CN109607395A - A kind of mechanical arm - Google Patents
A kind of mechanical arm Download PDFInfo
- Publication number
- CN109607395A CN109607395A CN201811518266.XA CN201811518266A CN109607395A CN 109607395 A CN109607395 A CN 109607395A CN 201811518266 A CN201811518266 A CN 201811518266A CN 109607395 A CN109607395 A CN 109607395A
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- Prior art keywords
- arm
- hinged
- telescopic
- oil cylinder
- sliding block
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- 210000000245 forearm Anatomy 0.000 claims description 45
- 239000002023 wood Substances 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 7
- 239000003245 coal Substances 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 8
- 238000005065 mining Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/68—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles mounted on, or guided by, jibs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/14—Grabs opened or closed by driving motors thereon
- B66C3/16—Grabs opened or closed by driving motors thereon by fluid motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/20—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs mounted on, or guided by, jibs
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of mechanical arms, including mechanical arm support base, telescopic arm, snatch component, pitching driving part, flexible driving part and wobble drive component, due to telescopic arm at least two sections, and telescopic arm is slidably fixed to the inside of coupled another section close to a section of snatch component, so that mechanical arm has more times of strokes, it is adapted to different working environments, simultaneously, pitching driving part, flexible driving part and wobble drive component are respectively from the height of multiple directions adjustment mechanical arm, the angle of length and manipulator, manipulator is allowed to complete to swing in underground coal mine, pitching, the various complex work such as flexible, adapt to the construction operation environment of underground complexity.
Description
Technical field
The present invention relates to automobile component fields, and in particular to a kind of mechanical arm for mining snatch vehicle.
Background technique
In recent years, with the fast development of construction machinery industry, improvement and safety to engineering truck structure technology are relaxed
Higher requirements are also raised for adaptive etc..
Currently, the mechanical arm configuration of underground mine vehicle or equipment on the market is simple, underground coal mine fully mechanized mining work is being carried out
When making, a job, such as lifting or delivery often can be only done, since underground coal mine working face environment is complicated, often
Need to complete multiple work, existing mechanical arm can not complete swing in underground coal mine, pitching, stretch, rotate and to open and close this several
The integrated complex work of kind movement, and the workpiece of existing mechanical arm front end can not be replaced, and not adapt to underground complexity
Construction operation environment.
Summary of the invention
Technical problem to be solved by the present invention lies in overcome the deficiencies of the prior art and provide a kind of multiple degrees of freedom, can be real
The mechanical arm of existing different action requests.
In order to achieve the above purpose, present invention employs the following technical solutions:
In a general aspect, a kind of mechanical arm, including mechanical arm support base, telescopic arm, snatch component, pitching drive are provided
Dynamic component, flexible driving part and wobble drive component, in which:
Mechanical arm support base is fixed on vehicle frame；
One end of telescopic arm and mechanical arm support seat hinge, the other end of telescopic arm are fixedly connected with snatch component, are stretched
Arm at least two sections, telescopic arm are slidably fixed to the inside of coupled another section close to a section of snatch component；
Pitching driving part includes pitching oil cylinder, one end of pitching oil cylinder and mechanical arm support seat hinge, the other end with stretch
Contracting arm is hinged；
Flexible driving part includes telescopic oil cylinder, and telescopic oil cylinder both ends are hinged with the both ends of telescopic arm respectively；
Snatch component includes snatch arm, quick connector and manipulator, and one end of snatch arm and the other end of telescopic arm are solid
Fixed connection, the other end of snatch arm is hinged with quick connector, and quick connector is hinged with manipulator.
Wobble drive component includes forearm oscillating oil cylinder, and one end of forearm oscillating oil cylinder and snatch arm are hinged, the other end with
Quick connector is hinged.
Preferably, telescopic arm is divided into three sections, respectively large arm, middle arm and forearm, one end of large arm and mechanical arm support base
Hingedly, one end of middle arm is slideably socketed in the inside of the other end of large arm, and one end of forearm is slideably socketed in middle arm
The other end inside, the other end of forearm is fixedly connected with snatch arm.
