Mechanical arm lifting structure of unhooking robot

Abstract

The mechanical arm lifting structure of the unhooking robot comprises a main body frame, the inner wall of the main body frame is connected with a first rack in a sliding mode, the side wall of the main body frame is provided with a fixing frame, the inner wall of the fixing frame is connected with a moving strip in a sliding mode, and the moving strip is connected with a second rack in a sliding mode. Movable holes are formed in the two sides of the main body frame correspondingly, a lifting assembly is arranged on the side wall of the main body frame, and the mounting frame, a rotating column, a bevel gear, a rotating column, a mounting block, a sliding block, a first rack and the like are matched for use, so that the rotating column can be driven to rotate when the output end of a motor rotates; the rotating column rotates to drive the first rack and the moving strip to move at the same time, the moving strip extends leftwards while the first rack moves upwards, the moving strip retracts rightwards while the first rack moves downwards, and the double shafts move at the same time, so that the unhooking time of the unhooking robot is shortened, 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 mechanical arm lifting structure of a hook-removing robot. Background Art

[0002] In industrial production, logistics, and transportation, it's often necessary to separate connected objects. For example, in rail freight, unhooking train cars requires unhooking. Traditionally, unhooking is done manually, which is labor-intensive, inefficient, and potentially dangerous.

[0003] In the prior art, the X-axis and Y-axis of the traditional hook-removing robot arm are usually controlled by two independent motors. Adding a motor only increases the production cost and energy consumption during operation. This design method has some obvious disadvantages. On the one hand, adding a motor means that more costs need to be invested in the production process. The price of the motor itself is not cheap, and in order for the two motors to work together, a more complex circuit system and control system are required, which will undoubtedly further increase the production cost. On the other hand, multiple motors consume more energy during operation. The hook-removing robot usually needs to run continuously for a long time when working. The increase in the number of motors will lead to a significant increase in energy consumption, which not only increases the operating cost, but may also cause a greater burden on the environment. When controlled by one motor, it is difficult to meet the two conditions of simultaneous up and down and left and right movement. Secondly, the traditional lifting mechanism is that the motor is directly connected to the screw through a universal shaft. Therefore, the speed of rotation of the motor output shaft, that is, the speed at which the screw rotates to drive the slider to move, greatly limits the adaptability of the hook-removing robot in different working scenarios. Therefore, a lifting structure of the robotic arm of the hook-removing robot is urgently needed to solve the above problems. Utility Model Content

[0004] The purpose of the utility model is to provide a mechanical arm lifting structure of a hook removing robot, so as to solve the problem in the above background technology that it is difficult for one motor to control lifting and translation at the same time.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a mechanical arm lifting structure of a hook-removing robot, comprising a main frame, an inner wall of the main frame being slidably connected to a first rack, a side wall of the main frame being provided with a fixed frame, an inner wall of the fixed frame being slidably connected to a movable bar, movable holes being opened on both sides of the main frame, and a lifting assembly being provided on the side wall of the main frame;

[0006] The lifting assembly includes two sliding blocks, both of which are fixedly connected to the side walls of the first rack, and the sliding blocks are slidably connected to the inner wall of the movable hole. The side walls of the two sliding blocks are fixedly connected to the same mounting bracket, the inner wall of the mounting bracket is rotatably connected to a rotating column, the surface of the rotating column is fixedly connected to the first speed change wheel, the inner wall of the mounting bracket is rotatably connected to a rotating column, the side wall of the fixed bracket is fixedly connected to the mounting block, and the inner wall of the mounting block is rotatably connected to the fixed column.

[0007] Preferably, the surface of the rotating column is fixedly connected to the first bevel gear, the surface of the rotating column is fixedly connected to the second bevel gear, the surface of the fixed column is fixedly connected to the second speed change wheel, the surface of the fixed column is fixedly connected to the third bevel gear, the surface of the rotating column is fixedly connected to the fourth bevel gear, the inner wall of the fixed frame is slidably connected to the second rack, and the side wall of the second rack is fixedly connected to the side wall of the movable bar.

