Arch frame mechanical arm gripper device

Abstract

The utility model provides an arch frame mechanical arm gripper device, relates to the technical field of arch frame mechanical arm gripper driving, and aims to solve the problems that the working rhythms of two ends cannot be consistent and the actual clamping effect of a gripper is affected due to the fact that a clamping device of an existing arch frame mechanical arm gripper adopts a mode that two oil cylinders respectively control clamping of the two ends. Bases are symmetrically installed on the two sides of the main body, grippers are rotatably connected to the two sides of the bases through hinge shafts, the grippers on the two sides of the bases are one set, two sets of grippers are distributed in the transverse direction of the main body, a clamping oil cylinder is installed at the bottom of the main body, and the clamping oil cylinder is of a double-end output end structure. The output ends of the two sides of the clamping oil cylinder are connected with triangular bases through fasteners.

Description

Technical Field

[0001] This utility model relates to the field of arch frame robotic arm gripper drive technology, and in particular to an arch frame robotic arm gripper device. Background Technology

[0002] With the accelerated construction of my country's comprehensive transportation network in recent years, the focus of the expressway network has gradually shifted from the eastern coastal areas to the central and western regions. A large number of mountain tunnels have emerged along expressways. Tunnel construction involves various tasks such as surveying and setting out points, under-excavation work, arch frame installation, and welding of wire mesh and connecting reinforcement. Arch frame trolleys, equipped with wireless remote control, can meet the needs of prefabricated arch frame installation, various bench-style operations, and precise positioning and adjustment of arch frames. This reduces labor costs, construction risks, and improves efficiency while achieving standardization and factory production of tunnel arch erection. However, the installation of arch frames and their support work includes multiple tasks such as arch frame erection, anchor bolt installation, welding of reinforcing bars, and wire mesh installation. Traditionally, this has been mainly done manually using trolleys, relying on manual labor, resulting in a large workforce, high labor intensity, poor safety, and low automation.

[0003] The existing clamping device of the arch frame robotic arm gripper uses two hydraulic cylinders to control the clamping at both ends separately, which cannot achieve the same working rhythm at both ends and affects the actual clamping effect of the gripper. Therefore, it is particularly important to design an arch frame robotic arm gripper device to solve the above technical problems. Utility Model Content

[0004] The purpose of this invention is to solve the problem that the clamping device of the arch frame robotic arm gripper uses a method of controlling the clamping at both ends separately with two hydraulic cylinders, which cannot achieve the same working rhythm at both ends and affects the actual clamping effect of the gripper. Therefore, an arch frame robotic arm gripper device is proposed.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an arch frame robotic arm gripper device, comprising a main body, bases symmetrically mounted on both sides of the main body, rotatable grippers connected to both sides of the bases via hinge shafts, the grippers on both sides of the bases forming a set, two sets of grippers distributed along the transverse direction of the main body, a clamping cylinder mounted on the bottom of the main body, and triangular seats connected to the output ends on both sides of the clamping cylinder via fasteners.

[0006] Preferably, each of the two sets of grippers is equipped with a swing head at its end. The triangular base is also hinged to two connecting rods. One end of the connecting rod is hinged to the triangular base, and the other end of the connecting rod is connected to the swing head. The swing head is connected to each set of grippers.

[0007] Preferably, the bottom of the main body is symmetrically equipped with limiting plates, and the top of the triangular seat is equipped with a guide plate, which is located between adjacent limiting plates.

[0008] Preferably, the limiting plate is provided with a round hole, the guide plate is provided with an oblong hole, and the limiting plate and the guide plate are fixed together by bolts.

[0009] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0010] 1. In this utility model, the clamping cylinder with a double-head output end structure is designed to convert lateral force into vertical force through the cooperation of the triangular seat, connecting rod, and swing head. The clamping cylinder drives the triangular seat to move horizontally, and the connecting rod and swing head convert the horizontal force into vertical force, thereby driving the gripper to move vertically and achieving the clamping function. Compared with the conventional method of using two cylinders to control the two ends for clamping, the technical solution adopted by this utility model uses a set of double-head cylinders to achieve simultaneous drive control of the gripper, ensuring a consistent working rhythm when the gripper is clamped. The overall structure is compact, optimizing the existing workspace, and solving the problem that the existing arch frame robotic arm gripper clamping device uses two cylinders to control the clamping at both ends separately, which cannot achieve a consistent working rhythm at both ends and affects the actual clamping effect of the gripper.