Preferably, the fixing end of pitching oil cylinder and mechanical arm support seat hinge, the telescopic end and large arm of pitching oil cylinder are separate
The end of mechanical arm support base is hinged.
Preferably, telescopic oil cylinder is dual-rod hydraulic cylinder, and the first telescopic end and snatch arm of telescopic oil cylinder are hinged, telescopic oil cylinder
The second telescopic end and large arm towards mechanical arm support base end it is hinged, the pipe shaft of telescopic oil cylinder and middle arm are hinged.
Preferably, mechanical arm further includes large arm adjustment sliding block and middle arm adjustment sliding block, and large arm adjustment sliding block socket is fixed on
Large arm is close to the end of middle arm, and the telescopic end and large arm adjustment sliding block of pitching oil cylinder are hinged, and middle arm adjustment sliding block socket is fixed on
The end of the nearly forearm of middle arm rest, the pipe shaft of telescopic oil cylinder and middle arm adjustment sliding block are hinged.
Preferably, large arm adjustment sliding block and middle arm adjustment sliding block include top shoe, sliding block, sliding block support frame and several
Adjustment bolt, top shoe and sliding block are oppositely disposed in inside sliding block support frame, and sliding block support frame is sleeved and fixed in corresponding arm
End, several adjustment bolt one end are plugged in top shoe, and the other end is fixedly connected by nut with sliding block support frame.
Preferably, manipulator includes log grapple, and log grapple includes rotary disk, hydraulic motor, grab bucket hydraulic cylinder, grab bucket connection
Frame, the first hinged seat, the second hinged seat, the first pawl valve and the second pawl valve, in which:
Rotary disk upper end is provided with two connecting shafts, and two connecting shafts are hinged with two bayonets of quick connector respectively；
Hydraulic motor is fixed on rotary disk, and hydraulic motor is matched with rotary disk；
Grab bucket connection frame upper end is fixedly connected with rotary disk lower end；
First hinged seat and the second hinged seat are symmetricly set on the both ends on grab bucket connection frame length direction, the first hinged seat
It include two triangular form articulated slabs and connection the first pin shaft of two triangle articulated slabs, the second pin shaft and the with the second hinged seat
Three pin shafts；
The both ends of grab bucket hydraulic cylinder are hinged with two the first pin shafts respectively, the both ends difference grabbed bucket on connection frame length direction
It is hinged with two the second pin shafts；
There are two first pawl valves, is respectively hinged at the second pin shaft of the first hinged seat and the both ends of third pin shaft；
There are two second pawl valves, is respectively hinged at the second pin shaft of the second hinged seat and the both ends of third pin shaft.
Preferably, manipulator further includes lifting fork, lifting fork, and lifting fork includes crotch and fork, crotch and rotary disk
Connecting shaft far from vehicle body is hinged, and fork is fixed on crotch on the end face of rotary disk.
Preferably, mechanical arm further includes first connecting rod and second connecting rod, and first connecting rod one end and snatch arm are hinged, and first connects
The other end of bar and forearm oscillating oil cylinder are hinged, and second connecting rod one end and forearm oscillating oil cylinder are hinged, the other end with quickly connect
Device is hinged.
Preferably, snatch arm includes cantilever crane and support base, and support base is fixed on cantilever crane upper end, support base and small arm swing oil
Cylinder is hinged, and cantilever crane is socketed in end of the forearm far from middle arm.
