CN211806237U

CN211806237U - Hydraulic mechanical arm of industrial robot

Info

Publication number: CN211806237U
Application number: CN202020278205.7U
Authority: CN
Inventors: 王启成
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-03-09
Filing date: 2020-03-09
Publication date: 2020-10-30
Anticipated expiration: 2030-03-09

Abstract

The utility model relates to a hydraulic mechanical arm of an industrial robot, which comprises a rotation center, a supporting arm, a first mechanical arm, a second mechanical arm and a mechanical arm; one end of the supporting arm is fixed on the rotary center, and the other end of the supporting arm is hinged with one end of the first mechanical arm; a first hydraulic driving system and a first brake device are arranged on the rotary center; one end of the second mechanical arm is hinged with the other end of the first mechanical arm, and the other end of the second mechanical arm is fixed with the mechanical arm; a second hydraulic driving system and a second brake device are arranged at the hinged position of the first mechanical arm and the supporting arm; a third hydraulic driving system and a third brake device are arranged at the hinged position of the first mechanical arm and the second mechanical arm; and a fourth hydraulic driving system is arranged at one end of the second mechanical arm fixed with the mechanical arm. The hydraulic mechanical arm of the industrial robot has the advantages of large torsion, high load, low manufacturing cost, economy and practicability, and can meet the requirements of carrying and stacking articles of 25kg to 100 kg; the maintenance cost is low.

Description

Hydraulic mechanical arm of industrial robot

Technical Field

The utility model relates to an industrial robot field especially relates to an industrial robot hydraulic pressure arm.

Background

In the field of carrying and stacking in the manufacturing industry and the service industry at present, objects with the weight of 25kg to 100kg in certain special areas need to be carried and stacked. Although the existing servo robot has excellent speed and positioning, the servo motor has limited torsion, so that the existing servo robot cannot meet the requirements of carrying and stacking 25kg to 100kg of objects in the manufacturing industry and the service industry; if a high-power servo motor robot is adopted, the manufacturing cost is high, the selling price is also high, and the robot is difficult to popularize in medium-sized and small enterprises and various fields; and, high-power arm is an intelligent precision equipment, and is extremely high to the professional knowledge technical level requirement of examination and education engineer and maintainer, and later stage is high to examination and education engineer and maintainer's training and equipment maintenance expense cost.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems, the utility model provides an industrial robot hydraulic mechanical arm which has large torsion, high load, low cost, economy and practicality and can meet the carrying and stacking of 25kg to 100kg of articles; the maintenance cost is low.

The utility model provides a technical scheme that its technical problem adopted is: a hydraulic mechanical arm of an industrial robot comprises a rotation center, a supporting arm, a first mechanical arm, a second mechanical arm and a mechanical arm; one end of the supporting arm is fixed on the rotary center, and the other end of the supporting arm is hinged with one end of the first mechanical arm; the rotary center is provided with a first hydraulic driving system and a first brake device, and the first hydraulic driving system and the first brake device are used for controlling the rotation action of the supporting arm and positioning the supporting arm; one end of the second mechanical arm is hinged with the other end of the first mechanical arm, and the other end of the second mechanical arm is fixed on the mechanical arm; a second hydraulic driving system and a second brake device are arranged on a first hinge shaft at the hinge position of the first mechanical arm and the support arm and are used for controlling the swinging of the rising and falling of the first mechanical arm and the keeping of a target position; a third hydraulic driving system and a third brake device are arranged on a second hinge shaft at the hinge position of the first mechanical arm and the second mechanical arm and are used for controlling the lifting and falling swing of the first mechanical arm and the keeping of a target position; and a fourth hydraulic driving system is arranged at one end of the second mechanical arm fixed with the mechanical arm and used for controlling the grabbing and releasing actions of the mechanical arm.

Furthermore, the rotary center comprises a supporting frame, a rotary support fixed on the supporting frame, and a rotary worktable arranged on an inner ring of the rotary support; the first hydraulic driving system comprises a first hydraulic motor arranged on the rotary worktable; the bottom end of a driving shaft of the first hydraulic motor is connected with a driving gear, and the driving gear is meshed with teeth of the outer ring of the slewing bearing; the first brake device comprises an oil-cut brake oil cylinder which is coaxially arranged with the first hydraulic motor; the rotary worktable is also provided with a first rotary encoder; and the shaft of the first rotary encoder is connected with an encoder gear, and the encoder gear is meshed with the teeth of the outer ring of the slewing bearing.

