CN109129390A

CN109129390A - A kind of improved industrial robot hydraulic car

Info

Publication number: CN109129390A
Application number: CN201711488325.9A
Authority: CN
Inventors: 吴波挺
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-12-30
Filing date: 2017-12-30
Publication date: 2019-01-04

Abstract

The invention discloses a kind of improved industrial robot hydraulic cars, including the bearing plate and main structure for mounting industrial robot, the main structure is all composed structures of hydraulic car, specifically includes that spindle box inner structural member, the structure that is loaded, differential gear, rotating wheel mechanisms that；The industrial robot lower end is provided with the chucking mechanism, the industrial robot, bearing plate are fixedly connected by the chucking mechanism, the bearing plate lower end is fixedly installed spindle box, oil pump cavity is provided in the spindle box, apparatus of the present invention structure is simple, it is easy to use, hydraulic system is applied in the hydraulic trolley of industrial robot, and has adaptive function, self-control position improves the stability of device, it is most important that as a carrier, the working range of industrial robot is improved, and saves the time of dismounting maintenance.

Description

A kind of improved industrial robot hydraulic car

Technical field

The present invention relates to automatic fields, and in particular to a kind of improved industrial robot hydraulic car.

Background technique

With the arrival of industry 4.0, sight has been put into automatic field by more and more people, and automation is existing An achievement of brilliance the most dazzling, provides a kind of solution of modernization to traditional factory in industrial development course, The pattern that traditional factory's human resources are excessively concentrated is changed, in automatic field, the most widely used is industrial machine Device people, the dismounting of industrial robot are always highly difficult problem, need special messenger to carry out installation maintenance repairing, this equipment will be industrial Robot is mounted on above equipment, may be implemented it is adaptive moved freely in plane, prevented repeated disassembled and assembled industrial machine This process of device people.

Summary of the invention

The purpose of the present invention is to provide a kind of improved industrial robot hydraulic cars, can overcome the upper of the prior art State defect.

According to the present invention, a kind of improved industrial robot hydraulic car of apparatus of the present invention, including it is used for mounting industrial The bearing plate and main structure of robot, the main structure be hydraulic car all composed structures, specifically include that spindle box, Be loaded structure, differential gear, rotating wheel mechanisms that,；The industrial robot lower end is provided with the chucking mechanism, described to be loaded The industrial robot, bearing plate are fixedly connected by mechanism, and the bearing plate is equipped with alarm set, and the alarm set includes Sensor and attention gatter, the bearing plate lower end are fixedly installed spindle box, and oil pump cavity, institute are provided in the spindle box It states oil pump cavity bottom left and right sides and matches and be fixedly installed oil pump, the oil pump is fixedly installed oil inlet pipe, fuel-displaced towards outside Pipe, the oil inlet pipe, flowline pass through the spindle box left and right sides and match the oil pipe via hole of setting, the oil inlet pipe, flowline One end is fixedly installed rotating wheel mechanisms that, and what can be circled round on the inside of described rotating wheel mechanisms that or so is provided with No.1 line shaft, No. two power Axis, what the No.1 line shaft can circle round passes through gland, and the gland, which matches, is fixedly installed on the spindle box two sides, the master There are three cavities for the setting of axle box lower end, are respectively: two support chambers, a power cavities, wherein the support chamber left and right sides phase Title is fixedly installed line shaft turntable, and the line shaft turntable is fixedly installed axis turntable inner sleeve towards Internal and external cycle, and the axis turns It is provided with axis turntable inner sleeve cavity in platform inner sleeve, is provided with line shaft outer sleeve, institute in the axis turntable inner sleeve cavity State it is rotatable in line shaft outer sleeve be provided with the No.1 line shaft, No.1 line shaft side is provided with differential gearing Mechanism, the differential gear right end and No. two power axis connections, be provided with around No. two line shafts with above The same structure of the No.1 line shaft, the differential gear upper end is provided with hydraulic convolution mechanomotive force axis, described hydraulic What convolution mechanomotive force axis can circle round passes through hydraulic convolution arbor turntable, and the hydraulic convolution arbor turntable is fixedly installed on convolution machine Via hole, the convolution machine via hole are set to the oil pump cavity middle-end, and oil pump cavity bottom middle-end is fixedly installed hydraulic Convolution machine, what the hydraulic convolution motor spindle middle-end can circle round is provided with the hydraulic convolution mechanomotive force axis.