The present invention provides a kind of mechanical arms, and due to telescopic arm at least two sections, and telescopic arm is close to snatch component
One section is slidably fixed to the inside of coupled another section, so that mechanical arm has more times of strokes, is adapted to not
Same working environment, meanwhile, pitching driving part, flexible driving part and wobble drive component adjust machine from multiple directions respectively
The angle of the height of tool arm, length and manipulator allows manipulator to complete swing, pitching, flexible etc. respectively in underground coal mine
The complex work of kind, adapts to the construction operation environment of underground complexity.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the structural schematic diagram of mechanical arm of the invention；
Fig. 2 is snatch modular construction schematic diagram of the invention；
Fig. 3 is the assembling structure schematic diagram of snatch component and forearm of the invention；
Fig. 4 is the assembling structure schematic diagram of adjustment sliding block of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is the structural schematic diagram of mechanical arm of the invention, as shown in Figure 1, a kind of machinery disclosed by the embodiments of the present invention
Arm, including mechanical arm support base 1, telescopic arm, snatch component, pitching driving part, flexible driving part and wobble drive component.
Specifically, mechanical arm support base 1 includes bottom plate and two side plates being arranged on bottom plate, two side plates are fixed respectively
On the both sides of bottom plate, bottom plate is bolted on vehicle frame, also, is also connected with crossbeam between two side plates, plays reinforcement
The effect of the intensity of mechanical arm support base 1.
Further, telescopic arm is divided into three sections, and respectively large arm 3, middle arm 7 and forearm 9, forearm 9 is slideably socketed in
Inside middle arm 7, middle arm 7 is slideably socketed in inside large arm 3, and arm 7 is identical with the length of large arm 3 in forearm 9..Large arm 3
The end of separate middle arm 7 and the upper end of mechanical arm support base 1 are hinged, i.e., large arm 3 is clamped in two side plates far from the end of middle arm 7
Between, forearm 9 is fixedly connected far from the end of middle arm 7 with snatch component, passes through sliding of the forearm 9 inside middle arm 7 and middle arm 7
Sliding inside large arm 3, by the job enlargement of entire mechanical arm to 3 times.
Further, pitching driving part includes pitching oil cylinder 2, one end of pitching oil cylinder 2 and the bottom of mechanical arm support base 1
Portion is hinged, and the end of arm 7 in is hinged the other end with large arm 3, and when pitching oil cylinder 2 extends, pitching oil cylinder 2 is pushed greatly
Arm 3 is lifted up, so that the position of manipulator increases, to expand the working range of manipulator.
Specifically, the fixing end of pitching oil cylinder 2 and mechanical arm support base 1 are hinged, the telescopic end and large arm 3 of pitching oil cylinder 2
End far from mechanical arm support base 1 is hinged.
Further, flexible driving part includes telescopic oil cylinder 8, and telescopic oil cylinder 8 is dual-rod hydraulic cylinder, telescopic oil cylinder 8
First telescopic end is towards snatch component, and the second telescopic end of telescopic oil cylinder 8 is towards mechanical arm support base 1, and the first of telescopic oil cylinder 8
Telescopic end is hinged on the end of forearm 9, and the second telescopic end and large arm 3 of telescopic oil cylinder 8 are cut with scissors towards the end of mechanical arm support base 1
It connects, the pipe shaft of telescopic oil cylinder 8 is fixedly connected with the end of middle arm 7 towards forearm 9, when the first telescopic end of telescopic oil cylinder 8 extends
Or when shortening, forearm 9 can elongate or shorten together with the first telescopic end of telescopic oil cylinder 8, and second when telescopic oil cylinder 8 stretches
When contracting end elongates or shortens, middle arm 7 can be elongated or shortened with the second telescopic end of telescopic oil cylinder 8.
Fig. 3 is the assembling structure schematic diagram of snatch component and forearm of the invention, as shown in figure 3, snatch component includes grabbing
Lift arm, quick connector 13 and manipulator, one end of snatch arm are fixedly connected with telescopic arm, the other end of snatch arm with quickly connect
It is hinged to connect device 13, quick connector 13 is hinged with manipulator, and by the hinged fixation of quick connector 13, manipulator can be with
Stable fixation, and quick connector 13 is easy to open, and can at any time be removed manipulator, and the replacement and dimension of manipulator are facilitated
It repairs.
