CN220051908U - A hydraulic mechanical arm for robots - Google Patents

Abstract

The utility model belongs to the technical field of mechanical arms, and discloses a hydraulic mechanical arm for a robot, which comprises a hydraulic arm body and a tool changing actuator connected to the execution tail end of the hydraulic arm body, wherein the tool changing actuator comprises two tool rests symmetrically arranged and a clamp holder matched with the two tool rests; each tool rest comprises a fixed clamping seat and a movable clamping seat which can move relatively, and the tool is fixed between the two fixed clamping seats; the holder comprises a clamping assembly and a driving assembly connected with the clamping assembly, the clamping assembly is used for clamping two fixed clamping seats, and the driving assembly is used for driving the movable clamping seat to move and clamp into the cutter holder clamping groove of the shield tunneling machine relative to the fixed clamping seat. In conclusion, the clamp holder drives the tool rest to complete automatic contraction or expansion deformation, so that the tool rest is convenient to automatically complete disassembly and assembly between the tool and the tool rest under the movement of the hydraulic arm body.

Description

A hydraulic mechanical arm for robots

Technical field

The utility model belongs to the technical field of tool changing mechanical arms, and specifically relates to a hydraulic mechanical arm for robots.

Background technique

During the construction process of the shield machine, the tools wear out a lot and must be replaced frequently. Manual tool changing is usually used in the existing technology. However, since most shield machines are constructed under severe working conditions such as large burial depths and high water pressures, manual tool changing operations are difficult, inefficient and prone to safety accidents. In addition, in order to reduce the difficulty of manual tool change, it is undeniable that some construction sites will set up hydraulic manipulators to assist in tool change. However, the existing manipulator mainly consists of an arm body and a clamping claw, of which tool clamping is realized based on the clamping claw. , but the connecting bolts and other structures between the tool and the tool holder/cutterhead still need to be disassembled and assembled manually, so it cannot completely rely on the existing robotic arm to complete unmanned automatic tool change.

Utility model content

The purpose of this utility model is to provide a hydraulic manipulator for robots, specifically by improving the tool change actuator at the end of the manipulator to achieve the effect of unmanned and fully automatic tool change.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

A hydraulic manipulator for robots, including a hydraulic arm body and a tool change actuator connected to the execution end of the hydraulic arm body. The tool change actuator includes two symmetrically arranged tool rests and two tool rests. Matching holder;

Each of the tool holders includes a relatively movable fixed card holder and a movable card holder, and the tool is fixed between the two fixed card holders;

The clamper includes a clamping component and a driving component connected to the clamping component, and the clamping component is used to clamp two fixed card holders, and the driving component is used to drive the moving card holders relative to each other. The fixed card holder is moved and inserted into the shield machine tool holder card slot.

Preferably, the movable card base is connected to the outside of the fixed card base through a telescopic assembly, and the driving assembly is used to drive the telescopic assembly to expand and contract along the direction of the connection line between the two tool holders.

Preferably, the telescopic assembly includes a first turntable and a second turntable that can relatively rotate around a central axis, and both the first turntable and the second turntable are provided with convex teeth and grooves staggered along the circumferential direction.

Preferably, the telescopic assembly further includes an elastic telescopic rod connected between the movable card base and the fixed card base.

Preferably, the first turntable is fixedly connected to the movable deck, and the second turntable is rotationally connected to the fixed deck.

Preferably, a limiting threaded rod rotatably connected to the fixed card base is provided along the radial direction of the second turntable, the second turntable is located between the limiting threaded rod and the first turntable, and the A threaded sleeve is provided on the screw sleeve of the limiting threaded rod, and a pull rod is rotatably connected between the threaded sleeve and the second turntable.

Preferably, the clamping assembly includes two clamping jaws that can move toward or opposite to each other, and by moving, the two clamping jaws can be symmetrically clamped on the outside of the two threaded sleeves.

Preferably, the clamping assembly further includes a base and a lead screw rotatably mounted on the base. The lead screw has two threaded parts with opposite thread directions, and the two clamping jaws are respectively connected with the two threads. Partial screw connection.

Preferably, one side of the threaded sleeve is provided with an extension plate that can conflict with the clamping jaw.

