CN111498716A - Walking type multifunctional mechanical arm - Google Patents

Abstract

The invention relates to a walking type multifunctional mechanical arm, belonging to the technical field of walking type multifunctional mechanical arms; the technical problem to be solved is as follows: the improvement of the hardware structure of the walking type multifunctional mechanical arm is provided; the technical scheme for solving the technical problem is as follows: one end of the vehicle base is provided with a driving wheel, the other end of the vehicle base is provided with a traveling wheel, the driving wheel is controlled and driven by a traveling motor arranged on a wheel shaft, and a handle extends outwards from a roller bracket of the driving wheel; the lifting device comprises a lifting electric push rod, the fixed end of the lifting electric push rod is fixedly connected with the vehicle base through a bolt, and the movable end of the lifting electric push rod is fixedly connected with the chassis of the slewing device through a bolt; the invention is applied to the walking type mechanical arm.

Description

Walking type multifunctional mechanical arm

Technical Field

The invention discloses a walking type multifunctional mechanical arm, and belongs to the technical field of walking type multifunctional mechanical arms.

Background

In the field of machining and assembling production, when a workpiece with the weight of 15KG-50KG is loaded, unloaded or transported at a machining or assembling station, the machining or assembling work is generally completed by the aid of an overhead travelling crane. When the overhead traveling crane is used for operation, the workpiece is processed or assembled smoothly mainly depending on the skillful operation skills of operators, but the overhead traveling crane is complex in structure and large in size, so that the workpiece often collides with a machine tool due to the fact that the workpiece swings due to improper operation in the process of lifting the workpiece in the operation process; when a plurality of workpieces need to be processed or assembled at the same time, the operation of the crane cannot finish the loading, unloading or carrying of the plurality of workpieces at the same time, and the workpieces can only be carried or loaded and unloaded one by one, so that the production waiting time is longer, and the working efficiency is lower; meanwhile, as the overhead travelling crane is difficult to operate, in the operation engineering, the overhead travelling crane operator and the equipment operator are often required to be closely matched to complete the processing or the assembly of the workpiece, so that the waste of personnel is caused.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention aims to solve the technical problems that: provides an improvement of a hardware structure of a walking type multifunctional mechanical arm.

In order to solve the technical problems, the invention adopts the technical scheme that: the walking type multifunctional mechanical arm comprises a vehicle base, wherein one end of the vehicle base is provided with a driving wheel, the other end of the vehicle base is provided with a walking wheel, the driving wheel is controlled and driven by a walking motor arranged on a wheel shaft, and a handle extends outwards from a roller bracket of the driving wheel;

the lifting device comprises a lifting electric push rod, the fixed end of the lifting electric push rod is fixedly connected with the vehicle base through a bolt, and the movable end of the lifting electric push rod is fixedly connected with the chassis of the slewing device through a bolt;

the slewing device comprises a slewing support driving wheel and an electric rotary connector, the slewing support driving wheel is fixed on a chassis of the slewing device, a rotating wheel of the slewing support driving wheel is in transmission connection with a rotating shaft of the electric rotary connector, and the slewing support driving wheel is controlled and driven by a slewing motor arranged at the bottom of the driving wheel;

the mechanical arm device comprises an upright post, a support post and a cross beam, wherein a telescopic electric push rod is arranged at the extending end of the cross beam, one end of the upright post is vertically fixed on the slewing device through a bolt, the other end of the upright post is fixedly connected with the cross beam, one end of the support post is fixedly connected on the slewing device through a bolt, the other end of the support post is fixedly connected with the telescopic electric push rod, and the telescopic electric push rod is controlled and driven by a telescopic motor;

the extension end of the telescopic electric push rod is provided with a telescopic arm;

the tail end of the telescopic arm is provided with a mechanical claw electric push rod and a mechanical claw support, the mechanical claw electric push rod is arranged on the inner side of the mechanical claw support, one end of the mechanical claw electric push rod is fixedly connected with the telescopic arm through a bolt, the other end of the mechanical claw electric push rod is hinged with a mechanical claw, and the mechanical claw electric push rod is controlled and driven by a mechanical claw motor;

a winch is further fixed at the extending end of the telescopic arm through a bolt, a steel rope is wound on the winch, one end of the steel rope is connected with a winch lifting hook, and the winch is controlled and driven by a winch motor;

the vehicle base is also fixedly provided with a control cabinet and a cable winder.

The number of the driving wheels is one, the driving wheels are specifically arranged in the middle of one end of the vehicle base, and the driving wheels are specifically driving wheels with universal rotating mechanisms;

the number of the walking wheels is two, and the walking wheels are specifically arranged on two sides of the other end of the vehicle base.

The three lifting electric push rods are specifically arranged at the upper parts of the driving wheels and the travelling wheels;

and each lifting electric push rod is controlled and driven by a corresponding lifting motor.

An external handheld operation box is arranged on the control cabinet, and is provided with a starting button SA1, an emergency stop button SB1, a lifting action switch SA2, a walking action switch SA3, a rotating action switch SA4, a mechanical claw action switch SA5, a telescopic action switch SA6 and a winding action switch SA 7;

the starting button SA1 is connected with the emergency stop button SB1 to form a starting switch, the incoming line end of the starting switch is connected with an alternating current power supply, the outgoing line end of the starting switch is connected with the incoming line end of an alternating current contactor coil KM1 after being connected with a protection switch group in series, the linkage contact of the alternating current contactor coil KM1 is a normally open contact KM1.1, and the incoming line end of the starting switch is connected with the incoming line end of the normally open contact KM 1.1;

and the outlet end of the normally open contact KM1.1 is connected with the inlet end of the hoisting motor control loop in parallel after being connected with the inlet ends of the lifting motor control loop, the walking motor control loop, the rotary motor control loop, the mechanical claw motor control loop and the telescopic motor control loop in sequence.