Specifically, snatch arm includes cantilever crane 16 and support base 17, support base 17 is bolted on 16 upper end of cantilever crane, branch
Support seat 17 includes support baseboard and two support side plates being arranged on support baseboard, on two end faces of two support side plates
It is provided with bearing block, wobble drive component includes forearm oscillating oil cylinder 10, and one end of forearm oscillating oil cylinder 10 passes through a pin shaft
It is fixed on bearing block with support base 17 hingedly, the other end and quick connector 13 are hinged, also, the first of telescopic oil cylinder 8 stretches
Contracting end is hinged with support base 17, and the first telescopic end of telescopic oil cylinder 8 drives forearm 9 to slide by pulling support base 17.
Further, one end of cantilever crane 16 is square column type, and party's cylindricality port sleeve connects in end of the forearm 9 far from middle arm 7,
It being fixedly connected by bolt with forearm 9, the other end of cantilever crane 16 is arranged there are four the axis hole for being oppositely disposed in 16 both sides of cantilever crane,
In, underlying axis hole and quick connector 13 are hinged, and first connecting rod 11, first connecting rod are provided on the axis hole being located above
11 one end and cantilever crane 16 are hinged, and the telescopic end of the other end and forearm oscillating oil cylinder 10 of first connecting rod 11 is hinged, while forearm is put
The pin shaft Shanghai of the telescopic end of dynamic oil cylinder 10 is provided with second connecting rod 12,12 other end of second connecting rod then with quick connector 13
Hingedly.First connecting rod 11 surrounds between second connecting rod 12, quick connector 13 and cantilever crane 16 and forms a parallelogram, when
When forearm oscillating oil cylinder 10 elongates or shortens, it will pull quick connector 13 and surround between quick connector 13 and cantilever crane 16
Hinge joint rotation, so that the hinge joint between quick connector 13 and second connecting rod 12 declines or lifts, to realize manipulator
Swing.
Further, mechanical arm further includes large arm adjustment sliding block 41 and middle arm adjustment sliding block 42, and it is solid that large arm adjusts sliding block 41
Large arm 3 is scheduled on close to the end of middle arm 7, telescopic end and large arm the adjustment sliding block 41 of pitching oil cylinder 2 are hinged, and middle arm adjusts sliding block 42
Middle arm 7 is fixed on close to the end of forearm 9, the pipe shaft of telescopic oil cylinder 8 and middle arm adjustment sliding block 42 are hinged.
Fig. 4 is the assembling structure schematic diagram of adjustment sliding block of the invention, as shown in figure 4, large arm adjustment sliding block 41 and middle arm
Adjusting sliding block 42 includes top shoe 6, sliding block 5, sliding block support frame and several adjustment bolts 18,5 phase of top shoe 6 and sliding block
To being arranged in inside sliding block support frame, sliding block support frame is sleeved and fixed in the end of corresponding arm, and several adjustment bolt one end are inserted
Be located in top shoe 6, the other end is fixedly connected by nut with sliding block support frame, for guarantee East China stability, in mechanical arm
After a period of work, need by adjusting the elastic of several adjustment bolts 18 so that top shoe 6 and sliding block 5 with socket-connect
The distance between mechanical arm be 0.5mm.
Fig. 2 is snatch modular construction schematic diagram of the invention, as shown in Fig. 2, manipulator includes log grapple 14, log grapple 14
Including rotary disk 141, hydraulic motor 142, grab bucket hydraulic cylinder 143, grab bucket connection frame 144, the first hinged seat 145, second is hinged
The 146, first pawl valve 147 of seat and the second pawl valve 148, in which:
141 upper end of rotary disk is provided with two connecting shafts, two connecting shafts respectively with two bayonets of quick connector 13
Hingedly；When quick-lock connector unclamps, rotary disk 141 can be removed smoothly, to realize that manipulator must be replaced.