Preferably, the driving assembly includes: a mounting plate fixedly connected to the clamping jaw, and a driving threaded rod rotatably disposed on the mounting plate, and the movement of the clamping jaw allows the driving threaded rod to connect with the clamping jaw. The limiting threaded rod is helically engaged.

Compared with the existing technology, this utility model has the following beneficial effects:

(1) This utility model improves the tool change actuator at the end of the robotic arm, and the improved tool change actuator includes a retractable or expandable tool holder, so that the retractable tool holder and its tool holder can be retracted based on the movement of the hydraulic arm body. The fixed tool is inserted into the tool holder, and then the tool holder is unfolded to realize automatic engagement between the tool holder and the tool holder, thus facilitating the automatic replacement of the tool without manual operation. The tool changing operation is safe and efficient.

(2) The tool holder shrinks or expands through the relatively movable fixed card holder and the movable card holder, and specifically drives the movable card holder to move through the rotational misalignment of the first turntable and the second turntable. The structure is simple and stable.

(3) A threaded sleeve is provided that is spirally connected to the limiting threaded rod, and a pull rod is rotatably connected between the threaded sleeve and the second rotatable turntable, so that when the limiting threaded rod is rotated and driven, the first turntable and the rotatable second turntable can be completed. The second turntable is rotated and misaligned to realize the mobile driving of the fixed card holder and the movable card holder. Based on this structure, a corresponding driving threaded rod that can be spirally engaged with the limiting threaded rod is provided, thereby ensuring that the overall tool change actuator can automatically complete Deformation drive.

Description of the drawings

Figure 1 is a schematic structural diagram of the utility model;

Figure 2 is a schematic structural diagram of the tool change actuator in the utility model;

Figure 3 is an exploded view of the structure of the tool holder of the utility model;

Figure 4 is a schematic diagram of the cooperation between the first turntable and the second turntable in the present utility model;

Figure 5 is a schematic structural diagram of the clamper of the present utility model;

Figure 6 is a schematic structural diagram of the utility model when the tool holder is clamped and fixed in the tool holder;

In the picture: hydraulic arm body-100; tool change actuator-200;

Tool holder-1; fixed card holder-11; movable card holder-12; first turntable-13; second turntable-14; elastic telescopic rod-15; limit threaded rod-16; threaded sleeve-17; pull rod-18 ;Extension plate-19;Clamp-2;Clamp-21;Base-22;Screw-23;Mounting plate-24;Driving threaded rod-25.

Detailed ways

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 part of the embodiments of the present utility model, not all implementations. example. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present utility model.

Figure 1 is a schematic structural diagram of a hydraulic manipulator for robots of the present invention (the figure also shows a shield machine tool holder). As can be seen from the figure, the hydraulic manipulator specifically includes a hydraulic arm body 100 and a device connected to the hydraulic arm body 100 The tool change actuator 200 at the end of execution. in:

The hydraulic arm body 100 adopts an existing multi-axis hydraulic arm body to ensure that the overall hydraulic mechanical arm can operate with multiple degrees of freedom;

The tool change actuator 200 is an improved part of the new tool of this embodiment. As shown in FIG. 2 , the tool change actuator 200 includes two symmetrically arranged tool rests 1 and a holder 2 matching the two tool rests 1 .

As can be seen from Figure 3, each tool holder 1 includes a fixed card holder 11 and a movable card holder 12 that can move relatively. The fixed card holder 11 is rotatably connected to a second turntable 14, and the movable card holder 12 is fixedly connected to a first turntable. 13. The sides of the first turntable 13 and the second turntable 14 that conflict with each other are provided with convex teeth and grooves staggered in the circumferential direction, and the moving card base 12 and the fixed card base 11 are also connected with elastic telescopic members for limiting the moving direction. Rod 15 (the elastic telescopic rod 15 is an existing technology and specifically includes an outer rod, an inner rod and a spring, and its expansion and contraction direction is parallel to the connecting direction of the two tool holders 1). Based on this and combined with the principle shown in Figure 4, it can be seen that under the limitation of the elastic telescopic rod 15, the sides of the first turntable 13 and the second turntable 14 that are close to each other can conflict with each other, and:

When the two conflict as shown in the upper figure of Figure 4, the convex teeth of the first turntable 13 are stuck into the grooves of the second turntable 14, and the convex teeth of the second turntable 14 are stuck into the grooves of the first turntable 13. This makes the overall axial length of the first turntable 13 and the second turntable 14 appear in the shortest state. Correspondingly, the distance between the fixed card holder 11 and the movable card holder 12 is the shortest, that is, the entire tool holder 1 is in a contracted state.

