CN108058167A - A kind of high rigidity anti-deformation fro hydraulic driving machinery arm - Google Patents

Abstract

The invention discloses a high-rigidity anti-deformation hydraulically driven mechanical arm, which comprises a rotary base, a large arm, a second arm, a third arm, a wrist and a grip. The rotary base is driven to rotate by a rotary motor, the rotary base is hinged with the boom through a hinge point, the boom can realize up and down pitching motion, the boom is hinged with the two arms, and the hydraulic cylinder telescopic, to realize the pitching motion of the second arm around the main arm, the second arm is slidingly connected to the third arm, and the linear motion of the third arm is realized through the expansion and contraction of the hydraulic cylinder, and the third arm is hinged to the wrist, The wrist end is connected with the hand grip, and the hand grip can rotate around the wrist. Through the pitching and swinging motions of the rotary base, the big arm, the second arm, the third arm and the wrist, the grasping and releasing of any position in the grasping space can be finally realized.

Description

A high-rigidity anti-deformation hydraulically driven mechanical arm

technical field

The invention relates to a mechanical part, in particular to a high-rigidity anti-deformation hydraulically driven mechanical arm.

Background technique

With the development of technology, robotic arms are widely used in industrial production and construction industries due to their flexibility. The operability of the manipulator directly affects the stability and grasping accuracy of the manipulator when grabbing the workpiece. If the operation is inconvenient, it will affect the actual use effect, reduce the application range, or the workpiece will be stuck and cannot be effectively grasped during the action. Therefore, the requirements for the movement of the robotic arm and the flexibility of the grip of the robotic hand are very high. In the prior art, the mechanical arm usually uses a heavy one-piece plate to ensure its rigidity. Because of its heavy weight, its working speed slows down. At the same time, the mechanical grip is generally connected to the end of the mechanical arm, which affects production efficiency. .

Contents of the invention

The present invention aims at the problem of the background technology, and aims to provide a high-rigidity anti-deformation hydraulically driven mechanical arm with flexible grasping and wide adaptability.

To achieve the above object, the technical solution of the present invention is:

A high-rigidity anti-deformation hydraulically driven mechanical arm, including a rotary base, a large arm, a second arm, a third arm, a wrist, and a grip; wherein, the rotary base is hinged to the large arm through a hinge point, and the large arm can To realize the up and down pitching movement, the big arm is hinged with the second arm, the second arm can do pitching movement around the big arm, the second arm is slidingly connected with the third arm, and the third arm can move in the second arm Telescopic linear motion, the three arms are hinged with the wrist, the end of the wrist is connected to the grip, and the grip can rotate around the wrist; 1. The pitching and rocking movements of the wrist realize the grasping and releasing of any position in the grasping space.

Preferably, the rotary base is driven by a rotary motor.

Preferably, the number of the slewing motors is 2, which are vertically arranged under the slewing base at 90°, and the slewing motors can realize emergency stop and adjustment in the direction of rotation, which can ensure the rotation of the entire mechanical arm during the grasping process. Excessive force damages the structure.

Preferably, the boom is driven by a hydraulic cylinder to pitch and move around the rotary base; the base of the hydraulic cylinder is fixed on the rotary base, and the piston rod of the hydraulic cylinder is connected to the fixed block of the boom.

Preferably, there are two hydraulic cylinders, which are respectively arranged on both sides of the boom.

Preferably, the second arm is driven to pitch around the boom by the hydraulic cylinder 2, the base of the second hydraulic cylinder is fixed on the boom fixing block, and the piston rod of the second hydraulic cylinder is connected to the fixing block of the second arm.

Preferably, the three arms are driven to move linearly by hydraulic cylinders arranged inside the two arms.

Preferably, the wrist includes a swing cylinder, a push rod, a connecting rod, and a slewing platform; the swing cylinder is driven by oil to drive the connecting rod to rotate, the connecting rod is hinged to the push rod, and the push rod is connected to the The bottom end of the slewing platform is hinged, and the slewing platform can rotate around its own axis.

Preferably, the connecting rod includes two arc-shaped positioning rods and a connecting rod connecting the two arc-shaped positioning rods, the two ends of the arc-shaped positioning rod are respectively hinged to the wrist base and the connecting rod; the connecting rod is connected to the swing cylinder , the push rod is hinged to the connecting rod.