Relay coils KM2-KM13 are arranged in the lifting motor control loop, the walking motor control loop, the rotary motor control loop, the mechanical claw motor control loop, the telescopic motor control loop and the winding motor control loop;

the inlet wire end of the lifting motor control loop is connected with the input end of a lifting action switch SA2, one output end of the lifting action switch SA2 is connected with a relay coil KM2 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the lifting action switch SA2 is connected with a relay coil KM3 in series and then is connected with the N phase of the three-phase power supply;

the inlet wire end of the walking motor control loop is connected with the input end of a walking motion switch SA3, one output end of the walking motion switch SA3 is connected with a relay coil KM4 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the walking motion switch SA3 is connected with a relay coil KM5 in series and then is connected with the N phase of the three-phase power supply;

the inlet wire end of the rotary motor control loop is connected with the input end of a rotary action switch SA4, one output end of the rotary action switch SA4 is connected with a relay coil KM6 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the rotary action switch SA4 is connected with a relay coil KM7 in series and then is connected with the N phase of the three-phase power supply;

an incoming line end of the mechanical claw motor control loop is connected with an input end of a mechanical claw action switch SA5, one output end of the mechanical claw action switch SA5 is connected with a relay coil KM8 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the mechanical claw action switch SA5 is connected with a relay coil KM9 in series and then is connected with the N phase of the three-phase power supply;

the wire inlet end of the telescopic motor control loop is connected with the input end of a telescopic action switch SA6, one output end of the telescopic action switch SA6 is connected with a relay coil KM10 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the telescopic action switch SA6 is connected with a relay coil KM11 in series and then is connected with the N phase of the three-phase power supply;

the inlet wire end of the winch motor control loop is connected with the input end of a winch action switch SA7, one output end of the winch action switch SA7 is connected with a relay coil KM12 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the winch action switch SA7 is connected with a relay coil KM13 in series and then is connected with the N phase of the three-phase power supply.

The normally open contact of the relay coil KM2 is KM 2.1;

the normally open contact of the relay coil KM3 is KM 3.1;

the normally open contact of the relay coil KM4 is KM 4.1;

the normally open contact of the relay coil KM5 is KM 5.1;

the normally open contact of the relay coil KM6 is KM 6.1;

the normally open contact of the relay coil KM7 is KM 7.1;

the normally open contact of the relay coil KM8 is KM 8.1;

the normally open contact of the relay coil KM9 is KM 9.1;

the normally open contact of the relay coil KM10 is KM 10.1;

the normally open contact of the relay coil KM11 is KM 11.1;

the normally open contact of the relay coil KM12 is KM 12.1;

the normally open contact of the relay coil KM13 is KM 13.1;

still be provided with motor drive and speed governing circuit in the switch board, motor drive and speed governing circuit's circuit structure does: a motor control end of the lifting motor control loop is connected with a three-phase power supply, the normally open contact KM2.1 is arranged on a forward rotation control loop of the lifting motor, and the normally open contact KM3.1 is arranged on a reverse rotation control loop of the lifting motor;

the motor control end of the walking motor control loop is connected with a three-phase power supply, the normally open contact KM4.1 is arranged on a forward rotation control loop of the walking motor, and the normally open contact KM5.1 is arranged on a reverse rotation control loop of the walking motor;

a motor control end of the rotary motor control loop is connected with a three-phase power supply, the normally open contact KM6.1 is arranged on a forward rotation control loop of the rotary motor, and the normally open contact KM7.1 is arranged on a reverse rotation control loop of the rotary motor;

the motor control end of the mechanical claw motor control loop is connected with a three-phase power supply, the normally open contact KM8.1 is arranged on the forward rotation control loop of the mechanical claw motor, and the normally open contact KM9.1 is arranged on the reverse rotation control loop of the mechanical claw motor;

a motor control end of the telescopic motor control loop is connected with a three-phase power supply, the normally open contact KM10.1 is arranged on a forward rotation control loop of the telescopic motor, and the normally open contact KM11.1 is arranged on a reverse rotation control loop of the telescopic motor;

the signal output end of the telescopic motor is connected with a first slip clutch, and the output end of the first slip clutch is connected with a first tachogenerator;

the motor control end of the winch motor control loop is connected with a three-phase power supply, the normally open contact KM12.1 is arranged on the forward rotation control loop of the winch motor, and the normally open contact KM13.1 is arranged on the reverse rotation control loop of the winch motor;

and the signal output end of the hoisting motor is connected with a second slip clutch, and the output end of the second slip clutch is connected with a second tachogenerator.

The output end of the alternating current power supply is also provided with a protection switch Q L1 and a phase sequence protector KA, and the protection switch group comprises protection switches Q L2-Q L9;

a protection switch Q L2-Q L4 is arranged at the wire inlet end of the lifting motor;

a protection switch Q L5 is arranged on the wire inlet end of the walking motor;

a protection switch Q L6 is arranged at the wire inlet end of the rotary motor;

a protection switch Q L7 is arranged on the wire inlet end of the mechanical claw motor;

a protection switch Q L8 is arranged at the wire inlet end of the telescopic motor;

and a protection switch Q L9 is arranged on the wire inlet end of the winding motor.

