulic rods are respectively rotatably connected to the support arm and the main arm. The main arm and the base are connected by a second hydraulic rod, and the two ends of the second hydraulic rod are respectively rotatably connected to the main arm and the base.

[0010] Preferably, the mechanical gripper structure includes a telescopic cylinder, one end of which is fixedly connected to one side of a rotating seat, and the other end of the telescopic cylinder is a telescopic end and is rotatably connected to a cross bracket, one end of which is fixed with two clamping blocks, and the telescopic cylinder controls the telescopic movement of the cross bracket to realize the opening and closing of the two clamping blocks, and the cross bracket is supported and connected to the telescopic cylinder through a support rod.

[0011] Preferably, one end of the cross bracket can also fix two clamping blocks.

[0012] Preferably, the demolition mechanism comprises a pneumatic pickaxe device, which is fixedly connected to a side of the rotating seat away from the telescopic cylinder.

[0013] Preferably, the driving mechanism comprises a driven gear coaxially fixed with the rotating shaft of the rotating seat, a driving motor is fixed on the side of the support arm, a driving gear is coaxially fixed with the driving motor, and the driving gear is meshed and matched with the driven gear.

[0014] Preferably, an electric telescopic rod is fixed on the side of the rotating seat, the electric telescopic rod is arranged horizontally, and two round holes are provided on the side of the support arm. The telescopic end of the electric telescopic rod can be inserted and positioned in the two round holes.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] The utility model provides a support arm, a rotating seat, a mechanical gripper structure and a demolition mechanism. The rotating seat can rotate to adjust the position of the mechanical gripper structure or the demolition mechanism, effectively meeting complex and changeable demolition situations and having high working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A first axonometric view of the integrated mechanical gripper of the demolition device proposed in the utility model;

[0019] Figure 2 A second axonometric view of the integrated mechanical gripper of the demolition device proposed in the utility model;

[0020] Figure 3 A third axonometric view of the integrated mechanical gripper of the demolition device proposed by the utility model;

[0021] Figure 4 for Figure 3 A partial enlarged view of the middle A;

[0022] Figure 5 This is a schematic diagram of the structure of the clamp block of the integrated mechanical gripper of the demolition device proposed by the utility model;

[0023] Figure 6 This is a structural schematic diagram of a pneumatic pickaxe device with an integrated mechanical gripper of the demolition device proposed in the utility model.

[0024] In the figure: 1. main arm; 2. support arm; 3. rotating seat; 4. base; 5. first hydraulic rod; 6. second hydraulic rod; 7. telescopic cylinder; 8. cross bracket; 9. clamping block; 10. clamping block; 11. pneumatic pick equipment; 12. driven gear; 13. driving motor; 14. electric telescopic rod; 15. round hole; 16. sprinkler head. DETAILED DESCRIPTION

[0025] 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 of 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.

[0026] In the description of the present invention, it should be understood that terms such as "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0027] Reference Figure 1-6 The integrated mechanical gripper of the demolition device includes a support arm 2, which is provided with a cavity. A rotating seat 3 is rotatably provided at one end of the support arm 2. The rotating seat 3 is located in the cavity of the support arm 2. A mechanical gripper structure and a demolition mechanism are respectively provided on both sides of the rotating seat 3. The rotating seat 3 is used to rotate and adjust the position of the mechanical gripper structure or the demolition mechanism. The cavity of the support arm 2 provides a storage space for the mechanical gripper structure or the demolition mechanism. A driving mechanism for driving the rotating seat 3 is provided on the side of the support arm 2. A spray head 16 is fixed on the side of the support arm 2. The spray head 16 is used for spraying and dust removal, which plays a role in dust reduction during demolition.

[0028] For the above example, those skilled in the art should know that when implementing the above technical solution, the spray head 16 is used to connect with the external water pipe to achieve the spraying effect.

[0029] As a technical optimization solution of the utility model, one end of the support arm 2 away from the rotating seat 3 is rotatably connected to the main arm 1, and a first motor driving the support arm 2 to rotate is installed on the main arm 1. The other end of the main arm 1 is provided with a base 4, and a second motor for controlling the rotation of the main arm 1 is fixed on the base 4. The main arm 1 and the support arm 2 constitute the main body of the mechanical gripper.

