CN210282273U

CN210282273U - Hydraulic robot

Info

Publication number: CN210282273U
Application number: CN201920535945.1U
Authority: CN
Inventors: 邓志威; 郑玉国; 唐云双
Original assignee: Anhui Aobo Intelligent Technology Co ltd
Current assignee: Anhui Aobo Intelligent Technology Co ltd
Priority date: 2019-04-17
Filing date: 2019-04-17
Publication date: 2020-04-10
Anticipated expiration: 2029-04-17

Abstract

The utility model discloses a hydraulic pressure robot, include: base, vice digging arm, main digging arm and hydraulic system, wherein: one end of the auxiliary movable arm is movably provided with a mounting seat, and the other end of the auxiliary movable arm is provided with a first connecting point and a second connecting point; one end of the main movable arm is connected with the base, and the other end of the main movable arm is connected with the first connecting point of the auxiliary movable arm; the hydraulic system comprises a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder; the ejection end of a piston rod in the first hydraulic cylinder is connected with the main movable arm, and one end of the first hydraulic cylinder, which is far away from the ejection end of the piston rod, is connected with the base; the ejection end of a piston rod in the second hydraulic cylinder is connected with a second connection point of the auxiliary movable arm, and one end of the second hydraulic cylinder, which is far away from the ejection end of the piston rod, is connected with the main movable arm; the ejection end of a piston rod in the third hydraulic cylinder is movably connected with the mounting seat, and one end of the third hydraulic cylinder, which is far away from the ejection end of the piston rod, is connected with the auxiliary movable arm. The utility model discloses stable in structure, heavy burden and application of force ability are strong.

Description

Hydraulic robot

Technical Field

The utility model relates to a processing equipment technical field especially relates to a hydraulic robot.

Background

With the development of science and technology, robots are more and more commonly applied in the production and processing processes, and then the existing robots have defects in the aspects of stability, load bearing capacity and force application capacity in work, so that improvement is needed.

SUMMERY OF THE UTILITY MODEL

Based on the technical problem who exists among the above-mentioned background art, the utility model provides a hydraulic pressure robot.

The utility model provides a hydraulic pressure robot, include: base, vice digging arm, main digging arm and hydraulic system, wherein:

one end of the auxiliary movable arm is movably provided with a mounting seat for mounting the mounting seat; one end of the auxiliary movable arm, which is far away from the mounting seat, is provided with a first connecting point and a second connecting point which are spaced along the length direction of the auxiliary movable arm; one end of the main movable arm is movably connected with the base, and the end of the main movable arm, which is far away from the base, is movably connected with the first connecting point of the auxiliary movable arm;

the hydraulic system comprises a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder;

the ejection end of a piston rod in the first hydraulic cylinder is positioned between the two ends of the main movable arm and is movably connected with the main movable arm, one end of the first hydraulic cylinder, which is far away from the ejection end of the piston rod, is movably connected with the base, and a gap is reserved between the connection part of the first hydraulic cylinder and the base and the main movable arm;

the ejection end of the piston rod in the second hydraulic cylinder is movably connected with the second connection point of the auxiliary movable arm, and one end of the second hydraulic cylinder, which is far away from the ejection end of the piston rod, is movably connected with the main movable arm;

the ejection end of a piston rod in the third hydraulic cylinder is movably connected with the mounting seat, and one end of the third hydraulic cylinder, which is far away from the ejection end of the piston rod, is movably connected with the auxiliary movable arm.

Preferably, the first connection point on the secondary activating arm is located on a side of the second connection point adjacent to the mounting block.

Preferably, the main movable arm comprises a first arm and a second arm, one end of the first arm and one end of the second arm are fixed with each other, an included angle a which is larger than 90 degrees and smaller than 180 degrees is formed between the first arm and the second arm, one end of the first arm, far away from the second arm, is movably connected with the base, and one end of the second arm, far away from the first arm, is movably connected with a first connection position on the auxiliary movable arm; the ejection end of a piston rod in the first hydraulic cylinder is connected to the joint of the first arm and the second arm; one end of the second hydraulic cylinder, which is far away from the ejection end of the piston rod, is movably connected with one end of the second arm, which is close to the first arm.

Preferably, the first hydraulic cylinder is located inside the angle a.

