Pressing frame type net grabbing manipulator

Abstract

The utility model discloses a pressing frame type net grabbing mechanical arm which comprises a rotating oil cylinder, a positioning disc is installed at one end of the rotating oil cylinder, the positioning disc is fixedly connected with a rotating piston of the rotating oil cylinder, a limiting groove is formed in the side, away from the rotating oil cylinder, of the positioning disc, a limiting frame is installed in the middle of the limiting groove, and a tooth block is installed in the limiting frame in a sliding mode. Tooth grooves are axially formed in the outer walls of the tooth blocks, at least one shifting block is rotationally installed on the limiting frame, one end of each shifting block is in meshing transmission with the corresponding tooth groove, and the other end of each shifting block extends out of the limiting frame during grabbing. And one end of the connecting rod is fixedly connected with a piston rod of the push-pull oil cylinder, and the other end of the connecting rod is rotationally connected with the tooth block. By arranging the limiting groove in the positioning disc, the mesh can be conveniently limited, shaking of the mesh in the transferring and installing process is reduced, by arranging the rotating oil cylinder, the positioning disc can rotate, the mechanical arm is more integrated, and the requirement for a trolley is lowered.

Description

Technical Field

[0001] This utility model relates to the field of anchor bolt trolley technology, and in particular to a pressure frame type net grabbing robot. Background Technology

[0002] Our company mainly produces anchor bolt trolleys. When using anchor bolt trolleys for support operations in tunnels or mines, the installation of mesh panels is involved. During mesh panel installation, the support mesh panels are first picked up by the gripping robot on the anchor bolt trolley, then moved to the installation position. After adjusting the installation angle of the mesh panels, the top mesh mechanism is used to press the support mesh panels firmly against the inner wall of the mine roof before the anchor bolt operation is carried out.

[0003] Chinese patent document CN118906078A, publication date: 2024.11.08, discloses an internally supported square-headed net-grabbing manipulator. A cylinder seat is fixedly installed on the top of a connecting base. A cylinder connecting cover is fixedly installed on the top of the cylinder seat via a first long bolt. A cylinder is fixedly installed inside the cylinder connecting cover and on top of the cylinder seat. A sliding body is fixedly installed on the top of the cylinder connecting cover. A push-pull slider is slidably installed in the cylindrical cavity of the sliding body. The bottom center of the push-pull slider is fixedly connected to the piston rod of the cylinder via a connecting screw. A bottom stop cap is fixedly installed at the bottom of the push-pull slider via a set screw. A translation slider is slidably installed inside the symmetrically arranged T-shaped grooves on the push-pull slider. The extension limiting plate of the translation slider passes through the rectangular groove of the sliding body, and after extending out, it cooperates with the limiting surface on the sliding body. Its advantages are: the rectangular head structure can be well matched with the rectangular mesh, effectively avoiding the shaking problem caused by the small contact area during the mesh grasping process; its disadvantages are: firstly, when the rectangular head structure is inserted into the mesh mesh, it does not limit the mesh outside the mesh, resulting in significant shaking of the mesh after being grasped by the grabbing robot; secondly, the grabbing robot itself cannot rotate to adjust the angle, and requires a rotating cylinder on the trolley's push beam to drive the rotation, which places high demands on the trolley. If the trolley does not have a rotating cylinder, it is inconvenient to use. Utility Model Content

[0004] The purpose of this utility model is to provide a pressure frame type net grabbing robot. By setting a limiting groove on the positioning plate, it is easy to limit the net pieces and reduce the shaking of the net pieces during transportation and installation. By setting a rotating cylinder, the positioning plate can be rotated, making the robot more integrated and reducing the requirements for the trolley.

[0005] To achieve the above objectives, this utility model provides a clamping net-grabbing robot, including a rotary cylinder. A positioning plate is installed at one end of the rotary cylinder, and the positioning plate is connected and fixed to the rotary piston of the rotary cylinder. A limit groove is provided on the side of the positioning plate away from the rotary cylinder. A limit frame is installed in the middle of the limit groove. A toothed block is slidably installed inside the limit frame. The outer wall of the toothed block is provided with tooth grooves. At least one paddle is rotatably installed on the limit frame. One end of the paddle engages with the tooth groove for transmission, and the other end extends out of the limit frame when gripping. A push-pull cylinder is installed on the housing at the other end of the rotary cylinder. The rotary piston of the rotary cylinder is provided with a through hole. A connecting rod moves through the through hole, and one end of the connecting rod is connected and fixed to the piston rod of the push-pull cylinder, and the other end is rotatably connected to the toothed block.

