Guide rail pulley mechanism of mechanical arm

Abstract

The guide rail pulley mechanism of the mechanical arm relates to the technical field of oil and gas drilling equipment and comprises a supporting shaft, an outer pulley, an inner pulley and an eccentric shaft, one end of the supporting shaft is sleeved with the outer pulley, a mounting groove is formed in the surface of one end of the supporting shaft, the eccentric shaft is arranged in the mounting groove, and the outer pulley is sleeved with the inner pulley. The inner pulley is arranged on the eccentric shaft, the axis of the eccentric shaft and the axis of the inner pulley are not collinear, through the arrangement of the supporting shaft, the outer pulley, the inner pulley and the eccentric shaft, the outer pulley and the inner pulley can make contact with the inner wall of the guide rail at the same time, multi-point stress is achieved, and the situation that the two sides of the guide rail are independently stressed and deform is avoided; by arranging the inner pulley and the eccentric shaft, the friction force during movement is prevented from being increased due to contact between the axial end face of the outer pulley and the inner wall of the guide rail, and the outer pulley can rotate in the guide rail more conveniently.

Description

Technical Field

[0001] The utility model relates to the technical field of oil and gas drilling equipment, in particular to a guide rail pulley mechanism of a mechanical arm. Background Art

[0002] In oil drilling operations, it is necessary to continuously handle the pipe string. In the process of traditional drilling rig pipe string handling, the catwalk transports the pipe string to the drilling table, the grabbing equipment grabs the pipe string, and hands it over to the disassembly equipment for disassembly, and then hands it over to the second-level platform pipe laying machine for discharge. In this process, many related equipment are required. Among them, the main arm and the auxiliary arm of the drilling rig are connected by transmission. A manipulator is provided on the auxiliary arm to clamp the pipe string. The auxiliary arm can be driven up and down by the main arm. In this process, rollers are generally provided on the main arm, and the rollers are directly installed on the external steel structure guide rails.

[0003] The roller structure in the prior art includes a roller, and the roller is arranged in the guide rail. However, in this structure, the roller is in direct contact with the side wall of the guide rail, and the lateral force acting on the guide rail bracket easily causes deformation of the guide rail. Utility Model Content

[0004] The purpose of the utility model is to provide a guide rail pulley mechanism of a mechanical arm, so as to solve the above technical problems.

[0005] The technical solution adopted by the utility model is as follows:

[0006] A guide rail pulley mechanism of a robotic arm comprises a support shaft, an outer pulley, an inner pulley and an eccentric shaft, wherein the outer pulley is sleeved on one end of the support shaft, a mounting groove is provided on one end surface of the support shaft, the eccentric shaft is arranged in the mounting groove, the inner pulley is arranged on the eccentric shaft, and the axis of the eccentric shaft is not colinear with the axis of the inner pulley.

[0007] Preferably, a bottom plate is further included, the bottom plate is provided with a mounting hole, and the other end of the support shaft extends into the mounting hole.

[0008] As a further preference, a limiting surface is provided on the outer edge of the other end of the support shaft, and the limiting surface abuts against the surface of the bottom plate.

[0009] As a further preference, it further includes a mounting plate, and one side of the base plate is connected to the mounting plate by bolts.

[0010] As a further preference, it further includes a base, the mounting plate is arranged on the base, and the base is used to connect to an external main arm.

[0011] As a further preference, the inner pulley at least partially extends out of the mounting groove.

[0012] The above technical solution has the following advantages or beneficial effects:

[0013] In the present utility model, through the arrangement of the support shaft, outer pulley, inner pulley and eccentric shaft, the outer pulley and the inner pulley can be in contact with the inner wall of the guide rail at the same time, realizing multi-point force application, avoiding the situation that the two sides of the guide rail are stressed separately and deformed. Secondly, through the arrangement of the inner pulley and the eccentric shaft, it is avoided that the axial end face of the outer pulley contacts the inner wall of the guide rail, increasing the friction force during movement, and it is more convenient for the outer pulley to rotate inside the guide rail. Brief Description of the Drawings

[0014] Figure 1 is a schematic side view of the guide rail pulley mechanism of the robotic arm in the present utility model;

[0015] Figure 2 is a schematic front view of the guide rail pulley mechanism of the robotic arm in the present utility model;

[0016] Figure 3 is Figure 2 a cross-sectional view taken along the A-A direction in

[0017] Figure 4 is a schematic view of the cooperation between the guide rail pulley mechanism of the robotic arm and the guide rail in the present utility model;

[0018] Figure 5 is a schematic cross-sectional view of the outer pulley and the inner pulley in the present utility model.

