CN203531125U - Mechanical arm type dredging mechanism - Google Patents
Mechanical arm type dredging mechanism Download PDFInfo
- Publication number
- CN203531125U CN203531125U CN201320712362.4U CN201320712362U CN203531125U CN 203531125 U CN203531125 U CN 203531125U CN 201320712362 U CN201320712362 U CN 201320712362U CN 203531125 U CN203531125 U CN 203531125U
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- CN
- China
- Prior art keywords
- grab bucket
- piston rod
- desilting
- mechanical arm
- dredging
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model relates to a mechanical arm type dredging mechanism, which belongs to the technical field of urban sludge cleaning equipment, wherein one end of a main shaft (7) is arranged in a main shaft sleeve (3), and is connected with a lifting piston rod (6), the lifting piston rod (6) is connected with a lifting oil cylinder (5), the main shaft sleeve (3) is connected with a gear motor (2), the other end of the main shaft (7) is hinged with a mechanical arm, the mechanical arm is of a quadrangle, and is connected with a translation piston rod (9), the translation piston rod (9) is connected with a translation oil cylinder (8), one end of a grab piston rod (15) is fixedly connected with the translation piston rod (9), the other end of the grab piston rod (15) is hinged with a connecting pull rod, the other end of the connecting pull rod is connected with a dredging grab bucket, and the dredging grab bucket comprises a right dredging grab bucket (12) and a left dredging grab bucket (13), and is of a symmetrical structure. The mechanical arm type dredging mechanism has the beneficial effects that the mechanical arm type dredging mechanism is wide in dredging range, flexible and thorough in dredging and high in dredging efficiency, reduces labor strength of workers, and improves operation environment of the workers.
Description
Technical field
The utility model relates to the arm-type dredging mechanism of a kind of manipulator, and especially city inspection shaft mud dredging mechanism, belongs to municipal sludge cleaning equipment technical field.
Background technology
At present, the desilting work of urban life or industrial inspection shaft is generally that craft is drawn clearly, artificial underground work, and sludge treatment efficiency is low, and labor strength is large, and operating environment is severe.Existing dredging mechanism, can not can only work with well head vertical line flexibly in the inner desilting of inspection shaft, makes desilting scope little, and desilting is not thorough etc.And in desilting process, only depend on the weight of grab bucket itself to enter desilting in mud, certainly will cause desilting snatch rate low, while running into branch or hard thing piece, cause the problems such as desilting is not thorough.
Utility model content
The utility model object is to provide the arm-type dredging mechanism of a kind of manipulator, and desilting scope is wide, and desilting flexibly, thoroughly, solves the problem existing in background technology.
The technical solution of the utility model is:
The arm-type dredging mechanism of a kind of manipulator, comprise rack sleeve, lifting piston rod, main shaft, translation piston rod, capture piston rod, mechanical arm and desilting grab bucket, main shaft one end is located in rack sleeve, and be connected with lifting piston rod, lifting piston rod connects hoist cylinder, rack sleeve connects reducing motor, main shaft other end articulated robot arm arm, described mechanical arm is quadrangle, and be connected with translation piston rod, translation piston rod is connected with translation oil cylinder, capturing piston rod one end is fixedly connected with mechanical arm, the other end and cylinder lever connecting rod are hinged, the cylinder lever connecting rod other end connects desilting grab bucket, described desilting grab bucket comprises right desilting grab bucket and left desilting grab bucket, be symmetrical structure.
Described mechanical arm is configured to parallelogram by two manipulator jibs and desilting grab bucket, can meet desilting grab bucket in the indoor horizontal movement of well, and the direction that guarantees desilting grab bucket is convenient to capture mud all the time straight down, described cylinder lever connecting rod is four rod hinge connections, and is connected with left desilting grab bucket with right desilting grab bucket.Can realize the opening and closing of right desilting grab bucket and left desilting grab bucket.
Adopt the utility model, under the effect of lifting piston rod traction, make desilting integrated model vertically flexible, realize turnover inspection shaft chamber; By main shaft, rotarily drive desilting grab bucket in the rotation of well chamber interior, better meet desilting grab bucket in the indoor rotation of well, make desilting more flexible; Mechanical arm completes horizontal movement under the driving of translation oil cylinder, meets desilting grab bucket in the indoor horizontal movement of well, horizontally rotates action and make to reach any desilting position in desilting grab bucket horizontal direction in cooperation inspection well dredging process; Gripper cylinder is controlled the opening and closing of right desilting grab bucket and left desilting grab bucket, completes grasping movement.
The beneficial effects of the utility model are: the mechanical arm of (1) parallelogram sturcutre, can meet desilting grab bucket in the indoor horizontal movement of well, and the direction that assurance desilting grab bucket is set of grasping mechanism seat is convenient to capture mud all the time straight down simultaneously; (2) horizontally rotating of main shaft, rotates in the indoor horizontal direction of well thereby better meet desilting grab bucket, makes desilting more flexible; (3) setting of desilting elevating mechanism, can make whole mechanism stable lifting, meets desilting grab bucket in the indoor vertical direction motion of well; (4) the application hydraulic-driven open type four connecting rod desiltings lifting action of grasping movement and integrated model of having grabbed bucket, improve that existing other kind equipment cleaning process transmission efficiencies are low, rope jacking system causes and only depends on the weight of grab bucket itself to enter desilting in mud, certainly will cause desilting snatch rate low, cause the problems such as desilting is not thorough while running into branch or hard thing piece, guarantee efficient, the stable and reliability service of desilting under various operating modes.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is that the utility model mechanical arm moves horizontally rear schematic diagram;
Fig. 3 is that schematic diagram is opened in the utility model desilting grab bucket;
In figure: dredging mechanism seat 1, reducing motor 2, rack sleeve 3, thrust ball bearing 4, hoist cylinder 5, lifting piston rod 6, main shaft 7, translation oil cylinder 8, translation piston rod 9, cylinder lever connecting rod 10, right desilting grab bucket connecting rod 11, right desilting grab bucket 12, left desilting grab bucket 13, left desilting grab bucket connecting rod 14, crawl piston rod 15, gripper cylinder 16, desilting grab bucket support 17, manipulator jib 18.