[0006] The toothed block is provided with a connecting hole at one end where it connects to the connecting rod. A bearing is installed in the connecting hole, and the connecting rod is connected to the inner ring of the bearing.

[0007] A connector is installed at one end of the connecting rod that connects to the toothed block, and the bearing is installed on the connector.

[0008] A limiting ring is installed at the top of the connecting hole. The limiting ring is used to limit the bearing, and there is a gap between the limiting ring and the connecting rod.

[0009] The connector includes a rod body, one end of which is provided with a flange and the other end is provided with an external thread. Two bearings are respectively installed on both sides of the rod body, and the rod body is connected to the connecting rod thread through the external thread.

[0010] The lever includes a toothed portion and a rod portion. The rod portion is fixedly connected to the toothed portion. A hinge hole is provided at the center of the toothed portion. The limiting frame is rotatably connected to the hinge hole via a pivot. The toothed portion engages with the tooth groove for transmission.

[0011] A connecting plate is also installed between the rotary cylinder and the positioning plate.

[0012] The push-pull cylinder is installed inside the connecting handle, and the connecting handle is fixedly installed to the housing of the rotary cylinder.

[0013] Two of the aforementioned levers are installed symmetrically.

[0014] Compared with the prior art, this utility model has the following technical effects:

[0015] 1. This utility model, by setting a limiting groove on the positioning plate, facilitates the limiting of the mesh sheet, provides a larger support surface, reduces the shaking of the mesh sheet during transportation and installation, and makes the mesh sheet gripping more stable. By setting a rotary cylinder, the positioning plate can be rotated, making the robot arm more integrated and reducing the requirements for the trolley.

[0016] 2. By setting a connecting plate, this utility model facilitates the installation and connection of the positioning plate and the rotating piston of the rotating oil cylinder, and also provides clearance space for the extension and retraction of the tooth block.

[0017] 3. This utility model, by providing a connecting handle, facilitates installation onto the movable arm of the trolley. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0020] Figure 2 for Figure 1 Schematic diagram of the AA section structure.

[0021] Figure 3 for Figure 2 Enlarged structural diagram at point B.

[0022] Figure 4 This is a schematic diagram of the structure of the tooth block of this utility model.

[0023] Figure 5 This is a schematic diagram of the structure of the toggle block of this utility model.

[0024] Figure 6 This is a schematic diagram of the connector of this utility model.

[0025] Figure label:

[0026] Rotary hydraulic cylinder 10, through hole 11;

[0027] Connector plate 20;

[0028] Positioning plate 30, limiting groove 31;

[0029] Limit bracket 40;

[0030] Tooth block 50, tooth groove 51, connecting hole 52;

[0031] 60, toothed part 61, rod part 62, hinge hole 63;

[0032] Push-pull hydraulic cylinder 70;

[0033] Connecting rod 80, bearing 81, connector 82, rod body 821, flange 822, external thread 823, limiting ring 83;

[0034] Connecting handle 90. Detailed Implementation

[0035] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0036] Example 1:

[0037] Please see Figure 1-3 A clamping net grabbing robot includes a rotary cylinder 10. A positioning plate 30 is installed at one end of the rotary cylinder 10. The positioning plate 30 is connected and fixed to the rotary piston of the rotary cylinder 10. A limit groove 31 is provided on the side of the positioning plate 30 away from the rotary cylinder 10. A limit frame 40 is installed in the middle of the limit groove 31. A toothed block 50 is slidably installed in the limit frame 40. A toothed groove 51 is axially provided on the outer wall of the toothed block 50. At least one lever 60 is rotatably installed on the limit frame 40. One end of the lever 60 meshes with the toothed groove 51 for transmission, and the other end extends out of the limit frame 40 when grabbing. A push-pull cylinder 70 is installed on the housing at the other end of the rotary cylinder 10. The rotary piston of the rotary cylinder 10 is provided with a through hole 11. A connecting rod 80 is movably inserted into the through hole 11. One end of the connecting rod 80 is connected and fixed to the piston rod of the push-pull cylinder 70, and the other end is rotatably connected to the toothed block 50.