When the two collide as shown in the lower figure of Figure 4, the convex teeth of the first turntable 13 resist the protrusions of the second turntable 14, and the elastic telescopic rod 15 extends, thereby causing the first turntable 13 and the second turntable 14 to become integrally connected. The axial length is the longest. Correspondingly, the distance between the fixed card holder 11 and the movable card holder 12 is the longest, that is, the entire tool holder 1 is in an expanded form.

Further combined with Figure 3, it can be seen that a limiting threaded rod 16 is provided along the radial direction of the second turntable 14 and is rotatably connected to the fixed card base 11. The second turntable 14 is located between the limiting threaded rod 16 and the first turntable 13. The limiting threaded rod 16 is provided with a threaded sleeve 17 on the screwing sleeve, and a pull rod 18 is rotatably connected between the threaded sleeve 17 and the second turntable 14 . It can be seen from this that when the limiting threaded rod 16 rotates, the threaded sleeve 17 will be driven to move along the limiting threaded rod 16 based on the screw transmission. The movement of the threaded sleeve 17 causes the position and inclination angle of the pull rod 18 to change, thereby driving the third The second turntable 14 rotates; if the threaded sleeve 17 moves away from the second turntable 14 along the limiting threaded rod 16, the threaded sleeve 17 pulls the second turntable 14 through the pull rod 18. At this time, based on the rotation of the pull rod 18, The connection between the pull rod 18 and the second turntable 14 is driven closer to the connection between the limiting threaded rod 16 and the second turntable 14 , thereby realizing clockwise rotational driving of the second turntable 14 in FIG. 3 . On the contrary, when the threaded sleeve 17 moves in a direction closer to the second turntable 14 along the limiting threaded rod 16, the counterclockwise rotation drive of the second turntable 14 in FIG. 3 can be realized.

As can be seen from FIG. 5 , the clamper 2 includes a clamping component and a driving component connected to the clamping component. The clamping component is used to clamp two fixed card holders 11 , and the driving component is used to drive the movable card holder 12 relative to the fixed card holder 11 . The card holder 11 is moved and inserted into the slot of the shield machine tool holder. specific:

The clamping assembly includes a base 22, a screw 23 rotatably mounted on the base 22, and two clamping jaws 21 screwed to the screw 23. The screw 23 has two threaded parts with opposite thread directions, and the two clamping jaws 21 are screwed and connected to the two threaded parts respectively, so that the two clamping jaws 21 can move toward or in opposite directions;

The driving assembly includes a mounting plate 24 fixedly connected to the clamping jaw 21, and a driving threaded rod 25 rotatably arranged on the mounting plate 24, and the movement of the clamping jaw 21 can cause the driving threaded rod 25 and the limiting threaded rod 16 to spiral Engagement.

In summary, it can be seen that when the hydraulic manipulator for robots provided by the present utility model specifically performs tool change on a shield machine, its operations are as follows:

Take the installation of cutting tools (hobs) as an example

First, a tool holder 1 is fixed (can be bolted) on both sides of the hob (in the axial direction), so that the hob is fixed between the two fixed blocks 11;

Then, through the adjustment of the hydraulic arm body 100, the two clamping claws 21 on the clamper 2 are aligned with the hob and the tool holder 1 on both sides, and the screw 23 on the base 22 is driven by the motor to rotate, thereby driving the two Each clamping jaw 21 slides along the base 22 , so that the two clamping jaws 21 are symmetrically clamped on the outside of the two threaded sleeves 17 . Preferably, in order to improve the clamping stability of the clamping jaw 21, an extension plate 19 that can conflict with the clamping jaw 21 is provided on one side of the threaded sleeve 17, thereby increasing the clamping force between the clamping jaw 21 and the threaded sleeve 17. Contact area.

