CN114150720A - Hydraulic mechanical arm for collecting large-particle-size crushed stones - Google Patents
Hydraulic mechanical arm for collecting large-particle-size crushed stones Download PDFInfo
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- CN114150720A CN114150720A CN202111474927.5A CN202111474927A CN114150720A CN 114150720 A CN114150720 A CN 114150720A CN 202111474927 A CN202111474927 A CN 202111474927A CN 114150720 A CN114150720 A CN 114150720A
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- 239000004575 stone Substances 0.000 title claims abstract description 19
- 210000000245 forearm Anatomy 0.000 claims description 21
- 239000007787 solid Substances 0.000 claims description 15
- 210000000078 claw Anatomy 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 6
- 239000002245 particle Substances 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 230000008093 supporting effect Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
- E02F3/4135—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device with grabs mounted directly on a boom
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a large-particle-size crushed stone collecting hydraulic mechanical arm which comprises a rotary structure, a large arm structure, a small arm structure, a rotary structure and a paw structure, wherein the rotary structure comprises a chassis hydraulic motor, a lower rotary body, a rotary support and an upper rotary body, the output end of the chassis hydraulic motor is fixedly connected with the bottom of the lower rotary body, the top of the lower rotary body is also fixedly provided with the rotary support, and the top of the rotary support is fixedly provided with the upper rotary body. According to the invention, the traditional mechanical arm is improved, so that the mechanical arm has 6 degrees of freedom, can grab objects at any position in a working space, is high in free movement and flexible in work, can grab large stones by driving the mechanical arm in a hydraulic mode, reduces the self weight of the mechanical arm, adopts a serial structure, can quickly replace parts when the parts need to be replaced, and improves the working efficiency.
Description
Technical Field
The invention relates to the technical field of mechanical arm equipment, in particular to a large-particle-size broken stone collecting hydraulic mechanical arm.
Background
At present, automatic cleaning of roads is not realized yet in China, the cleaning is still completed manually, a large amount of broken stones and iron sheets of buildings need to be carried in danger prevention and disaster relief after an earthquake, most of work needs to be completed manually because products in China are immature at present, and the efficiency is low and very dangerous. In the border, a large amount of iron sheet blocks remain on the ground due to some military exercises, and the metals with radiation are manually cleaned, which can cause physical damage to operators. The iron pieces for crushing the stones can be replaced by an intelligent crushing and collecting vehicle, labor force is liberated, and efficiency is improved.
And the more arm clearance of using in the market at present uses hydraulic shovel or hydraulic shovel, and these traditional cleaning machines need the people to operate to the arm is because the degree of freedom is few, and is not nimble enough, can not adapt to the operation of complex environment, and is not good to scattered rubble clearance effect.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a large-particle-size crushed stone collecting hydraulic mechanical arm, which has the following specific technical scheme:
the utility model provides a hydraulic mechanical arm is gathered to big particle size rubble, includes revolution mechanic, big arm structure, forearm structure, rotating-structure and hand claw structure, revolution mechanic includes chassis hydraulic motor, lower solid of revolution, slewing bearing and last solid of revolution, chassis hydraulic motor's output carries out fixed connection with the bottom of lower solid of revolution, the top of lower solid of revolution is the fixed slewing bearing that is provided with still, just slewing bearing's the fixed solid of revolution that is provided with in top, one side movable mounting who goes up the solid of revolution has big arm structure, the other end of big arm structure is the movable mounting has forearm structure still.
As an improvement of the technical scheme, the large arm structure comprises a large arm, a small arm large arm connecting piece and a large arm hydraulic cylinder, the large arm chassis connecting piece is inserted above one side of the upper revolving body, and the large arm is sleeved on two sides of the large arm chassis connecting piece.
As an improvement of the above technical scheme, the large arm chassis connecting piece is composed of a long shaft, a bearing and a bearing end cover, the long shaft is fixedly connected with the upper revolving body, the two ends of the long shaft are respectively and fixedly provided with the bearing, the bearing is also fixedly connected with the large arm, and the end part of the bearing is also fixedly provided with the bearing end cover.