[0030] For the above examples, those skilled in the art should know that when implementing the above technical solution, the base 4 is used to connect to external equipment and can be fixedly connected to related mobile equipment, such as fixedly installed on a tracked self-propelled trolley, and the base 4 can also be fixedly connected to the ground.

[0031] As a technical optimization solution of the utility model, the support arm 2 and the main arm 1 are connected by two first hydraulic rods 5, and the two ends of the first hydraulic rod 5 are respectively connected to the support arm 2 and the main arm 1 for rotation. The first hydraulic rod 5 can be actively and accurately telescopically moved with the rotation of the support arm 2 and the main arm 1. The main arm 1 and the base 4 are connected by a second hydraulic rod 6, and the two ends of the second hydraulic rod 6 are respectively connected to the main arm 1 and the base 4 for rotation. The second hydraulic rod 6 can be actively and accurately telescopically moved with the rotation of the main arm 1. The first hydraulic rod 5 and the second hydraulic rod 6 both play the role of load-bearing support, and can effectively and stably support the mechanical gripper structure and the demolition mechanism on the support arm 2.

[0032] As a technical optimization scheme of the utility model, the mechanical gripper structure includes a telescopic cylinder 7, one end of which is fixedly connected to one side of the rotating seat 3, and the other end of the telescopic cylinder 7 is a telescopic end and is rotatably connected to a cross bracket 8, which is similar to a scissors or scissor telescopic bracket. Two clamping blocks 9 are fixed at one end of the cross bracket 8, and the telescopic cylinder 7 controls the telescopic movement of the cross bracket 8 to achieve the opening and closing of the two clamping blocks 9. The cross bracket 8 is supported and connected to the telescopic cylinder 7 through a support rod, that is, the cross bracket 8 is supported by an axis, and the axis is fixed to the support rod. The telescopic cylinder 7 starts to telescope and control the cross bracket 8, and the cross bracket 8 can be expanded and merged, thereby controlling the opening and closing of the two clamping blocks 9. The opening and closing of the two clamping blocks 9 achieves the effect of grabbing objects.

[0033] As a technical optimization solution of the utility model, one end of the cross bracket 8 can also fix two clamp blocks 10. The telescopic oil cylinder 7 starts the telescopic control cross bracket 8, and the cross bracket 8 can be expanded and merged, thereby controlling the opening and closing of the two clamp blocks 10, and the two clamp blocks 10 can be used for demolition operations.

[0034] As a technical optimization solution of the utility model, the demolition mechanism includes a pneumatic pick equipment 11, which is fixedly connected to the side of the rotating seat 3 away from the telescopic cylinder 7. The pneumatic pick equipment 11 is an existing pneumatic pick and can be used for demolition operations. The pneumatic pick equipment 11 and the two clamping blocks 10, the two clamping blocks 9 and the spray head 16 achieve an integrated setting effect.

[0035] As a technical optimization solution of the utility model, the driving mechanism includes a driven gear 12 coaxially fixed with the rotating shaft of the rotating seat 3, a driving motor 13 is fixed to the side of the support arm 2, a driving gear is coaxially fixed to the driving motor 13, and the driving gear is meshed with the driven gear 12. When the driving motor 13 is started, it can accurately control the rotation of the driving gear, thereby controlling the rotation of the driven gear 12, and finally controlling the rotation of the rotating seat 3.

[0036] As a technical optimization solution of the utility model, an electric telescopic rod 14 is fixed on the side of the rotating seat 3, and the electric telescopic rod 14 is arranged horizontally. Two round holes 15 are arranged on the side of the support arm 2, and the telescopic end of the electric telescopic rod 14 can be inserted and positioned with the two round holes 15. After the rotating seat 3 rotates 180 degrees, the electric telescopic rod 14 is started and can be inserted into one of the round holes 15, thereby positioning and fixing the rotating seat 3.