Furthermore, the supporting arm, the first mechanical arm and the second mechanical arm are all ladder-type structures consisting of two vertical beams and a cross beam positioned between the two vertical beams; the first articulated shaft comprises a first main transmission shaft and a first auxiliary transmission shaft; the first main transmission shaft is fixed with one side of the first mechanical arm and is connected with the supporting arm through a bearing; the auxiliary transmission shaft is fixed with the other side of the first mechanical arm and is connected with the supporting arm through a bearing; the second hydraulic drive system comprises a second hydraulic motor fixed on one side of the support arm; the driving end of the second hydraulic motor is fixedly connected with the first main transmission shaft; the second brake device is a first electromagnetic clutch and is arranged on the other side of the support arm and the first auxiliary transmission shaft; the first auxiliary transmission shaft is also provided with a second rotary encoder; and the second rotary encoder is fixed on the supporting arm through an encoder supporting frame.

Furthermore, the structures of the second articulated shaft, the third hydraulic driving system and the third brake device are consistent with the structures of the first articulated shaft, the second hydraulic driving system and the second brake device, and the second articulated shaft, the third hydraulic driving system and the third brake device are correspondingly arranged on the first mechanical arm and the second mechanical arm and comprise a second main transmission shaft, a second auxiliary transmission shaft, a third hydraulic motor and a second electromagnetic clutch; a third rotary encoder is also arranged on the second auxiliary transmission shaft; and the third rotary encoder is fixed on the first mechanical arm through an encoder support frame.

Further, the manipulator comprises a manipulator mounting seat arranged on the second manipulator and two clamping parts respectively hinged on the mounting seat; a connecting rod mechanism is hinged between the two clamping parts; the fourth hydraulic drive system comprises a double-headed hydraulic cylinder; the double-end hydraulic cylinder is fixed on the second mechanical arm, and one driving end of the double-end hydraulic cylinder is assembled with the connecting rod mechanism and used for driving the connecting rod mechanism to drive the two clamping parts to perform grabbing and releasing actions; the other driving end of the double-head hydraulic cylinder is connected with a stay wire type encoder; and the main body of the stay wire type encoder is fixed on a cross beam of the second mechanical arm, and a stay wire of the stay wire type encoder is connected with the other driving end of the double-head hydraulic cylinder.

Furthermore, the first hydraulic driving system, the second hydraulic driving system, the third hydraulic driving system and the fourth hydraulic driving system also comprise corresponding oil distribution paths; a hydraulic control one-way valve, a first overflow valve, a first three-position four-way electromagnetic valve and a first pressure reducing valve are further arranged on the oil distributing path of the first hydraulic driving system; a first balance valve hydraulic lock, a second overflow valve, a second three-position four-way electromagnetic valve and a second pressure reducing valve are arranged on an oil distributing path of the second hydraulic driving system; a second balance valve hydraulic lock, a third overflow valve, a third three-position four-way electromagnetic valve and a third pressure reducing valve are arranged on an oil distributing path of the third hydraulic driving system; and a fourth three-position four-way electromagnetic valve and a fourth pressure reducing valve are arranged on an oil distributing path of the fourth hydraulic driving system.

Further, the mechanical arm further comprises a main oil inlet path and a main oil return path; the main oil inlet pipeline is connected with a gear oil pump; an oil outlet main pipeline of the gear oil pump is divided into four branch pipelines which are respectively connected with oil inlets of a first reducing valve, a second reducing valve, a third reducing valve and a fourth reducing valve; an electromagnetic proportional overflow safety valve is further connected to the side of the oil outlet main pipeline of the gear oil pump and used for controlling the pressure of the oil outlet main pipeline of the gear oil pump; the oil outlet of each pressure reducing valve is respectively communicated with the P oil port of the corresponding three-position four-way electromagnetic valve; the main oil return path is connected with four branch oil return paths; the four branch oil return paths are respectively communicated with T oil ports of the corresponding three-position four-way electromagnetic valves.

Furthermore, the first brake device also comprises a brake oil path; an oil inlet of the brake oil way is arranged on a pipeline communicated with a first pressure reducing valve of the first hydraulic driving system and a P oil port of the first three-position four-way electromagnetic valve; a two-position three-way electromagnetic valve is also arranged on the brake oil path; the oil outlet of the two-position three-way electromagnetic valve is communicated with the oil port of the oil-break brake cylinder.

