CN205035839U

CN205035839U - Novel arm

Info

Publication number: CN205035839U
Application number: CN201520566778.9U
Authority: CN
Inventors: 王涛; 徐必勇; 徐志春; 刘江涛; 蒋化瑜
Original assignee: Anhui Jingtian Engineering Robot Co Ltd
Current assignee: Anhui Jingtian Engineering Robot Co Ltd
Priority date: 2015-07-31
Filing date: 2015-07-31
Publication date: 2016-02-17
Anticipated expiration: 2025-07-31

Abstract

The utility model discloses a novel arm, it includes work arm mechanism, the hydraulic pressure quartering hammer, work arm mechanism includes big arm mechanism, well arm, well arm hydro -cylinder, the forearm, the forearm hydro -cylinder, X is to rotatory hydro -cylinder, well arm about both ends respectively with big arm mechanism, the forearm is articulated, well arm hydro -cylinder about both ends respectively with first big arm, the middle part of well arm is articulated, the forearm hydro -cylinder about both ends respectively with the middle part of well arm, the forearm is articulated, X is to rotating the hydro -cylinder setting between forearm and hydraulic pressure quartering hammer, be connected with both respectively. Wherein, work arm mechanism still include Y to rotatory hydro -cylinder, Y to rotatory hydro -cylinder setting between X is to rotatory hydro -cylinder and forearm, can be around Y to the rotation. This arm structure is unique, collapsiblely move safely to the less realization of overall dimension, and the activity space is great when the operation to satisfy the requirement in less operation space.

Description

A kind of novel mechanical arm

Technical field

The utility model relates to a kind of mechanical arm, can be widely used in engineering mechanical device.

Background technology

The operation of sled hair is the stone (i.e. float stone) that lashing surface loosens after explosion, to prevent its inbreak in operation subsequently, and the injury person and equipment.This is a very hard and dangerous job, if with manually holding drill steel sled hair, even if operation correctly, very careful, also exist a lot of dangerous, as the unexpected movement etc. of the splashing of roof fall, rubble, dust from flying, rock stratum, condition of work very severe is with dangerous.Current cleaning mainly contains hand-held sled hair equipment and professional scaling jumbo, but both there is drawback.Hand-held sled hair equipment cleaning working strength and danger larger, to the great hidden danger of the security presence of operating personnel.Scaling jumbo can realize the mechanization sled hair operation of tunnel or underground mine, but existing scaling jumbo great majority also exist the comparatively large or mechanical arm shortcoming that appearance and size is large when shrinking of overall dimensions of a car, and tunnel or mining tunnel narrow space, therefore cannot realize fast and safely moving in tunnel, namely move handling capacity low.

Summary of the invention

Problem to be solved in the utility model is to provide a kind of novel mechanical arm, and this mechanical arm structure is unique, may contract to the less realization of appearance and size and moves safely, and activity space is comparatively large when operation, thus meets the requirement of less working space.

A kind of novel mechanical arm of the utility model, it comprises working arm mechanism, hydraulic breaking hammer, working arm mechanism comprises large arm mechanism, middle arm, middle arm oil cylinder, forearm, oil cylinder of small arm, X to rotary oil cylinder, the two ends, left and right of middle arm are hinged with large arm mechanism, forearm respectively, the two ends, left and right of middle arm oil cylinder are hinged with the middle part of the first large arm, middle arm respectively; the two ends, left and right of oil cylinder of small arm are hinged with the middle part of middle arm, forearm respectively; X is arranged between forearm and hydraulic breaking hammer to rotary oil cylinder, is connected respectively with both.

Wherein, working arm mechanism also comprises Y-direction rotary oil cylinder, and Y-direction rotary oil cylinder is arranged on X between rotary oil cylinder and forearm, can rotate around Y-direction.

The feature of this novel multi-degree-of-freemechanical mechanical arm is: hammer oil cylinder into shape by cancelling turning on forearm, the length of forearm is shortened widely, meanwhile, by increasing a Y-direction rotary oil cylinder at the head of forearm and X between rotary oil cylinder, serve the function of former turn of hammer oil cylinder.Therefore this novel multi-degree-of-freemechanical mechanical arm structure is unique, may contract to the less realization of appearance and size and moves safely, and activity space is comparatively large when operation, thus meets the requirement of less working space.This degree-of-freedom manipulator can be connected with various engineering machinery easily, realizes the convenient working of engineering equipment.

Accompanying drawing explanation

Fig. 1 is the front view of this New Type of Robot Arm;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is the schematic diagram that Fig. 1 is connected on scaling jumbo.

Detailed description of the invention

From accompanying drawing, this novel a kind of novel mechanical arm, it comprises working arm mechanism, hydraulic breaking hammer 1, working arm mechanism comprises large arm mechanism, middle arm 5, middle arm oil cylinder 7, forearm 4, oil cylinder of small arm 6, X-axis rotary oil cylinder 2, the two ends, left and right of middle arm 5 are hinged with large arm mechanism, forearm 4 respectively, the two ends, left and right of middle arm oil cylinder 7 are hinged with the middle part of large arm mechanism, middle arm 5 respectively; the two ends, left and right of oil cylinder of small arm 6 are hinged with the middle part of middle arm 5, forearm 4 respectively; X-axis rotary oil cylinder 2 is arranged between forearm 4 and hydraulic breaking hammer 1, is connected respectively with both.