As an improvement of the technical scheme, the side face of the upper revolving body is positioned at the bottom of the large arm and is movably inserted with a first hydraulic cylinder connecting piece, the periphery of the first hydraulic cylinder connecting piece is further sleeved with the large arm hydraulic cylinder, and the other end of the large arm hydraulic cylinder is rotatably connected with the large arm through a second hydraulic cylinder connecting piece.
As an improvement of the above technical scheme, the first hydraulic cylinder connecting piece is composed of a stepped shaft, a nut and a gasket, the middle position of the stepped shaft is in sliding connection with the large-arm hydraulic cylinder, two ends of the stepped shaft are respectively and fixedly connected with the upper revolving body, the two ends of the stepped shaft are respectively provided with the nut in a threaded manner, and the end part of the stepped shaft is positioned on the inner side of the nut and is further sleeved with the gasket.
As an improvement of the technical scheme, the small arm structure comprises a small arm, a small arm hydraulic cylinder and a fourth hydraulic cylinder connecting piece, the end part of the large arm is movably connected with the small arm through the small arm large arm connecting piece, the bottom of the large arm is also movably provided with the small arm hydraulic cylinder through the third hydraulic cylinder connecting piece, and the output end of the small arm hydraulic cylinder is also movably connected with the small arm through the fourth hydraulic cylinder connecting piece.
As an improvement of the technical scheme, the same sides of the upper revolving body, the large arm and the small arm are respectively fixedly provided with a first hydraulic valve, a second hydraulic valve and a third hydraulic valve through bolts.
As an improvement of the technical scheme, the rotating structure comprises a first swing hydraulic cylinder, a rotating joint and a second swing hydraulic cylinder, the end part of the small arm is fixedly provided with the first swing hydraulic cylinder through a bolt, the other end of the first swing hydraulic cylinder is further connected with the rotating joint in a key mode, and the other side of the rotating joint is fixedly provided with the second swing hydraulic cylinder.
As an improvement of the above technical scheme, the gripper structure includes a mechanical gripper, an LED lamp and a camera, the output end of the second swing hydraulic cylinder is fixedly connected with a first quick-change connector through a flange, the first quick-change connector is used in cooperation with a second quick-change connector, and the other side of the second quick-change connector is fixedly provided with the mechanical gripper.
As an improvement of the technical scheme, an LED lamp is fixedly embedded in the side face of the mechanical gripper, and a camera is fixedly arranged on one side of the mechanical gripper through a bolt.
The invention has the beneficial effects that: the mechanical arm comprises a rotary structure, a large arm structure, a small arm structure, a rotary structure and a paw structure, wherein the rotary structure mainly comprises a chassis hydraulic motor, a lower rotary body and an upper rotary body, the whole mechanical arm can be driven to rotate freely by the chassis hydraulic motor, then a large arm is movably arranged on one side of the upper rotary body by a large arm chassis connecting piece, the large arm can be controlled by a large arm hydraulic cylinder to move along a human body, a small arm is movably arranged at the other end of the large arm by a small arm large arm connecting piece, the small arm is similar to a human body, the small arm can be controlled by a small arm hydraulic cylinder to move, the rotary structure is arranged at the end part of the small arm, the rotary structure comprises a first swing hydraulic cylinder, a rotary joint and a second swing hydraulic cylinder, the effect similar to the wrist of the human body can be generated, and then the mechanical paw is arranged at the end part of the rotary structure, so that the mechanical arm has 6 degrees of freedom, the object that can snatch optional position in the workspace, the free activity is high, and work is nimble, through hydraulic pressure mode drive arm, can snatch the boulder, reduces arm self weight to adopt the structure of serial-type, when needing to change spare part, can quick replacement spare part, improved work efficiency.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a front view of the boom base plate attachment of the present invention;
figure 3 is a front view of the first hydraulic cylinder attachment of the present invention.