Further technical solution, the structure that is loaded include being arranged in the bearing plate and setting that notch is upward is logical Dynamic slot and it can be mounted on the screen post erect in logical dynamic slot up or down, be provided in the industrial robot and institute The detent slot that screen post matches and notch is downward is stated, fixing groove is provided in the detent groove sidewall, is set in the screen post It is equipped with the horizontal movement trough of notch outwardly, movement is equipped with the bolt matched with the fixing groove in the horizontal movement trough, Described move horizontally is fixedly installed with driving electricity favourable turn in groove sidewall, notch is provided in the bolt and is turned towards the driving electricity The spiral shell type groove of machine, helical is fitted with spiral shell type bar in the spiral shell type groove, and the spiral shell type bar and driving electricity are made a connection engagement sleeves It connects, described erect in logical dynamic slot effect side wall is provided with stop shifting chute, can install up or down in the stop shifting chute There is the stop movable block being fixedly attached with the screen post, described erect is fixedly installed with preload spring silk, institute in logical dynamic groove bottom wall It states preload spring silk upper end to be fixedly attached with the screen post, the screen post upper end, which is provided with, leads a wedge surface, thus described in convenient Screen post is matched with the detent slot.

Further technical solution, the differential gear include the envelope for being set to the differential gear upper end Plate, the sealing plate are fixedly installed on differential box, and differential box cavity, the sealing plate middle-end setting are provided in the differential box There is sealing plate via hole, what the sealing plate via hole can circle round passes through the hydraulic convolution mechanomotive force axis, the hydraulic convolution mechanomotive force axis Lower end convolution is provided with convolution swivel, and convolution swivel outer ring is provided with the uniformly distributed wedge slot of annular, is provided in the wedge slot The uniformly distributed rotary column of annular, the rotary column and convolution swivel screw socket cooperate, and rotary column rear end touch fit is provided with Shelves column, the shelves band of column shape are uniformly arranged in recess slot, and the recess grooved ring shape is uniformly arranged to be turned in core, and the core turns Body and shelves column screw socket cooperate, and core swivel left side middle-end is provided with core swivel turntable via hole, the core Swivel turntable via hole is fixedly installed core swivel turntable, and what can be circled round in the core swivel turntable passes through the No.1 power Axis, what No.1 line shaft left end can circle round passes through differential box turntable, and the differential box turntable is fixedly installed on differential box and turns Platform via hole, the differential box turntable via hole are set on the left of the differential box, are again provided with differential box on the right side of the differential box Turntable via hole, the differential box turntable via hole are fixedly installed differential box turntable, the setting that can be circled round in the differential box turntable There are No. two line shafts, so that the circumnutation of the hydraulic convolution mechanomotive force axis be made to be transmitted to the convolution swivel, core swivel.

Further technical solution, the core swivel are set to differential box cavity, and the core swivel upper and lower sides set phase Title is equipped with differential swivel axis via hole, and differential swivel axis is fixedly installed in the differential swivel axis via hole, and the differential turns axis What side can circle round be provided with differential swivel, the differential swivel annular it is uniformly distributed be provided with concave groove, the concave groove is fixed It is provided with and ships and resell on another market, described to ship and resell on another market through screw and differential swivel socket cooperation, the rear end touch fit of shipping and reselling on another market is provided with Shelves pin, the shelves lock ring shape are uniformly arranged in groove, and the grove shaped circumferential is uniformly arranged to be turned in output shaft, and the output shaft turns Body, which matches, is fixedly installed on the No.1 line shaft, No. two line shaft sides, to make the convolution of the core swivel, is transmitted to The No.1 line shaft, No. two line shafts.

Further technical solution, by taking left side as an example, the rotating wheel mechanisms that includes that the No.1 line shaft circles round to fix Runner intermediate disk body, the runner intermediate disk body annular is uniformly fixedly installed three groups of runner hydraulic cylinders, and the runner is hydraulic What cylinder side can lead to is provided with the runner hydraulic cylinder body of rod, and the runner hydraulic cylinder rod is provided with cushion collar, the runner in vitro Hydraulic cylinder body of rod side is fixedly installed pinch roller ball, and what the pinch roller ball can circle round is set to pinch roller ball electromagnetism cavity, The pinch roller ball electromagnetism cavity is set to the pinch roller middle-end, rubber ring is provided with outside the pinch roller, to make the pinch roller Adjustable height and have the function of change orientation.