[0008] Preferably, a sliding hole is provided on the side wall of the main frame, and a connecting block is slidably connected to the inner wall of the sliding hole. The side wall of the connecting block is fixedly connected to the side wall of the first rack, and the side wall of the connecting block is fixedly connected to two connecting plates, and the surfaces of the two connecting plates are fixedly connected to the surface of the fixed frame.

[0009] Preferably, both the upper surface and the lower surface of the fixing frame are provided with limiting holes, the inner wall of the limiting hole is slidably connected to the limiting block, and the surface of the limiting block is fixedly connected to the surface of the moving bar.

[0010] Preferably, springs are fixedly connected to both sides of the second rack, and one end of the two springs is fixedly connected to the inner wall of the fixing frame.

[0011] Preferably, a mounting plate is fixedly connected to the bottom surface of the main frame, and a plurality of mounting holes are formed on the inner wall of the mounting plate.

[0012] Preferably, the first bevel gear is meshed with the second bevel gear, the third bevel gear is meshed with the fourth bevel gear, and the number of teeth of the second speed change wheel and the first speed change wheel is twice that of the first bevel gear, the second bevel gear, the third bevel gear and the fourth bevel gear.

[0013] Preferably, a motor is fixedly connected to the side wall of the mounting frame, and the surface of the rotating column is fixedly connected to the output end of the motor.

[0014] Preferably, the surface of the first speed-changing wheel is meshedly connected to the side wall of the first rack, and the surface of the second speed-changing wheel is meshedly connected to the side wall of the second rack.

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

[0016] By cooperating with each other, the mounting frame, rotating column, bevel gear, rotating column, mounting block, sliding block and first rack etc. are set, so that when the output end of the motor rotates, the rotating column can be driven to rotate, and the rotating column can drive the first rack and the moving bar to move at the same time. When the first rack moves upward, the moving bar extends to the left, and when the first rack moves downward, the moving bar retracts to the right. The two axes move simultaneously, thereby reducing the unhooking time of the unhooking robot and improving the unhooking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the mounting frame structure of the utility model;

[0019] Figure 3 for Figure 2 A in the middle is an enlarged structural diagram;

[0020] Figure 4 This is a schematic diagram of the fixing frame structure of the present utility model.

[0021] In the figure: 1. Main frame; 2. Sliding hole; 3. First rack; 4. Connecting block; 5. Connecting plate; 6. Fixed frame; 7. Moving bar; 8. Sliding block; 9. Mounting frame; 10. Rotating column; 11. First speed-changing wheel; 12. Second bevel gear; 13. Rotating column; 14. Mounting block; 15. Fixed column; 16. Second speed-changing wheel; 17. Spring; 18. Motor; 19. Limiting hole; 20. Limiting block; 21. Mounting plate; 22. Mounting hole; 23. Movable hole; 24. Second rack; 25. First bevel gear; 26. Fourth bevel gear; 27. Third bevel gear. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] See also Figure 1-4The utility model provides a mechanical arm lifting structure of a hook-removing robot, including a main frame 1, the inner wall of the main frame 1 is slidably connected to the first rack 3, the side wall of the main frame 1 is provided with a fixed frame 6, the inner wall of the fixed frame 6 is slidably connected to the movable bar 7, and movable holes 23 are opened on both sides of the main frame 1. The side wall of the main frame 1 is provided with a lifting component, and the lifting component includes two sliding blocks 8, and the two sliding blocks 8 are fixedly connected to the side walls of the first rack 3. The sliding blocks 8 are slidably connected to the inner wall of the movable hole 23, and the side walls of the two sliding blocks 8 are fixedly connected to the same mounting frame 9, and the inner wall of the mounting frame 9 is rotatably connected to a rotating column 10. The surface of the rotating column 10 is fixedly connected to a first speed change wheel 11, the inner wall of the mounting frame 9 is rotatably connected to a rotating column 13, the side wall of the fixed frame 6 is fixedly connected to a mounting block 14, and the inner wall of the mounting block 14 is rotatably connected to a fixed column 15.