Preferably, the base comprises a chassis and a rotating seat which is positioned above the chassis and is rotatably assembled with the chassis; the main arm of the main movable arm is positioned above the rotating seat, and one end of the main movable arm is movably connected with the rotating seat through a first rotating shaft; the first hydraulic cylinder is positioned above the rotating seat, one end of the first hydraulic cylinder, which is far away from the ejection end of the piston rod of the first hydraulic cylinder, is movably connected with the rotating seat through a second rotating shaft, and the second rotating shaft is parallel to the first rotating shaft.

Preferably, the ejection end of the piston rod in the first hydraulic cylinder is movably connected with the main movable arm through a third rotating shaft; the main movable arm is movably connected with a first connecting point on the auxiliary movable arm through a fourth rotating shaft; the ejection end of a piston rod in the second hydraulic cylinder is movably connected with a second connecting point on the auxiliary movable arm through a fifth rotating shaft, and one end of the second hydraulic cylinder, which is far away from the ejection end of the piston rod, is movably connected with the main movable arm through a sixth rotating shaft; the ejection end of a piston rod in the third hydraulic cylinder is movably connected with the mounting seat through a seventh rotating shaft, one end of the third hydraulic cylinder, which is far away from the ejection end of the piston rod, is movably connected with the auxiliary movable arm through an eighth rotating shaft, and the third rotating shaft, the fourth rotating shaft, the fifth rotating shaft, the sixth rotating shaft, the seventh rotating shaft and the eighth rotating shaft are all parallel to the first rotating shaft respectively.

Preferably, the mounting seat comprises a connecting seat movably assembled with the auxiliary movable arm and a cycloid hydraulic motor fixedly mounted on the connecting seat.

In the utility model, the assembly relation between the main movable arm and the first hydraulic cylinder in the hydraulic system is limited, so that a stable triangular structure is formed between the first hydraulic cylinder and the main movable arm, and the first hydraulic cylinder not only drives the main movable arm to move, but also can support the main movable arm to share the load of the main movable arm; meanwhile, the structures and the installation positions of the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder in the hydraulic system are limited, so that the three hydraulic cylinders are utilized to realize the movement of the main movable arm, the auxiliary movable arm and the installation seat, the generation of the torsion of the joint part can be effectively avoided by utilizing the movement mode of all joint parts of the hydraulic fully-driven robot, and the force application strength of the robot is improved.

Drawings

Fig. 1 is the structural schematic diagram of the hydraulic robot provided by the utility model.

Detailed Description

The technical solution of the present invention will be described in detail by the following embodiments.

As shown in fig. 1, fig. 1 is a schematic structural diagram of a hydraulic robot provided by the present invention.

Referring to fig. 1, the utility model provides a hydraulic robot, include: base 1, vice movable arm 2, main movable arm 3 and hydraulic system, wherein:

one end of the auxiliary movable arm 2 is movably provided with an installation seat 4 for installing the installation seat; one end of the auxiliary movable arm 2, which is far away from the mounting seat 4, is provided with a first connecting point and a second connecting point which are spaced along the length direction of the auxiliary movable arm, and the first connecting point is positioned on one side of the second connecting point, which is close to the mounting seat 4; one end of the main movable arm 3 is movably connected with the base 1, and one end of the main movable arm 3, which is far away from the base 1, is movably connected with the first connecting point of the auxiliary movable arm 2.

The hydraulic system comprises a first hydraulic cylinder 5, a second hydraulic cylinder 6 and a third hydraulic cylinder 7; the ejection end of a piston rod in the first hydraulic cylinder 5 is positioned between the two ends of the main movable arm 3 and is movably connected with the main movable arm 3, and a distance is reserved between one end of the first hydraulic cylinder 5, which is far away from the ejection end of the piston rod, and the main movable arm 3 and is movably connected with the base 1; the ejection end of a piston rod in the second hydraulic cylinder 6 is movably connected with a second connection point of the auxiliary movable arm 2, and one end of the second hydraulic cylinder 6, which is far away from the ejection end of the piston rod, is movably connected with the main movable arm 3; the ejection end of the piston rod in the third hydraulic cylinder 7 is movably connected with the mounting seat 4, and one end of the third hydraulic cylinder 7, which is far away from the ejection end of the piston rod, is movably connected with the auxiliary movable arm 2.