Wherein, described working arm mechanism also comprises Y-axis rotary oil cylinder 3, and Y-axis rotary oil cylinder 3 is arranged on X between rotary oil cylinder 2 and forearm 4, can rotate around Y-axis.This is novel by increasing a Y-direction rotary oil cylinder between the head and X-axis rotary oil cylinder of forearm, has both served the function turning hammer oil cylinder, and has made again the length of forearm shorten widely.

As a kind of improved procedure that this is novel, large arm mechanism in this novel multi-degree-of-freemechanical mechanical arm comprises large arm seat 13, big arm cylinder 11, first large arm 8, second large arm 9, the third-largest arm 10, the top of the third-largest arm 10 and the first large arm 8 is hinged with the left and right end of the second large arm 9 respectively, both bottoms are hinged on the two ends, left and right of large arm seat 13 respectively, the top of the first large arm 8 is simultaneously hinged with the left end of middle arm 5, the cylinder body end of big arm cylinder 11 is fixed on large arm seat 13, and tailpiece of the piston rod is connected in the first large arm 8.Like this, the first large arm 8, second large arm 9, the third-largest arm 10 and large arm seat 13 form a quadric chain, can realize the job requirements of different tunnel to height, and have unique parallel maintenance function, have flexibly during operation, positioning function fast and accurately.

As a kind of improved procedure that this is novel, this novel multi-degree-of-freemechanical mechanical arm also comprises the slew gear of working arm, slew gear comprises pivoting support 14, large arm seat oscillating oil cylinder 12, be fixedly connected with above pivoting support 14 before and after large arm seat 13, two large arm seat oscillating oil cylinders 12 and be arranged on symmetrically on large arm seat 13.Like this, what realize whole equipment by large arm seat oscillating oil cylinder 12 take X-axis as the oscillating function of left and right ± 30 ° of axis of symmetry.When mechanical arm works, hydraulic oil enters oil cylinder, by the flexible various actions that can control mechanical arm of oil cylinder.

In a word, this New Type of Robot Arm compact conformation, possesses six-freedom degree, it can realize having translation operation function for the operation of large tunnel upwards larger distance by rear end double leval jib parallel mechanism simultaneously, because big arm cylinder is flexible, for front end working arm and the impact of hydraulic hammer pose very little, approximate translation, pinpoint when being convenient to hydraulic hammer operation; Secondly, by the configuration of two rotary oil cylinders, achieve 90 ° of swings about hydraulic hammer, the open shop scheduling of the left and right sides, tunnel can be realized in conjunction with large arm seat oscillating oil cylinder, operation can be carried out easily at narrow space.Meanwhile, this New Type of Robot Arm forearm is shorter, can be convenient mobile in narrow space.

Claims

1. a novel mechanical arm, it comprises working arm mechanism, hydraulic breaking hammer (1), it is characterized in that: working arm mechanism comprises large arm mechanism, middle arm (5), middle arm oil cylinder (7), forearm (4), oil cylinder of small arm (6), X-axis rotary oil cylinder (2), the two ends, left and right of middle arm (5) respectively with large arm mechanism, forearm (4) is hinged, the two ends, left and right of middle arm oil cylinder (7) respectively with large arm mechanism, the middle part of middle arm (5) is hinged, the two ends, left and right of oil cylinder of small arm (6) respectively with the middle part of middle arm (5), forearm (4) is hinged, X-axis rotary oil cylinder (2) is arranged between forearm (4) and hydraulic breaking hammer (1), be connected with both respectively.

2. mechanical arm according to claim 1, is characterized in that: described working arm mechanism also comprises Y-axis rotary oil cylinder (3), and Y-axis rotary oil cylinder (3) is arranged between X-axis rotary oil cylinder (2) and forearm (4), can rotate around Y-axis.

3. mechanical arm according to claim 1 and 2, it is characterized in that: described large arm mechanism comprises large arm seat (13), big arm cylinder (11), first large arm (8), second large arm (9), the third-largest arm (10), the top of the third-largest arm (10) and the first large arm (8) is hinged with the left and right end of the second large arm (9) respectively, both bottoms are hinged on the two ends, left and right of large arm seat (13) respectively, the top of the first large arm (8) simultaneously with the left end of middle arm (5), the left end of middle arm oil cylinder (7) is hinged, the cylinder body end of big arm cylinder (11) is fixed on large arm seat (13), tailpiece of the piston rod is connected in the first large arm (8).

4. the mechanical arm according to the arbitrary claim of claim 1-2, it is characterized in that: sixdegree-of-freedom simulation also comprises the slew gear of working arm, slew gear comprises pivoting support (14), large arm seat oscillating oil cylinder (12), pivoting support (14) top is fixedly connected with large arm seat (13), is arranged on symmetrically on large arm seat (13) before and after two large arm seat oscillating oil cylinders (12).

5. mechanical arm according to claim 3, it is characterized in that: sixdegree-of-freedom simulation also comprises the slew gear of working arm, slew gear comprises pivoting support (14), large arm seat oscillating oil cylinder (12), pivoting support (14) top is fixedly connected with large arm seat (13), is arranged on symmetrically on large arm seat (13) before and after two large arm seat oscillating oil cylinders (12).