Reference numerals: 1-chassis hydraulic motor; 2-a lower revolving body; 3-a slewing bearing; 4-an upper rotator; 5-big arm chassis connection; 6-big arm; 7-small arm big arm connecting piece; 8-small arm; 9-a first swing hydraulic cylinder; 10-a revolute joint; 11-a second swing hydraulic cylinder; 12-a first quick-change coupling; 13-a second quick-change coupling; 14-a gripper; 15-LED lamps; 16-a camera; 17-a fourth hydraulic cylinder connection; 18-a third hydraulic valve and 19-a small arm hydraulic cylinder; 20-a second hydraulic valve; 21-a third hydraulic cylinder connection; 22-second hydraulic cylinder connection; 23-large arm hydraulic cylinder; 24-a first hydraulic cylinder connection; 25-a first hydraulic valve; 501-long axis; 502-a bearing; 503-bearing end cap; 2401-stepped shaft; 2402-a nut; 2403-spacer.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic view of the overall structure of the present invention.
A hydraulic mechanical arm for collecting large-particle-size crushed stones comprises a rotary structure, a large arm structure, a small arm structure, a rotary structure and a paw structure.
The slewing structure comprises a chassis hydraulic motor 1, a lower slewing body 2, a slewing bearing 3 and an upper slewing body 4, wherein the output end of the chassis hydraulic motor 1 is fixedly connected with the bottom of the lower slewing body 2, the top of the lower slewing body 2 is also fixedly provided with the slewing bearing 3, and the top of the slewing bearing 3 is fixedly provided with the upper slewing body 4.
The hydraulic motor 1 is arranged on the chassis, the lower revolving body 2 is fixedly arranged at the top of the hydraulic motor 1 on the chassis, a supporting effect can be provided, the upper revolving body 4 is arranged at the top of the lower revolving body 2 through the revolving support 3, and the structure is similar to a shoulder joint of a human body and can drive the whole mechanical arm to freely rotate.
As shown in fig. 1 and 2, fig. 1 is a schematic view showing the overall structure of the present invention, and fig. 2 is a front view showing the boom chassis link according to the present invention.
Go up one side movable mounting of solid of revolution 4 and have big arm structure, big arm structure includes big arm 6, forearm big arm connecting piece 7 and big arm pneumatic cylinder 23, it has big arm chassis connecting piece 5 to peg graft in the top of going up solid of revolution 4 one side, big arm 6 has been cup jointed to the both sides of big arm chassis connecting piece 5, it has first pneumatic cylinder connecting piece 24 still to peg graft in the activity of the bottom that the side of the body of revolution 4 lies in big arm 6, big arm pneumatic cylinder 23 has still been cup jointed to the periphery of first pneumatic cylinder connecting piece 24, big arm pneumatic cylinder 23's the other end rotates with big arm 6 through second pneumatic cylinder connecting piece 22 and is connected.
The large arm 6 is movably arranged on one side of the upper revolving body 4 through a large arm chassis connecting piece 5, the large arm 6 similar to a human body is connected with a shoulder joint, a large arm hydraulic cylinder 23 is arranged on the side surface of the upper revolving body 4 at the bottom of the large arm 6 through a first hydraulic cylinder connecting piece 24, the output end of the large arm hydraulic cylinder 23 is rotatably connected with the large arm 6 through a second hydraulic cylinder connecting piece 22, the large arm hydraulic cylinder 23 can provide support and power for the large arm 6, and the large arm 6 can be controlled to move through the large arm hydraulic cylinder 23.
As shown in FIG. 2, FIG. 2 is a front view of the boom chassis attachment of the present invention.
The large arm chassis connecting piece 5 is composed of a long shaft 501, a bearing 502 and a bearing end cover 503, the long shaft 501 is fixedly connected with the upper revolving body 4, the bearings 502 are fixedly arranged at two ends of the long shaft 501 respectively, the bearing 502 is also fixedly connected with the large arm 6, and the bearing end cover 503 is fixedly arranged at the end part of the bearing 502.