Compared with the prior art, the invention has the beneficial effects that: the invention provides a walking multifunctional mechanical arm, which can realize the control of the advancing direction of the mechanical arm through a handle and a driving wheel, can finish the carrying of workpieces through walking, is simple to operate and easy to control, and avoids the problem of machine tool collision caused by operation problems in the operation process; the mechanical arm provided by the invention realizes multidirectional control on the mechanical arm through the arranged lifting motor, the rotary motor, the telescopic motor, the mechanical claw motor, the hoisting motor and the hoisting hook, and can realize the functions of lifting, stretching, revolving, grabbing and hoisting goods of the mechanical arm.

Drawings

The invention is further illustrated with reference to the accompanying drawings:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a schematic diagram of a power control circuit according to the present invention;

FIG. 4 is a schematic diagram of the motor driving and speed regulating circuit of the present invention;

FIG. 5 is a schematic diagram of the motor driving and speed regulating circuit of the present invention;

in the figure: the device comprises a chassis vehicle 1, a driving wheel 2, a traveling wheel 3, a handle 4, a lifting electric push rod 5, a slewing device chassis 6, a slewing support driving wheel 7, an electric rotary connector 8, a vertical column 9, a supporting column 10, a cross beam 11, a telescopic arm 12, a gripper 13, a winch 14, a telescopic electric push rod 15, a gripper electric push rod 16, a gripper support 17, a winch hook 18, a control cabinet 19 and a cable winder 20, wherein the chassis vehicle 2 is a driving wheel, the traveling wheel 3 is a traveling wheel, the handle 4 is a handle, the lifting electric push rod 5 is a lifting electric push rod, the slewing device chassis 6;

M0-M2 is a lifting motor, M3 is a walking motor, M4 is a rotary motor, M5 is a gripper motor, M6 is a telescopic motor, M7 is a winding motor, M8 is a first tachogenerator, and M9 is a second tachogenerator.

Detailed Description

As shown in fig. 1 to 5, the walking type multifunctional mechanical arm comprises a vehicle base 1, wherein one end of the vehicle base 1 is provided with a driving wheel 2, the other end of the vehicle base 1 is provided with a walking wheel 3, the driving wheel 2 is controlled and driven by a walking motor arranged on a wheel shaft, and a handle 4 extends outwards from a roller bracket of the driving wheel 2;

the vehicle base 1 is provided with a lifting device, a rotating device and a mechanical arm device, the lifting device comprises a lifting electric push rod 5, the fixed end of the lifting electric push rod 5 is fixedly connected with the vehicle base 1 through a bolt, and the movable end of the lifting electric push rod 5 is fixedly connected with a rotating device chassis 6 through a bolt;

the slewing device comprises a slewing support driving wheel 7 and an electric rotary connector 8, the slewing support driving wheel 7 is fixed on a chassis 6 of the slewing device, a rotating wheel of the slewing support driving wheel 7 is in transmission connection with a rotating shaft of the electric rotary connector 8, and the slewing support driving wheel 7 is controlled and driven by a slewing motor arranged at the bottom of the driving wheel;

the mechanical arm device comprises an upright post 9, a support post 10 and a cross beam 11, wherein a telescopic electric push rod 15 is arranged at the extending end of the cross beam 11, one end of the upright post 9 is vertically fixed on the slewing device through a bolt, the other end of the upright post 9 is fixedly connected with the cross beam 11, one end of the support post 10 is fixedly connected on the slewing device through a bolt, the other end of the support post 10 is fixedly connected with the telescopic electric push rod 15, and the telescopic electric push rod 15 is controlled and driven through a telescopic motor;

the extension end of the telescopic electric push rod 15 is provided with a telescopic arm 12;

the tail end of the telescopic arm 12 is provided with a mechanical claw electric push rod 16 and a mechanical claw support 17, the mechanical claw electric push rod 16 is arranged on the inner side of the mechanical claw support 17, one end of the mechanical claw electric push rod 16 is fixedly connected with the telescopic arm 12 through a bolt, the other end of the mechanical claw electric push rod 16 is hinged with the mechanical claw 13, and the mechanical claw electric push rod 16 is controlled and driven by a mechanical claw motor;

a winch 14 is further fixed at the extending end of the telescopic arm 12 through a bolt, a steel rope is wound on the winch 14, one end of the steel rope is connected with a winch hook 18, and the winch 14 is controlled and driven by a winch motor;

the vehicle base 1 is also fixedly provided with a control cabinet 19 and a cable winder 20.

The number of the driving wheels 2 is one, the driving wheels are specifically arranged in the middle of one end of the vehicle base 1, and the driving wheels 2 are specifically driving wheels with universal rotating mechanisms;

the number of the walking wheels 3 is two, and the walking wheels are specifically arranged on two sides of the other end of the vehicle base 1.

The three lifting electric push rods 5 are specifically arranged at the upper parts of the driving wheels 2 and the travelling wheels 3;

and each lifting electric push rod 5 is controlled and driven by a corresponding lifting motor.