[0024] Furthermore, the surface of the rotating column 10 is fixedly connected to the first bevel gear 25, the surface of the rotating column 13 is fixedly connected to the second bevel gear 12, the surface of the fixed column 15 is fixedly connected to the second speed-changing wheel 16, the surface of the fixed column 15 is fixedly connected to the third bevel gear 27, the surface of the rotating column 13 is fixedly connected to the fourth bevel gear 26, the inner wall of the fixed frame 6 is slidably connected to the second rack 24, and the side wall of the second rack 24 is fixedly connected to the side wall of the moving bar 7. By cooperating with each other through the provision of the rotating column 10, the second bevel gear 12 and the third bevel gear 27, the rotating column 13 can drive the first rack 3 and the moving bar 7 to move by rotating, thereby making the overall linkage have higher.

[0025] Furthermore, a sliding hole 2 is provided on the side wall of the main frame 1, and a connecting block 4 is slidably connected to the inner wall of the sliding hole 2. The side wall of the connecting block 4 is fixedly connected to the side wall of the first rack 3. The side wall of the connecting block 4 is fixedly connected to two connecting plates 5. The surfaces of the two connecting plates 5 are fixedly connected to the surface of the fixing frame 6. The setting of the connecting block 4 makes it easy to connect the first rack 3 to the fixing frame 6, so that when the first rack 3 moves, the fixing frame 6 is also driven to move.

[0026] Furthermore, limiting holes 19 are provided on the upper and lower surfaces of the fixing frame 6, and the inner wall of the limiting hole 19 is slidably connected to the limiting block 20. The surface of the limiting block 20 is fixedly connected to the surface of the movable bar 7. The setting of the limiting block 20 makes it easy to limit the movable bar 7 and prevent the movable bar 7 from escaping from the inside of the fixing frame 6.

[0027] Furthermore, springs 17 are fixedly connected to both sides of the second rack 24, and one end of the two springs 17 is fixedly connected to the inner wall of the fixing frame 6. The provision of the springs 17 facilitates the re-engagement of the second rack 24 and the second speed-changing wheel 16.

[0028] Furthermore, a mounting plate 21 is fixedly connected to the bottom surface of the main frame 1 , and a plurality of mounting holes 22 are provided on the inner wall of the mounting plate 21 . The mounting plate 21 is provided to facilitate fixing the position of the main frame 1 .

[0029] Furthermore, the first bevel gear 25 is meshed and connected with the second bevel gear 12, the third bevel gear 27 is meshed and connected with the fourth bevel gear 26, and the number of teeth of the second speed wheel 16 and the first speed wheel 11 is twice that of the first bevel gear 25, the second bevel gear 12, the third bevel gear 27 and the fourth bevel gear 26. By setting the second speed wheel 16 and the first speed wheel 11, it is convenient to change the transmission speed of the second bevel gear 12.

[0030] Furthermore, a motor 18 is fixedly connected to the side wall of the mounting frame 9 , and the surface of the rotating column 13 is fixedly connected to the output end of the motor 18 . The motor 18 is provided to facilitate driving the rotating column 13 to rotate.

[0031] Furthermore, the surface of the first speed wheel 11 is meshed and connected with the side wall of the first rack 3, and the surface of the second speed wheel 16 is meshed and connected with the side wall of the second rack 24. The first speed wheel 11, the first rack 3 and the second speed wheel 16 are used in conjunction with each other, so that the rotation of the first speed wheel 11 can drive the first rack 3 to move, and the rotation of the second speed wheel 16 can drive the second rack 24 to move.

[0032] Working principle: Through the provided mounting frame 9, the output end of the motor 18 rotates to drive the rotating column 13 to rotate, and the rotation of the rotating column 13 drives the first speed-changing wheel 11 and the second speed-changing wheel 16 to rotate, and the rotation of the first speed-changing wheel 11 and the second speed-changing wheel 16 drives the first rack 3 and the moving bar 7 to move simultaneously, and the dual-axis moves simultaneously, thereby saving the hook-picking time of the hook-picking robot and improving the efficiency of hook-picking. The position of the main frame 1 is fixed by the mounting plate 21 according to the extension limit of the moving bar 7. When the first rack 3 continues to rise, the moving bar 7 reaches the set distance and no longer extends. At the same time, the two second racks 24 release the pulling force and pushing force of the starting position to the moving bar 7 at the same time. When the first rack 3 drops, the second rack 24 is re-engaged with the second speed-changing wheel 16 through the action of the spring 17, thereby driving the moving bar 7 to retract, so that the moving distances of the moving bar 7 and the first rack 3 will not limit each other, thereby meeting more practical conditions.