[0037] In the utility model, the working principle of the device is as follows:

[0038] This device can carry out various settings and flexible transformation of the demolition tools. By starting the drive motor 13, the drive motor 13 accurately controls the rotation of the active gear, and then controls the rotation of the driven gear 12, and finally controls the rotation of the rotating seat 3. The rotation of the rotating seat 3 can adjust the position of the mechanical gripper structure or the demolition mechanism, and the cavity of the support arm 2 provides a storage space for the mechanical gripper structure or the demolition mechanism. When the mechanical gripper structure is in the work station, the demolition mechanism is located in the cavity of the support arm 2. At this time, the telescopic oil cylinder 7 can be started to telescopically control the cross bracket 8, and the cross bracket 8 can be expanded and merged, and then the two clamping blocks 9 can be controlled to open and close. The opening and closing of the two clamping blocks 9 can achieve the effect of grabbing objects. When the demolition mechanism is in the work station, the corresponding pneumatic pick equipment 11 can be used for demolition operations. And when the two clamping blocks 10 replace the two clamping blocks 9, the telescopic oil cylinder 7 starts to telescopically control the cross bracket 8, and the cross bracket 8 can be expanded and merged, and then the two clamping blocks 10 can be controlled to open and close, and the two clamping blocks 10 can be used for demolition operations. This device can effectively meet the complex and changeable demolition situations and has high working efficiency.

[0039] The support arm 2 and the main arm 1 can be controlled to move in multiple directions. During the demolition operation, the spray head 16 is used for spraying and dust removal, thereby achieving dust reduction during the demolition operation.

[0040] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An integrated mechanical gripper of a demolition device, comprising a support arm (2), characterized in that: The support arm (2) is provided with a cavity, and a rotating seat (3) is rotatably provided at one end of the support arm (2), the rotating seat (3) is located in the cavity of the support arm (2), and mechanical gripper structures and demolition mechanisms are respectively provided on both sides of the rotating seat (3), and a driving mechanism for driving the rotating seat (3) is provided on the side of the support arm (2), and a spray head (16) is fixed on the side of the support arm (2).

2. The integrated mechanical gripper of the demolition device according to claim 1, characterized in that: One end of the support arm (2) away from the rotating seat (3) is rotatably connected to the main arm (1), and a first motor for driving the support arm (2) to rotate is installed on the main arm (1). The other end of the main arm (1) is provided with a base (4), and a second motor for controlling the rotation of the main arm (1) is fixed on the base (4).

3. The integrated mechanical gripper of the demolition device according to claim 2, characterized in that: The support arm (2) and the main arm (1) are connected via two first hydraulic rods (5), the two ends of the first hydraulic rods (5) are respectively rotatably connected to the support arm (2) and the main arm (1), and the main arm (1) and the base (4) are connected via a second hydraulic rod (6), the two ends of the second hydraulic rod (6) are respectively rotatably connected to the main arm (1) and the base (4).

4. The integrated mechanical gripper of the demolition device according to claim 1, characterized in that: The mechanical gripper structure comprises a telescopic oil cylinder (7), one end of which is fixedly connected to one side of a rotating seat (3), the other end of which is a telescopic end and is rotatably connected to a cross bracket (8), one end of which is fixed with two clamping blocks (9), the telescopic oil cylinder (7) controls the telescopic movement of the cross bracket (8) to achieve the opening and closing of the two clamping blocks (9), and the cross bracket (8) is supported and connected to the telescopic oil cylinder (7) via a support rod.

5. The integrated mechanical gripper of the demolition device according to claim 4, characterized in that: One end of the cross bracket (8) can also fix two clamp blocks (10).

6. The integrated mechanical gripper of the demolition device according to claim 5, characterized in that: The demolition mechanism comprises an air pick device (11), and the air pick device (11) is fixedly connected to a side of the rotating seat (3) facing away from the telescopic cylinder (7).

7. The integrated mechanical gripper of the demolition device according to claim 1, characterized in that: The driving mechanism comprises a driven gear (12) fixed coaxially with the rotating shaft of the rotating seat (3); a driving motor (13) is fixed on the side of the support arm (2); a driving gear is coaxially fixed to the driving motor (13); and the driving gear is meshed and matched with the driven gear (12).

8. The integrated mechanical gripper of the demolition device according to claim 1, characterized in that: An electric telescopic rod (14) is fixed on the side of the rotating seat (3), and the electric telescopic rod (14) is arranged in a transverse direction. Two round holes (15) are arranged on the side of the support arm (2), and the telescopic end of the electric telescopic rod (14) can be plugged into the two round holes (15) for positioning.

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