A breaking hammer shaft gripping device

Abstract

The utility model discloses a broken hammer drill rod grabbing device belongs to engineering machinery technical field. It includes I -section frame, triangular crossbeam, fixed finger, movable finger, oil cylinder and connecting plate. I -section frame is used to connect industrial robot or forklift, and triangular crossbeam enhances structural strength, and fixed finger is hinged with movable finger through hinge shaft, and oil cylinder drives movable finger opening and closing through connecting plate. The device is equipped with arc clamping surface and antiskid line and is guaranteed to clamp stably, and triangular crossbeam is equipped with reinforcing rib, and the hinge part is equipped with bearing and wear -resisting gasket and improves durability. Optional sensor identifies that drill rod is in place, and oil cylinder control valve linkage external equipment controller realizes automatic grabbing and relaxation. The device structure is stable, and the adaptability is strong, can promote operation efficiency and security.

Description

TECHNICAL FIELD

[0001] The utility model relates to engineering machinery or industrial robot technical field, concretely is a kind of broken hammer drill rod grabbing device. BACKGROUND

[0002] In the scene such as construction site construction, factory production, broken hammer drill rod is as the key component of crushing operation, and it needs to be frequently grabbed during carrying, installation and replacement. At present, the traditional grabbing mode is mostly dependent on manual or simple tool auxiliary, not only inefficient, but also manual operation has high safety risk due to the heavy weight of drill rod;At the same time, with the development of industrial automation, industrial robots are increasingly widely used in various operations, but the existing grabbing device is difficult to adapt to industrial robots as end execution mechanism, and cannot meet the needs of automatic grabbing. Therefore, a broken hammer drill rod grabbing device capable of realizing automatic grabbing, sufficient power and adapting to automatic equipment is urgently needed. UTILITY MODEL CONTENTS

[0003] The utility model is to overcome the problems of low efficiency, poor safety and difficult to adapt to automatic equipment of broken hammer drill rod grabbing in the prior art, and provide a kind of broken hammer drill rod grabbing device.

[0004] To achieve the above object, the technical scheme adopted by the utility model is as follows:

[0005] A kind of broken hammer drill rod grabbing device, comprising

[0006] 2 H-shaped frames are welded from upper plate, lower plate and two vertical plates, and the upper plate is provided with upper mounting hole for connecting with industrial robot or forklift;

[0007] 1 triangular beam is fixed to the rear end of the lower plate of the two H-shaped frames;

[0008] 2 fixed clamps, including fixed finger plate, the upper segment of fixed finger plate extends forward to form fixed part, the front end of fixed part is provided with axial horizontal outer hinge hole, fixed finger plate and fixed part are circularly transitioned, and the lower plate of the two H-shaped frames in front of triangular beam is fixed to fixed part;

[0009] 1 movable clamp, including movable finger plate, the upper segment of movable finger plate extends backward to form hinged part, the rear end of fixed part is provided with axial horizontal inner hinge hole, movable finger plate and hinged part are circularly transitioned, and hinge seat is fixed to the front end surface of hinged part and movable finger plate, and hinge shaft is inserted into outer hinge hole and inner hinge hole to make movable clamp hinged with two fixed clamps;

[0010] 1 oil cylinder, cylinder body is fixed on triangular beam between two fixed clamps;

[0011] 1 connecting plate, one end is hinged with piston rod of oil cylinder, and the other end is hinged with movable clamp through hinge seat.

[0012] Further, a sensor for identifying whether the breaking hammer drill rod is in place is further included, and the sensor is fixed to the outer side of one of the fixed clamping fingers.

[0013] Further, the sensor is a visual camera, a photoelectric sensor, a proximity sensor or a laser sensor.

[0014] Further, the sensor is electrically connected to a controller of an external device through a wire, and the control valve of the oil cylinder is electrically connected to the controller of the external device through a wire; when the grabbing device is connected with an industrial robot, the controller of the external device is an industrial robot controller; when the grabbing device is connected with a forklift, the controller of the external device is a forklift controller, which is used for receiving the detection signal of the sensor and sending a control instruction to the control valve of the oil cylinder to drive the oil cylinder to extend or retract.

[0015] Further, the lower end of the movable finger plate of the movable clamping finger is higher than or flush with the lower end of the fixed finger plate of the fixed clamping finger at any rotation angle.

[0016] Further, the connecting plate is in the shape of a "7".

