CN110842980A

CN110842980A - Mechanical arm with variable rod length

Info

Publication number: CN110842980A
Application number: CN201911095285.0A
Authority: CN
Inventors: 张来刚; 赵永军; 赵鹏杰; 付肖宇; 于翰文; 王文学
Original assignee: MH Robot and Automation Co Ltd
Current assignee: MH Robot and Automation Co Ltd
Priority date: 2019-11-11
Filing date: 2019-11-11
Publication date: 2020-02-28

Abstract

The invention discloses a mechanical arm with a variable rod length, which solves the problems of fixed rod length, complex mechanism connection and complex installation of the conventional mechanical arm and has the effects of variable rod length and simple structure of the mechanical arm. The technical scheme is as follows: the device comprises a base, wherein a flange is arranged above the base, the upper part of the flange is rotatably connected with one end of a large arm through a first joint, and the flange can drive the first joint to rotate by 360 degrees; the other end and the elbow joint of big arm rotate to be connected, the elbow joint passes through second joint connection hydraulic telescoping rod's one end, and hydraulic telescoping rod's the other end is connected the third joint, and hydraulic telescoping rod installation fastener, fastener can tighten up automatically or relax to fix or loosen hydraulic telescoping rod.

Description

Mechanical arm with variable rod length

Technical Field

The invention relates to the field of industrial robots, in particular to a mechanical arm with a variable rod length.

Background

At present, industrial robots are developed rapidly, the industrial robot technology has penetrated into various industries and gradually replaces manual work, and the industrial robot technology is an indispensable part of social development. Existing robotic arms have multiple control structures, namely rotating, gripping, telescoping, etc.

However, the inventor finds that the existing mechanical arm has defects in different working distances, mainly due to the defects of fixed rod length, complex mechanism connection, complex installation and the like of the mechanical arm.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the mechanical arm with the variable rod length, which has the effects of variable rod length and simple structure.

The invention adopts the following technical scheme:

a mechanical arm with a variable rod length comprises a base, wherein a flange is mounted above the base, the flange is rotatably connected with one end of a large arm through a first joint, and the flange can drive the first joint to rotate by 360 degrees;

the other end and the elbow joint of big arm rotate to be connected, the elbow joint passes through second joint connection hydraulic telescoping rod's one end, and hydraulic telescoping rod's the other end is connected the third joint, and hydraulic telescoping rod installation fastener, fastener can tighten up automatically or relax to fix or loosen hydraulic telescoping rod.

Further, fastener includes fixed part and the movable part that the symmetry set up, the both ends of fixed part and movable part link to each other through the pneumatic cylinder respectively, and the pneumatic cylinder can drive the movable part and keep away from or be close to the fixed part.

Further, a circular space is formed between the fixed part and the movable part.

Furthermore, a joint motor is installed at the connecting end of the first joint and the large arm, and the large arm swings back and forth under the driving of the joint motor.

Furthermore, the joint motor is installed at the connecting end of the big arm and the elbow joint, and the elbow joint swings back and forth under the driving of the joint motor.

Furthermore, the second joint is connected with the elbow joint through the shaft, the second joint is connected with the motor, and the second joint rotates within a set range through the motor.

Furthermore, the third joint is installed at the end of the hydraulic telescopic rod and connected with a joint motor, and the third joint can swing back and forth under the driving of the joint motor.

Furthermore, the elbow joint is internally provided with a cavity, and an automatic oil supplementing and pressure maintaining loop is arranged in the cavity.

Furthermore, a laser ranging sensor is fixed above the elbow joint.

Furthermore, an angle sensor is arranged on the side face of the flange.