Further technical solution, the runner hydraulic cylinder body of rod is mobile, and the pinch roller ball is rotated, to make It the adaptive adjustment height of the pinch roller and is steadily bonded with ground.

Further technical solution, the sensor are set in the horizontal movement trough inner left wall, the attention gatter It is set in the bearing plate front end face and is electrically connected with the sensor.

The beneficial effects of the present invention are:

In the initial state due to the industrial robot in apparatus of the present invention, the industrial robot is solid by the structure that is loaded Dingan County is loaded on bearing plate, is embodied in and the industrial robot is placed on the bearing plate, when the screen post and institute When stating detent slot misalignment, the screen post can be pressed downwards, and when the screen post is aligned with the detent slot, it is described Screen post can extend into the detent slot under the action of pre-tightening spring silk and match with the detent slot；When the screen post and institute It states after detent slot matches, starting the driving electricity electric make a connection of the driving of making a connection can drive the bolt protruding and protrude into Into the fixing groove, the industrial robot can be fixed on the bearing plate as a result,；The hydraulic convolution machine is by oil pump Fuel feeding, drives the hydraulic convolution mechanomotive force axis circumnutation, and the hydraulic convolution mechanomotive force axis passes through the differential gearing machine Structure, drives the No.1 line shaft, No. two line shaft circumnutations, and the No.1 line shaft, No. two line shafts match and are provided with Rotating wheel mechanisms that, the rotating wheel mechanisms that are attached by the oil inlet pipe, flowline and the oil pump, to make described hydraulic time Rotation machine is used in mixed way with the rotating wheel mechanisms that oil circuit, it is therefore prevented that mechanism waste.

In use, starting hydraulic convolution machine described in the oil pump control, the rotating wheel mechanisms that circumnutation is driven, to make Trolley can move.

When trolley starting, the oil pump feed, the runner hydraulic cylinder works keep the runner hydraulic cylinder body of rod flexible The height of trolley is adjusted, to make trolley that there is starting height, there is buffer effect.

When trolley travelling, the oil pump feed continues fuel feeding, under moving equilibrium process control, the hydraulic cylinder body of rod Stroke is adjusted according to the height and position of trolley, and the pinch roller ball adjusts position under pinch roller ball electromagnetism cavity effect It sets, realizes the rubber ring and be bonded with ground, to realize even running of the trolley under high load conditions.

When trolley even running, in the rotating wheel mechanisms that, the differential swivel does not generate revolution, does not have with other structures There is relative motion, it is all the same that output shaft described in left and right sides turns cyclotron velocity, so that it is steady so that trolley is advanced, speed is moderate.

When trolley turns round to the left, the linear velocity of the right side rotating wheel mechanisms that is greater than the left side rotating wheel mechanisms that, so In the rotating wheel mechanisms that, the differential swivel generates revolution, and it is described defeated that the right side output shaft swivel cyclotron velocity is greater than left side Shaft swivel, to make the motor coordination of left and right sides, prevents the case where involving.

When trolley turns round to the right, the linear velocity of the left side rotating wheel mechanisms that is greater than the right side rotating wheel mechanisms that, so In the rotating wheel mechanisms that, the differential swivel generates revolution, and it is described defeated that the left side output shaft swivel cyclotron velocity is greater than right side Shaft swivel improves the functionality under high load conditions to make trolley with more stationarity.

Apparatus of the present invention structure is simple, easy to use, and hydraulic system is applied in the hydraulic trolley of industrial robot, And having adaptive function, self-control position improves the stability of device, it is most important that as a carrier, mentions The high working range of industrial robot, and save the time of dismounting maintenance.

Detailed description of the invention

It, below will be to embodiment or existing in order to illustrate more clearly of inventive embodiments or technical solution in the prior art Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only to invent Some embodiments for those of ordinary skill in the art without creative efforts, can also basis These attached drawings obtain other attached drawings.

