Mechanical arm special for unhooking robot

Abstract

The utility model discloses a special mechanical arm for an unhooking robot, which comprises a main body plate, the side wall of the main body plate is provided with a mounting plate, the side wall of the mounting plate is provided with a rotating hole, and the side wall of the mounting plate is provided with a rotating hole. According to the train unhooking device, a mounting plate, a rotating column, a connecting column, a connecting block, a supporting block, a rack, a spur gear, a concave plate, an L-shaped block and the like which are arranged are matched for use, so that a telescopic shaft of a second fixing plate extends out to drive the rotating column to do 90-degree movement, and therefore self-limiting of an unhooking rod arranged on a train is relieved; then a telescopic shaft of the first telescopic cylinder extends out to push the mounting plate to move, then the unhooking rod is driven to linearly move to complete unhooking operation, and kinetic energy can more fully act on an output point through independent power control and a linear operation unhooking mode; therefore, the mechanical kinetic energy can run more smoothly when the unhooking rod is driven to perform unhooking operation, the error rate of the unhooking operation is reduced, and the unhooking efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of hook - removing robots, in particular to a special robotic arm for hook - removing robots. Background Technique

[0002] In the field of railway transportation, hook - removing operations are crucial for ensuring the efficient operation of railway special lines. However, there are some obvious deficiencies in the existing traditional hook - removing robots in terms of technology.

[0003] In the prior art, traditional hook - removing robots are usually assembled by means of multiple lead screws driving, etc. Although this design can achieve multi - axis movement, the robot composed of multiple robotic arms has more axes and a complex stroke. When the robot performs hook - removing operations, it requires complex motion trajectory planning and control, increasing the difficulty and uncertainty of the operation. Moreover, more strokes mean a higher possibility of error accumulation. The errors of multiple axes are superimposed, which will have a greater impact on the accuracy of hook - removing operations. Secondly, during the multi - axis linkage process, the movement of a single axis usually drives the movement of multiple mechanisms, which results in the gravity of multiple mechanisms being applied to one axis simultaneously, greatly increasing the load on this axis, reducing the kinetic energy output at a single output point, and the excessive load may also cause problems such as motor overload. In addition, robots assembled with multiple lead screws and motors consume more materials and energy, thus increasing the usage cost of hook - removing operations. Therefore, a special robotic arm for hook - removing robots is urgently needed to solve the above problems. Content of the Utility Model

[0004] The purpose of the utility model is to provide a special robotic arm for hook - removing robots to solve the problems of the traditional hook - removing robot's robotic arm having more strokes, larger errors, and higher costs mentioned in the above background technique.

[0005] To achieve the above purpose, the utility model provides the following technical solution: A special robotic arm for hook - removing robots, including a main body plate, an installation plate is arranged on the side wall of the main body plate, a rotation hole is opened on the side wall of the installation plate, a rotation hole is opened on the side wall of the installation plate, and a motion mechanism is arranged on the inner wall of the rotation hole;

[0006] The motion mechanism includes a rotating column, the rotating column is rotatably connected to the inner wall of the rotation hole, one end of the rotating column is fixedly connected with a support arm, a connecting column is rotatably connected to the inner wall of the support arm, a connecting block is rotatably connected to the surface of the connecting column, a rotating column is fixedly connected to the side wall of the connecting block, a support block is rotatably connected to the inner wall of the rotation hole, the inner wall of the support block is slidably connected to the surface of the rotating column, a spur gear is fixedly connected to the surface of the rotating column, a rack is slidably connected to the inner wall of the main body plate, a clamping mechanism is arranged at one end of the rotating column, and a buffer mechanism is arranged on the side wall of the rack.

[0007] Preferably, the clamping mechanism includes a limiting head fixedly connected to one end of the rotating column. A concave plate is arranged on the side wall of the limiting head. Two symmetrically arranged L-shaped blocks are fixedly connected to the side wall of the concave plate. The inner wall of the L-shaped block abuts against the limiting head. Threaded holes are formed on both sides of the concave plate. A threaded column is threadedly connected to the inner wall of the threaded hole. A nut is threadedly connected to the surface of the threaded column. One end of the threaded column is rotatably connected to a clamping block. A rubber pad is fixedly connected to the inner wall of the clamping block. A driving mechanism is arranged on the side wall of the main body plate.

[0008] Preferably, the driving mechanism includes a first fixing plate fixedly connected to the side wall of the main body plate. A first telescopic cylinder is fixedly connected to the side wall of the first fixing plate. The telescopic shaft of the first telescopic cylinder is movably sleeved with the inner wall of the first fixing plate. One end of the telescopic shaft of the first telescopic cylinder is fixedly connected to the side wall of the mounting plate. A second fixing plate is fixedly connected to the side wall of the mounting plate. A second telescopic cylinder is fixedly connected to the side wall of the second fixing plate. The telescopic shaft of the second telescopic cylinder is movably sleeved with the inner wall of the second fixing plate. One end of the telescopic shaft of the second telescopic cylinder is fixedly connected to the side wall of the rack.

