CN213381556U

CN213381556U - Vehicle-mounted manipulator

Info

Publication number: CN213381556U
Application number: CN202021981624.3U
Authority: CN
Inventors: 徐必勇; 湛风光; 黄志远; 黎毅力; 赵玄烨; 谭成光
Original assignee: Anhui Hengchuang Intelligent Equipment Co ltd
Current assignee: Anhui Hengchuang Intelligent Equipment Co ltd
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2021-06-08
Anticipated expiration: 2030-09-11

Abstract

The utility model discloses an on-vehicle manipulator. The manipulator comprises a fixed seat and a rotary seat, wherein the fixed seat is detachably fixed on a vehicle body, and is connected with the rotary seat through a rotary supporting mechanism, a working arm mechanism is arranged on the upper side of the rotary seat, the outer end of the working arm mechanism is connected with a rotary mechanism, and the rotary mechanism is connected with a hydraulic claw mechanism. The utility model discloses can install on the automobile body to through setting up slewing bearing mechanism, work arm mechanism, rotation mechanism and hydraulic pressure claw hand mechanism, can be on the car multi freedom snatch, operation such as breakage, shearing, have the advantage of multistation, the operation of being convenient for, the working effect is high.

Description

Vehicle-mounted manipulator

Technical Field

The utility model relates to a manipulator technical field, concretely relates to vehicle-mounted manipulator.

Background

In order to meet the requirements of normal and effective operation in occasions with high temperature, high pressure, low temperature, low pressure, dust, noise, odor, radioactivity or other toxic pollution, the vehicle-mounted mechanical arm which is driven by a motor and has fine operation capability in a high-risk environment is produced. The equipment uses a movable wheeled vehicle as a carrier, drives each actuating mechanism through high-pressure hydraulic oil, and is provided with a hydraulic grab, a breaking hammer, a hydraulic shear and the like at the front end to partially or completely replace manual work to complete operation, so that the labor condition is improved.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an on-vehicle manipulator to the not enough of prior art existence.

In order to achieve the above object, the utility model provides an on-vehicle manipulator, including fixing base and revolving bed, the fixing base is used for dismantling to fix on the automobile body, and is connected through slewing bearing mechanism between it and the revolving bed, the revolving bed upside is equipped with work arm mechanism, the outer end of work arm mechanism is connected with rotation mechanism, rotation mechanism is connected with hydraulic pressure claw hand mechanism.

Further, the working arm mechanism comprises a large arm with one end hinged to the rotary seat, a large arm oil cylinder is hinged between the large arm and the rotary seat, the other end of the large arm is hinged to one end of the two arms, a two-arm oil cylinder is hinged between the two arms and the large arm, the other end of the two arms is hinged to one end of the three arms, a three-arm oil cylinder is hinged between the two arms and the three arms, the other end of the three arms is hinged to one end of the rotary mechanism and one end of the rocker respectively, a connecting rod is hinged between the other end of the rocker and the rotary mechanism, and a swing oil cylinder is hinged between the three arms and the rocker.

Furthermore, the slewing bearing mechanism comprises a first slewing bearing and a first slewing motor meshed with the outer ring of the first slewing bearing, the fixed seat is connected with the inner ring bolt of the first slewing bearing, and the slewing seat is connected with the outer ring bolt of the first slewing bearing.

Furthermore, hydraulic pressure cleft hand mechanism includes the claw seat that one end and rotation mechanism are connected, it has two clefts to articulate on the claw seat, articulates between two clefts to have cleft hand hydro-cylinder and connecting rod.

Furthermore, the slewing mechanism comprises a connecting seat hinged with the three arms, a second slewing bearing arranged on the connecting seat and a second slewing motor in transmission connection with the second slewing bearing, the connecting seat is in bolted connection with an outer ring of the second slewing bearing, and the claw seat is in bolted connection with an inner ring of the second slewing bearing.

Further, the second rotary motor is connected with a screw, and a gear ring meshed with the screw is fixed on an outer ring of the second rotary bearing.

Has the advantages that: the utility model discloses can install on the automobile body to through setting up slewing bearing mechanism, work arm mechanism, rotation mechanism and hydraulic pressure claw hand mechanism, can be on the car multi freedom snatch, operation such as breakage, shearing, have the advantage of multistation, the operation of being convenient for, the working effect is high.

Drawings

Fig. 1 is a schematic structural diagram of a vehicle-mounted manipulator according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a swing mechanism and a hydraulic claw mechanism according to an embodiment of the present invention.

Detailed Description

The present invention will be further clarified by the following embodiments with reference to the attached drawings, which are implemented on the premise of the technical solution of the present invention, and it should be understood that these embodiments are only used for illustrating the present invention and are not used for limiting the scope of the present invention.

As shown in fig. 1 to 2, the embodiment of the utility model provides an on-vehicle manipulator, including fixing base 1 and revolving bed 4, wherein, fixing base 1 demountable installation can set up a plurality of mounting holes in the bottom of fixing base 1 on automobile body 2, passes mounting hole and body connection through the bolt. The fixed seat 1 is connected with the rotary seat 4 through a rotary supporting mechanism, so that the rotary seat 4 can rotate relative to the fixed seat 1. The upper side of the rotary seat 4 is provided with a working arm mechanism, the outer end of the working arm mechanism is connected with a rotary mechanism 13, the rotary mechanism 13 is connected with a hydraulic claw mechanism, and the hydraulic claw mechanism can be controlled to rotate relative to the working arm mechanism by controlling the rotary mechanism 13.