Furthermore, an oil port A and an oil port B of the first three-position four-way electromagnetic valve are communicated with two working oil ports of the first hydraulic motor through a pipeline, and a hydraulic control one-way valve and a first overflow valve are arranged on the pipeline; an oil port A and an oil port B of the second three-position four-way electromagnetic valve are communicated with two working oil ports of a second hydraulic motor through a pipeline, and a first balance valve hydraulic lock and a second overflow valve are arranged on the pipeline; an oil port A and an oil port B of the third three-position four-way electromagnetic valve are communicated with two working oil ports of a third hydraulic motor through a pipeline, and a second balance valve hydraulic lock and a third overflow valve are arranged on the pipeline; and an oil port A and an oil port B of the fourth three-position four-way electromagnetic valve are communicated with two working oil ports of the double-head hydraulic cylinder through pipelines.

Furthermore, a hydraulic oil filter is arranged at the inlet end of the main oil inlet path, and an inlet of the hydraulic oil filter is communicated with an oil tank; an outlet end of the main oil return path is provided with an oil return cooler, and an outlet end of the oil return cooler is communicated with an oil tank; the oil drainage ports of the first overflow valve, the second overflow valve and the third overflow valve are respectively communicated with the oil tank through pipelines and one-way valves; the oil drainage ports of the first hydraulic motor, the second hydraulic motor and the third hydraulic motor are communicated with an oil tank; an oil drainage port of the electromagnetic proportional overflow safety valve is communicated with an oil tank; and an oil drainage port of the two-position three-way electromagnetic valve is communicated with the oil tank.

The utility model has the advantages that: the hydraulic mechanical arm of the industrial robot adopts hydraulic drive, has large torsion and high load, and meets the requirements of carrying and stacking articles of 25kg to 100 kg; a rotary encoder is arranged on one side of a hinge shaft of the mechanical arm and is matched with an electromagnetic clutch, so that accurate positioning can be realized; the double-head hydraulic cylinder arranged on the manipulator can drive the manipulator on one hand and can match with a stay wire type encoder on the other hand to accurately position the grabbing of the manipulator; the rotary center is arranged to provide 360-degree rotational freedom for the mechanical arm, and the precise positioning of rotation can be realized by matching with the oil-cut brake cylinder and the rotary encoder; the pressure of an oil way system is controlled by arranging an electromagnetic proportional overflow safety valve; setting a pressure reducing valve to stabilize the pressure of the oil supply side; setting a three-position four-way electromagnetic valve to control the oil flow direction; setting the pressure of a stable driving side of an overflow valve; the hydraulic lock of the balance valve is arranged to prevent the self weight of the mechanical arm from descending; the two-position three-way electromagnetic valve is used for controlling the brake of the rotary worktable; the set hydraulic control one-way valve controls the rotary working table not to swing left and right from running to stopping; the whole cost is with low costs, economical and practical to, later maintenance is with low costs.

Drawings

Fig. 1 is a schematic view of a hydraulic robot arm of an industrial robot according to an embodiment;

fig. 2 is a schematic view at a rotation center of a hydraulic robot arm of an industrial robot according to an embodiment;

FIG. 3 is a schematic diagram of the articulated position of a first arm and a support arm of a hydraulic manipulator of an industrial robot according to an embodiment;

FIG. 4 is a schematic diagram of the internal structure of the articulated position of the first mechanical arm and the second mechanical arm of the hydraulic mechanical arm of the industrial robot according to the embodiment;

FIG. 5 is a schematic diagram of a second arm to arm connection location of a hydraulic arm of an industrial robot according to an embodiment;

fig. 6 is a schematic diagram of an oil path of a hydraulic mechanical arm of an industrial robot according to an embodiment.

Detailed Description

In order to deepen the understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and embodiments, which are only used for explaining the present invention and are not limited to the protection scope of the present invention.