[0009] Preferably, the buffering mechanism includes a limiting block fixedly connected to the side wall of the mounting plate. A limiting column is slidably connected to the inner wall of the limiting block. A spring is sleeved on the surface of the limiting column. One end of the spring is fixedly connected to the side wall of the limiting block.

[0010] Preferably, two limiting grooves are formed on the bottom surface of the mounting plate. Two limiting strips are fixedly connected to the surface of the main body plate. The side wall of the limiting strip is slidably connected to the inner wall of the limiting groove.

[0011] Preferably, a limiting hole is formed on the bottom surface of the main body plate. A sliding block is slidably connected to the inner wall of the limiting hole. The side wall of the sliding block is fixedly connected to the side wall of the mounting plate.

[0012] Preferably, an arc-shaped groove is formed on the side wall of the L-shaped block. The inner wall of the arc-shaped groove matches the surface of the rotating column.

[0013] Preferably, the rack is meshed with a spur gear. The rack is made of forged steel.

[0014] Preferably, a plurality of fixing holes are formed on the side wall of the main body plate. The sizes of the plurality of fixing holes match each other.

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

[0016] By using the mutually cooperating installation plate, rotating column, connecting column, connecting block, support block, rack, spur gear, concave plate, L-shaped block, etc. set, when the telescopic shaft of the second fixed plate extends, it can drive the rotating column to make a 90-degree movement, thus releasing the self-limitation of the uncoupling lever set on the train. Then, when the telescopic shaft of the first telescopic cylinder extends, it can push the installation plate to move, and further drive the uncoupling lever to move linearly to complete the uncoupling operation. Through the independent power control and the linear running uncoupling method, the kinetic energy can act more fully on the output point, and thus it is convenient for the mechanical kinetic energy to run more smoothly when driving the uncoupling lever to perform the uncoupling operation, reducing the error rate of the uncoupling operation and improving the uncoupling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a three-dimensional structural schematic diagram of the present utility model;

[0018] Figure 2 is a structural schematic diagram of the installation plate of the present utility model;

[0019] Figure 3 is a structural schematic diagram of the limiting hole of the present utility model;

[0020] Figure 4 is a structural schematic diagram of the concave plate of the present utility model.

[0021] In the figure: 1, main body plate; 2, installation plate; 3, rotating column; 4, support arm; 5, connecting column; 6, connecting block; 7, rotating column; 8, support block; 9, spur gear; 10, rack; 11, concave plate; 12, L-shaped block; 13, limiting head; 14, threaded hole; 15, threaded column; 16, clamping block; 17, rubber pad; 18, first fixed plate; 19, first telescopic cylinder; 20, second fixed plate; 21, second telescopic cylinder; 22, fixing hole; 23, limiting block; 24, limiting column; 25, spring; 26, limiting groove; 27, limiting strip; 28, limiting hole; 29, sliding block; 30, rotating hole; 31, rotating hole. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts shall fall within the protection scope of the present utility model.

[0023] Please refer to Figures 1-4, A special robotic arm for unhooking robots provided by the utility model includes a main body plate 1. An installation plate 2 is provided on the side wall of the main body plate 1. A rotation hole 31 is opened on the side wall of the installation plate 2, and a rotation hole 30 is opened on the side wall of the installation plate 2. A motion mechanism is provided on the inner wall of the rotation hole 30. The motion mechanism includes a rotation column 3. The rotation column 3 is rotatably connected to the inner wall of the rotation hole 30. One end of the rotation column 3 is fixedly connected to a support arm 4. A connection column 5 is rotatably connected to the inner wall of the support arm 4. A connection block 6 is rotatably connected to the surface of the connection column 5. A rotation column 7 is fixedly connected to the side wall of the connection block 6. A support block 8 is rotatably connected to the inner wall of the rotation hole 31. The inner wall of the support block 8 is slidably connected to the surface of the rotation column 7. A spur gear 9 is fixedly connected to the surface of the rotation column 3. A rack 10 is slidably connected to the inner wall of the main body plate 1. A clamping mechanism is provided at one end of the rotation column 7. A buffer mechanism is provided on the side wall of the rack 10.