The long shaft 501 is fixedly connected with the upper revolving body 4, so that the whole large arm chassis connecting piece 5 can be fixedly installed in the upper revolving body 4, the two ends of the long shaft 501 are respectively provided with the bearings 502, and the large arm 6 is fixedly sleeved outside the bearings 502, the bearings 502 can rotate, so that the movement of the large arm 6 is not influenced, and the end part of the bearing 502 is also fixedly provided with the bearing end cover 503, so that the large arm 6 can be prevented from falling off from the bearing 502.
As shown in fig. 1, fig. 1 is a schematic view of the overall structure of the present invention.
The other end of the large arm structure is movably provided with a small arm structure, the small arm structure comprises a small arm 8, a small arm hydraulic cylinder 19 and a fourth hydraulic cylinder connecting piece 17, the end part of the large arm 6 is movably connected with the small arm 8 through the small arm large arm connecting piece 7, the bottom of the large arm 6 is movably provided with the small arm hydraulic cylinder 19 through a third hydraulic cylinder connecting piece 21, and the output end of the small arm hydraulic cylinder 19 is also movably connected with the small arm 8 through the fourth hydraulic cylinder connecting piece 17.
Can install forearm 8 at the tip of big arm 6 through forearm big arm connecting piece 7, the structure of forearm big arm connecting piece 7 is the same with big arm chassis connecting piece 5's structure, then the bottom of big arm 6 is provided with forearm pneumatic cylinder 19 through the activity of third pneumatic cylinder connecting piece 21, the output rethread fourth pneumatic cylinder connecting piece 17 of forearm pneumatic cylinder 19 carries out swing joint with forearm 8, utilize forearm pneumatic cylinder 19 can provide support and power for forearm 8, can drive forearm 8 and remove.
As shown in fig. 1 and 3, fig. 1 is a schematic view of the overall structure of the present invention, and fig. 3 is a front view of a first hydraulic cylinder connecting member according to the present invention.
The first hydraulic cylinder connecting piece 24 is composed of a stepped shaft 2401, a nut 2402 and a gasket 2403, the middle position of the stepped shaft 2401 is in sliding connection with the large arm hydraulic cylinder 23, two ends of the stepped shaft 2401 are fixedly connected with the upper revolving body 4 respectively, the two ends of the stepped shaft 2401 are further provided with the nut 2402 in a threaded manner respectively, and the gasket 2403 is further sleeved on the inner side of the nut 2402 at the end part of the stepped shaft 2401.
The second hydraulic cylinder link 22, the third hydraulic cylinder link 21, and the fourth hydraulic cylinder link 17 are all the same as the first hydraulic cylinder link 24, and for convenience of description, only the detailed structure of the first hydraulic cylinder link 24 is described, and since the stepped shaft 2401 can be fixed by fixedly connecting both ends of the stepped shaft 2401 to the upper revolving body 4 and the intermediate position between the boom cylinder 2 and the stepped shaft 2401 is slidably connected, the movement of the boom cylinder 2 in the process of extension and retraction is not affected.
As shown in fig. 1, fig. 1 is a schematic view of the overall structure of the present invention.
In order to control the normal use and the on-off of the chassis hydraulic motor 1, the large arm hydraulic cylinder 23 and the small arm hydraulic cylinder 19, a first hydraulic valve 25, a second hydraulic valve 20 and a third hydraulic valve 18 are fixedly arranged on the same side of the upper revolving body 4, the large arm 6 and the small arm 8 through bolts respectively.
As shown in fig. 1, fig. 1 is a schematic view of the overall structure of the present invention.
The rotating structure comprises a first swing hydraulic cylinder 9, a rotating joint 10 and a second swing hydraulic cylinder 11, the end part of the small arm 8 is fixedly provided with the first swing hydraulic cylinder 9 through a bolt, the other end of the first swing hydraulic cylinder 9 is further connected with the rotating joint 10 in a key mode, and the other side of the rotating joint 10 is fixedly provided with the second swing hydraulic cylinder 11.