[0017] Further, the inner side of the fixed finger plate and the movable finger plate is provided with an arc-shaped clamping surface, and the surface of the arc-shaped clamping surface is provided with anti-slip lines.

[0018] Further, a plurality of reinforcing ribs are fixed between the wing plates of the triangular cross beam.

[0019] Further, a bearing cavity is formed on the fixed connection part at the outer end of the outer hinge hole, and the outer ring of the bearing is fixed to the bearing cavity, and the inner ring supports the end of the hinge shaft.

[0020] Further, a wear-resistant gasket is arranged between the inner side of the hinge connection part of the movable clamping finger and the outer side of the fixed connection part of the fixed clamping finger, and the wear-resistant gasket is sleeved on the hinge shaft and is in contact with the hinge connection part and the fixed connection part, respectively.

[0021] The utility model has the following beneficial technical effects:

[0022] 1. Stable structure and strong carrying capacity: through the welding structure (welding of upper plate, lower plate and vertical plate) of the I-shaped frame and the setting of the triangular cross beam, combined with the reinforcing ribs between the wing plates of the triangular cross beam, the structural strength and rigidity of the whole device are greatly improved, and the device can stably carry heavy breaking hammer drill rods, and is suitable for heavy load operation scenes such as construction sites and factories.

[0023] 2. High degree of automation, safe and efficient operation: the movable clamp fingers are driven to open and close by oil cylinders, and the sensor detects the real-time position of the drill rod, the sensor and the oil cylinder control valve are electrically connected with the external equipment controller (industrial robot controller or forklift controller), realizing the automatic closed loop of "detection-control-execution", without manual intervention, the grabbing and relaxing actions can be completed, effectively reducing the manual operation intensity and safety risk, and improving the operation efficiency.

[0024] 3. Stable and reliable clamping, good anti-skid effect: the inner sides of the fixed clamp fingers and the movable clamp fingers are provided with arc-shaped clamping surfaces matched with the outer shape of the drill rod, and the surface anti-skid pattern design can increase the clamping contact area and friction, so that the drill rod is prevented from slipping or deviating during the grabbing process, and the stability of the clamping process is ensured.

[0025] 4. Strong adaptability and high universality: the upper mounting hole is formed in the upper plate of the I-shaped frame, so that the I-shaped frame can be flexibly connected with the industrial robot or the forklift; the external equipment controller can meet the control requirements of different host devices, without the need of additional special controller, so that the application scenarios of the device are widened, and the universality is enhanced.

[0026] 5. Key components are wear-resistant and durable, prolonging the service life: the hinge shaft is supported by bearings at the outer hinge hole, reducing the friction loss during rotation of the hinge shaft; wear-resistant gaskets are additionally arranged on the hinge joint surfaces of the movable clamp fingers and the fixed clamp fingers, further reducing the relative motion wear, effectively prolonging the service life of the device.

[0027] 6. Reasonable structure design and high assembly precision: the connection of the fixed clamp fingers and the lower plate of the I-shaped frame, the hinge joint of the movable clamp fingers and the fixed clamp fingers and other key parts are precisely matched by hinge shafts and bearings, ensuring the smoothness of the action and the assembly precision, and improving the overall reliability of the device. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a structural schematic view of the utility model.

[0029] Figure 2 It is a side view. Figure 1

[0030] Figure 3 It is a structural schematic view of the I-shaped frame of the utility model.

[0031] Figure 4 It is a structural schematic view of the triangular cross beam of the utility model.

[0032] Figure 5 It is a structural schematic view of the fixed clamp finger of the utility model.

[0033] Figure 6 It is a structural schematic view of the movable clamp finger of the utility model.

[0034] ​Figure 7 The utility model discloses a structure diagram of the connecting plate. DETAILED DESCRIPTION

[0035] In the description of the utility model, it is explained that, the orientation or positional relation of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is based on the orientation or positional relation shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as a limitation on the utility model.

[0036] In the description of the utility model, it is explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "communication" should be understood in a broad sense, for example, can be fixed connection, or detachable connection, or integrally connected, can be mechanical connection, or electrical connection, can be directly connected, or indirectly connected through an intermediate medium, can be the communication inside two elements. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0037] The embodiments of the utility model are described below by specific examples, and those skilled in the art can easily understand other advantages and effects of the utility model from the content disclosed in the specification. Obviously, the described examples are part of the examples of the utility model, not all examples. Based on the examples in the utility model, all other examples obtained by ordinary skilled persons in the art without creative labor belong to the scope of protection of the utility model.