[0011] 2. In this utility model, during use, the clamping gripper body has limit plates on both sides of its bottom, and a guide plate on the top of the triangular seat. The guide plate is inserted between the two limit plates and moves back and forth, ensuring that the triangular seat only performs linear reciprocating motion and does not deflect to the sides. This ensures that the movements of the connecting rods on both sides and the gripper are consistent, and there is no problem of inconsistent movement amplitude on both sides. The limit plates on both sides have round holes, and the guide plate has elongated holes. The middle is fixed with bolts to ensure that the height of the connecting rods, triangular seat, and clamping cylinder are consistent, and there will be no offset or jamming. This also achieves the purpose of protecting the equipment and improving its service life. Attached Figure Description

[0012] Figure 1 This is an overall view of the arch frame robotic arm gripper device of this utility model;

[0013] Figure 2 This is a schematic diagram of a partial structure of the main body of the arch frame robotic arm gripper device of this utility model;

[0014] Figure 3 This is a partial structural diagram of the limiting plate and guide plate in the arch frame robotic arm gripper device of this utility model;

[0015] Figure 4 This is a partial structural diagram of the triangular seat in the arch frame robotic arm gripper device of this utility model;

[0016] Figure 5 This is a schematic diagram of the arch frame robotic arm gripper device of this utility model in the open state;

[0017] Figure 6 This is a schematic diagram of the arch frame robotic arm gripper device of this utility model in a closed state.

[0018] Legend: 1. Main body; 2. Base; 201. Hinge shaft; 202. Handle; 3. Clamping cylinder; 301. Left output end; 302. Right output end; 303. Fastener; 4. Swing head; 401. Connecting rod; 5. Limiting plate; 501. Guide plate; 502. Round hole; 503. Oblong hole; 504. Bolt; 6. Triangular seat. Detailed Implementation

[0019] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0020] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0021] This utility model provides a gripper device for an arch-frame robotic arm, comprising a main body 1, with bases 2 symmetrically mounted on both sides of the main body 1. Rotatable grippers 202 are connected to both sides of the bases 2 via hinge shafts 201. The grippers 202 on both sides of the bases 2 form a group, with two groups of grippers 202 distributed along the transverse direction of the main body 1. A clamping cylinder 3 is mounted on the bottom of the main body 1. The output ends of the clamping cylinder 3 on both sides are connected to triangular seats 6 via fasteners 303. A swing head 4 is mounted at the end of each group of grippers 202. Two connecting rods 401 are hinged to the triangular seats 6, with one end of each connecting rod 401 hinged to the triangular seat 6 and the other end connected to the swing head 4. The swing head 4 is connected to each group of grippers 202.

[0022] In actual use, the gripper device of the arch frame robotic arm uses a clamping cylinder to drive the triangular seat 6 to move horizontally. The horizontal force is converted into a vertical force via the connecting rod 401 and the swing head 4, thereby driving the gripper 202 to move vertically and achieve the clamping function. The clamping cylinder adopts a double-head output end structure. During operation, the clamping cylinder drives the output ends on both sides to start working. Since the output ends on both sides are fixedly connected to the corresponding triangular seats 6 on both sides by fasteners 303, when the gripper 202 needs to clamp and close, the output ends, in conjunction with the fasteners 303, assist the triangular seats 6 on both sides to move from the sides towards the center. Swing heads 4 are installed at the ends of the grippers 202 on both sides. Simultaneously, the swing heads 4, with the cooperation of the connecting rod 401, connect the gripper 202 and the triangular seat 6 into a linked whole. When the triangular seats 6 on both sides move laterally towards the center, the triangular seats 6, in conjunction with the connecting rod 401 and the swing head 4, move vertically. The head 4 converts the lateral force, causing the gripper 202 to move vertically around the hinge axis 201 on the base 2. This completes the closing operation of the gripper 202. When resetting is required, the clamping cylinder 3 performs the reset operation. By adopting a clamping cylinder with a double-head output end structure, the lateral force is converted into a vertical force through the cooperation of the triangular seat 6, the connecting rod 401, and the swing head 4. The clamping cylinder drives the triangular seat 6 to move horizontally, and the connecting rod 401 and the swing head 4 convert the horizontal force into a vertical force, thereby driving the gripper 202 to move vertically and realize the clamping function. Compared with the conventional method of using two cylinders to control the two ends for clamping, the technical solution adopted by this utility model uses a set of double-head output end cylinders to realize the simultaneous drive control of the gripper 202, ensuring a consistent working rhythm when the gripper 202 is clamped, with a compact overall structure and optimized existing workspace.