The control cabinet 19 is provided with an external handheld operation box, and the external handheld operation box is provided with a starting button SA1, an emergency stop button SB1, a lifting action switch SA2, a walking action switch SA3, a rotating action switch SA4, a mechanical claw action switch SA5, a telescopic action switch SA6 and a winding action switch SA 7;

the starting button SA1 is connected with the emergency stop button SB1 to form a starting switch, the incoming line end of the starting switch is connected with an alternating current power supply, the outgoing line end of the starting switch is connected with the incoming line end of an alternating current contactor coil KM1 after being connected with a protection switch group in series, the linkage contact of the alternating current contactor coil KM1 is a normally open contact KM1.1, and the incoming line end of the starting switch is connected with the incoming line end of the normally open contact KM 1.1;

and the outlet end of the normally open contact KM1.1 is connected with the inlet end of the hoisting motor control loop in parallel after being connected with the inlet ends of the lifting motor control loop, the walking motor control loop, the rotary motor control loop, the mechanical claw motor control loop and the telescopic motor control loop in sequence.

Relay coils KM2-KM13 are arranged in the lifting motor control loop, the walking motor control loop, the rotary motor control loop, the mechanical claw motor control loop, the telescopic motor control loop and the winding motor control loop;

the inlet wire end of the lifting motor control loop is connected with the input end of a lifting action switch SA2, one output end of the lifting action switch SA2 is connected with a relay coil KM2 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the lifting action switch SA2 is connected with a relay coil KM3 in series and then is connected with the N phase of the three-phase power supply;

the inlet wire end of the walking motor control loop is connected with the input end of a walking motion switch SA3, one output end of the walking motion switch SA3 is connected with a relay coil KM4 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the walking motion switch SA3 is connected with a relay coil KM5 in series and then is connected with the N phase of the three-phase power supply;

the inlet wire end of the rotary motor control loop is connected with the input end of a rotary action switch SA4, one output end of the rotary action switch SA4 is connected with a relay coil KM6 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the rotary action switch SA4 is connected with a relay coil KM7 in series and then is connected with the N phase of the three-phase power supply;

an incoming line end of the mechanical claw motor control loop is connected with an input end of a mechanical claw action switch SA5, one output end of the mechanical claw action switch SA5 is connected with a relay coil KM8 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the mechanical claw action switch SA5 is connected with a relay coil KM9 in series and then is connected with the N phase of the three-phase power supply;

the wire inlet end of the telescopic motor control loop is connected with the input end of a telescopic action switch SA6, one output end of the telescopic action switch SA6 is connected with a relay coil KM10 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the telescopic action switch SA6 is connected with a relay coil KM11 in series and then is connected with the N phase of the three-phase power supply;

the inlet wire end of the winch motor control loop is connected with the input end of a winch action switch SA7, one output end of the winch action switch SA7 is connected with a relay coil KM12 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the winch action switch SA7 is connected with a relay coil KM13 in series and then is connected with the N phase of the three-phase power supply.

The normally open contact of the relay coil KM2 is KM 2.1;

the normally open contact of the relay coil KM3 is KM 3.1;

the normally open contact of the relay coil KM4 is KM 4.1;

the normally open contact of the relay coil KM5 is KM 5.1;

the normally open contact of the relay coil KM6 is KM 6.1;

the normally open contact of the relay coil KM7 is KM 7.1;

the normally open contact of the relay coil KM8 is KM 8.1;

the normally open contact of the relay coil KM9 is KM 9.1;

the normally open contact of the relay coil KM10 is KM 10.1;

the normally open contact of the relay coil KM11 is KM 11.1;

the normally open contact of the relay coil KM12 is KM 12.1;

the normally open contact of the relay coil KM13 is KM 13.1;

still be provided with motor drive and speed governing circuit in the switch board 19, motor drive and speed governing circuit's circuit structure is: a motor control end of the lifting motor control loop is connected with a three-phase power supply, the normally open contact KM2.1 is arranged on a forward rotation control loop of the lifting motor, and the normally open contact KM3.1 is arranged on a reverse rotation control loop of the lifting motor;

the motor control end of the walking motor control loop is connected with a three-phase power supply, the normally open contact KM4.1 is arranged on a forward rotation control loop of the walking motor, and the normally open contact KM5.1 is arranged on a reverse rotation control loop of the walking motor;

a motor control end of the rotary motor control loop is connected with a three-phase power supply, the normally open contact KM6.1 is arranged on a forward rotation control loop of the rotary motor, and the normally open contact KM7.1 is arranged on a reverse rotation control loop of the rotary motor;

the motor control end of the mechanical claw motor control loop is connected with a three-phase power supply, the normally open contact KM8.1 is arranged on the forward rotation control loop of the mechanical claw motor, and the normally open contact KM9.1 is arranged on the reverse rotation control loop of the mechanical claw motor;

a motor control end of the telescopic motor control loop is connected with a three-phase power supply, the normally open contact KM10.1 is arranged on a forward rotation control loop of the telescopic motor, and the normally open contact KM11.1 is arranged on a reverse rotation control loop of the telescopic motor;

the signal output end of the telescopic motor is connected with a first slip clutch, and the output end of the first slip clutch is connected with a first tachogenerator;

the motor control end of the winch motor control loop is connected with a three-phase power supply, the normally open contact KM12.1 is arranged on the forward rotation control loop of the winch motor, and the normally open contact KM13.1 is arranged on the reverse rotation control loop of the winch motor;

and the signal output end of the hoisting motor is connected with a second slip clutch, and the output end of the second slip clutch is connected with a second tachogenerator.