[0038] As shown in the utility model discloses a kind of broken hammer drill rod grabbing device, including Figures 1-7

[0039] 2 H-shaped frames 1, are welded from upper plate 11, lower plate 12 and 2 vertical plates 13, the upper plate 11 is opened for being connected with industrial robot or forklift upper mounting hole;

[0040] 1 triangular crossbeam 2, is fixedly connected with the rear end of the lower plate 12 of 2 H-shaped frames 1;

[0041] 2 fixed clamping fingers 3, including fixed finger plate 31, the upper segment of fixed finger plate 31 extends forward to form fixed connection part 32, axial horizontal outer hinge hole 33 is opened in the front end of fixed connection part 32, fixed finger plate 31 and fixed connection part 32 are circularly transitioned, and fixed connection part 32 is fixedly connected with the lower plate 12 of 2 H-shaped frames 1 in front of triangular crossbeam 2 by 2 H-shaped frames 1;

[0042] ​1 active clamp finger 4, including an active finger plate 41, the upper section of the active finger plate 41 extends backward to form a hinge part 42, an axial and horizontal inner hinge hole 43 is opened on the hinge part 42, the active finger plate 41 and the hinge part 42 are circularly arc transitioned, the hinge seat 44 is fixed on the front end face of the hinge part 42 and the active finger plate 41, the hinge shaft is penetrated into the outer hinge hole 33 and the inner hinge hole 43 to make the active clamp finger 4 hinged with the two fixed clamp fingers 3;

[0043] 1 oil cylinder 5, the cylinder body is fixed on the triangular crossbeam 2 between the two fixed clamp fingers 3;

[0044] 1 connecting plate 6, one end of which is hinged with the piston rod of the oil cylinder 5, and the other end is hinged with the active clamp finger 4 through the hinge seat 44.

[0045] The working process of the broken hammer drill rod grabbing device is as follows:

[0046] 1. Device connection and fixation: the device is rigidly connected with external equipment such as industrial robots or forklifts through the upper mounting hole of the upper plate 11 of the I-shaped frame 1, to ensure that the overall structure is stable and does not shake during operation; the hydraulic pipeline of the oil cylinder 5 is connected with the external hydraulic source to complete the power supply link building.

[0047] 2. Grabbing preparation: the external equipment (industrial robots or forklifts) drives the device to move to the position where the broken hammer drill rod is to be grabbed, and confirms through vision or manual assistance that the drill rod is in the clamping area between the fixed clamp finger 3 and the active clamp finger 4.

[0048] 3. Clamping action driving: the external controller (industrial robot controller or forklift controller) sends a clamping instruction to the control valve of the oil cylinder 5, and the hydraulic oil enters the cylinder body of the oil cylinder 5 under the control of the control valve to drive the piston rod to extend. The piston rod transmits the thrust through the "7" shaped connecting plate 6, drives the active clamp finger 4 to rotate around the hinge shaft (penetrated into the outer hinge hole 33 of the fixed clamp finger 3 and the inner hinge hole 43 of the active clamp finger 4), and the bearing at the outer hinge hole 33 and the wear-resistant gasket inside the hinge part reduce the rotating friction to ensure smooth action.

[0049] 4. Drill rod clamping and fixing: the active clamp finger 4 approaches the fixed clamp finger 3 under the action of the thrust, the arc-shaped clamping surface inside the active finger plate 41 of the active clamp finger 4 and the arc-shaped clamping surface inside the fixed finger plate 31 of the fixed clamp finger 3 form a surrounding space to fit the surface of the drill rod; the anti-skid pattern of the clamping surface increases the contact friction force to realize the stable clamping of the drill rod. At this time, the lower end of the active finger plate 41 of the active clamp finger 4 is kept higher than or flush with the lower end of the fixed finger plate 31 of the fixed clamp finger 3 to avoid interference with the ground or surrounding components.

[0050] 5. Drill rod transfer and placement: After the device and the clamped drill rod are moved to the target position by the external equipment, the external controller sends a release command, the control valve of the oil cylinder 5 reverses, the hydraulic oil drives the piston rod to retract, the movable fingers 4 are pulled to rotate in the opposite direction around the hinge shaft through the connecting plate 6, the movable finger plate 41 is separated from the fixed finger plate 31, the drill rod is placed stably under the gravity or the assistance of the external equipment, and a grabbing operation cycle is completed.