Further, hydraulic motor 142 is fixed on the side wall of rotary disk 141, hydraulic motor 142 and 141 phase of rotary disk
Cooperation；When hydraulic motor 142 rotates, 141 360 ° of revolutions of rotary disk can be pushed, to drive the pawl of 14 bottom of log grapple
Son rotation.
Further, grab bucket 144 upper end of connection frame is fixedly connected with 141 lower end of rotary disk, the first hinged seat 145 and second
Hinged seat 146 is symmetricly set on the both ends on grab bucket 144 length direction of connection frame, the first hinged seat 145 and the second hinged seat 146
It include the first pin shaft, the second pin shaft and the third pin shaft of two triangle articulated slabs of two triangular form articulated slabs and connection, grab bucket
The both ends of hydraulic cylinder 143 are hinged with two the first pin shafts respectively, grab bucket 144 length direction of connection frame on both ends respectively with two
Second pin shaft is hinged.
Further, there are two the first pawl valves 147, the second pin shaft and third pin of the first hinged seat 145 are respectively hinged at
The both ends of axis, there are two the second pawl valves 148, is respectively hinged at the second pin shaft of the second hinged seat 146 and the both ends of third pin shaft.
When hydraulic cylinder 143 of grabbing bucket extends, the first pawl valve 147 and the second pawl valve 148 closure realize snatch function, when grab bucket hydraulic cylinder
When 143 contraction, the first pawl valve 147 and the second pawl valve 148 open and realize release function.
Further, manipulator further includes lifting fork 15, lifting fork 15, and lifting fork includes crotch and fork, crotch with return
The connecting shaft of the separate vehicle body of turntable 141 is hinged, and fork is fixed on crotch on the end face of rotary disk 141.
As another embodiment of the present invention, telescopic arm is divided into two sections, respectively large arm and forearm, and forearm slideably covers
It connects inside large arm, and forearm is identical with the length of large arm.The upper end of the large arm end far from forearm and mechanical arm support base
Hingedly, i.e., large arm is clamped between two side plates far from the end of forearm, and end of the forearm far from large arm is fixed with snatch component
Connection, by sliding of the forearm inside large arm by the job enlargement of entire mechanical arm to 2 times.Meanwhile flexible driving portion
Part includes telescopic oil cylinder, and telescopic oil cylinder is single-rod cylinder, and the telescopic end of telescopic oil cylinder is hinged on the end of forearm, telescopic oil cylinder
Fixing end and mechanical arm support base end it is hinged, when the telescopic end of telescopic oil cylinder elongates or shortens, forearm can be with
The telescopic end of telescopic oil cylinder elongates or shortens together.
The embodiment of this specification provides a kind of mechanical arm, and due to telescopic arm at least two sections, and telescopic arm is close
One section of snatch component is slidably fixed to the inside of coupled another section, so that mechanical arm has more times of strokes,
It is adapted to different working environments, meanwhile, pitching driving part, flexible driving part and wobble drive component are respectively from multiple
Direction adjusts the height of mechanical arm, and the angle of length and manipulator allows manipulator in underground coal mine completion swing, bows
It the various complex works such as faces upward, stretch, adapting to the construction operation environment of underground complexity.
It is above-mentioned that this specification specific embodiment is described.Other embodiments are in the scope of the appended claims
It is interior.It should be pointed out that for those skilled in the art, under the premise of not departing from the application principle, may be used also
To make several improvements and modifications, these improvements and modifications also should be regarded as the protection scope of the application.