[0023] Example 1

[0024] like Figure 1-6 As shown, the bottom of the main body 1 is symmetrically equipped with limiting plates 5, and the top of the triangular base 6 is equipped with a guide plate 501. The guide plate 501 is located between adjacent limiting plates 5. The limiting plate 5 is provided with a round hole 502, and the guide plate 501 is provided with an oblong hole 503. The limiting plate 5 and the guide plate 501 are fixed together by bolts 504.

[0025] The overall effect of Embodiment 1 is that, during use, by using the limit plates 5 on both sides of the bottom of the clamping gripper 202 body 1, and the guide plate 501 on the top of the triangular seat 6, the guide plate 501 is inserted between the two limit plates 5 and moves back and forth, ensuring that the triangular plate only performs linear reciprocating motion and does not deflect to the sides, thereby making the movements of the connecting rods 401 and the gripper 202 consistent and preventing the problem of inconsistent movement amplitude on both sides; the limit plates 5 on both sides have round holes 502, and the guide plate 501 has elongated holes, which are fixed in the middle with bolts 504 to ensure that the height of the connecting rods 401, the triangular seat 6, and the clamping cylinder are consistent, preventing offset or jamming, and also achieving the purpose of protecting the equipment and improving its service life.

[0026] Working Principle: The clamping cylinder drives the triangular seat to move horizontally. Through the connecting rod and the swing head, the horizontal force is converted into a vertical force, thereby driving the gripper to move vertically and achieve the clamping function. The clamping cylinder adopts a double-head output end structure. During operation, the clamping cylinder drives the output ends on both sides to start working. Since the output ends on both sides are fixedly connected to the corresponding triangular seats on both sides by fasteners, when the gripper needs to clamp and close, the output ends cooperate with the fasteners to assist the triangular seats on both sides to move from both sides to the center position. The ends of the grippers on both sides are equipped with swing head structures. At the same time, the swing heads, with the cooperation of the connecting rod, connect the gripper and the triangular seat into a linkage unit. When the triangular seats on both sides move laterally towards the center, the triangular seats, in cooperation with the connecting rod and the swing head, convert the lateral force, so that the gripper moves vertically around the hinge axis on the base. This completes the gripper closing work. When reset is required, the clamping cylinder performs a reset operation.

Claims

1. A gripper device for an arched robotic arm, comprising a main body (1), wherein bases (2) are symmetrically mounted on both sides of the main body (1), characterized in that, Rotatable grippers (202) are connected to both sides of the base (2) via hinge shafts (201). The grippers (202) on both sides of the base (2) are a set, and two sets of grippers (202) are distributed along the transverse direction of the main body (1). A clamping cylinder (3) is installed at the bottom of the main body (1). The output ends on both sides of the clamping cylinder (3) are connected to triangular seats (6) via fasteners (303).

2. The arch frame robotic arm gripper device according to claim 1, characterized in that, Both sets of grippers (202) are equipped with swing heads (4) at their ends. The triangular base (6) is also hinged to two connecting rods (401). One end of the connecting rod (401) is hinged to the triangular base (6), and the other end of the connecting rod (401) is connected to the swing head (4). The swing head (4) is connected to each set of grippers (202).

3. The arch frame robotic arm gripper device according to claim 1, characterized in that, The bottom of the main body (1) is also symmetrically equipped with a limiting plate (5), and the top of the triangular seat (6) is equipped with a guide plate (501), which is located between adjacent limiting plates (5).

4. The arch frame robotic arm gripper device according to claim 3, characterized in that, The limiting plate (5) is provided with a round hole (502), and the guide plate (501) is provided with a waist-shaped hole (503). The limiting plate (5) and the guide plate (501) are fixed together by bolts (504).

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