Compared with the prior art, the invention has the beneficial effects that:

(1) the hydraulic telescopic rod is arranged, so that the rod length of the mechanical arm can be changed, and the working requirements of the robot on different rod lengths in working can be met;

(2) the hydraulic telescopic rod mounting and fixing device can keep the telescopic strength of the telescopic rod;

(3) the flange is provided with the angle sensor, so that the rotation angle can be monitored in real time; elbow joint installation laser rangefinder sensor, but accurate measurement hydraulic telescoping rod's elongation.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a schematic structural diagram according to a first embodiment of the present invention;

FIG. 2 is a schematic diagram of an automatic oil-filling and pressure-maintaining circuit according to a first embodiment of the present invention;

fig. 3 is a schematic view of an internal structure of a hydraulic telescopic rod according to a first embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a fastening device according to a first embodiment of the present invention;

the hydraulic control device comprises a base 1, a flange 2, a first joint 3, a joint motor 4, a large arm 5, a hydraulic telescopic rod 6, a third joint 7, a second joint 8, an elbow joint 9, a fastening device 10, a fixing part 11, a hydraulic cylinder 12, a movable part 13, a main pump 14, a reversing valve 15, a hydraulic control one-way valve 16, a pressure reducing valve 17, a check valve 18, a hydraulic cylinder 19 and a piston 20.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;

for convenience of description, the words "up", "down", "left" and "right" in this application, if any, merely indicate correspondence with the directions of up, down, left and right of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The terms "mounted", "connected", "fixed", and the like in the present application should be understood broadly, and for example, the terms "mounted", "connected", and "fixed" may be fixedly connected, detachably connected, or integrated; the two components can be connected mechanically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the description are understood by those skilled in the art as having specific meanings according to the specific situation.

As introduced in the background art, the prior art has the defects of fixed rod length of the mechanical arm, complex mechanism connection and complex installation, and the invention provides the mechanical arm with the variable rod length in order to solve the technical problems.

The first embodiment is as follows:

the present invention is described in detail below with reference to fig. 1 to 4, and specifically, the structure is as follows:

this embodiment provides a mechanical arm of variable pole length, including base 1, flange 2, first joint 3, big arm 5, hydraulic telescoping rod 6, second joint 8, third joint 7, elbow joint 9 and fastener 10, wherein, 1 top mounting flange 2 of base, flange 2 top is rotated the one end of connecting big arm 5 through first joint 3, the other end and the elbow joint 9 of big arm 5 rotate to be connected, elbow joint 9 passes through the one end that hydraulic telescoping rod 6 is connected to second joint 8, and third joint 7 is connected to hydraulic telescoping rod 6's the other end, and hydraulic telescoping rod 6 installs fastener 10.

Specifically, a plurality of mounting holes are formed in the circumferential direction of the base 1 so as to be fixed to the ground. Flange 2 rotates to be connected in the top of base 1, and flange 2 connects joint motor, drives flange 2 through joint motor and realizes 360 rotations. In this embodiment, the driving device may be a motor. An angle sensor is fixed on the side surface of the flange 2, so that the rotation angle of the flange 2 can be observed in real time.

The first joint 3 is used for connecting the flange 2 and the large arm 5, in the embodiment, the longitudinal section of the first joint 3 is arc-shaped, and the tail end of the first joint is fixed with the flange 2 and rotates synchronously with the flange 2; the top end of the first joint 3 is connected with the large arm 5, the joint motor 4 is installed at the connecting position of the first joint 3 and the large arm 5, and the large arm 5 can swing back and forth in a large range under the driving of the joint motor 4.

The big arm 5 is connected with the elbow joint 9 through the connecting end and is provided with the joint motor 4, and the elbow joint 9 can swing back and forth in a large range under the driving of the joint motor 4. The laser ranging sensor is installed at the front end above the elbow joint 9, and the extension amount of the hydraulic telescopic rod 6 can be accurately measured. The elbow joint 9 is internally provided with a cavity, and an automatic oil supplementing and pressure maintaining loop is arranged in the cavity.