The output end of the alternating current power supply is also provided with a protection switch Q L1 and a phase sequence protector KA, and the protection switch group comprises protection switches Q L2-Q L9;

a protection switch Q L2-Q L4 is arranged at the wire inlet end of the lifting motor;

a protection switch Q L5 is arranged on the wire inlet end of the walking motor;

a protection switch Q L6 is arranged at the wire inlet end of the rotary motor;

a protection switch Q L7 is arranged on the wire inlet end of the mechanical claw motor;

a protection switch Q L8 is arranged at the wire inlet end of the telescopic motor;

and a protection switch Q L9 is arranged on the wire inlet end of the winding motor.

All the mechanisms of the invention are arranged on a chassis truck 1, the chassis truck 1 is provided with three wheels, one wheel is a driving wheel 2 and is driven by a walking motor M3, the driving wheel 2 is a driving wheel with a universal rotating mechanism, the other two wheels are walking wheels 3, one side of the driving wheel 2 is also provided with a handle 4, and a worker can control the walking direction of the whole truck by operating the handle 4; the lifting of the mechanical arm device is realized by a lifting electric push rod 5 arranged between the chassis vehicle 1 and the chassis 6 of the slewing device and driven by a lifting motor; the mechanical arm device can also realize horizontal rotation through a rotation support driving wheel 7, and the rotation support driving wheel 7 is driven by a rotation motor M4; the mechanical arm device mainly comprises an upright post 9, a support post 10, a cross beam 11, a telescopic arm 12, a mechanical claw 13, a winch 14 and a winch lifting hook 18, wherein the telescopic arm 12 drives a telescopic electric push rod 15 through a telescopic motor M6 to realize the telescopic of the mechanical arm, the telescopic electric push rod 15 can perform stepless speed regulation control according to the condition of a workpiece, the winch 14 is driven through a winch motor M7, the hoisting operation can control the hoisting and descending speeds of the workpiece through controlling the speed of a winch motor M7, and the mechanical claw 13 drives a mechanical claw electric push rod 16 through a mechanical claw motor M5 to realize the grasping and releasing actions of the mechanical claw.

The mechanical arm is also provided with a control cabinet 19 on the chassis truck 1, a handheld operation box is arranged outside the control cabinet 19, the operation is convenient, cables of the whole mechanical arm can be wound and unwound through a cable winder 20, and part of electrical equipment arranged on the mechanical arm can be connected with the control cabinet 19 through an electrical rotary connector 8 arranged between the rotary support driving wheels 7.

When the emergency power supply is used, a starting button SA1 arranged on a control cabinet 19 is used for starting a power supply of the whole system, a starting button SA1 is used for starting the power supply of the system, a starting button SA1 is clicked, an alternating current contactor coil KM1 is electrified, a normally open contact KM1.1 is closed, and the system is electrified.

After a system power supply is started, the overall height of the mechanical arm trolley is properly adjusted through the environment of an operation site, and the lifting motor M0, the lifting motor M1 and the lifting motor M2 are controlled through the lifting action switch SA2 to drive the lifting electric push rod 5 to realize the lifting control of the overall mechanical arm trolley, so that the lifting operation of a platform is controlled; the lifting mechanism is characterized in that a poking sheet of a lifting action switch SA2 is poked to enable a relay coil KM2 to be electrified, a normally open contact KM2.1 is closed at the moment, a lifting motor M0, a lifting motor M1 and a lifting motor M2 simultaneously positively rotate to drive a lifting electric push rod 5 to ascend so that the height of a mechanical arm is increased, a poking sheet of a lifting action switch SA2 is poked to enable a relay coil KM3 to be electrified, the normally open contact KM2.1 is de-electrified and disconnected at the moment, the normally open contact KM3.1 is closed, a lifting motor M0, a lifting motor M1 and a lifting motor M2 simultaneously reversely rotate to drive the lifting electric push rod 5 to descend so that the height of the mechanical arm is reduced, when the poking sheet of the lifting action switch SA2 is poked to the middle, the relay coils KM2 and KM3 are de-electrified at the moment, the normally open contacts KM2.1 and KM3.1 are both opened.

After the overall height of the mechanical arm trolley is adjusted, the walking motor M3 is controlled through the walking action switch SA3 to realize the control on the walking start, stop and steering of the driving wheel 2, so that the trolley is controlled to realize the functions of advancing, retreating, backing and stopping, and the advancing direction of the trolley is controlled through the matching use of the handle 4 and the driving wheel 2; the method is characterized in that a poking sheet of a walking motion switch SA3 is poked to enable a relay coil KM4 to be electrified, a normally open contact KM4.1 is closed, a walking motor M3 positively rotates to control a driving wheel 2 to advance, a poking sheet of a walking motion switch SA3 is poked to enable a relay coil KM5 to be electrified, the normally open contact KM4.1 is de-electrified and disconnected, the normally open contact KM5.1 is closed, a walking motor M3 reversely rotates to control the driving wheel 2 to retreat, a poking sheet of a walking motion switch SA3 is poked to the middle, the relay coils KM4 and KM5 are both de-electrified, the normally open contacts KM4.1 and KM5.1 are both opened, the walking motor M3 stops rotating, and the.