In the utility model, the assembly relationship between the main movable arm 3 and the first hydraulic cylinder 5 in the hydraulic system is limited, so that a stable triangular structure is formed between the first hydraulic cylinder 5 and the main movable arm 3, and the first hydraulic cylinder 5 not only drives the main movable arm 3 to move, but also can support the main movable arm 3 to share the load of the main movable arm 3; the structure and the installation position of the first hydraulic cylinder 5, the second hydraulic cylinder 6 and the third hydraulic cylinder 7 in the hydraulic system are limited, so that the main movable arm 3, the auxiliary movable arm 2 and the installation seat 4 can move by using the three hydraulic cylinders, the generation of joint part torsion can be effectively avoided by using the movement mode of all joint parts of the hydraulic full-drive robot, and the force application intensity of the robot is improved. In addition, the invention can also be controlled logically by a programmable controller, and a rotary encoder is used for signal feedback of the motion of each shaft, thereby realizing a closed-loop feedback system with program monitoring, real-time feedback and automatic compensation.

In addition, in the present embodiment, the main movable arm 3 includes a first arm 31 and a second arm 32, one end of which is fixed to each other, and an included angle a between the first arm 31 and the second arm 32 is greater than 90 ° and smaller than 180 °, one end of the first arm 31 away from the second arm 32 is movably connected to the base 1, and one end of the second arm 32 away from the first arm 31 is movably connected to the first connection point on the auxiliary movable arm 2; the first hydraulic cylinder 5 is positioned at the inner side of the included angle a, and the ejection end of a piston rod in the first hydraulic cylinder 5 is connected to the joint of the first arm 31 and the second arm 32; the end of the second hydraulic cylinder 6 far from the ejection end of the piston rod is movably connected with the end of the second arm 32 close to the first arm 31. The arrangement of the structure enables the gravity part to be concentrated at the joint of the first arm 31 and the second arm 32 and shared by the first hydraulic cylinder 5, the pressure at the joint of the two ends of the main movable arm 3 is effectively reduced, and therefore the stability of the hydraulic robot structure can be further improved.

In this embodiment, the base 1 includes a chassis 11 and a rotary base 12 located above the chassis 11 and rotatably assembled with the chassis 11; the main arm of the main movable arm 3 is positioned above the rotating base 12, and one end of the main movable arm 3 is movably connected with the rotating base 12 through a first rotating shaft; the first hydraulic cylinder 5 is located above the rotary base 12, one end of the first hydraulic cylinder 5, which is far away from the ejection end of the piston rod, is movably connected with the rotary base 12 through a second rotating shaft, and the second rotating shaft is parallel to the first rotating shaft. The structure is provided such that each component mounted above the rotary base 12 can be rotated as the rotary base 12 is rotated.

In this embodiment, the ejection end of the piston rod in the first hydraulic cylinder 5 is movably connected with the main movable arm 3 through a third rotating shaft; the main movable arm 3 is movably connected with a first connecting point on the auxiliary movable arm 2 through a fourth rotating shaft; the ejection end of a piston rod in the second hydraulic cylinder 6 is movably connected with a second connecting point on the auxiliary movable arm 2 through a fifth rotating shaft, and one end of the second hydraulic cylinder 6, which is far away from the ejection end of the piston rod, is movably connected with the main movable arm 3 through a sixth rotating shaft; the ejecting end of the piston rod in the third hydraulic cylinder 7 is movably connected with the mounting seat 4 through a seventh rotating shaft, one end of the third hydraulic cylinder 7, which is far away from the ejecting end of the piston rod, is movably connected with the auxiliary movable arm 2 through an eighth rotating shaft, and the third rotating shaft, the fourth rotating shaft, the fifth rotating shaft, the sixth rotating shaft, the seventh rotating shaft and the eighth rotating shaft are all parallel to the first rotating shaft respectively.

The mounting seat 4 may be configured such that the mounting seat 4 includes a connecting seat 41 movably attached to the sub-movable arm 2 and a cycloid hydraulic motor 42 fixedly attached to the connecting seat 41, and that an actuator is connected to the cycloid hydraulic motor 42 so that the attached actuator can perform a turning operation during operation.