Claims (10)
1. a kind of mechanical arm, which is characterized in that including mechanical arm support base (1), telescopic arm, snatch component, pitching driving part,
Flexible driving part and wobble drive component, in which:
The mechanical arm support base (1) is fixed on vehicle frame；
One end of the telescopic arm and the mechanical arm support base (1) hingedly, the other end of the telescopic arm and the snatch portion
Part is fixedly connected, and the telescopic arm at least two sections, the telescopic arm is slideably fixed close to a section of the snatch component
In the inside of coupled another section；
The pitching driving part includes pitching oil cylinder (2), one end of the pitching oil cylinder (2) and the mechanical arm support base
(1) hingedly, the other end and the telescopic arm are hinged；
The flexible driving part includes telescopic oil cylinder (8), telescopic oil cylinder (8) both ends both ends with the telescopic arm respectively
Hingedly；
The snatch component includes snatch arm, quick connector (13) and manipulator, and one end of the snatch arm is stretched with described
The other end of arm is fixedly connected, the other end of the snatch arm and the quick connector (13) hingedly, the quick connector
(13) it is hinged with the manipulator；
The wobble drive component includes forearm oscillating oil cylinder (10), one end of the forearm oscillating oil cylinder (10) and the snatch
Arm is hinged, and the other end and the quick connector (13) are hinged.
2. mechanical arm according to claim 1, which is characterized in that the telescopic arm is divided into three sections, respectively large arm (3),
Middle arm (7) and forearm (9), one end of the large arm (3) and the mechanical arm support base (1) hingedly, one end of the middle arm (7)
It is slideably socketed in the inside of the other end of the large arm (3), one end of the forearm (9) is slideably socketed in described
The other end of the inside of the other end of arm (7), the forearm (9) is fixedly connected with the snatch arm.
3. mechanical arm according to claim 2, which is characterized in that the fixing end of the pitching oil cylinder (2) and the machinery
Hingedly, the telescopic end of the pitching oil cylinder (2) and the large arm (3) are far from the mechanical arm support base (1) for arm support base (1)
End is hinged.
4. mechanical arm according to claim 2, which is characterized in that the telescopic oil cylinder (8) is dual-rod hydraulic cylinder, described to stretch
First telescopic end of contracting oil cylinder (8) and the snatch arm are hinged, the second telescopic end of the telescopic oil cylinder (8) and the large arm
(3) hinged towards the end of the mechanical arm support base (1), the pipe shaft of the telescopic oil cylinder (8) and the middle arm (7) are hinged.
5. mechanical arm according to claim 4, which is characterized in that further include that large arm adjustment sliding block (41) and the adjustment of middle arm are slided
Block (42), large arm adjustment sliding block (41) is sleeved and fixed the end in the large arm (3) close to the middle arm (7), described to bow
Hingedly, middle arm adjustment sliding block (42) is sleeved and fixed in institute for the telescopic end for facing upward oil cylinder (2) and large arm adjustment sliding block (41)
State the end of middle arm (7) close to the forearm (9), the pipe shaft of the telescopic oil cylinder (8) and middle arm adjustment sliding block (42) hinge
It connects.
6. mechanical arm according to claim 5, which is characterized in that large arm adjustment sliding block (41) and middle arm adjust sliding block
It (42) include top shoe (6), sliding block (5), sliding block support frame and several adjustment bolts (18), the top shoe (6) and institute
It states sliding block (5) to be oppositely disposed in inside the sliding block support frame, the sliding block support frame is sleeved and fixed at the end of corresponding arm
Portion, several described adjustment bolt (18) one end are plugged in the top shoe (6), and the other end is supported by nut and the sliding block
Frame is fixedly connected.
7. mechanical arm according to claim 2, which is characterized in that the manipulator includes log grapple (14), described to grab wood
Device (14) includes rotary disk (141), hydraulic motor (142), grab bucket hydraulic cylinder (143), grab bucket connection frame (144), and first is hinged
Seat (145), the second hinged seat (146), the first pawl valve (147) and the second pawl valve (148), in which:
Rotary disk (141) upper end is provided with two connecting shafts, two connecting shafts respectively with the quick connector
(13) two bayonets are hinged；
The hydraulic motor (142) is fixed on the rotary disk (141), the hydraulic motor (142) and the rotary disk
(141) it matches；
The grab bucket connection frame (144) upper end is fixedly connected with the rotary disk (141) lower end；
First hinged seat (145) and second hinged seat (146) are symmetricly set on grab bucket connection frame (144) length
Both ends on direction, first hinged seat (145) and second hinged seat (146) include two triangular form articulated slabs and
Connect the first pin shaft, the second pin shaft and the third pin shaft of two triangle articulated slabs；
The both ends of grab bucket hydraulic cylinder (143) are hinged with two first pin shafts respectively, and the grab bucket connection frame (144) is long
The both ends spent on direction are hinged with two second pin shafts respectively；
There are two the first pawl valves (147), is respectively hinged at the second pin shaft and third pin shaft of first hinged seat (145)
Both ends；
There are two the second pawl valves (148), is respectively hinged at the second pin shaft and third pin shaft of second hinged seat (146)
Both ends.