Preferably, the hand grasp includes a left hand grasp, a hand grasp hydraulic push rod, a hand grasp support, and a right hand grasp; the left hand grasp and the right hand grasp are symmetrically arranged, and the left hand grasp is realized through the hand grasp hydraulic push rod With the clamping movement of the right hand grasping, the grasping support acts as a support and fixation; the grasping is connected to the wrist rotary platform, and the electric grasping rotates through the rotation of the rotary platform, thereby realizing the grasping of objects in different directions.

Preferably, pressure sensors and anti-slip pads are symmetrically installed on the left-hand grasp and right-hand grasp, and the pressure sensor can adjust the force according to the weight of the grasped object to achieve stability and protection of the grasped object. The anti-skid pad can increase the frictional force when grasping and prevent deformation of the hand grasping.

Preferably, the left-hand grip and right-hand grip are designed as arc structures, which increase the contact area with cylindrical objects, and thus can effectively grip objects of different weights.

Preferably, the bottom end of the rotary base is processed with an assembly hole, which can be installed on a fixed device or a mobile platform, and has a wide range of applications.

Compared with the prior art, the beneficial effects of the present invention are:

The invention ensures the high rigidity and anti-deformation of the mechanical arm by setting the rotating base, the big arm, the second arm, the third arm and the wrist, and at the same time, the hand can flexibly reach the designated position through rotation and pitching motion , for easy grabbing.

Description of drawings

Fig. 1 is the structural diagram of the mechanical arm of the present invention.

Fig. 2 is a schematic diagram of the mechanical arm of the present invention.

Fig. 3 is a structure diagram of the wrist of the present invention.

Fig. 4 is a structural diagram of the hand grip of the present invention.

Among the figure: 1, rotary base, 2, big arm, 3, two arms, 4, three arms, 5, wrist, 5-1, oil cylinder, 5-2, push rod, 5-3, connecting rod, 5- 4. Turntable, 6. Hand grip, 6-1, left hand grip, 6-2, hand grip hydraulic push rod, 6-3, hand grip support, 6-4, right hand grip, 6-5, pressure sensor, 6-6, anti-slip mat, 7, rotary motor, 8, hydraulic cylinder, 9, hydraulic cylinder.

Detailed ways

The following will further describe the multifunctional robotic arm and the principle of use of the present invention with reference to the specific implementations of Fig. 1 , Fig. 2 , Fig. 3 and Fig. 4 .

As shown in Figures 1 and 2: a high-rigidity anti-deformation hydraulically driven mechanical arm of the present invention includes a rotary base 1, a large arm 2, a second arm 3, a third arm 4, a wrist 5, and a hand grip 6. The slewing base 1 is driven to rotate by two slewing motors 7 arranged vertically below it. The slewing base 1 is articulated with the boom 2 through a hinge point. The boom 2 can move up and down through the hydraulic cylinder 8. The boom 2 and the two The arm 3 is articulated, and through the expansion and contraction of the hydraulic cylinder 9, the second arm 3 makes pitching motion around the main arm 2. The second arm 3 and the third arm 4 are slidably connected. 5 is hinged, the end of the wrist 5 is connected with the hand grasp 6, and the hand grasp 6 can rotate around the wrist 5.

As shown in Figure 3, the wrist 5 includes a swing cylinder 5-1, a push rod 5-2, a connecting rod 5-3, and a rotary platform 5-4. The swing oil cylinder 5-1 drives the connecting rod 5-3 to rotate through the oil drive, the connecting rod 5-3 is hinged to the push rod 5-2, and the push rod 5-2 is hinged to the bottom end of the rotary platform 5-4, and the rotary platform 5-4 can Rotate around its own axis.

As shown in Figure 4, the hand grip 6 includes a left hand grip 6-1, a hand grip hydraulic push rod 6-2, a hand grip support 6-3, a right hand grip 6-4, a pressure sensor 6-5 and an anti-skid pad 6-6 . The left-hand grip 6-1 and the right-hand grip 6-4 are symmetrically arranged, and the clamping movement of the left-hand grip 6-1 and the right-hand grip 6-4 is realized through the hand-grasp hydraulic push rod 6-2, and the hand-grasp support 6-3 acts as a support and fixation . Through the pitching and swinging motions of the rotating base 1 , the big arm 2 , the second arm 3 , the third arm 4 , and the wrist 5 , the gripping and releasing of any position in the space of the hand grip 6 can be finally realized. At the same time, the pressure sensor and the anti-skid pad are symmetrically installed on the left hand grasp and the right hand grasp, and the pressure sensor can adjust the force according to the weight of the grasped object, so as to realize the stability and protection of the object when grasping. The non-slip pad can increase the friction when grabbing and prevent the deformation of the hand.