Fig. 1 is the overall structure diagram of a modification of the present invention type industrial robot hydraulic car；

Fig. 2 is the schematic diagram of structure of being loaded in Fig. 1；

Fig. 3 is the schematic diagram of differential gear in Fig. 1；

Fig. 4 is the schematic diagram of rotating wheel mechanisms that in Fig. 1；

Fig. 5 is schematic diagram when rotating wheel mechanisms that moves in Fig. 1.

Specific embodiment

All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive Feature and/or step other than, can combine in any way.

Any feature disclosed in this specification (including any accessory claim, abstract and attached drawing), except non-specifically chatting It states, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, each feature is only It is an example in a series of equivalent or similar characteristics.

As shown in Figs. 1-5, a modification of the present invention type industrial robot hydraulic car, including it is used for mounting industrial machine The bearing plate 51 and main structure of people 30, the main structure are all composed structures of hydraulic car, specifically include that spindle box 512, the structure that is loaded 50, differential gear 60, rotating wheel mechanisms that 80；30 lower end of industrial robot is provided with the card-loading machine The industrial robot 30, bearing plate 51 are fixedly connected by structure 50, the chucking mechanism 50, and the bearing plate 51, which is equipped with, to be reminded Device, the alarm set include sensor 70 and attention gatter 71, and 51 lower end of bearing plate is fixedly installed spindle box 512, oil pump cavity 514 is provided in the spindle box 512, and the 514 bottom left and right sides of oil pump cavity, which matches, to be fixedly installed Oil pump 515, the oil pump 515 are fixedly installed oil inlet pipe 517, flowline 518, the oil inlet pipe 517, flowline towards outside 518, which pass through 512 left and right sides of spindle box, matches the oil pipe via hole 513 of setting, and the oil inlet pipe 517,518 one end of flowline are solid Surely it is provided with rotating wheel mechanisms that 80, what 80 or so the inside of rotating wheel mechanisms that can circle round is provided with 523, No. two power of No.1 line shaft Axis 524, what the No.1 line shaft 523 can circle round passes through gland 530, and the gland 530, which matches, is fixedly installed on the main shaft 512 two sides of case, there are three cavities for 512 lower end of the spindle box setting, are respectively: two support chambers, 525, power cavities 519, wherein 525 left and right sides of support chamber, which matches, is fixedly installed line shaft turntable 529, the line shaft turntable 529 is inwardly Outer ring is fixedly installed axis turntable inner sleeve 528, and axis turntable inner sleeve cavity 527 is provided in the axis turntable inner sleeve 528, It is provided with line shaft outer sleeve 526 in the axis turntable inner sleeve cavity 527, it is rotatable in the line shaft outer sleeve 526 It is provided with the No.1 line shaft 523,523 side of No.1 line shaft is provided with differential gear 60, and the differential passes 60 right end of motivation structure is connect with No. two line shafts 524, is provided with and No.1 described previously around No. two line shafts 524 The same structure of line shaft 523,60 upper end of differential gear is provided with hydraulic convolution mechanomotive force axis 522, described hydraulic What convolution mechanomotive force axis 522 can circle round passes through hydraulic convolution arbor turntable 520, and the hydraulic fixation of convolution arbor turntable 520 is set It is placed in convolution machine via hole 521, the convolution machine via hole 521 is set to 514 middle-end of oil pump cavity, the oil pump cavity 514 Bottom middle-end is fixedly installed hydraulic convolution machine 516, and what the hydraulic 516 bottom middle-end of convolution machine can circle round is provided with the liquid Push back rotation mechanomotive force axis 522.

Valuably, wherein the structure 50 that is loaded includes that the setting that in the bearing plate 51 and notch is upward is arranged in lead to It moves slot 328 and the screen post 32 erect in logical dynamic slot 328 can be mounted on up or down, in the industrial robot 30 It is provided with and is matched with the screen post 32 and detent slot 31 that notch is downward, be provided with fixation in 31 side wall of detent slot Slot is provided with the horizontal movement trough 322 of notch outwardly in the screen post 32, and movement is equipped in the horizontal movement trough 322 The bolt 325 matched with the fixing groove is fixedly installed with driving electricity favourable turn 331, institute in 322 side wall of horizontal movement trough State the spiral shell type groove 324 that notch is provided in bolt 325 towards the driving electricity favourable turn 331, helical cooperation in the spiral shell type groove 324 Spiral shell type bar 323 is installed, the spiral shell type bar 323 cooperates with the driving electricity favourable turn 331 to be socketed, described to erect the logical dynamic work of slot 328 With stop shifting chute 327 is provided in side wall, can be equipped with up or down and the screen post in the stop shifting chute 327 The 32 stop movable blocks 326 being fixedly attached, described erect is fixedly installed with preload spring silk 329 on logical dynamic 328 bottom wall of slot, described pre- Tight 329 upper end of spring silk is fixedly attached with the screen post 32, and 32 upper end of screen post, which is provided with, leads a wedge surface 330, thus side Toilet is stated screen post 32 and is matched with the detent slot 31.