Examples

As shown in fig. 1, the present embodiment provides a hydraulic manipulator of an industrial robot, which includes a rotation center 1, a support arm 2, a first manipulator 3, a second manipulator 4, and a manipulator 5; one end of the supporting arm 2 is fixed on the rotation center 1, and the other end of the supporting arm is hinged with one end of the first mechanical arm 3; the rotary center is provided with a first hydraulic driving system and a first brake device, and the first hydraulic driving system and the first brake device are used for controlling the rotation action and the positioning of the supporting arm 2; one end of the second mechanical arm 4 is hinged with the other end of the first mechanical arm 3, and the other end of the second mechanical arm is fixed with the mechanical arm 5; a second hydraulic driving system 6 and a second brake device are arranged on a first hinge shaft at the hinge position of the first mechanical arm 3 and the support arm 2 and are used for controlling the swinging of the rising and falling of the first mechanical arm 3 and the keeping of a target position; a third hydraulic driving system 7 and a third brake device are arranged on a second hinge shaft at the hinge position of the first mechanical arm 3 and the second mechanical arm 4 and are used for controlling the swinging of the rising and falling of the first mechanical arm 4 and the keeping of the target position; and a fourth hydraulic driving system 8 is arranged at one end of the second mechanical arm 4 fixed with the mechanical arm 5 and used for controlling the grabbing and releasing actions of the mechanical arm 5.

As shown in fig. 2, in the hydraulic robot arm of an industrial robot of the present embodiment, the rotation center 1 includes a support frame 101, a rotary support 102 fixed to the support frame 101, and a rotary table 103 mounted on an inner ring of the rotary support 102; the first hydraulic drive system comprises a first hydraulic motor 104 arranged on the rotary table 103; a driving gear 105 is connected to the bottom end of the driving shaft of the first hydraulic motor 104, and the driving gear 105 is meshed with teeth on the outer ring of the slewing bearing 102; the first brake device comprises a fuel cut-off brake cylinder 106, which is coaxially mounted with the first hydraulic motor 104; the rotary table 103 is also provided with a first rotary encoder 107; an encoder gear 108 is connected to the shaft of the first rotary encoder 107, and the encoder gear 108 is meshed with teeth on the outer ring of the slewing bearing 102; a central swivel joint 114 is also fixed in the centre of the support housing 101 to provide oil line connections for each hydraulic drive element so that the hydraulic oil lines are not affected during 360 degrees of rotation.

As shown in fig. 3, in the hydraulic mechanical arm of the industrial robot of the present embodiment, the support arm 2, the first mechanical arm 3, and the second mechanical arm 4 are all ladder-type structures composed of two vertical beams and a cross beam located between the two vertical beams; the first hinge shaft includes a first main transmission shaft 601 and a first sub-transmission shaft 602; the first main transmission shaft 601 is fixed with one side of the first mechanical arm 3 and is connected with the support arm 2 through a bearing; the auxiliary transmission shaft 602 is fixed with the other side of the first mechanical arm 3 and is connected with the support arm 2 through a bearing; the second hydraulic drive system 6 comprises a second hydraulic motor 603 fixed on one side of the support arm; the driving end of the second hydraulic motor 603 is fixedly connected with the first main transmission shaft 601; the second brake device is a first electromagnetic clutch 604, which is mounted on the other side of the support arm and on the first secondary transmission shaft 602; a second rotary encoder 9 is further mounted on the first auxiliary transmission shaft 602; the second rotary encoder 9 is fixed to the support arm 2 by an encoder support 901.

As shown in fig. 4, in the hydraulic manipulator of the industrial robot of the present embodiment, the structures of the second hinge shaft, the third hydraulic drive system 7, and the third brake device are the same as the structures of the first hinge shaft, the second hydraulic drive system 6, and the second brake device, and are all correspondingly disposed on the first manipulator 3 and the second manipulator 4, and include a second main transmission shaft 701, a second auxiliary transmission shaft 702, a third hydraulic motor 703, and a second electromagnetic clutch 704; a third rotary encoder 10 is also mounted on the second counter-drive shaft 702; the third rotary encoder 10 is fixed to the first robot arm 3 by an encoder support 1001.

As shown in fig. 5, in the hydraulic manipulator of an industrial robot of the present embodiment, the manipulator 5 includes a manipulator mounting seat 501 mounted on the second manipulator 4, and two clamping portions 502 respectively hinged to the mounting seat 501; a link mechanism 503 is hinged between the two clamping parts 502; the fourth hydraulic drive system 8 comprises a double-headed hydraulic cylinder 801; the double-ended hydraulic cylinder 801 is fixed on the second mechanical arm 4, and one driving end 802 of the double-ended hydraulic cylinder is assembled with the link mechanism 503 and used for driving the link mechanism 503 to drive the two clamping parts 502 to perform grabbing and releasing actions; the other driving end 803 of the double-head hydraulic cylinder 801 is connected with a stay wire type encoder 11; the main body of the stay wire type encoder 11 is fixed on the beam of the second mechanical arm 4, and the stay wire thereof is connected with the other driving end 803 of the double-headed hydraulic cylinder 801.