The first swing hydraulic cylinder 9 and the second swing hydraulic cylinder 11 are arranged, and the rotating joint 10 is arranged between the first swing hydraulic cylinder 9 and the second swing hydraulic cylinder 11, so that the rotating structure is similar to the wrist of a human body, and the mechanical gripper 14 can be driven to move freely.
As shown in fig. 1, fig. 1 is a schematic view of the overall structure of the present invention.
The gripper structure includes gripper 14, LED lamp 15 and camera 16, and the first quick change coupler 12 of flange dish fixedly connected with is passed through to the output of second swing pneumatic cylinder 11, and first quick change coupler 12 uses with second quick change coupler 13 is supporting, and the opposite side of second quick change coupler 13 is fixed be provided with gripper 14.
Can realize snatching the object through gripper 14, can snatch some heavier stones, and self quality is lighter, still has the advantage of the degree of freedom height and high load.
An LED lamp 15 is fixedly embedded in the side face of the mechanical claw 14, and a camera 16 is fixedly arranged on one side of the mechanical claw 14 through a bolt.
Through having inlayed LED lamp 15 in manipulator claw 14's side, can provide the illumination at night or other when close and shine badly, and the camera 16 of manipulator claw 14 one side can provide remote monitoring, and remote realization is surveyd and is controlled manipulator claw 14 and snatch on the spot, can reduce the artifical dangerous place that gets into and carry out the operation to accomplish efficiently.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a hydraulic mechanical arm is gathered to big particle size rubble, includes revolution mechanic, big arm structure, forearm structure, rotating-structure and hand claw structure, its characterized in that: revolution mechanic includes chassis hydraulic motor (1), lower revolution solid (2), slewing bearing (3) and goes up the revolution solid (4), the output of chassis hydraulic motor (1) carries out fixed connection with the bottom of lower revolution solid (2), the top of lower revolution solid (2) is still fixed and is provided with slewing bearing (3), just the fixed revolution solid (4) that is provided with in top of slewing bearing (3), one side movable mounting who goes up revolution solid (4) has big arm structure, the other end of big arm structure is movable mounting still has little arm structure.
2. The large-particle-size crushed stone collecting hydraulic mechanical arm as claimed in claim 1, wherein: the large arm structure comprises a large arm (6), a small arm large arm connecting piece (7) and a large arm hydraulic cylinder (23), a large arm chassis connecting piece (5) is inserted above one side of the upper revolving body (4), and the large arm (6) is sleeved on two sides of the large arm chassis connecting piece (5).
3. The large-particle-size crushed stone collecting hydraulic mechanical arm as claimed in claim 2, wherein: the large arm chassis connecting piece (5) is composed of a long shaft (501), a bearing (502) and a bearing end cover (503), the long shaft (501) is fixedly connected with the upper revolving body (4), the two ends of the long shaft (501) are respectively and fixedly provided with the bearing (502), the bearing (502) is also fixedly connected with the large arm (6), and the end part of the bearing (502) is also fixedly provided with the bearing end cover (503).
4. The large-particle-size crushed stone collecting hydraulic mechanical arm as claimed in claim 2, wherein: the side of the upper revolving body (4) is located at the bottom of the large arm (6) and is movably connected with a first hydraulic cylinder connecting piece (24) in an inserting mode, a large arm hydraulic cylinder (23) is further sleeved on the periphery of the first hydraulic cylinder connecting piece (24), and the other end of the large arm hydraulic cylinder (23) is connected with the large arm (6) in a rotating mode through a second hydraulic cylinder connecting piece (22).