After clamping, through the adjustment of the hydraulic arm body 100, the tool change actuator 200 holding the hob is aligned with the tool holder on the cutterhead of the shield machine, and the hob and the tool holders 1 on both sides are installed. into the tool holder. At this time, the tool holder 1 remains in the contracted shape shown in Figure 1;

After the tool holder 1 is placed in the tool holder, the screw 23 on the base 22 is driven by the motor to rotate, thereby driving the two clamping jaws 21 to move, and at the same time driving the two driving threaded rods 25 and the two limiting threaded rods 16 respectively. To form a spiral mesh (in the illustration of the present utility model, the driving threaded rod 25 is located inside the two clamping jaws 21, so the two clamping jaws 21 move away from each other during this process), which can be set on the mounting plate 24 The micro motor is used to drive the rotation of the driving threaded rod 25, thereby using the rotation of the driving threaded rod 25 to drive the limiting threaded rod 16 to rotate, thereby driving the second turntable 14 to rotate, and causing the tool holder 1 to change from a contracted state to an expanded state. form, and after unfolding, the moving card holder 12 of the tool holder 1 is snapped into the tool holder slot of the shield machine (as shown in Figure 6), and the installation of the tool (hob) is automatically completed.

The above has fully described the specific process of installing the tool. Removing the tool is the reverse operation of installing the tool and will not be described in detail here.

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art will understand that various changes and modifications can be made to these embodiments without departing from the principles and spirit of the present invention. , substitutions and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. A hydraulic manipulator for robots, including a hydraulic arm body (100) and a tool change actuator (200) connected to the execution end of the hydraulic arm body (100), characterized in that: the tool change actuator (200) 200) includes two symmetrically arranged tool holders (1) and a holder (2) matching the two tool holders (1); Each of the tool holders (1) includes a relatively movable fixed card holder (11) and a movable card holder (12), and the tool is fixed between the two fixed card holders (11); The holder (2) includes a clamping component and a driving component connected to the clamping component, and the clamping component is used to clamp two fixed holders (11), and the driving component is used to drive The movable card holder (12) moves relative to the fixed card holder (11) and is inserted into the shield machine tool holder slot. 2. The hydraulic manipulator for robots according to claim 1, characterized in that: the mobile card holder (12) is connected to the outside of the fixed card holder (11) through a telescopic assembly, and the driving assembly is used for The telescopic assembly is driven to expand and contract along the direction of the line connecting the two tool rests (1). 3. The hydraulic manipulator for robots according to claim 2, characterized in that: the telescopic assembly includes a first turntable (13) and a second turntable (14) capable of relatively rotating around a central axis, and the first turntable (13) and the second turntable (14) Both the turntable (13) and the second turntable (14) are provided with convex teeth and grooves staggered along the circumferential direction. 4. The hydraulic manipulator for robots according to claim 3, characterized in that: the telescopic assembly further includes an elastic telescopic rod connected between the mobile card holder (12) and the fixed card holder (11). (15). 5. The hydraulic manipulator for robots according to claim 3, characterized in that: the first turntable (13) is fixedly connected to the mobile deck (12), and the second turntable (14) is rotatably connected. on the fixed card holder (11). 6. The hydraulic manipulator for robots according to claim 5, characterized in that: a limiting thread rotatably connected to the fixed card base (11) is provided along the radial direction of the second turntable (14). Rod (16), the second turntable (14) is located between the limiting threaded rod (16) and the first turntable (13), and the limiting threaded rod (16) is provided with a threaded sleeve ( 17), a pull rod (18) is rotatably connected between the threaded sleeve (17) and the second turntable (14). 7. The hydraulic manipulator for robots according to claim 6, characterized in that: the clamping assembly includes two clamping jaws (21) that can move towards or oppositely, and the two clamping jaws (21) can be moved by movement. ) are symmetrically clamped on the outsides of the two threaded sleeves (17). 8. The hydraulic manipulator for robots according to claim 7, characterized in that: the clamping assembly further includes a base (22) and a screw (23) rotatably installed on the base (22), The screw (23) has two threaded parts with opposite thread directions, and the two clamping jaws (21) are screwed to the two threaded parts respectively. 9. The hydraulic manipulator for robots according to claim 7, characterized in that: one side of the threaded sleeve (17) is provided with an extension plate (19) that can conflict with the clamping jaw (21). 10. The hydraulic manipulator for robots according to claim 7, wherein the driving assembly includes: a mounting plate (24) fixedly connected to the clamping jaw (21), and A driving threaded rod (25) is rotatably provided on the mounting plate (24), and through the movement of the clamping jaw (21), the driving threaded rod (25) and the limiting threaded rod (16) can be Spiral engagement.