As shown in fig. 6, it is an oil path of a hydraulic robot arm of an industrial robot according to the present embodiment; the first hydraulic driving system, the second hydraulic driving system 6, the third hydraulic driving system 7 and the fourth hydraulic driving system 8 further comprise corresponding oil distribution paths; a hydraulic control one-way valve 109, a first overflow valve 110, a first three-position four-way electromagnetic valve 111 and a first reducing valve 112 are further arranged on the oil distributing path of the first hydraulic driving system; a first balance valve hydraulic lock 607, a second overflow valve 608, a second three-position four-way solenoid valve 609 and a second reducing valve 610 are arranged on an oil distribution path of the second hydraulic drive system 6; a second balance valve hydraulic lock 707, a third overflow valve 708, a third three-position four-way solenoid valve 709 and a third reducing valve 710 are arranged on an oil distribution path of the third hydraulic drive system 7; a fourth three-position four-way electromagnetic valve 804 and a fourth pressure reducing valve 805 are arranged on an oil distributing path of the fourth hydraulic driving system; the mechanical arm further comprises a main oil inlet path and a main oil return path; the main oil inlet pipeline is connected with a gear oil pump 13; an oil outlet main pipeline of the gear oil pump 13 is divided into four branch pipelines which are respectively connected with oil inlets of the first reducing valve 112, the second reducing valve 610, the third reducing valve 710 and the fourth reducing valve 805; an electromagnetic proportional overflow safety valve 14 is further connected to the side of the oil outlet main pipeline of the gear oil pump and used for controlling the pressure of the oil outlet main pipeline of the gear oil pump; the oil outlet of each pressure reducing valve is respectively communicated with the P oil port of the corresponding three-position four-way electromagnetic valve; the main oil return path is connected with four branch oil return paths; the four branch oil return paths are respectively communicated with T oil ports of corresponding three-position four-way electromagnetic valves; the first brake device also comprises a brake oil path; an oil inlet of the brake oil way is arranged on a pipeline communicated with a first pressure reducing valve 112 of the first hydraulic driving system and a P oil port of a first three-position four-way electromagnetic valve 111; a two-position three-way electromagnetic valve 113 is also arranged on the brake oil path; an oil outlet of the two-position three-way electromagnetic valve 113 is communicated with an oil outlet of the oil-break brake cylinder 106; an oil port A and an oil port B of the first three-position four-way electromagnetic valve 111 are communicated with two working oil ports of the first hydraulic motor 104 through a pipeline, and a hydraulic control one-way valve 109 and a first overflow valve 110 are arranged on the pipeline; an oil port A and an oil port B of the second three-position four-way electromagnetic valve 609 are communicated with two working oil ports of the second hydraulic motor 603 through a pipeline, and a first balance valve hydraulic lock 607 and a second overflow valve 608 are arranged on the pipeline; an oil port A and an oil port B of the third three-position four-way electromagnetic valve 709 are communicated with two working oil ports of the third hydraulic motor 703 through a pipeline, and a second balance valve hydraulic lock 707 and a third overflow valve 708 are arranged on the pipeline; an oil port A and an oil port B of the fourth three-position four-way electromagnetic valve 804 are communicated with two working oil ports of the double-head hydraulic cylinder 801 through pipelines; a hydraulic oil filter 12 is arranged at the inlet end of the main oil inlet path, and an inlet of the hydraulic oil filter 12 is communicated with an oil tank 18; an outlet end of the main oil return path is provided with an oil return cooler 16, and an outlet end of the oil return cooler 16 is communicated with an oil tank 18; the respective oil drainage ports of the first overflow valve 110, the second overflow valve 608 and the third overflow valve 708 are respectively communicated with the oil tank 18 through a pipeline and a one-way valve 17; the oil drainage ports of the first hydraulic motor 104, the second hydraulic motor 603 and the third hydraulic motor 703 are communicated with an oil tank 18; the oil drain port of the electromagnetic proportional overflow safety valve 14 is communicated with an oil tank 18; and the oil drainage port of the two-position three-way electromagnetic valve 113 is communicated with the oil tank 18.