In addition, the robot can utilize programming in specific work, so that the whole process of the robot is controlled logically by a programmable controller, a rotary encoder is used for signal feedback of the motion of each shaft, and a closed-loop feedback system for program monitoring, real-time feedback and automatic compensation is realized.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A hydraulic robot, comprising: base (1), vice digging arm (2), main digging arm (3) and hydraulic system, wherein:

one end of the auxiliary movable arm (2) is movably provided with a mounting seat (4) for mounting the mounting seat; one end of the auxiliary movable arm (2) far away from the mounting seat (4) is provided with a first connection point and a second connection point which are spaced along the length direction of the auxiliary movable arm;

one end of the main movable arm (3) is movably connected with the base (1), and one end of the main movable arm (3) far away from the base (1) is movably connected with a first connecting point of the auxiliary movable arm (2);

the hydraulic system comprises a first hydraulic cylinder (5), a second hydraulic cylinder (6) and a third hydraulic cylinder (7);

the ejection end of a piston rod in the first hydraulic cylinder (5) is positioned between two ends of the main movable arm (3) and is movably connected with the main movable arm (3), one end of the first hydraulic cylinder (5) far away from the ejection end of the piston rod is movably connected with the base (1), and a gap is reserved between the connecting part of the first hydraulic cylinder (5) and the base (1) and the main movable arm (3);

the ejection end of a piston rod in the second hydraulic cylinder (6) is movably connected with a second connection point of the auxiliary movable arm (2), and one end of the second hydraulic cylinder (6) far away from the ejection end of the piston rod is movably connected with the main movable arm (3);

the ejection end of a piston rod in the third hydraulic cylinder (7) is movably connected with the mounting seat (4), and one end of the third hydraulic cylinder (7) far away from the ejection end of the piston rod is movably connected with the auxiliary movable arm (2).

2. The hydraulic robot according to claim 1, characterized in that the first connection point on the secondary mobile arm (2) is located on the side of its second connection point near the mounting (4).

3. The hydraulic robot according to claim 1, characterized in that the main movable arm (3) comprises a first arm (31) and a second arm (32) with one ends fixed to each other, an included angle a between the first arm (31) and the second arm (32) is larger than 90 degrees and smaller than 180 degrees, one end of the first arm (31) far away from the second arm (32) is movably connected with the base (1), and one end of the second arm (32) far away from the first arm (31) is movably connected with a first connection position on the auxiliary movable arm (2); the ejection end of a piston rod in the first hydraulic cylinder (5) is connected to the joint of the first arm (31) and the second arm (32); one end of the second hydraulic cylinder (6) far away from the ejection end of the piston rod is movably connected with one end of the second arm (32) close to the first arm (31).

4. Hydraulic robot according to claim 3, characterised in that the first hydraulic cylinder (5) is located inside the angle a.

5. The hydraulic robot according to any of claims 1-4, characterized in that the base (1) comprises a chassis (11) and a swivel (12) located above the chassis (11) and rotatably fitted to the chassis (11); the main arm of the main movable arm (3) is positioned above the rotating base (12), and one end of the main movable arm (3) is movably connected with the rotating base (12) through a first rotating shaft; the first hydraulic cylinder (5) is positioned above the rotating base (12), one end of the first hydraulic cylinder (5), which is far away from the ejection end of the piston rod, is movably connected with the rotating base (12) through a second rotating shaft, and the second rotating shaft is parallel to the first rotating shaft.

6. The hydraulic robot according to claim 5, characterized in that the ejection end of the piston rod in the first hydraulic cylinder (5) is movably connected with the main movable arm (3) via a third rotating shaft; the main movable arm (3) is movably connected with a first connecting point on the auxiliary movable arm (2) through a fourth rotating shaft; the ejection end of a piston rod in the second hydraulic cylinder (6) is movably connected with a second connection point on the auxiliary movable arm (2) through a fifth rotating shaft, and one end of the second hydraulic cylinder (6) far away from the ejection end of the piston rod is movably connected with the main movable arm (3) through a sixth rotating shaft; the ejection end of a piston rod in the third hydraulic cylinder (7) is movably connected with the mounting seat (4) through a seventh rotating shaft, one end of the third hydraulic cylinder (7) far away from the ejection end of the piston rod is movably connected with the auxiliary movable arm (2) through an eighth rotating shaft, and the third rotating shaft, the fourth rotating shaft, the fifth rotating shaft, the sixth rotating shaft, the seventh rotating shaft and the eighth rotating shaft are all parallel to the first rotating shaft respectively.

7. The hydraulic robot according to claim 1, characterized in that the mounting seat (4) comprises a connecting seat (41) movably fitted with the secondary movable arm (2) and a cycloid hydraulic motor (42) fixedly mounted on the connecting seat (41).