8. mechanical arm according to claim 7, which is characterized in that the manipulator further includes lifting fork (15), and described
(15) are pitched again, the lifting fork includes crotch and fork, the connecting shaft of the crotch and the separate vehicle body of the rotary disk (141)
Hingedly, the fork is fixed on the crotch on the end face of the rotary disk (141).
9. mechanical arm according to claim 2, which is characterized in that it further include first connecting rod (11) and second connecting rod (12),
Described first connecting rod (11) one end and the snatch arm are hinged, the other end of the first connecting rod (11) and the small arm swing oil
Hingedly, hingedly, the other end quickly connects cylinder (10) with described for described second connecting rod (12) one end and the forearm oscillating oil cylinder (10)
It is hinged to connect device (13).
10. according to the described in any item mechanical arms of claim 3-9, which is characterized in that the snatch arm include cantilever crane (16) and
Support base (17), the support base (17) are fixed on the cantilever crane (16) upper end, the support base (17) and the small arm swing
Hingedly, the cantilever crane (16) is socketed in the end of the forearm (9) far from the middle arm (7) to oil cylinder (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811518266.XA CN109607395B (en) | 2018-12-12 | 2018-12-12 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811518266.XA CN109607395B (en) | 2018-12-12 | 2018-12-12 | Mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109607395A true CN109607395A (en) | 2019-04-12 |
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Cited By (8)
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| CN111070417A (en) * | 2020-02-28 | 2020-04-28 | 山东精砼工程机械股份有限公司 | Concrete mixer truck feeding manipulator |
| WO2021000608A1 (en) * | 2019-06-30 | 2021-01-07 | 山西科达自控股份有限公司 | Mechanical arm apparatus used for underground coal mine |
| CN112814592A (en) * | 2021-03-17 | 2021-05-18 | 弘朗瑞智能装备制造有限公司 | Intelligent mechanical arm for well repairing platform and intelligent well repairing vehicle |
| CN113236331A (en) * | 2021-06-02 | 2021-08-10 | 中国矿业大学(北京) | Frame moving device of door type support |
| EP3981726A1 (en) * | 2020-10-06 | 2022-04-13 | LASCO Heutechnik GmbH | Pivoting device, gripping system and crane |
| CN117027788A (en) * | 2023-08-09 | 2023-11-10 | 莱州亚通重型装备有限公司 | A six-degree-of-freedom heavy-load lifting and telescopic system for coal mines |
| CN119347742A (en) * | 2024-12-24 | 2025-01-24 | 湖南农业大学 | A linear vertical pitch mechanism based on electric cylinder |
| CN120208109A (en) * | 2025-05-14 | 2025-06-27 | 泸州汇成液压机械有限公司 | A system and method for driving a crane telescopic arm to extend and retract |
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| WO2021000608A1 (en) * | 2019-06-30 | 2021-01-07 | 山西科达自控股份有限公司 | Mechanical arm apparatus used for underground coal mine |
| AU2020299731B2 (en) * | 2019-06-30 | 2023-08-31 | Shanxi Keda Automatic Control Co., Ltd | Robotic manipulator for underground coal mining |
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| CN112814592A (en) * | 2021-03-17 | 2021-05-18 | 弘朗瑞智能装备制造有限公司 | Intelligent mechanical arm for well repairing platform and intelligent well repairing vehicle |
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