[0038] By setting a limiting groove 31 on the positioning plate 30, it is easy to limit the mesh and reduce the shaking of the mesh during transportation and installation. By setting a rotating cylinder 10, the positioning plate 30 can be rotated, making the robot more integrated and reducing the requirements for the trolley.

[0039] In this embodiment, see Figure 1 , 2 The limiting groove 31 is in the shape of a "well" and the limiting frame 40 is fixedly installed in the middle of the limiting groove 31. The support surface is larger and the mesh is gripped more stably.

[0040] The rotary cylinder 10 employs existing technology, such as the MDA-H type helical swing cylinder. The housing of the rotary cylinder 10 does not rotate, but the rotary piston of the rotary cylinder 10 can rotate.

[0041] See Figure 3 , 4 The toothed block 50 is provided with a connecting hole 52 at one end where it connects to the connecting rod 80. A bearing 81 is installed in the connecting hole 52, and the connecting rod 80 is connected to the inner ring of the bearing 81. Specifically, the outer ring of the bearing 81 is interference-fitted with the connecting hole 52, and the inner ring of the bearing 81 is interference-fitted with the connecting rod 80.

[0042] Furthermore, a connector 82 is installed at the end of the connecting rod 80 that connects to the toothed block 50, and the bearing 81 is installed on the connector 82. The connector 82 facilitates the installation of the bearing 81. During installation, the bearing 81 can be installed onto the connector 82 first, then the connector 82 can be installed into the connecting hole 52, and then connected to the connecting rod 80.

[0043] Furthermore, to prevent bearing 81 from dislodging from connecting hole 52, see [reference needed]. Figure 3 A limiting ring 83 is installed on the top of the connecting hole 52. The limiting ring 83 is used to limit the bearing 81. There is a gap between the limiting ring 83 and the connecting rod 80.

[0044] In this embodiment, the limiting ring 83 can be a ring with external threads that is threadedly connected and fixed to the connecting hole 52; or it can be a retaining ring that is snapped into the annular groove inside the connecting hole 52.

[0045] See Figure 6 The connector 82 includes a rod 821, one end of which is provided with a flange 822 and the other end is provided with an external thread 823. Two bearings 81 are respectively installed on both sides of the rod 821. The rod 821 is threadedly connected to the connecting rod 80 through the external thread 823.

[0046] See Figure 5 The lever 60 includes a toothed portion 61 and a rod portion 62. The rod portion 62 is fixedly connected to the toothed portion 61. A hinge hole 63 is provided at the center of the toothed portion 61. The limit frame 40 is rotatably connected to the hinge hole 63 via a pivot. The toothed portion 61 meshes with the tooth groove 51 for transmission.

[0047] In this embodiment, see Figure 4 Tooth groove 51 is a straight tooth groove.

[0048] In this embodiment, see Figure 1-3 There are two symmetrically installed dial blocks 60.

[0049] Example 2:

[0050] Based on Embodiment 1, a connecting plate 20 is also installed between the rotary cylinder 10 and the positioning plate 30. By setting the connecting plate 20, it is convenient to install and connect the positioning plate 30 and the rotary piston of the rotary cylinder 10, and at the same time, it provides clearance space for the extension and retraction of the toothed block 50.

[0051] In this embodiment, referring to 2 and 3, the connecting plate 20 is connected and fixed to the rotating piston of the rotating cylinder 10 by bolts, and the positioning plate 30 is connected and fixed to the connecting plate 20 by bolts.

[0052] Example 3:

[0053] Based on Example 1 or Example 2, see Figure 2 The push-pull cylinder 70 is installed and fixed inside the connecting handle 90, and the connecting handle 90 is installed and fixed to the housing of the rotary cylinder 10. The connecting handle 90 facilitates installation onto the movable arm of the trolley.

