CN214394197U

CN214394197U - Mechanical arm structure for engineering construction robot

Info

Publication number: CN214394197U
Application number: CN202120355337.XU
Authority: CN
Inventors: 陆晓阳; 唐林; 蔡青青; 莫廷伟
Original assignee: Winelec Technology Co ltd
Current assignee: Winelec Technology Co ltd
Priority date: 2020-11-12
Filing date: 2021-02-08
Publication date: 2021-10-15
Anticipated expiration: 2031-02-08
Also published as: CN214460737U; CN214520297U; CN214394184U; CN112847315A; CN112814056A

Abstract

The utility model discloses an engineering construction robot uses arm structure, arm structure mainly comprises the first vertical arm and the vertical arm of second that the interval was arranged side by side and articulate the horizontal arm between first vertical arm and the vertical arm of second, the articulated position of horizontal arm on first vertical arm can make independent displacement adjustment along the direction of height of first vertical arm, the articulated position of horizontal arm on the vertical arm of second can make independent displacement adjustment along the direction of height of the vertical arm of second, the at least one end of horizontal arm is used as the construction utensil of connecting engineering construction robot. The utility model discloses with the shaping of simple structure, its construction orbit is various and highly nimble, highly accurate, is favorable to the exquisite shaping of engineering construction robot, and fashioned engineering construction robot can satisfy in the high flexibility and the high accuracy technical requirement of engineering construction operation effectively.

Description

Mechanical arm structure for engineering construction robot

Technical Field

The utility model relates to an engineering construction robot's component equipment specifically is an arm structure that engineering construction robot used.

Background

In recent years, various robots applied to engineering construction operations such as civil engineering, garbage disposal and the like are widely popularized, and the engineering construction robots have the characteristics of exquisite structure, light weight, flexible construction, good safety, low cost and the like, can well supplement the construction operation limitation of the traditional engineering vehicles, and can even replace the traditional engineering vehicles to a certain extent.

The mechanical arm is the technical key for the robot to finish the execution action. At present, mechanical arms of common engineering construction robots mainly have two structures. One is a multi-joint complex articulated structure substantially similar to a robot arm of an industrial robot such as a flow line, for example, "a robot for hull outer surface construction" (publication No. CN 111633565, published 2020, 09/08) "disclosed in chinese patent literature, and the like; the other is a large-volume structure substantially similar to a boom structure of a construction vehicle, for example, "one construction robot" disclosed in chinese patent literature (publication No. CN 109531536, published 2019, 03 and 29). The construction actions of the mechanical arms are realized by extension/contraction under the action of the driving cylinders at joints, the structure is complex, the mechanical arms cannot flexibly and reliably realize translation lifting actions and/or cycloid operation actions, the construction operation track is difficult to meet the technical requirements of high flexibility and high precision of engineering construction operation, and accurate positioning operation is difficult to realize.

Disclosure of Invention

The technical purpose of the utility model is that: aiming at the particularity of the engineering construction and the defects of the prior art, the mechanical arm structure for the engineering construction robot can stably and reliably realize the translation lifting action and flexibly and accurately realize the cycloid operation action.

The technical purpose of the utility model is realized through the following technical scheme: the utility model provides a mechanical arm structure for engineering construction robot, the mechanical arm structure mainly by the interval arrange side by side first vertical arm and second vertical arm and articulate in first vertical arm with horizontal arm between the second vertical arm is constituteed, horizontal arm is in articulated position on the first vertical arm can along independent displacement adjustment is made to the direction of height of first vertical arm, horizontal arm is in articulated position on the second vertical arm can along independent displacement adjustment is made to the direction of height of second vertical arm, at least one end of horizontal arm is used as the connection engineering construction robot's construction utensil. The mechanical arm of the technical measure is formed by a simple structure, can drive the construction appliance to stably perform translation and lifting actions in the height direction and can also drive the construction appliance to stably perform various cycloid operation actions in the height direction, the construction operation tracks are various, highly flexible and highly accurate, the exquisite forming of the engineering construction robot is facilitated, and the formed engineering construction robot can effectively meet the technical requirements of high flexibility and high accuracy of engineering construction operation.