Valuably, wherein the differential gear 60 includes the sealing plate for being set to 60 upper end of differential gear 601, the sealing plate 601 is fixedly installed on differential box 602, and differential box cavity 607, institute are provided in the differential box 602 It states 601 middle-end of sealing plate and is provided with sealing plate via hole 603, what the sealing plate via hole 603 can circle round passes through the hydraulic convolution mechanomotive force Axis 522, hydraulic 522 lower end of the convolution mechanomotive force axis convolution are provided with convolution swivel 608, and the convolution turns 608 outer rings and sets Be equipped with the uniformly distributed wedge slot 609 of annular, be provided with the uniformly distributed rotary column 610 of annular in the wedge slot 609, the rotary column 610 with it is described Convolution swivel 608 screws socket cooperation, the 610 rear end touch fit of rotary column are provided with grade column 612,612 annular of shelves column Be uniformly arranged in recess slot 611,611 annular of recess slot, which is uniformly arranged, turns 614 in core, core swivel 614 with 612 screw of the shelves column socket cooperation, the core turns 614 left side middle-ends and is provided with core swivel turntable via hole 616, described Core swivel turntable via hole 616 is fixedly installed core swivel turntable 615, and what can be circled round in the core swivel turntable 615 wears The No.1 line shaft 523 is crossed, what 523 left end of No.1 line shaft can circle round passes through differential box turntable 605, the differential box Turntable 605 is fixedly installed on differential box turntable via hole 604, and it is left that the differential box turntable via hole 604 is set to the differential box 602 Side, differential box turntable via hole 604 is again provided on the right side of the differential box 602, and the differential box turntable via hole 604 is fixedly installed There is differential box turntable 605, what can be circled round in the differential box turntable 605 is provided with No. two line shafts 524, to make described hydraulic The circumnutation of convolution mechanomotive force axis 522 is transmitted to the convolution swivel 608, core swivel 614.

Valuably, wherein the core swivel 614 is set to differential box cavity 607, and the core turns 614 upper and lower sides It is equipped with differential swivel axis via hole 624 if matching, differential swivel axis 623, institute are fixedly installed in the differential swivel axis via hole 624 The differential that is provided with that stating differential swivel 623 side of axis can circle round turns 622, and 622 annular of differential swivel is uniformly distributed to be provided with Concave groove 621, the concave groove 621, which is fixedly installed, ships and resell on another market 620, described to ship and resell on another market 620 by screw and differential swivel 622 Socket cooperation, the 620 rear end touch fits of shipping and reselling on another market are provided with grade pin 619, and 619 annular of shelves pin is uniformly arranged in groove 618,618 annular of groove, which is uniformly arranged, turns 617 in output shaft, and the output shaft swivel 617, which matches, is fixedly installed on institute 523, No. two 524 sides of line shaft of No.1 line shaft are stated, to make the convolution of the core swivel 614, are transmitted to the No.1 523, No. two line shafts 524 of line shaft.

Valuably, wherein by taking left side as an example, the rotating wheel mechanisms that 80 includes that the No.1 line shaft 523 circles round to fix Runner intermediate disk body 801,801 annular of the runner intermediate disk body is uniformly fixedly installed three groups of runner hydraulic cylinders 802, described What 802 side of runner hydraulic cylinder can lead to is provided with the runner hydraulic cylinder body of rod 804, is arranged outside the runner hydraulic cylinder body of rod 804 There is cushion collar 803,804 side of the runner hydraulic cylinder body of rod is fixedly installed pinch roller ball 805, and the pinch roller ball 805 can Convolution is set to pinch roller ball electromagnetism cavity 806, and the pinch roller ball electromagnetism cavity 806 is set to 807 middle-end of pinch roller, It is provided with rubber ring 808 outside the pinch roller 807, to make the adjustable height of the pinch roller 807 and there is the function for changing orientation Energy.