[0024] Further, the clamping mechanism includes a limit head 13. The limit head 13 is fixedly connected to one end of the rotation column 7. A concave plate 11 is provided on the side wall of the limit head 13. Two symmetrically arranged L-shaped blocks 12 are fixedly connected to the side wall of the concave plate 11. The inner wall of the L-shaped block 12 abuts against the limit head 13. Threaded holes 14 are opened on both sides of the concave plate 11. A threaded column 15 is threadedly connected to the inner wall of the threaded hole 14. A nut is threadedly connected to the surface of the threaded column 15. One end of the threaded column 15 is rotatably connected to a clamping block 16. A rubber pad 17 is fixedly connected to the inner wall of the clamping block 16. A driving mechanism is provided on the side wall of the main body plate 1. By using the limit head 13, the concave plate 11 and the L-shaped blocks 12 in cooperation, it is convenient to clamp the unhooking rod set on the train, so as to facilitate the subsequent overall operation.

[0025] Further, the driving mechanism includes a first fixing plate 18. The first fixing plate 18 is fixedly connected to the side wall of the main body plate 1. A first telescopic cylinder 19 is fixedly connected to the side wall of the first fixing plate 18. The telescopic shaft of the first telescopic cylinder 19 is movably sleeved with the inner wall of the first fixing plate 18. One end of the telescopic shaft of the first telescopic cylinder 19 is fixedly connected to the side wall of the installation plate 2. A second fixing plate 20 is fixedly connected to the side wall of the installation plate 2. A second telescopic cylinder 21 is fixedly connected to the side wall of the second fixing plate 20. The telescopic shaft of the second telescopic cylinder 21 is movably sleeved with the inner wall of the second fixing plate 20. One end of the telescopic shaft of the second telescopic cylinder 21 is fixedly connected to the side wall of the rack 10. By using the installation plate 2, the second fixing plate 20 and the second telescopic cylinder 21 in cooperation, it is convenient to drive the rotation column 3 to rotate and the installation plate 2 to move.

[0026] Furthermore, the buffer mechanism includes a limit block 23, which is fixedly connected to the side wall of the mounting plate 2. The inner wall of the limit block 23 is slidably connected to a limit column 24. A spring 25 is sleeved on the surface of the limit column 24. One end of the spring 25 is fixedly connected to the side wall of the limit block 23. By setting the limit block 23, the limit column 24 and the spring 25, it is convenient to buffer the force when the second telescopic cylinder 21 is extended.

[0027] Furthermore, two limit grooves 26 are provided on the bottom surface of the mounting plate 2, and two limit strips 27 are fixedly connected to the surface of the main plate 1. The side walls of the limit strips 27 are slidably connected to the inner walls of the limit grooves 26. The setting of the limit grooves 26 and the limit strips 27 makes it easy to limit the mounting plate 2.

[0028] Furthermore, a limiting hole 28 is provided on the bottom surface of the main body panel 1, and a sliding block 29 is slidably connected to the inner wall of the limiting hole 28, and the side wall of the sliding block 29 is fixedly connected to the side wall of the mounting plate 2. By setting the sliding block 29, it is easy to ensure that no matter what direction the main body panel 1 is in, the mounting plate 2 can still fit the main body panel 1.

[0029] Furthermore, an arc groove is formed on the side wall of the L-shaped block 12 , and the inner wall of the arc groove matches the surface of the rotating column 7 . By setting the L-shaped block 12 with the arc groove, the L-shaped block 12 will not separate from the surface of the rotating column 7 .

[0030] Furthermore, the rack 10 is meshedly connected with the spur gear 9 , and the rack 10 is made of forged steel. By setting the rack 10 to be made of forged steel, the rack 10 is more wear-resistant, thereby increasing the service life of the rack 10 .

[0031] Furthermore, a plurality of fixing holes 22 are provided on the side wall of the main body plate 1 , and the sizes of the plurality of fixing holes 22 match each other. By providing the plurality of fixing holes 22 , it is convenient to fix the main body plate 1 through the plurality of fixing holes 22 .

[0032] Working principle: Through the setting of the fixing hole 22, the position of the main plate 1 is fixed to the side wall of the train according to the unhooking rod set on the transport train, and then the two clamping blocks 16 are used to clamp the unhooking rod set by the train itself, and the second telescopic cylinder 21 is started. The telescopic shaft of the second telescopic cylinder 21 extends to push the rack 10 to rotate the spur gear 9. After the spur gear 9 rotates, the support arm 4 is driven to rotate through the rotating column 3. The support arm 4 rotates through the connecting column 5 to drive the rotating column 7 to rotate 90 degrees around the support block 8, thereby driving the unhooking rod to release the limit, and then the first telescopic cylinder 19 is started. The telescopic shaft of the first telescopic cylinder 19 extends to push the mounting plate 2 to make a linear motion, thereby driving the unhooking rod to complete the unhooking work.