The industrial robot hydraulic mechanical arm further comprises a PLC, wherein the PLC acquires data information of mechanical arm actions through a first rotary encoder, a second rotary encoder, a third rotary encoder and a stay wire encoder and controls the switch of a corresponding device; the PLC can remotely communicate with the handheld remote controller, and a required program is debugged through the handheld remote controller so as to realize unmanned intelligent automatic carrying and stacking of the mechanical arm; the hand-held remote controller can be directly operated manually to further operate the mechanical arm to carry and stack.

The working process of the hydraulic mechanical arm of the industrial robot comprises the following steps:

operation of the rotary table: the gear oil pump provides power source hydraulic oil, and a pressure gauge 3 is also arranged on an oil outlet main pipeline of the gear oil pump to monitor the system oil pressure; the electromagnetic proportional overflow safety valve outputs a command to the pressure of the current amplification plate control system according to the set parameters of the PLC; after the pressure of hydraulic oil is reduced by a first pressure reducing valve, the hydraulic oil is supplied to a P oil port of a first three-position four-way electromagnetic valve, the oil port A of the first three-position four-way electromagnetic valve is output to an oil way A, a first hydraulic motor is driven by a hydraulic control one-way valve, the other remote control pressure oil outputs 3MPa of pressure to push the hydraulic control one-way valve of an oil way B to open to form a loop, the first hydraulic motor rotates, a first rotary encoder rotates to set parameters along with a rotary worktable and sends an instruction to a PLC, the PLC sends a stop instruction, an oil break brake cylinder and the hydraulic control one-way valve are reversely closed, and the rotation of the rotary worktable can be accurately stopped; the first overflow valve keeps stable pressure, and when the pressure is higher than that of the first overflow valve, the first overflow valve is opened, and part of oil flows back to the oil tank;

the first mechanical arm swings up and down relative to the support arm: when the first mechanical arm rises, hydraulic oil is decompressed by a second pressure reducing valve and then is supplied to a P oil port of a second three-position four-way electromagnetic valve, the hydraulic oil is output from an A oil port of the second three-position four-way electromagnetic valve and is driven to rotate by a first balance valve hydraulic lock, the mechanical arm rises to set parameters, a second rotary encoder sends a command to a PLC (programmable logic controller), the PLC sends a stop command, an electromagnetic proportional overflow safety valve is opened, the hydraulic oil flows back to an oil tank, the second three-position four-way electromagnetic valve is closed, a first electromagnetic clutch is powered off and braked, a check valve of a first balance valve hydraulic lock is reversely stopped, and the first mechanical arm keeps a stop state and does not; when the first mechanical arm descends, the second three-position four-way electromagnetic valve is electrically switched, meanwhile, the electromagnetic proportional overflow safety valve is electrically closed, the system pressure rises, the pressure is reduced by the second pressure reducing valve to stabilize the pressure, and hydraulic oil is output from an oil port B of the second three-position four-way electromagnetic valve to drive the second hydraulic motor to rotate; the remote control port in the oil path outputs 2.5MPa pressure to push the first balance valve hydraulic lock to change direction, and the hydraulic oil is output through the throttle valve of the first balance valve hydraulic lock and flows back to the oil tank through the oil port A of the second three-position four-way electromagnetic valve. The mechanical arm descends at a low speed, the pressure of the oil port B of the second three-position four-way electromagnetic valve is higher, the descending speed is higher, the descending reaches the set parameters, the second rotary encoder sends an instruction to the PLC, the PLC sends a stop instruction, and the system pressure oil flows back to the oil tank through the electromagnetic proportional overflow safety valve. The first balance valve hydraulic lock is closed without pressure, and the first electromagnetic clutch is switched off and braked;

the up-and-down swinging motion of the second mechanical arm relative to the supporting arm is consistent with the motion of the first mechanical arm;

the manipulator is driven by a fourth three-position four-way electromagnetic valve through oil supply, the oil circuit A of the manipulator enables the driving end connected with the double-end hydraulic cylinder and the connecting rod to extend out to do forward movement so as to enable the manipulator to be loosened, and the oil circuit B enables the driving end to retract to do backward movement so as to enable the manipulator to be clamped; and the other driving end of the double-head hydraulic cylinder performs synchronous action, so that the pull rope of the pull-wire encoder is driven to act, and the double-head hydraulic cylinder is accurately positioned.