The working arm mechanism of the embodiment of the utility model comprises a big arm 6, a second arm 8 and a third arm 10. Wherein, the one end of big arm 6 is articulated with revolving bed 4, and it has big arm hydro-cylinder 5 to articulate between big arm 6 and the revolving bed 4, controls big arm hydro-cylinder 5 flexible, steerable big arm 6 is at the angle of pitching on revolving bed 4. One end of the two-arm 8 is hinged with the other end of the big arm 6, a two-arm oil cylinder 7 is hinged between the two-arm 8 and the big arm 6, the two-arm oil cylinder 7 is controlled to stretch, and the angle between the two-arm 8 and the big arm 6 can be controlled. The other end of the two arms 8 is hinged with one end of the three arms, a three-arm oil cylinder 9 is hinged between the two arms 8 and the three arms 10, the three-arm oil cylinder 9 is controlled to stretch, and the angle between the three arms 10 and the two arms 8 can be controlled. The other end of the three-arm 10 is hinged with the swing mechanism 13 and one end of the rocker 12 respectively, the two rockers 12 are preferably arranged on two sides of the three-arm 10, the connecting rod 16 is hinged between the other end of the rocker 12 and the swing mechanism 13, and the swing oil cylinder 11 is hinged between the three-arm 10 and the rocker 12.

The utility model discloses slewing bearing mechanism include first slewing bearing 2 and with the first slewing motor 3 of first slewing bearing 2's outer lane meshing, specific, be fixed with the ring gear in first slewing bearing 2's outer lane, be fixed with the gear in first slewing motor 3's drive shaft, gear and ring gear meshing, fixing base 1 and first slewing bearing 2's inner circle bolted connection, revolving bed 4 and first slewing bearing 2's outer lane bolted connection.

The utility model discloses hydraulic pressure cleft hand mechanism includes the claw seat 18 that one end and rotation mechanism are connected, and it has two cleft hands 15 to articulate on claw seat 18, and it has cleft hand hydro-cylinder 14 and connecting rod 19 to articulate between two cleft hands 15. The claw oil cylinder 14 is controlled to stretch and retract, and under the action of the connecting rod 19, the two claws 15 can be opened and closed synchronously, so that the objects can be grabbed and placed.

The utility model discloses rotation mechanism 13 includes with three arm 10 articulated connecting seat 17, install second slewing bearing 20 on connecting seat 17 and the second slewing motor 21 of being connected with the transmission of second slewing bearing 20, connecting seat 17 and second slewing bearing 20's outer lane bolted connection, the inner circle bolted connection of claw seat 18 and second slewing bearing 20. Preferably, the second rotary motor 21 is connected to a screw, a ring gear is fixed to an outer ring of the second rotary bearing 20, and the screw is engaged with the ring gear, thereby having a good self-locking characteristic.

The above description is only a preferred embodiment of the present invention, and it should be noted that other parts not specifically described belong to the prior art or the common general knowledge to those skilled in the art. Without departing from the principle of the present invention, several improvements and decorations can be made, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a vehicle-mounted manipulator, its characterized in that, includes fixing base and revolving bed, the fixing base is used for dismantling to fix on the automobile body, and is connected through slewing bearing mechanism between its and the revolving bed, the revolving bed upside is equipped with work arm mechanism, the outer end of work arm mechanism is connected with rotation mechanism, rotation mechanism is connected with hydraulic pressure claw hand mechanism.

2. The vehicle-mounted manipulator according to claim 1, wherein the working arm mechanism comprises a large arm, one end of the large arm is hinged to the rotary seat, a large arm oil cylinder is hinged between the large arm and the rotary seat, the other end of the large arm is hinged to one end of a two-arm, a two-arm oil cylinder is hinged between the two-arm and the large arm, the other end of the two-arm is hinged to one end of a three-arm, a three-arm oil cylinder is hinged between the two-arm and the three-arm, the other end of the three-arm is hinged to the rotary mechanism and one end of a rocker, a connecting rod is hinged between the other end of the rocker and the rotary mechanism, and a swing oil cylinder is hinged between the three-arm and.

3. The vehicle-mounted manipulator according to claim 1, wherein the slewing bearing mechanism includes a first slewing bearing and a first slewing motor engaged with an outer ring of the first slewing bearing, the fixed base is bolted to an inner ring of the first slewing bearing, and the slewing base is bolted to an outer ring of the first slewing bearing.

4. The vehicle-mounted manipulator according to claim 1, wherein the hydraulic claw mechanism comprises a claw seat with one end connected with the swing mechanism, two claws are hinged on the claw seat, and a claw cylinder and a connecting rod are hinged between the two claws.

5. The vehicle-mounted manipulator according to claim 4, wherein the swing mechanism comprises a connecting base hinged with the three arms, a second swing bearing mounted on the connecting base, and a second swing motor in transmission connection with the second swing bearing, the connecting base is in bolt connection with an outer ring of the second swing bearing, and the claw base is in bolt connection with an inner ring of the second swing bearing.

6. The vehicle-mounted manipulator according to claim 5, wherein a screw is connected to the second slewing motor, and a ring gear engaged with the screw is fixed to an outer ring of the second slewing bearing.