In actual operation, the rotary base of the mechanical arm is rotated by a rotary motor, the main arm and the second arm are driven to pitch by the hydraulic cylinder, the third arm is driven to telescopic by the hydraulic cylinder, and the wrist is driven to rotate by the swing cylinder. According to the actual orientation of the grasping object, the present invention reaches the specified position through rotation and pitching motion, and then the hand grasping can be finely adjusted around the object to realize the final grasping task.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and without departing from the spirit or fundamentals of the present invention. The present invention can be implemented in other specific forms without any specific features. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (10)

1. A high-rigidity anti-deformation hydraulically driven mechanical arm is characterized in that: it comprises a rotary base, a large arm, two arms, three arms, a wrist, and a hand; wherein, the rotary base is connected to the large The arm is hinged, and the big arm can realize up and down pitching movement. The big arm is hinged with the second arm, and the second arm can make a pitching movement around the big arm. The second arm is slidingly connected with the third arm, and the third arm It can do telescopic linear motion in the two arms, the third arm is hinged with the wrist, the end of the wrist is connected to the grip, and the grip can rotate around the wrist; through the rotating base, the big arm , the second arm, the third arm, and the pitching and swinging motions of the wrist realize the grasping and releasing of any position in the grasping space. 2. The mechanical arm according to claim 1, characterized in that: the rotary base is driven by a rotary motor, and the number of the rotary motors is two, arranged vertically below the rotary base through 90°. 3. The mechanical arm according to claim 2, characterized in that: the boom is driven by a hydraulic cylinder to pitch around the rotary base; the base of the hydraulic cylinder is fixed on the rotary base, and the hydraulic cylinder piston rod and the boom Fixed block connections. 4. The mechanical arm according to claim 3, wherein there are two hydraulic cylinders, which are respectively arranged on both sides of the boom. 5. The mechanical arm as claimed in claim 3, characterized in that: the two arms are driven by the second hydraulic cylinder to move around the boom, the base of the second hydraulic cylinder is fixed on the fixed block of the boom, and the second hydraulic cylinder The piston rod is connected with the two-arm fixed block. 6 . The mechanical arm according to claim 5 , wherein the three arms are driven to move linearly by hydraulic cylinders arranged inside the second arms. 7 . 7. The mechanical arm according to claim 6, wherein the wrist includes a swing cylinder, a push rod, a connecting rod, and a rotary platform; the swing cylinder drives the connecting rod to rotate through oil, and the connecting rod rotates. The rod is hinged to the push rod, the push rod is hinged to the bottom end of the slewing platform, and the slewing platform can rotate around its own axis. 8. The mechanical arm according to claim 7, wherein the connecting rod comprises two arc-shaped positioning rods and a connecting rod connecting the two arc-shaped positioning rods, and the two ends of the arc-shaped positioning rods are connected to the wrist base respectively. The connecting rod is hinged with the connecting rod; the connecting rod is connected with the swing oil cylinder, and the push rod is hinged with the connecting rod. 9. The mechanical arm according to claim 8, characterized in that: the hand grasps include a left hand grasp, a hand grasp hydraulic push rod, a hand grasp support, a right hand grasp, a pressure sensor and an anti-skid pad; The right-hand grip is symmetrically arranged, and the clamping movement of the left-hand grip and the right-hand grip is realized through the hand-grasp hydraulic push rod, and the grip support acts as a support and fixation; the hand grip is connected with the wrist rotary platform, and the The slewing platform rotates so that the electric grip rotates, thereby realizing the grabbing of objects in different directions; the pressure sensor and anti-skid pad are symmetrically installed on the left hand grip and right hand grip, and the pressure sensor performs force measurement according to the weight of the grasped object. The adjustment of the anti-skid pad increases the frictional force when grabbing, preventing deformation of the hand. 10. The mechanical arm according to any one of claims 1 to 9, characterized in that: the bottom end of the rotary base is processed with an assembly hole, which can be installed on a fixed device or a mobile platform.