The above-mentioned embodiments should not limit the present invention in any way, and all the technical solutions obtained by adopting equivalent replacement or equivalent conversion fall within the protection scope of the present invention.

Claims

1. The utility model provides an industrial robot hydraulic pressure arm which characterized in that: the device comprises a rotation center, a supporting arm, a first mechanical arm, a second mechanical arm and a mechanical arm; one end of the supporting arm is fixed on the rotary center, and the other end of the supporting arm is hinged with one end of the first mechanical arm; the rotary center is provided with a first hydraulic driving system and a first brake device, and the first hydraulic driving system and the first brake device are used for controlling the rotation action of the supporting arm and positioning the supporting arm; one end of the second mechanical arm is hinged with the other end of the first mechanical arm, and the other end of the second mechanical arm is fixed on the mechanical arm; a second hydraulic driving system and a second brake device are arranged on a first hinge shaft at the hinge position of the first mechanical arm and the support arm and are used for controlling the swinging of the rising and falling of the first mechanical arm and the keeping of a target position; a third hydraulic driving system and a third brake device are arranged on a second hinge shaft at the hinge position of the first mechanical arm and the second mechanical arm and are used for controlling the swinging of the rising and falling of the second mechanical arm and the keeping of a target position; and a fourth hydraulic driving system is arranged at one end of the second mechanical arm fixed with the mechanical arm and used for controlling the grabbing and releasing actions of the mechanical arm.

2. An industrial robot hydraulic manipulator according to claim 1, characterized in that: the rotary center comprises a supporting frame, a rotary support fixed on the supporting frame and a rotary worktable arranged on an inner ring of the rotary support; the first hydraulic driving system comprises a first hydraulic motor arranged on the rotary worktable; the bottom end of a driving shaft of the first hydraulic motor is connected with a driving gear, and the driving gear is meshed with teeth of the outer ring of the slewing bearing; the first brake device comprises an oil-cut brake oil cylinder which is coaxially arranged with the first hydraulic motor; the rotary worktable is also provided with a first rotary encoder; and the shaft of the first rotary encoder is connected with an encoder gear, and the encoder gear is meshed with the teeth of the outer ring of the slewing bearing.

3. An industrial robot hydraulic manipulator according to claim 2, characterized in that: the supporting arm, the first mechanical arm and the second mechanical arm are all ladder-type structures consisting of two vertical beams and a cross beam positioned between the two vertical beams; the first articulated shaft comprises a first main transmission shaft and a first auxiliary transmission shaft; the first main transmission shaft is fixed with one side of the first mechanical arm and is connected with the supporting arm through a bearing; the auxiliary transmission shaft is fixed with the other side of the first mechanical arm and is connected with the supporting arm through a bearing; the second hydraulic drive system comprises a second hydraulic motor fixed on one side of the support arm; the driving end of the second hydraulic motor is fixedly connected with the first main transmission shaft; the second brake device is a first electromagnetic clutch and is arranged on the other side of the support arm and the first auxiliary transmission shaft; the first auxiliary transmission shaft is also provided with a second rotary encoder; and the second rotary encoder is fixed on the supporting arm through an encoder supporting frame.

4. An industrial robot hydraulic manipulator according to claim 3, characterized in that: the structures of the second articulated shaft, the third hydraulic driving system and the third brake device are consistent with the structures of the first articulated shaft, the second hydraulic driving system and the second brake device, and the second articulated shaft, the third hydraulic driving system and the third brake device are correspondingly arranged on the first mechanical arm and the second mechanical arm and comprise a second main transmission shaft, a second auxiliary transmission shaft, a third hydraulic motor and a second electromagnetic clutch; a third rotary encoder is also arranged on the second auxiliary transmission shaft; and the third rotary encoder is fixed on the first mechanical arm through an encoder support frame.

5. An industrial robot hydraulic manipulator according to claim 4, characterized in that: the manipulator comprises a manipulator mounting seat arranged on the second mechanical arm and two clamping parts respectively hinged on the mounting seat; a connecting rod mechanism is hinged between the two clamping parts; the fourth hydraulic drive system comprises a double-headed hydraulic cylinder; the double-end hydraulic cylinder is fixed on the second mechanical arm, and one driving end of the double-end hydraulic cylinder is assembled with the connecting rod mechanism and used for driving the connecting rod mechanism to drive the two clamping parts to perform grabbing and releasing actions; the other driving end of the double-head hydraulic cylinder is connected with a stay wire type encoder; and the main body of the stay wire type encoder is fixed on a cross beam of the second mechanical arm, and a stay wire of the stay wire type encoder is connected with the other driving end of the double-head hydraulic cylinder.