When the height and the advancing direction of the whole mechanical arm trolley are determined, the turning motion switch SA4 is used for controlling the starting, stopping and turning of the turning motor M4 during operation, so that the turning control during the operation of the mechanical arm is realized; the rotary action switch is characterized in that a poking piece of a rotary action switch SA4 is poked to enable a relay coil KM6 to be powered on, a normally open contact KM6.1 is closed, a rotary motor M4 controls forward operation of a mechanical arm, when the poking piece of the rotary action switch SA4 is poked to enable the relay coil KM7 to be powered on, the normally open contact KM6.1 is powered off and is disconnected, the normally open contact KM7.1 is closed, the rotary motor M4 controls reverse operation of the mechanical arm in a reverse mode, when the poking piece of the rotary action switch SA4 is poked to the middle, the relay coils KM6 and KM7 are powered off, the normally open contacts KM6.1 and KM7.1 are both opened, the rotary motor M4 stops rotating.

When the mechanical arm works, the mechanical claw action switch SA5 controls the starting, stopping and steering of the mechanical claw motor M5 to drive the mechanical claw electric push rod 16 to move, so that the grabbing and loosening operations of the mechanical claw 13 are controlled; the mechanical claw action switch is characterized in that a shifting piece of a mechanical claw action switch SA5 is shifted to enable a relay coil KM8 to be electrified, a normally open contact KM8.1 is closed, a mechanical claw motor M5 rotates forwards to drive a mechanical claw electric push rod 16 to move upwards to enable a mechanical claw to be in a grabbing state, a shifting piece of the mechanical claw action switch SA5 is shifted to enable a relay coil KM9 to be electrified, the normally open contact KM8.1 is disconnected after losing power, the normally open contact KM9.1 is closed, a mechanical claw motor M3 rotates backwards to drive a mechanical claw electric push rod 16 to move downwards to enable the mechanical claw to be in a loosening state, when the shifting piece of the mechanical claw action switch SA5 is shifted to the middle, the relay coils KM8 and KM9 lose power, the normally open contacts KM8.1 and KM9.1 are both opened, the mechanical claw motor M3 stops rotating.

The telescopic control of the mechanical arm is also needed to be realized in the operation process of the mechanical arm, the telescopic action switch SA6 is arranged to control the start, stop and steering of the telescopic motor M6 so as to control the movement of the telescopic electric push rod 15, the telescopic operation of the mechanical arm is realized, the rotating speed of the motor is often needed to be controlled according to the field condition in the actual operation, and the rotating speed of the motor of the telescopic motor M6 is controlled in real time by the matching of a slip clutch and a tachogenerator M8, so that the telescopic speed is controlled; in particular to a method for controlling the extension and contraction of a mechanical arm, which is characterized in that a poking sheet of an extension and contraction action switch SA6 is poked to electrify a relay coil KM10, a normally open contact KM10.1 is closed at the moment, an extension motor M6 rotates forwards to control an extension electric push rod 15 to drive the mechanical arm to extend, meanwhile, in the extension process, the rotating speed of a telescopic motor M6 is controlled through a slip clutch and a tachogenerator M8, a poking sheet of a telescopic action switch SA6 is poked to enable a relay coil KM11 to be electrified, at the moment, a normally open contact KM10.1 is powered off and is disconnected, a normally open contact KM11.1 is closed, the telescopic motor M6 reversely rotates to control a telescopic electric push rod 15 to drive a mechanical arm to retract, meanwhile, the rotating speed of a telescopic motor M6 is controlled through a slip clutch and a tachogenerator M8 in the retraction process, a poking sheet of a telescopic action switch SA6 is poked to the middle, at the moment, relay coils KM10 and KM11 are all powered off, normally open contacts KM10.1 and KM11.1 are both opened, a telescopic motor M6 stops rotating, and a mechanical arm is in a telescopic range suitable for operation.

Meanwhile, the situation that a plurality of workpieces need to be transported simultaneously can also occur in the operation of the mechanical arm, the starting, stopping and steering control of the hoisting motor M7 is realized through the hoisting action switch SA7, so that the lifting operation of the hoisting hook 18 is controlled, the operation of the plurality of workpieces can be realized simultaneously through the mechanical claw 13 and the hoisting hook 18, and the control of the rotating speed of the hoisting motor M7 can be realized through the slip clutch and the tachogenerator M9 on the actual operation site, so that the lifting speed in the hoisting operation is controlled; the lifting device is characterized in that a plectrum of a hoisting action switch SA7 is dialed to enable a relay coil KM12 to be electrified, a normally open contact KM12.1 is closed at the moment, the hoisting motor M7 positively rotates to control the hoisting lifting hook 18 to lift, meanwhile, the rotating speed of the hoisting motor M7 is controlled through a slip clutch and a tachogenerator M9 in the lifting process of the hoisting lifting hook 18, the plectrum of the hoisting action switch SA7 is dialed to enable a relay coil KM13 to be electrified, the normally open contact KM12.1 is disconnected in a power-off mode at the moment, the normally open contact KM13 is closed, the hoisting motor M7 reversely rotates to control the hoisting lifting hook 18 to fall, meanwhile, the rotating speed of the hoisting motor M7 is controlled through the slip clutch and the tachogenerator M9 in the falling process of the hoisting lifting hook 18, the plectrum of the hoisting action switch SA7 is dialed to the middle, at the moment, the relay coils KM12 and KM13 are all powered off, the normally open KM12.1, the KM13, And (6) unloading.