[0051] The whole process is realized by hydraulic driving to realize the opening and closing of the fingers, the stability of clamping is ensured by the structural design of the arc-shaped clamping surface and the anti-skid pattern, the connection mode of the industrial robot or the forklift is adapted to improve the operation flexibility, manual direct contact with the heavy load drill rod is not needed, and the operation safety and efficiency are effectively improved.

[0052] In another preferred embodiment, a sensor 7 for identifying whether the breaking hammer drill rod is in place is further included, and the sensor 7 is fixed on the outer side of one of the fixed fingers 3. By arranging the sensor 7 on the outer side of the fixed finger 3, it can be automatically identified whether the breaking hammer drill rod enters the area to be grabbed and is in place, manual judgment is replaced, human operation errors are reduced, accurate triggering signals are provided for subsequent automatic clamping actions, and the automation basis of the grabbing operation is improved.

[0053] In another preferred embodiment, the sensor 7 is a visual camera, a photoelectric sensor, a proximity sensor or a laser sensor. Different operation environments (such as a dust environment, a poor light environment or a high-precision requirement scene) are provided for adaptive selection, the adaptability of the device to complex working conditions is enhanced, and the drill rod in place detection can be stably realized in various environments.

[0054] In another preferred embodiment, the sensor 7 is electrically connected to the controller of the external equipment through wires, and the control valve of the oil cylinder 5 is electrically connected to the controller of the external equipment through wires; when the grabbing device is connected with the industrial robot, the controller of the external equipment is the controller of the industrial robot; when the grabbing device is connected with the forklift, the controller of the external equipment is the controller of the forklift, which is used to receive the detection signal of the sensor 7 and send a control command to the control valve of the oil cylinder 5 to drive the oil cylinder 5 to extend or retract. By electrically connecting the sensor 7 and the control valve of the oil cylinder 5 with the controller of the external equipment (the controller of the industrial robot or the forklift), an automatic closed loop of “detection - control - execution” is formed, a special controller is not needed to be additionally configured, the cost is reduced, and the control logic of different external equipment is adapted to automatically drive the oil cylinder to act after the drill rod is in place, the operation efficiency and the intelligent level are improved. In another preferred embodiment, the lower end of the movable finger plate 41 of the movable finger 4 is higher than or flush with the lower end of the fixed finger plate 31 of the fixed finger 3 at any rotation angle.

[0055] In another preferred embodiment, the connecting plate 6 is in the shape of a "7". The "7" shape optimizes the force transmission path of the oil cylinder piston rod and the movable clamp finger, realizes efficient force transmission in limited space, reduces stress concentration in the transmission process, and at the same time, adapts to the layout relationship between the movable clamp finger and the oil cylinder, so that the overall structure is more compact, and the stability of the clamping action is improved.

[0056] In another preferred embodiment, the inner side of the fixed finger plate 31 and the movable finger plate 41 is provided with an arc-shaped clamping surface, and the surface of the arc-shaped clamping surface is provided with anti-skid lines. The arc-shaped clamping surface is matched with the cylindrical shape of the drill rod of the breaking hammer, so as to increase the clamping contact area; the surface anti-skid lines further improve the friction force, and the combination of the two can effectively prevent the drill rod from slipping and deviating during grabbing or transferring, and ensure the clamping reliability under heavy load working conditions.

[0057] In another preferred embodiment, a plurality of reinforcing ribs 8 are fixed between the wings of the triangular cross beam 2. The reinforcing ribs 8 added between the wings of the triangular cross beam 2 can significantly enhance the structural strength and deformation resistance of the cross beam, effectively resist the bending moment and torque generated by the gravity of the drill rod during grabbing operation, avoid deformation of the cross beam due to long-term stress, and prolong the service life of the overall device.

[0058] In another preferred embodiment, a bearing cavity 34 is formed on the fixed connection part 32 of the outer hinge hole 33, and the outer ring of the bearing is fixed in the bearing cavity 34, and the inner ring supports the end of the hinge shaft. By supporting the end of the hinge shaft through the bearing in the bearing cavity 34, the friction resistance when the hinge shaft rotates can be greatly reduced, the wear between the hinge shaft and the outer hinge hole 33 is reduced, the opening and closing action of the movable clamp finger 4 is more smooth and accurate, and at the same time, the assembly precision and durability of the hinge part are improved, and the maintenance frequency is reduced.