[0033] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A mechanical arm lifting structure of a hook-removing robot, comprising a main frame (1), characterized in that: The inner wall of the main frame (1) is slidably connected to a first rack (3), the side wall of the main frame (1) is provided with a fixed frame (6), the inner wall of the fixed frame (6) is slidably connected to a movable bar (7), movable holes (23) are provided on both sides of the main frame (1), and the side wall of the main frame (1) is provided with a lifting assembly; The lifting assembly includes two sliding blocks (8), both of which are fixedly connected to the side walls of the first rack (3), and the sliding blocks (8) are slidably connected to the inner wall of the movable hole (23). The side walls of the two sliding blocks (8) are fixedly connected to the same mounting frame (9), the inner wall of the mounting frame (9) is rotatably connected to a rotating column (10), the surface of the rotating column (10) is fixedly connected to a first speed-changing wheel (11), the inner wall of the mounting frame (9) is rotatably connected to a rotating column (13), the side wall of the fixed frame (6) is fixedly connected to a mounting block (14), and the inner wall of the mounting block (14) is rotatably connected to a fixed column (15).

2. The mechanical arm lifting structure of the hook-removing robot according to claim 1, characterized in that: The surface of the rotating column (10) is fixedly connected to a first bevel gear (25), the surface of the rotating column (13) is fixedly connected to a second bevel gear (12), the surface of the fixed column (15) is fixedly connected to a second speed-changing wheel (16), the surface of the fixed column (15) is fixedly connected to a third bevel gear (27), the surface of the rotating column (13) is fixedly connected to a fourth bevel gear (26), the inner wall of the fixed frame (6) is slidably connected to a second rack (24), and the side wall of the second rack (24) is fixedly connected to the side wall of the moving bar (7).

3. The mechanical arm lifting structure of the hook-removing robot according to claim 1, characterized in that: The side wall of the main frame (1) is provided with a sliding hole (2), the inner wall of the sliding hole (2) is slidably connected to a connecting block (4), the side wall of the connecting block (4) is fixedly connected to the side wall of the first rack (3), the side wall of the connecting block (4) is fixedly connected to two connecting plates (5), and the surfaces of the two connecting plates (5) are fixedly connected to the surface of the fixing frame (6).

4. The mechanical arm lifting structure of the hook-removing robot according to claim 1, characterized in that: The upper surface and the lower surface of the fixing frame (6) are both provided with a limiting hole (19), the inner wall of the limiting hole (19) is slidably connected to the limiting block (20), and the surface of the limiting block (20) is fixedly connected to the surface of the moving bar (7).

5. The mechanical arm lifting structure of the hook-removing robot according to claim 2, characterized in that: Springs (17) are fixedly connected to both sides of the second rack (24), and one end of each of the two springs (17) is fixedly connected to the inner wall of the fixing frame (6).

6. The mechanical arm lifting structure of the hook-removing robot according to claim 1, characterized in that: A mounting plate (21) is fixedly connected to the bottom surface of the main frame (1), and a plurality of mounting holes (22) are formed on the inner wall of the mounting plate (21).

7. The mechanical arm lifting structure of the hook-removing robot according to claim 2, characterized in that: The first bevel gear (25) is meshedly connected to the second bevel gear (12), the third bevel gear (27) is meshedly connected to the fourth bevel gear (26), and the number of teeth of the second speed change wheel (16) and the first speed change wheel (11) is twice that of the first bevel gear (25), the second bevel gear (12), the third bevel gear (27) and the fourth bevel gear (26).

8. The mechanical arm lifting structure of the hook-removing robot according to claim 1, characterized in that: The side wall of the mounting frame (9) is fixedly connected to a motor (18), and the surface of the rotating column (13) is fixedly connected to the output end of the motor (18).

9. The mechanical arm lifting structure of the hook removing robot according to claim 2, characterized in that: The surface of the first speed-changing wheel (11) is meshedly connected to the side wall of the first rack (3), and the surface of the second speed-changing wheel (16) is meshedly connected to the side wall of the second rack (24).

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