In the motor driving circuit, the corresponding motor is controlled to rotate forwards and backwards by controlling the opening and closing of different contactors of each motor, and in the motor speed regulating circuit, the rotating speeds and the rotating directions of the telescopic arm telescopic motor M6 and the winding motor M7 can be controlled through an electromagnetic speed regulator, so that the functions of controllable telescopic speed and controllable winding lifting speed of the mechanical arm are realized.

The driving motor used in the invention adopts the existing model, which specifically comprises the following components:

the types of the lifting motor M0, the lifting motor M1, the lifting motor M2 and the telescopic motor M5 are NK L A22-S;

the model of the walking motor M2 is SAF 107;

the type of the rotary motor M3 is KB 142;

the type of the mechanical claw motor M4 is EZ-400 EZ-300;

the type of the hoisting motor M7 is IK-2.5/30;

the first tachogenerator M8 and the second tachogenerator M9 are of the type GAT 9.06/420.

It should be noted that, regarding the specific structure of the present invention, the connection relationship between the modules adopted in the present invention is determined and can be realized, except for the specific description in the embodiment, the specific connection relationship can bring the corresponding technical effect, and the technical problem proposed by the present invention is solved on the premise of not depending on the execution of the corresponding software program.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (7)

1. Walking type multifunctional mechanical arm comprises a vehicle base (1) and is characterized in that: one end of the vehicle base (1) is provided with a driving wheel (2), the other end of the vehicle base (1) is provided with a traveling wheel (3), the driving wheel (2) is controlled and driven by a traveling motor arranged on a wheel shaft, and a handle (4) extends outwards from a roller bracket of the driving wheel (2);

the lifting device comprises a lifting electric push rod (5), the fixed end of the lifting electric push rod (5) is fixedly connected with the vehicle base (1) through a bolt, and the movable end of the lifting electric push rod (5) is fixedly connected with a chassis (6) of the slewing device through a bolt;

the slewing device comprises a slewing support driving wheel (7) and an electric rotary connector (8), the slewing support driving wheel (7) is fixed on a slewing device chassis (6), a rotating wheel of the slewing support driving wheel (7) is in transmission connection with a rotating shaft of the electric rotary connector (8), and the slewing support driving wheel (7) is controlled and driven by a slewing motor arranged at the bottom of the driving wheel;

the mechanical arm device comprises an upright post (9), a support post (10) and a cross beam (11), wherein a telescopic electric push rod (15) is arranged at the extending end of the cross beam (11), one end of the upright post (9) is vertically fixed on a slewing device through a bolt, the other end of the upright post (9) is fixedly connected with the cross beam (11), one end of the support post (10) is fixedly connected on the slewing device through a bolt, the other end of the support post (10) is fixedly connected with the telescopic electric push rod (15), and the telescopic electric push rod (15) is controlled and driven through a telescopic motor;

the extension end of the telescopic electric push rod (15) is provided with a telescopic arm (12);

the tail end of the telescopic arm (12) is provided with a mechanical claw electric push rod (16) and a mechanical claw support (17), the mechanical claw electric push rod (16) is arranged on the inner side of the mechanical claw support (17), one end of the mechanical claw electric push rod (16) is fixedly connected with the telescopic arm (12) through a bolt, the other end of the mechanical claw electric push rod (16) is hinged with a mechanical claw (13), and the mechanical claw electric push rod (16) is controlled and driven through a mechanical claw motor;

a winch (14) is further fixed at the extending end of the telescopic arm (12) through a bolt, a steel rope is wound on the winch (14), one end of the steel rope is connected with a winch lifting hook (18), and the winch (14) is controlled and driven by a winch motor;

the vehicle base (1) is also fixedly provided with a control cabinet (19) and a cable winder (20).

2. The walking multi-function robotic arm of claim 1, wherein: the number of the driving wheels (2) is one, the driving wheels are specifically arranged in the middle of one end of the vehicle base (1), and the driving wheels (2) are specifically driving wheels with universal rotating mechanisms;

the number of the walking wheels (3) is two, and the walking wheels are specifically arranged on two sides of the other end of the vehicle base (1).

3. The walking multi-function robotic arm of claim 2, wherein: the number of the lifting electric push rods (5) is three, and the lifting electric push rods are specifically arranged at the upper parts of the driving wheels (2) and the walking wheels (3);

and each lifting electric push rod (5) is controlled and driven by a corresponding lifting motor.

4. The walking multi-function robotic arm of claim 3, wherein: an external handheld operation box is arranged on the control cabinet (19), and is provided with a starting button SA1, an emergency stop button SB1, a lifting action switch SA2, a walking action switch SA3, a rotating action switch SA4, a mechanical claw action switch SA5, a telescopic action switch SA6 and a winding action switch SA 7;

the starting button SA1 is connected with the emergency stop button SB1 to form a starting switch, the incoming line end of the starting switch is connected with an alternating current power supply, the outgoing line end of the starting switch is connected with the incoming line end of an alternating current contactor coil KM1 after being connected with a protection switch group in series, the linkage contact of the alternating current contactor coil KM1 is a normally open contact KM1.1, and the incoming line end of the starting switch is connected with the incoming line end of the normally open contact KM 1.1;

and the outlet end of the normally open contact KM1.1 is connected with the inlet end of the hoisting motor control loop in parallel after being connected with the inlet ends of the lifting motor control loop, the walking motor control loop, the rotary motor control loop, the mechanical claw motor control loop and the telescopic motor control loop in sequence.