5. The large-particle-size crushed stone collecting hydraulic mechanical arm as claimed in claim 4, wherein: first pneumatic cylinder connecting piece (24) comprise step shaft (2401), nut (2402) and gasket (2403), sliding connection is carried out with big arm pneumatic cylinder (23) to the intermediate position of step shaft (2401), the both ends of step shaft (2401) carry out fixed connection with last solid of revolution (4) respectively, nut (2402) are still installed to the both ends of step shaft (2401) screw thread respectively, just gasket (2403) have still been cup jointed to the inboard that the tip of step shaft (2401) is located nut (2402).
6. The large-particle-size crushed stone collecting hydraulic mechanical arm as claimed in claim 2, wherein: the forearm structure includes forearm (8), forearm pneumatic cylinder (19) and fourth pneumatic cylinder connecting piece (17), the tip of big arm (6) carries out swing joint through big arm connecting piece of forearm (7) and forearm (8), the bottom of big arm (6) still is provided with forearm pneumatic cylinder (19) through third pneumatic cylinder connecting piece (21) activity, the output of forearm pneumatic cylinder (19) also carries out swing joint through fourth pneumatic cylinder connecting piece (17) and forearm (8).
7. The large-particle-size crushed stone collecting hydraulic mechanical arm as claimed in claim 6, wherein: the same sides of the upper revolving body (4), the large arm (6) and the small arm (8) are respectively fixedly provided with a first hydraulic valve (25), a second hydraulic valve (20) and a third hydraulic valve (18) through bolts.
8. The large-particle-size crushed stone collecting hydraulic mechanical arm as claimed in claim 6, wherein: the rotating structure comprises a first swing hydraulic cylinder (9), a rotating joint (10) and a second swing hydraulic cylinder (11), the end part of the small arm (8) is provided with the first swing hydraulic cylinder (9) through bolt fixing, the other end of the first swing hydraulic cylinder (9) is connected with the rotating joint (10) in a key mode, and the other side of the rotating joint (10) is fixedly provided with the second swing hydraulic cylinder (11).
9. The large-particle-size crushed stone collecting hydraulic mechanical arm as claimed in claim 8, wherein: the gripper structure comprises a mechanical gripper (14), an LED lamp (15) and a camera (16), the output end of the second swing hydraulic cylinder (11) is fixedly connected with a first quick-change connector (12) through a flange plate, the first quick-change connector (12) is matched with a second quick-change connector (13) for use, and the other side of the second quick-change connector (13) is fixedly provided with the mechanical gripper (14).
10. The large-particle-size crushed stone collecting hydraulic mechanical arm as claimed in claim 9, wherein: the LED lamp (15) is fixedly embedded in the side face of the mechanical gripper (14), and a camera (16) is fixedly arranged on one side of the mechanical gripper (14) through a bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111474927.5A CN114150720A (en) | 2021-12-03 | 2021-12-03 | Hydraulic mechanical arm for collecting large-particle-size crushed stones |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111474927.5A CN114150720A (en) | 2021-12-03 | 2021-12-03 | Hydraulic mechanical arm for collecting large-particle-size crushed stones |
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| Publication Number | Publication Date |
|---|---|
| CN114150720A true CN114150720A (en) | 2022-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111474927.5A Pending CN114150720A (en) | 2021-12-03 | 2021-12-03 | Hydraulic mechanical arm for collecting large-particle-size crushed stones |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07100787A (en) * | 1993-08-30 | 1995-04-18 | Mitsubishi Electric Corp | Industrial robot |
| CN107322590A (en) * | 2017-04-27 | 2017-11-07 | 山东建筑大学 | Multiple degrees of freedom hydraulic manipulator |
| CN110653800A (en) * | 2019-09-25 | 2020-01-07 | 中国地质大学（武汉） | Parallel robot with large working space and low inertia |
| CN110815282A (en) * | 2019-10-21 | 2020-02-21 | 南京理工大学 | Six-degree-of-freedom hydraulic mechanical arm |
-
2021
- 2021-12-03 CN CN202111474927.5A patent/CN114150720A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07100787A (en) * | 1993-08-30 | 1995-04-18 | Mitsubishi Electric Corp | Industrial robot |
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