6. An industrial robot hydraulic manipulator according to claim 5, characterized in that: the first hydraulic driving system, the second hydraulic driving system, the third hydraulic driving system and the fourth hydraulic driving system also comprise corresponding oil distribution paths; a hydraulic control one-way valve, a first overflow valve, a first three-position four-way electromagnetic valve and a first pressure reducing valve are further arranged on the oil distributing path of the first hydraulic driving system; a first balance valve hydraulic lock, a second overflow valve, a second three-position four-way electromagnetic valve and a second pressure reducing valve are arranged on an oil distributing path of the second hydraulic driving system; a second balance valve hydraulic lock, a third overflow valve, a third three-position four-way electromagnetic valve and a third pressure reducing valve are arranged on an oil distributing path of the third hydraulic driving system; and a fourth three-position four-way electromagnetic valve and a fourth pressure reducing valve are arranged on an oil distributing path of the fourth hydraulic driving system.

7. An industrial robot hydraulic manipulator according to claim 6, characterized in that: the mechanical arm further comprises a main oil inlet path and a main oil return path; the main oil inlet pipeline is connected with a gear oil pump; an oil outlet main pipeline of the gear oil pump is divided into four branch pipelines which are respectively connected with oil inlets of a first reducing valve, a second reducing valve, a third reducing valve and a fourth reducing valve; an electromagnetic proportional overflow safety valve is further connected to the side of the oil outlet main pipeline of the gear oil pump and used for controlling the pressure of the oil outlet main pipeline of the gear oil pump; the oil outlet of each pressure reducing valve is respectively communicated with the P oil port of the corresponding three-position four-way electromagnetic valve; the main oil return path is connected with four branch oil return paths; the four branch oil return paths are respectively communicated with T oil ports of the corresponding three-position four-way electromagnetic valves.

8. An industrial robot hydraulic manipulator according to claim 7, characterized in that: the first brake device also comprises a brake oil path; an oil inlet of the brake oil way is arranged on a pipeline communicated with a first pressure reducing valve of the first hydraulic driving system and a P oil port of the first three-position four-way electromagnetic valve; a two-position three-way electromagnetic valve is also arranged on the brake oil path; the oil outlet of the two-position three-way electromagnetic valve is communicated with the oil port of the oil-break brake cylinder.

9. An industrial robot hydraulic manipulator according to claim 8, characterized in that: an oil port A and an oil port B of the first three-position four-way electromagnetic valve are communicated with two working oil ports of the first hydraulic motor through a pipeline, and a hydraulic control one-way valve and a first overflow valve are arranged on the pipeline; an oil port A and an oil port B of the second three-position four-way electromagnetic valve are communicated with two working oil ports of a second hydraulic motor through a pipeline, and a first balance valve hydraulic lock and a second overflow valve are arranged on the pipeline; an oil port A and an oil port B of the third three-position four-way electromagnetic valve are communicated with two working oil ports of a third hydraulic motor through a pipeline, and a second balance valve hydraulic lock and a third overflow valve are arranged on the pipeline; and an oil port A and an oil port B of the fourth three-position four-way electromagnetic valve are communicated with two working oil ports of the double-head hydraulic cylinder through pipelines.

10. An industrial robot hydraulic manipulator according to claim 9, characterized in that: the inlet end of the main oil inlet path is provided with a hydraulic oil filter, and the inlet of the hydraulic oil filter is communicated with an oil tank; an outlet end of the main oil return path is provided with an oil return cooler, and an outlet end of the oil return cooler is communicated with an oil tank; the oil drainage ports of the first overflow valve, the second overflow valve and the third overflow valve are respectively communicated with the oil tank through pipelines and one-way valves; the oil drainage ports of the first hydraulic motor, the second hydraulic motor and the third hydraulic motor are communicated with an oil tank; an oil drainage port of the electromagnetic proportional overflow safety valve is communicated with an oil tank; and an oil drainage port of the two-position three-way electromagnetic valve is communicated with the oil tank.