Valuably, wherein the runner hydraulic cylinder body of rod 804 is mobile, and the pinch roller ball 805 is rotated, thus It the adjustment height that keeps the pinch roller 807 adaptive and is steadily bonded with ground.

Valuably, wherein the sensor 70 is set in 322 inner left wall of horizontal movement trough, the attention gatter 71 are set in 51 front end face of bearing plate and are electrically connected with the sensor 70, so as to the bolt 325 with it is described When sensor 70 contacts, the attention gatter 71 is lighted, and then can give and remind to the lock state of the industrial robot 30.

In the initial state, the industrial robot 30 passes through the knot that is loaded to industrial robot 30 in apparatus of the present invention Structure 50 is fixedly installed in bearing plate 51, is embodied in and the industrial robot 30 is placed into 51 on the bearing plate, work as institute State screen post 32 and when 31 misalignment of detent slot, the screen post 32 can be pressed downwards, and when the screen post 32 with When the detent slot 31 is aligned, the screen post 32 can extend into the detent slot 31 and institute under the action of pre-tightening spring silk 329 Detent slot 31 is stated to match；After the screen post 32 is matched with the detent slot 31, start 321 institutes of the driving electricity favourable turn Stating driving electricity favourable turn 321 can drive the bolt 325 protruding and extend into the fixing groove, as a result, can be by the work Industry robot 30 is fixed on the bearing plate 51；The hydraulic convolution machine 516 is driven described hydraulic time by 515 fuel feeding of oil pump 522 circumnutation of mechanomotive force axis is revolved, the hydraulic convolution mechanomotive force axis 522 passes through the differential gear 60, described in drive 523, No. two 524 circumnutations of line shaft of No.1 line shaft, 523, No. two line shafts 524 of the No.1 line shaft, which match, to be provided with Rotating wheel mechanisms that 80, the rotating wheel mechanisms that 80 are attached by the oil inlet pipe 517, flowline 518 with the oil pump 515.

In use, starting the oil pump 515 controls the hydraulic convolution machine 516, the convolution of rotating wheel mechanisms that 80 fortune is driven It is dynamic.

When trolley starting, 515 fuel feeding of oil pump, the runner hydraulic cylinder 802 works, and makes the runner hydraulic cylinder rod The height of the flexible adjustment trolley of body 804.

When trolley travelling, the 515 fuel delivery duration fuel feeding of oil pump, under moving equilibrium process control, the hydraulic cylinder The body of rod 804 adjusts stroke according to the height and position of trolley, and the pinch roller ball 805 is in the pinch roller ball electromagnetism cavity 806 effects are lower to adjust position, realizes the rubber ring 808 and is bonded with ground.

When trolley even running, in the rotating wheel mechanisms that 80, differential swivel 622 does not generate revolution, and other Structure does not have relative motion, and it is all the same that output shaft described in left and right sides turns 617 cyclotron velocities.

When trolley turns round to the left, the linear velocity of the right side rotating wheel mechanisms that 80 is greater than the left side rotating wheel mechanisms that 80, institute With in the rotating wheel mechanisms that 80, the differential swivel 622 generates revolution, and it is big that the right side output shaft turns 617 cyclotron velocities In the left side output shaft swivel 617.

When trolley turns round to the right, the linear velocity of the left side rotating wheel mechanisms that 80 is greater than the right side rotating wheel mechanisms that 80, institute With in the rotating wheel mechanisms that 80, the differential swivel 622 generates revolution, and it is big that the left side output shaft turns 617 cyclotron velocities In the right side output shaft swivel 617.