[0054] The working principle or operation process of this utility model is as follows:

[0055] When using, please refer to Figure 2 The piston rod of the push-pull cylinder 70 is extended by the hydraulic system, which pushes the connecting rod 80 down, so that the toothed block 50 slides down. Since the lever 60 meshes with the toothed block 50, the rod part 62 of the lever 60 extends from the limiting frame 40 into the limiting groove 31, and finally clamps the mesh steel bar that enters the limiting groove 31.

[0056] When the mesh needs to be rotated and adjusted, the rotating piston of the rotating cylinder 10 is driven to rotate by the hydraulic system, thereby driving the positioning plate 30 to rotate, thus causing the mesh to rotate. When the positioning plate 30 rotates, since the connecting rod 80 is connected to the toothed block 50 through the bearing 81, the toothed block 50 can rotate with it, while the connecting rod 80 does not rotate.

[0057] When releasing and grabbing the mesh, the piston rod of the push-pull cylinder 70 is driven to retract by the hydraulic system, pushing the connecting rod 80 to move upward, thereby causing the toothed block 50 to slide upward. At this time, the rod part 62 of the push block 60 rotates from the limiting groove 31 into the limiting frame 40, and the mesh can then be dislodged from the limiting groove 31.

[0058] In practical use, the "well" shaped dimensions of the limiting groove 31 correspond to the mesh reinforcement bars.

Claims

1. A frame-type net-grabbing robot, characterized in that: Includes a rotary cylinder (10), one end of which is fitted with a positioning plate (30). The positioning plate (30) is connected and fixed to the rotary piston of the rotary cylinder (10). A limiting groove (31) is provided on the side of the positioning plate (30) away from the rotary cylinder (10). A limiting frame (40) is installed in the middle of the limiting groove (31). A toothed block (50) is slidably installed inside the limiting frame (40). The outer wall of the toothed block (50) is provided with a toothed groove (51). The limiting frame (40) rotates... At least one lever (60) is installed on the rotating cylinder (10). One end of the lever (60) meshes with the tooth groove (51) for transmission, and the other end extends out of the limiting frame (40) when gripping. A push-pull cylinder (70) is installed on the housing at the other end of the rotating cylinder (10). The rotating piston of the rotating cylinder (10) is provided with a through hole (11). The connecting rod (80) moves through the through hole (11), and one end of the connecting rod (80) is connected and fixed to the piston rod of the push-pull cylinder (70), and the other end is rotatably connected to the tooth block (50).

2. The clamping frame type net-grabbing robot according to claim 1, characterized in that: The toothed block (50) is connected to the connecting rod (80) at one end with a connecting hole (52), and a bearing (81) is installed in the connecting hole (52). The connecting rod (80) is connected to the inner ring of the bearing (81).

3. The clamping net-grabbing robot according to claim 2, characterized in that: A connector (82) is installed at one end of the connecting rod (80) that connects to the tooth block (50), and the bearing (81) is installed on the connector (82).

4. The frame-type net-grabbing robot according to claim 3, characterized in that: A limiting ring (83) is installed on the top of the connecting hole (52). The limiting ring (83) is used to limit the bearing (81). There is a gap between the limiting ring (83) and the connecting rod (80).

5. The clamping net-grabbing robot according to claim 3 or 4, characterized in that: The connector (82) includes a rod (821), one end of which is provided with a flange (822) and the other end is provided with an external thread (823). Two bearings (81) are respectively installed on both sides of the rod (821). The rod (821) is connected to the connecting rod (80) by the external thread (823).

6. The clamping net-grabbing robot according to claim 1, characterized in that: The lever (60) includes a toothed part (61) and a rod part (62). The rod part (62) is fixedly connected to the toothed part (61). The center of the toothed part (61) is provided with a hinge hole (63). The limit frame (40) is rotatably connected to the hinge hole (63) through a pivot. The toothed part (61) meshes with the tooth groove (51) for transmission.

7. The frame-type net-grabbing robot according to claim 1, characterized in that: A connecting plate (20) is also installed between the rotary cylinder (10) and the positioning plate (30).

8. The wire mesh grabbing robot according to claim 1, characterized in that: The push-pull cylinder (70) is installed inside the connecting handle (90), and the connecting handle (90) is fixedly installed to the housing of the rotating cylinder (10).

9. The wire mesh grabbing robot according to claim 1, characterized in that: Two of the dial blocks (60) are installed symmetrically.

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