[0059] In another preferred embodiment, a wear-resistant gasket is arranged between the inner side of the hinge part 42 of the movable clamp finger 4 and the outer side of the fixed connection part 32 of the fixed clamp finger 3, and the wear-resistant gasket is sleeved on the hinge shaft and abuts against the hinge part 42 and the fixed connection part 32 respectively. By arranging the wear-resistant gasket between the hinge part 42 of the movable clamp finger 4 and the fixed connection part 32 of the fixed clamp finger 3, the direct contact friction between the two can be isolated, the wear amount when rotating relatively is reduced, the clamp finger body structure is protected, the service life of the hinge part is prolonged, at the same time, the abnormal sound and vibration during the action process are reduced, and the running stability is improved.

[0060] The above description is only a preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A hydraulic breaker rod gripping device, characterized in that, include Two I-beam frames (1) are welded together from an upper plate (11), a lower plate (12) and two vertical plates (13). The upper plate (11) has an upper mounting hole for connecting with an industrial robot or forklift. One triangular beam (2) is fixedly connected to the rear end of the lower plate (12) of two I-beams (1); Two fixed clamping fingers (3) include a fixed finger plate (31). The upper part of the fixed finger plate (31) extends forward to form a fixed connection part (32). An axially horizontal external hinge hole (33) is opened at the front end of the fixed connection part (32). The fixed finger plate (31) and the fixed connection part (32) are connected by an arc. The fixed connection part (32) is fixed to the lower plate (12) of the two I-beams (1) in front of the triangular beam (2). One movable finger (4) includes a movable finger plate (41). The upper part of the movable finger plate (41) extends backward to form a hinge part (42). An axially horizontal inner hinge hole (43) is opened at the rear end of the hinge part (42). The movable finger plate (41) and the hinge part (42) are connected by an arc. A hinge seat (44) is fixed on the front end face of the hinge part (42) and the movable finger plate (41). The hinge shaft passes through the outer hinge hole (33) and the inner hinge hole (43) to make the movable finger (4) hinged with two fixed fingers (3). One oil cylinder (5), the cylinder body is fixed on the triangular crossbeam (2) between two fixed clamping fingers (3); One connecting plate (6) is hinged at one end to the piston rod of the oil cylinder (5), and at the other end is hinged to the movable clamping finger (4) through the hinge seat (44).

2. The hydraulic breaker rod gripping device according to claim 1, characterized in that, It also includes a sensor (7) for identifying whether the breaker bar is in place, the sensor (7) being fixed to the outer side of one of the fixed clamp fingers (3).

3. The hydraulic breaker rod gripping device according to claim 2, characterized in that, The sensor (7) is a visual camera, photoelectric sensor, proximity sensor or laser sensor.

4. The hydraulic breaker rod gripping device according to claim 2, characterized in that, The sensor (7) is electrically connected to the controller of the external device via a wire, and the control valve of the cylinder (5) is electrically connected to the controller of the external device via a wire. When the gripping device is connected to the industrial robot, the controller of the external device is the industrial robot controller. When the gripping device is connected to the forklift, the controller of the external device is the forklift controller, which is used to receive the detection signal of the sensor (7) and send control commands to the control valve of the cylinder (5) to drive the cylinder (5) to extend and retract.

5. The hydraulic breaker rod gripping device according to claim 1, characterized in that, The lower end of the movable finger plate (41) of the movable finger clamp (4) is higher than or flush with the lower end of the fixed finger plate (31) of the fixed finger clamp (3) at any rotation angle.

6. The hydraulic breaker rod gripping device according to claim 1, characterized in that, The connecting plate (6) is shaped like the number "7".

7. The hydraulic breaker rod gripping device according to claim 1, characterized in that, Both the fixed finger plate (31) and the movable finger plate (41) have arc-shaped clamping surfaces on their inner sides, and the surfaces of the arc-shaped clamping surfaces are provided with anti-slip textures.

8. The hydraulic breaker rod gripping device according to claim 1, characterized in that, Multiple reinforcing ribs (8) are fixed between the flanges of the triangular beam (2).

9. The hydraulic breaker rod gripping device according to claim 1, characterized in that, A bearing cavity (34) is formed on the fixed part (32) at the outer end of the external hinge hole (33), the outer ring of the bearing is fixed in the bearing cavity (34), and the inner ring supports the end of the hinge shaft.

10. The hydraulic breaker rod gripping device according to claim 1, characterized in that, A wear-resistant pad is provided between the inner side of the hinge part (42) of the movable clamping finger (4) and the outer side of the fixed part (32) of the fixed clamping finger (3). The wear-resistant pad is sleeved on the hinge shaft and fits against the hinge part (42) and the fixed part (32) respectively.

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