Specifically, as shown in fig. 2, the automatic oil supplementing and pressure maintaining circuit includes a main pump 14, a reversing valve 15, a pilot operated check valve 16, a pressure reducing valve 17, a check valve 18, and a hydraulic cylinder 19, and a piston 20 is provided inside the hydraulic cylinder 19; the main pump 14 is connected with one end of a check valve 18, the main pump 14 is connected with a pressure reducing valve 17 in parallel, the other end of the check valve 18 is connected with a pilot-operated check valve 16, and the pilot-operated check valve 16 is connected with a hydraulic cylinder 19. This automatic oil supplementation pressurize return circuit pressure stability is high, the stability of the hydraulic telescoping rod 6 of maintenance that can be better.

The second joint 8 is connected with the elbow joint 9 through an inter-shaft connection, namely one end of the joint 8 is sleeved in the elbow joint 9 and is connected with a joint motor in the elbow joint 9, and the second joint 8 rotates within a set range through the joint motor. The second joint 8 is detachably connected with the hydraulic telescopic rod 6, in this embodiment, the second joint 8 is connected with the hydraulic telescopic rod 6 through a bolt, and the stability of the hydraulic telescopic rod 6 can be maintained. The piston end of the hydraulic telescopic rod 6 is connected with the third joint 7, the third joint 7 is connected with the joint motor 4, and the third joint 7 can swing back and forth under the driving of the joint motor 4.

The fastening device 10 is installed at the front end (the end connected with the piston end) of the fixed end of the hydraulic telescopic rod 6, as shown in fig. 4, the fastening device 10 comprises a fixed part 11 and a movable part 13 which are symmetrically arranged, the cross sections of the fixed part 11 and the movable part 13 are arc-shaped, and a circular space for accommodating the piston end of the hydraulic telescopic rod 6 is formed between the fixed part 11 and the movable part 13.

The both ends of fixed part 11 and movable part 13 link to each other through pneumatic cylinder 12, and the cylinder body of pneumatic cylinder 12 is fixed in the side of fixed part 11, and the jar pole of pneumatic cylinder 12 passes fixed part 11 and links to each other with movable part 13, and the jar pole of pneumatic cylinder 12 is flexible can drive movable part 13 and keep away from or be close to fixed part 11 to realize independently tightening up and loosen hydraulic telescoping rod 6, increase flexible intensity. The hydraulic telescopic rod 6 can meet the working requirements of the robot on different rod lengths in working.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A mechanical arm with a variable rod length is characterized by comprising a base, wherein a flange is mounted above the base, the flange is rotatably connected with one end of a large arm through a first joint, and the flange can drive the first joint to rotate for 360 degrees;

2. The mechanical arm with the variable rod length as claimed in claim 1, wherein the fastening device comprises a fixed part and a movable part which are symmetrically arranged, two ends of the fixed part and two ends of the movable part are respectively connected through a hydraulic cylinder, and the hydraulic cylinder can drive the movable part to be far away from or close to the fixed part.

3. The variable bar length robotic arm of claim 2, wherein a circular space is formed between said fixed portion and said movable portion.

4. The mechanical arm with the variable rod length as claimed in claim 1, wherein a joint motor is mounted at the connecting end of the first joint and the large arm, and the large arm swings back and forth under the driving of the joint motor.

5. The mechanical arm with the variable rod length as claimed in claim 1, wherein the joint motor is installed at the connecting end of the big arm and the elbow joint, and the forward and backward swinging of the elbow joint is realized under the driving of the joint motor.

6. The mechanical arm with the variable rod length as claimed in claim 1, wherein the second joint is connected with the elbow joint through a shaft, and the second joint is connected with a motor, and the second joint is rotated within a set range through the motor.

7. The mechanical arm with the variable rod length as claimed in claim 1, wherein the third joint is mounted at the end of the hydraulic telescopic rod and is connected with a joint motor, and the third joint can swing back and forth under the driving of the joint motor.

8. The mechanical arm with the variable rod length as claimed in claim 1, wherein a cavity is formed inside the elbow joint, and an automatic oil supplementing and pressure maintaining loop is formed inside the cavity.

9. A variable bar length robotic arm as claimed in claim 1 wherein a laser range sensor is fixed above the elbow joint.

10. The mechanical arm with the variable rod length as claimed in claim 1, wherein an angle sensor is arranged on the side of the flange.