[0019] In the figure: 1, support shaft; 2, outer pulley; 3, inner pulley; 4, eccentric shaft; 5, installation groove; 6, installation hole; 7, limiting surface; 8, mounting plate; 9, base; 10, guide rail; 11, bottom plate. Detailed Embodiment

[0020] Next, the technical solution of the present utility model will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0021] In the description of the present utility model, it should be noted that when terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present utility model 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. Therefore, it should not be construed as a limitation to the present utility model. In addition, when terms such as "first", "second", "third" appear, they are only for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0022] In the description of the present utility model, it should be noted that unless otherwise clearly specified and limited, when terms such as "installation", "connection", "coupling" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0023] Figure 1 is a schematic side view of the guide rail pulley mechanism of the robotic arm in the present utility model; Figure 2 is a schematic front view of the guide rail pulley mechanism of the robotic arm in the present utility model; Figure 3 is Figure 2 a sectional view taken along the A-A direction in Figure 4 is a schematic diagram of the cooperation between the guide rail pulley mechanism of the robotic arm and the guide rail in the present utility model;

[0024] Figure 5 is a schematic sectional view of the outer pulley and the inner pulley in the present utility model. Please refer to Figures 1 to 5 as shown, which shows a preferred embodiment. A guide rail pulley mechanism of a robotic arm is shown, including a support shaft 1, an outer pulley 2, an inner pulley 3, and an eccentric shaft 4. One end of the support shaft 1 is sleeved with the outer pulley 2. An installation groove 5 is provided on the surface of one end of the support shaft 1. The eccentric shaft 4 is arranged in the installation groove 5. The inner pulley 3 is arranged on the eccentric shaft 4. The axis of the eccentric shaft 4 and the axis of the inner pulley 3 are not collinear. In this embodiment, please refer to Figure 1 as shown, a plurality of outer pulleys 2 are provided, and the plurality of outer pulleys 2 are in the same column, while the inner pulley 3 is arranged inside the outer pulley 2. During use, the inner pulley 3 first contacts the bottom wall of the guide rail 10, and the outer peripheral wall of the outer pulley 2 contacts the inner side walls of both sides of the guide rail 10. When the main arm moves, the outer pulley 2 and the inner pulley 3 can rotate inside the guide rail 10.

[0025] Among them, through the arrangement of the eccentric shaft 4 and the inner pulley 3, the inner pulley 3 can contact the bottom wall of the guide rail 10, avoiding the phenomenon that the axial end face of the outer pulley 2 contacts the bottom wall of the guide rail 10, resulting in an increase in friction and inconvenience in movement.

[0026] Among them, both ends of the eccentric shaft 4 are rotatably connected to the inner side walls of the installation groove 5, and at least a part of the inner pulley 3 extends out of the installation groove 5 and contacts the bottom wall of the guide rail 10. As shown in Figure 1 shown, the inner pulley 3 also extends out of the outer pulley 2, facilitating the inner pulley 3 to contact the bottom wall of the guide rail 10 first.

[0027] Furthermore, as a preferred embodiment, it further includes a bottom plate 11. An installation hole 6 is formed on the bottom plate 11, and the other end of the support shaft 1 extends into the installation hole 6. Among them, as shown in Figure 5 shown, a limiting surface 7 is provided on the outer edge of the other end of the support shaft 1. The limiting surface 7 abuts against the surface of the bottom plate 11, playing a role of limiting, and when the support shaft 1 receives a lateral acting force, it can play a role of stable support. Among them, the other end of the support shaft 1 is inserted into the installation hole 6, and then the other end of the support shaft 1 is welded to the bottom plate 11.

[0028] Furthermore, as a preferred embodiment, it further includes a mounting plate 8. One side of the bottom plate 11 is connected to the mounting plate 8 by bolts. Among them, the mounting plate 8 is arranged on the base 9, and the base 9 is used to connect the external main arm. The mounting plate 8 is used to connect the base 9 and the bottom plate 11. The mounting plate 8 and the bottom plate 11 are bolted together, facilitating the disassembly of the bottom plate 11, while the mounting plate 8 and the base 9 can be welded together or integrally formed.

[0029] The above are only the preferred embodiments of the present invention, and do not limit the implementation manners and protection scope of the present invention. For those skilled in the art, it should be realized that all equivalent replacements and obvious changes made by using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A guide pulley mechanism for a robotic arm, characterized in that, It includes a support shaft, an outer pulley, an inner pulley and an eccentric shaft. One end of the support shaft is sleeved with the outer pulley. An installation groove is formed on the surface of one end of the support shaft. The eccentric shaft is arranged in the installation groove. The inner pulley is arranged on the eccentric shaft. The axis of the eccentric shaft is not collinear with the axis of the inner pulley.

2. The guide pulley mechanism of the robotic arm according to claim 1, wherein, It further includes a bottom plate. An installation hole is formed on the bottom plate. The other end of the support shaft extends into the installation hole.

3. The guide pulley mechanism of the robotic arm according to claim 2, characterized in that, A limiting surface is arranged on the outer edge of the other end of the support shaft. The limiting surface abuts against the surface of the bottom plate.

4. The guide pulley mechanism of the robotic arm according to claim 2, characterized in that, It further includes a mounting plate. One side of the bottom plate is connected to the mounting plate by bolts.

5. The guide pulley mechanism of the robotic arm according to claim 4, characterized in that, It further includes a base. The mounting plate is arranged on the base. The base is used to connect the external main arm.

6. The guide rail pulley mechanism of the robotic arm according to claim 1, characterized in that At least part of the inner pulley extends out of the installation groove.

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