The beneficial effects of the present invention are: in the initial state due to the industrial robot in apparatus of the present invention, the industry Robot is fixedly installed in bearing plate by the structure that is loaded, and is embodied in the industrial robot being placed into described hold On weight plate, when the screen post and the detent slot misalignment, the screen post can be pressed downwards, and work as the screen post When being aligned with the detent slot, the screen post can extend into the detent slot and the detent slot under the action of pre-tightening spring silk It matches；After the screen post is matched with the detent slot, starting the driving electricity favourable turn driving electricity favourable turn can be driven It is protruding and extend into the fixing groove to move the bolt, the industrial robot can be fixed on the load-bearing as a result, On plate；The hydraulic convolution machine drives the hydraulic convolution mechanomotive force axis circumnutation, the hydraulic convolution machine by oil pump feed Line shaft drives the No.1 line shaft, No. two line shaft circumnutations, the No.1 power by the differential gear Axis, No. two line shafts match and are provided with rotating wheel mechanisms that, the rotating wheel mechanisms that by the oil inlet pipe, flowline and the oil pump into Row connection, so that the hydraulic convolution machine be made to be used in mixed way with the rotating wheel mechanisms that oil circuit, it is therefore prevented that mechanism waste.

The above, the specific embodiment only invented, but invent protection scope be not limited thereto, it is any without The change or replacement that creative work is expected are crossed, should all be covered within the protection scope of invention.Therefore, the protection scope of invention It should be determined by the scope of protection defined in the claims.

Claims

1. a kind of improved industrial robot hydraulic car, including the bearing plate and main structure for mounting industrial robot, The main structure is all composed structures of hydraulic car, it is characterised in that: the main structure is all compositions of hydraulic car Structure specifically includes that spindle box, the structure that is loaded, differential gear, rotating wheel mechanisms that；The industrial robot lower end is provided with The chucking mechanism, the bearing plate are equipped with alarm set, and the alarm set includes sensor and attention gatter, the dress The industrial robot, bearing plate are fixedly connected by mechanism for card, and the bearing plate lower end is fixedly installed spindle box, the main shaft Oil pump cavity is provided in case, oil pump cavity bottom left and right sides, which matches, is fixedly installed oil pump, and the oil pump is towards outside It is fixedly installed oil inlet pipe, flowline, the oil inlet pipe, flowline pass through the spindle box left and right sides and match the oil pipe mistake of setting Hole, the oil inlet pipe, flowline one end are fixedly installed rotating wheel mechanisms that, and what can be circled round on the inside of described rotating wheel mechanisms that or so is provided with No.1 line shaft, No. two line shafts, what the No.1 line shaft can circle round passes through gland, and the gland, which matches, is fixedly installed on institute Spindle box two sides are stated, there are three cavities for the spindle box lower end setting, be respectively: two support chambers, a power cavities, wherein The support chamber left and right sides, which matches, is fixedly installed line shaft turntable, and the line shaft turntable is fixedly installed axis towards Internal and external cycle and turns Platform inner sleeve is provided with axis turntable inner sleeve cavity, setting in the axis turntable inner sleeve cavity in the axis turntable inner sleeve Dynamic outer shaft sleeve cylinder, it is rotatable in the line shaft outer sleeve to be provided with the No.1 line shaft, the No.1 line shaft Side is provided with differential gear, the differential gear right end and No. two power axis connections, No. two power Structure same as No.1 line shaft described previously is provided with around axis, the differential gear upper end is provided with hydraulic convolution Mechanomotive force axis, what the hydraulic convolution mechanomotive force axis can circle round passes through hydraulic convolution arbor turntable, and the hydraulic convolution arbor turns Platform is fixedly installed on convolution machine via hole, and the convolution machine via hole is set to the oil pump cavity middle-end, oil pump cavity bottom Middle-end is fixedly installed hydraulic convolution machine, and it is motor-driven that the hydraulic convolution motor spindle middle-end can circle round is provided with the hydraulic convolution Power axis.

2. a kind of improved industrial robot as described in claim 1 hydraulic car, it is characterised in that: the structure packet that is loaded Include be arranged in the bearing plate and the logical dynamic slot of setting that notch is upward and can be mounted on up or down it is described erect it is logical dynamic Screen post in slot is provided in the industrial robot and matches with the screen post and detent slot that notch is downward, described It is provided with fixing groove in detent groove sidewall, the horizontal movement trough of notch outwardly is provided in the screen post, it is described to move horizontally Mobile in slot to be equipped with the bolt matched with the fixing groove, described move horizontally is fixedly installed with driving electricity turn in groove sidewall Machine is provided with spiral shell type groove of the notch towards the driving electricity favourable turn in the bolt, and helical is fitted in the spiral shell type groove Spiral shell type bar, the spiral shell type bar and driving electricity favourable turn cooperation socket, described erect in logical dynamic slot effect side wall are provided with stop Shifting chute can be equipped with the stop movable block being fixedly attached with the screen post, institute in the stop shifting chute up or down It states to be fixedly installed in the logical dynamic groove bottom wall of setting and pre-tightens spring silk, the preload spring silk upper end is fixedly attached with the screen post, institute It states screen post upper end and is provided with and lead a wedge surface.