The specific embodiment
Below in conjunction with accompanying drawing, by example, the utility model is described in further detail.
With reference to accompanying drawing 1,2,3, the arm-type dredging mechanism of a kind of manipulator, main shaft 7 tops are connected with lifting piston rod 6, hoist cylinder 5 is fixing with rack sleeve 3, main shaft 7 can be in the interior slip of rack sleeve 3, rack sleeve 3 is connected by thrust ball bearing 4 with dredging mechanism seat 1, and reducing motor 2 is connected with rack sleeve 3;
On desilting grab bucket support 17, gripper cylinder 16 is installed, capture piston rod 15 and two cylinder lever connecting rods 10 hinged, two cylinder lever connecting rods 10 are hinged with left desilting grab bucket connecting rod 14 and right desilting grab bucket connecting rod 11 respectively, left desilting grab bucket connecting rod 14 and right desilting grab bucket connecting rod 11 are all hinged with desilting grab bucket support 17, on left desilting grab bucket connecting rod 14 and right desilting grab bucket connecting rod 11, left desilting grab bucket 13 and right desilting grab bucket 12 are installed respectively.
The course of work:
With reference to accompanying drawing 1, lifting action in inspection well dredging process: main shaft is under the effect of lifting piston rod 6 tractions, flexible along rack sleeve 3 vertical directions, and integrated model is moved up and down, turnover inspection shaft chamber, makes to reach desilting position on desilting grab bucket vertical direction.
With reference to accompanying drawing 1, in inspection well dredging process, horizontally rotate action: by reducing motor 2, drive main shaft 7 rotations, mechanism can be horizontally rotated, drive desilting grab bucket in the rotation of well chamber interior.
With reference to accompanying drawing 2, horizontal balance in inspection well dredging process: the mechanical arm being formed by parallel-crank mechanism, under the driving of translation oil cylinder 8, complete horizontal movement, meet desilting grab bucket in the indoor horizontal movement of well, in cooperation inspection well dredging process, horizontally rotate action and make to reach any desilting position in desilting grab bucket horizontal direction.
With reference to accompanying drawing 3, grasping movement in inspection well dredging process: gripper cylinder 16 is controlled the opening and closing of right desilting grab bucket 12 and left desilting grab bucket 13, completes grasping movement.
Claims (2)
1. the arm-type dredging mechanism of manipulator, it is characterized in that comprising rack sleeve (3), lifting piston rod (6), main shaft (7), translation piston rod (9), capture piston rod (15), mechanical arm and desilting grab bucket, main shaft (7) one end is located in rack sleeve (3), and be connected with lifting piston rod (6), lifting piston rod (6) connects hoist cylinder (5), rack sleeve (3) connects reducing motor (2), main shaft (7) other end articulated robot arm arm, described mechanical arm is quadrangle, and be connected with translation piston rod (9), translation piston rod (9) is connected with translation oil cylinder (8), capturing piston rod (15) one end is fixedly connected with mechanical arm, the other end and cylinder lever connecting rod are hinged, the cylinder lever connecting rod other end connects desilting grab bucket, described desilting grab bucket comprises right desilting grab bucket (12) and left desilting grab bucket (13), be symmetrical structure.
2. the arm-type dredging mechanism of manipulator according to claim 1, it is characterized in that described mechanical arm forms parallelogram by two manipulator jibs (18) and desilting grab bucket support (17), described cylinder lever connecting rod is four rod hinge connections, and with right desilting grab bucket (12) and left desilting grab bucket (13) be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320712362.4U CN203531125U (en) | 2013-11-13 | 2013-11-13 | Mechanical arm type dredging mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320712362.4U CN203531125U (en) | 2013-11-13 | 2013-11-13 | Mechanical arm type dredging mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203531125U true CN203531125U (en) | 2014-04-09 |
Family
ID=50417349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320712362.4U Expired - Fee Related CN203531125U (en) | 2013-11-13 | 2013-11-13 | Mechanical arm type dredging mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203531125U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105544717A (en) * | 2016-01-13 | 2016-05-04 | 长沙智汛通环保科技有限公司 | Novel shaft is drawn and is dug car |
| CN110355747A (en) * | 2018-11-21 | 2019-10-22 | 上海交通大学 | Two-freedom planar flexible pick and place machine structure |
-
2013
- 2013-11-13 CN CN201320712362.4U patent/CN203531125U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105544717A (en) * | 2016-01-13 | 2016-05-04 | 长沙智汛通环保科技有限公司 | Novel shaft is drawn and is dug car |
| CN105544717B (en) * | 2016-01-13 | 2017-10-27 | 长沙智汛通环保科技有限公司 | Shaft is drawn and is dug car |
| CN110355747A (en) * | 2018-11-21 | 2019-10-22 | 上海交通大学 | Two-freedom planar flexible pick and place machine structure |
| CN110355747B (en) * | 2018-11-21 | 2022-06-14 | 上海交通大学 | Two-degree-of-freedom planar flexible taking and placing mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140409 Termination date: 20151113 |