5. The walking multi-function robotic arm of claim 4, wherein: relay coils KM2-KM13 are arranged in the lifting motor control loop, the walking motor control loop, the rotary motor control loop, the mechanical claw motor control loop, the telescopic motor control loop and the winding motor control loop;

the inlet wire end of the lifting motor control loop is connected with the input end of a lifting action switch SA2, one output end of the lifting action switch SA2 is connected with a relay coil KM2 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the lifting action switch SA2 is connected with a relay coil KM3 in series and then is connected with the N phase of the three-phase power supply;

the inlet wire end of the walking motor control loop is connected with the input end of a walking motion switch SA3, one output end of the walking motion switch SA3 is connected with a relay coil KM4 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the walking motion switch SA3 is connected with a relay coil KM5 in series and then is connected with the N phase of the three-phase power supply;

the inlet wire end of the rotary motor control loop is connected with the input end of a rotary action switch SA4, one output end of the rotary action switch SA4 is connected with a relay coil KM6 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the rotary action switch SA4 is connected with a relay coil KM7 in series and then is connected with the N phase of the three-phase power supply;

an incoming line end of the mechanical claw motor control loop is connected with an input end of a mechanical claw action switch SA5, one output end of the mechanical claw action switch SA5 is connected with a relay coil KM8 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the mechanical claw action switch SA5 is connected with a relay coil KM9 in series and then is connected with the N phase of the three-phase power supply;

the wire inlet end of the telescopic motor control loop is connected with the input end of a telescopic action switch SA6, one output end of the telescopic action switch SA6 is connected with a relay coil KM10 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the telescopic action switch SA6 is connected with a relay coil KM11 in series and then is connected with the N phase of the three-phase power supply;

the inlet wire end of the winch motor control loop is connected with the input end of a winch action switch SA7, one output end of the winch action switch SA7 is connected with a relay coil KM12 in series and then is connected with the N phase of a three-phase power supply, and the other output end of the winch action switch SA7 is connected with a relay coil KM13 in series and then is connected with the N phase of the three-phase power supply.

6. The walking multi-function robotic arm of claim 5, wherein: the normally open contact of the relay coil KM2 is KM 2.1;

the normally open contact of the relay coil KM3 is KM 3.1;

the normally open contact of the relay coil KM4 is KM 4.1;

the normally open contact of the relay coil KM5 is KM 5.1;

the normally open contact of the relay coil KM6 is KM 6.1;

the normally open contact of the relay coil KM7 is KM 7.1;

the normally open contact of the relay coil KM8 is KM 8.1;

the normally open contact of the relay coil KM9 is KM 9.1;

the normally open contact of the relay coil KM10 is KM 10.1;

the normally open contact of the relay coil KM11 is KM 11.1;

the normally open contact of the relay coil KM12 is KM 12.1;

the normally open contact of the relay coil KM13 is KM 13.1;

still be provided with motor drive and speed governing circuit in switch board (19), motor drive and speed governing circuit's circuit structure is: a motor control end of the lifting motor control loop is connected with a three-phase power supply, the normally open contact KM2.1 is arranged on a forward rotation control loop of the lifting motor, and the normally open contact KM3.1 is arranged on a reverse rotation control loop of the lifting motor;

the motor control end of the walking motor control loop is connected with a three-phase power supply, the normally open contact KM4.1 is arranged on a forward rotation control loop of the walking motor, and the normally open contact KM5.1 is arranged on a reverse rotation control loop of the walking motor;

a motor control end of the rotary motor control loop is connected with a three-phase power supply, the normally open contact KM6.1 is arranged on a forward rotation control loop of the rotary motor, and the normally open contact KM7.1 is arranged on a reverse rotation control loop of the rotary motor;

the motor control end of the mechanical claw motor control loop is connected with a three-phase power supply, the normally open contact KM8.1 is arranged on the forward rotation control loop of the mechanical claw motor, and the normally open contact KM9.1 is arranged on the reverse rotation control loop of the mechanical claw motor;

a motor control end of the telescopic motor control loop is connected with a three-phase power supply, the normally open contact KM10.1 is arranged on a forward rotation control loop of the telescopic motor, and the normally open contact KM11.1 is arranged on a reverse rotation control loop of the telescopic motor;

the signal output end of the telescopic motor is connected with a first slip clutch, and the output end of the first slip clutch is connected with a first tachogenerator;

the motor control end of the winch motor control loop is connected with a three-phase power supply, the normally open contact KM12.1 is arranged on the forward rotation control loop of the winch motor, and the normally open contact KM13.1 is arranged on the reverse rotation control loop of the winch motor;

and the signal output end of the hoisting motor is connected with a second slip clutch, and the output end of the second slip clutch is connected with a second tachogenerator.

7. The walking multifunctional mechanical arm as claimed in claim 6, wherein a protection switch Q L1 and a phase sequence protector KA are further disposed on the output end of the AC power source, and the protection switch group comprises protection switches Q L2-Q L9;

a protection switch Q L2-Q L4 is arranged at the wire inlet end of the lifting motor;

a protection switch Q L5 is arranged on the wire inlet end of the walking motor;

a protection switch Q L6 is arranged at the wire inlet end of the rotary motor;

a protection switch Q L7 is arranged on the wire inlet end of the mechanical claw motor;

a protection switch Q L8 is arranged at the wire inlet end of the telescopic motor;

and a protection switch Q L9 is arranged on the wire inlet end of the winding motor.

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