3. a kind of improved industrial robot as described in claim 1 hydraulic car, it is characterised in that: the differential gearing machine Structure includes the sealing plate for being set to the differential gear upper end, and the sealing plate is fixedly installed on differential box, the differential Differential box cavity is provided in case, the sealing plate middle-end is provided with sealing plate via hole, and what the sealing plate via hole can circle round passes through described Hydraulic convolution mechanomotive force axis, the hydraulic convolution mechanomotive force axis lower end convolution are provided with convolution swivel, and the convolution turns outer ring It is provided with the uniformly distributed wedge slot of annular, the uniformly distributed rotary column of annular is provided in the wedge slot, the rotary column and the convolution turn spiral shell Silk braid connects cooperation, and rotary column rear end touch fit is provided with a grade column, and the shelves band of column shape is uniformly arranged in recess slot, described recessed Mouth grooved ring shape is uniformly arranged to be turned in core, and the core swivel and shelves column screw socket cooperation, the core swivel are left Side middle-end is provided with core swivel turntable via hole, and the core swivel turntable via hole is fixedly installed core swivel turntable, described What can be circled round in core swivel turntable passes through the No.1 line shaft, and what No.1 line shaft left end can circle round passes through differential box Turntable, the differential box turntable are fixedly installed on differential box turntable via hole, and the differential box turntable via hole is set to the differential On the left of case, it is again provided with differential box turntable via hole on the right side of the differential box, the differential box turntable via hole is fixedly installed difference Fast case turntable, what can be circled round in the differential box turntable is provided with No. two line shafts.

4. a kind of improved industrial robot as described in claim 1 hydraulic car, it is characterised in that: the core swivel is set It is placed in differential box cavity, the core swivel upper and lower sides, which set to match, is equipped with differential swivel axis via hole, and the differential turns axis via hole In be fixedly installed differential swivel axis, what differential swivel axis side can circle round is provided with differential swivel, the differential swivel Annular is uniformly distributed to be provided with concave groove, and the concave groove, which is fixedly installed, ships and resell on another market, and described ship and resell on another market is turned by screw and the differential Body socket cooperation, the rear end touch fit of shipping and reselling on another market are provided with shelves pin, and the shelves lock ring shape is uniformly arranged in groove, the groove Annular is uniformly arranged to be turned in output shaft, and the output shaft swivel, which matches, is fixedly installed on the No.1 line shaft, No. two power Axis side.

5. a kind of improved industrial robot as described in claim 1 hydraulic car, it is characterised in that: by taking left side as an example, institute Stating rotating wheel mechanisms that includes the runner intermediate disk body that No.1 line shaft convolution is fixed, and the runner intermediate disk body annular is uniformly distributed Three groups of runner hydraulic cylinders are fixedly installed, what runner hydraulic cylinder side can lead to is provided with the runner hydraulic cylinder body of rod, described Runner hydraulic cylinder rod is provided with cushion collar in vitro, and the runner hydraulic cylinder body of rod side is fixedly installed pinch roller ball, the pressure What wheel ball can circle round is set to pinch roller ball electromagnetism cavity, and the pinch roller ball electromagnetism cavity is set to the pinch roller middle-end, Rubber ring is provided with outside the pinch roller.

6. a kind of improved industrial robot as described in claim 1 hydraulic car, it is characterised in that: the runner hydraulic cylinder The body of rod is mobile, and the pinch roller ball is rotated.

7. a kind of improved industrial robot as described in claim 1 hydraulic car, it is characterised in that: the sensor setting In the horizontal movement trough inner left wall, the attention gatter be set in the bearing plate front end face and with the sensor It is electrically connected.