[0033] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-described exemplary embodiments, and the present utility model can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, in any regard, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present utility model. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. A special robotic arm for a hook-unhooking robot, comprising a main body plate (1), characterized in that: A mounting plate (2) is provided on the side wall of the main body plate (1). A rotation hole (31) is formed in the side wall of the mounting plate (2), and a rotation hole (30) is formed in the side wall of the mounting plate (2). A motion mechanism is provided on the inner wall of the rotation hole (30). The motion mechanism includes a rotating column (3). The rotating column (3) is rotatably connected to the inner wall of the rotation hole (30). One end of the rotating column (3) is fixedly connected to a support arm (4). A connecting column (5) is rotatably connected to the inner wall of the support arm (4). A connecting block (6) is rotatably connected to the surface of the connecting column (5). A rotating column (7) is fixedly connected to the side wall of the connecting block (6). A support block (8) is rotatably connected to the inner wall of the rotation hole (31). The inner wall of the support block (8) is slidably connected to the surface of the rotating column (7). A spur gear (9) is fixedly connected to the surface of the rotating column (3). A rack (10) is slidably connected to the inner wall of the main body plate (1). A clamping mechanism is provided at one end of the rotating column (7). A buffer mechanism is provided on the side wall of the rack (10).

2. The robotic arm dedicated to a hook-unhooking robot according to claim 1, characterized in that: The clamping mechanism includes a limiting head (13). The limiting head (13) is fixedly connected to one end of the rotating column (7). A concave plate (11) is provided on the side wall of the limiting head (13). Two symmetrically arranged L-shaped blocks (12) are fixedly connected to the side wall of the concave plate (11). The inner wall of the L-shaped block (12) abuts against the limiting head (13). Threaded holes (14) are formed on both sides of the concave plate (11). A threaded column (15) is threadedly connected to the inner wall of the threaded hole (14). A nut is threadedly connected to the surface of the threaded column (15). One end of the threaded column (15) is rotatably connected to a clamping block (16). A rubber pad (17) is fixedly connected to the inner wall of the clamping block (16). A driving mechanism is provided on the side wall of the main body plate (1).

3. The special robotic arm for unhooking robots according to claim 2, characterized in that: The driving mechanism includes a first fixing plate (18). The first fixing plate (18) is fixedly connected to the side wall of the main body plate (1). A first telescopic cylinder (19) is fixedly connected to the side wall of the first fixing plate (18). The telescopic shaft of the first telescopic cylinder (19) is movably sleeved with the inner wall of the first fixing plate (18). One end of the telescopic shaft of the first telescopic cylinder (19) is fixedly connected to the side wall of the mounting plate (2). A second fixing plate (20) is fixedly connected to the side wall of the mounting plate (2). A second telescopic cylinder (21) is fixedly connected to the side wall of the second fixing plate (20). The telescopic shaft of the second telescopic cylinder (21) is movably sleeved with the inner wall of the second fixing plate (20). One end of the telescopic shaft of the second telescopic cylinder (21) is fixedly connected to the side wall of the rack (10).

4. The special robotic arm for unhooking robots according to claim 1, characterized in that: The buffer mechanism includes a limiting block (23). The limiting block (23) is fixedly connected to the side wall of the mounting plate (2). A limiting column (24) is slidably connected to the inner wall of the limiting block (23). A spring (25) is sleeved on the surface of the limiting column (24). One end of the spring (25) is fixedly connected to the side wall of the limiting block (23).

5. The robotic arm dedicated to a hook-unhooking robot according to claim 1, characterized in that: The bottom surface of the mounting plate (2) is provided with two limiting grooves (26), and the surface of the main body plate (1) is fixedly connected with two limiting strips (27). The side wall of the limiting strip (27) is slidably connected with the inner wall of the limiting groove (26).

6. The special robotic arm for unhooking robots according to claim 1, characterized in that: The bottom surface of the main body plate (1) is provided with a limiting hole (28), and a sliding block (29) is slidably connected to the inner wall of the limiting hole (28). The side wall of the sliding block (29) is fixedly connected with the side wall of the mounting plate (2).

7. The special robotic arm for unhooking robots according to claim 2, characterized in that: The side wall of the L-shaped block (12) is provided with an arc-shaped groove, and the inner wall of the arc-shaped groove is matched with the surface of the rotating column (7).

8. The robotic arm dedicated to a hook-unhooking robot according to claim 1, wherein: The rack (10) is meshed with the spur gear (9), and the spur gear (9) is made of forged steel.

9. The robotic arm dedicated to a hook-unhooking robot according to claim 1, wherein: The side wall of the main body plate (1) is provided with a plurality of fixing holes (22), and the sizes of the plurality of fixing holes (22) are matched.

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