As one of the preferable schemes, the first vertical mechanical arm mainly comprises a first arm body, a first lead screw, a first slider and a first driving motor, wherein a space capable of arranging the first lead screw and a slide rail structure capable of arranging the first slider are arranged in the height direction of the first arm body, the first lead screw is assembled on the first arm body along the height direction of the first arm body through at least one group of bearing assemblies, one end of the first lead screw is connected with an output shaft of the first driving motor, the first slider is assembled on the first lead screw in a threaded structure and is in sliding fit with the slide rail structure on the first arm body, and the first slider is hinged with a corresponding part on the transverse mechanical arm.

As one of the preferable schemes, the second vertical mechanical arm mainly comprises a second arm body, a second lead screw, a second slider and a second driving motor, a space capable of arranging the second lead screw and a slide rail structure capable of arranging the second slider are arranged in the height direction of the second arm body, the second lead screw is assembled on the second arm body along the height direction of the second arm body through at least one group of bearing assemblies, one end of the second lead screw is connected with an output shaft of the second driving motor, the second slider is assembled on the second lead screw in a threaded structure and is in sliding fit with the slide rail structure on the second arm body, and the second slider is hinged with a corresponding part on the horizontal mechanical arm.

As one of the preferable schemes, the transverse mechanical arm is a length-extensible structure, and the transverse mechanical arm mainly comprises a first hinged support, a telescopic mechanism and a second hinged support which are sequentially connected together, wherein the first hinged support is used for being hinged with the first vertical mechanical arm, and the second hinged support is used for being hinged with the second vertical mechanical arm.

The first vertical mechanical arm, the second vertical mechanical arm and the transverse mechanical arm are used as technical keys for driving the construction appliance to perform translation lifting action and cycloid operation action in the height direction, the construction appliance is driven by lever force and a motor to realize the translation lifting action, the whole structure is simple, the size is small, the maintenance is easy, the construction appliance driven by the transverse mechanical arm can be stable in the height direction and can reliably realize the translation lifting action, the construction appliance driven by the transverse mechanical arm can be flexible, accurate and reliable in the height direction, the single-pivot cycloid operation action can be reliably realized, the construction appliance driven by the transverse mechanical arm can be flexible, accurate and reliable in the height direction, and the operation is stable, flexible, accurate and reliable.

As one preferable scheme, a support frame is arranged between the first vertical mechanical arm and the second vertical mechanical arm. This technical measure can strengthen the structural strength between first vertical arm and the vertical arm of second reliably, and guarantee first vertical arm and the vertical arm of second can be stable, lasting keep relative position.

Preferably, the lateral arm is connected to the construction tool through a boom. Furthermore, the rear end of the movable arm is hinged to the corresponding end part of the transverse mechanical arm, and a rotary motor capable of driving the movable arm to swing left and right relative to the transverse mechanical arm is connected to the hinged part between the movable arm and the transverse mechanical arm; the technical measure can enable the construction device to flexibly and accurately realize the left-right swinging action on the mechanical arm, reliably enhance the diversity of construction running tracks, and be flexible and reliable. Still further, a connecting rod shaft is arranged at the hinged position of the movable arm and the transverse mechanical arm, the connecting rod shaft is assembled in a hinged support at the corresponding end of the transverse mechanical arm through a bearing assembly, the connecting rod shaft is connected with an output shaft of the rotary motor, and the connecting rod shaft is used for driving the movable arm to swing left and right relative to the transverse mechanical arm under the driving of the rotary motor; the technical measure can effectively disperse the gravity of the movable arm connected with the construction tool to the transverse mechanical arm so as to reduce the friction force acting on the connecting rod shaft, improve the operation flexibility and stability of the connecting rod shaft and prolong the service life of the connecting rod shaft. The front end of the movable arm is hinged with an appliance joint capable of being connected with a construction appliance, the middle of the appliance joint is hinged with the front end of the movable arm, the front end of the appliance joint is used for connecting the construction appliance, the rear end of the appliance joint is used for connecting a driving cylinder, the rear end of the driving cylinder is hinged on the movable arm, and the appliance joint drives the construction appliance to swing up and down at the front end of the movable arm under the driving of the driving cylinder.

Preferably, the construction tool is a ripper, a rake, or a bucket. This technical measure can make same arm adapt to the engineering construction operation of different operating modes through changing the construction utensil that corresponds, and the usage is various, and the commonality is good.

The utility model has the beneficial technical effects that: the mechanical arm with the technical measures is formed by a simple structure, is realized by fully utilizing lever force and motor drive, and has the advantages of simple integral structure, small volume and easy maintenance; the mechanical arm with the structure can make a construction appliance driven by the transverse mechanical arm stable in the height direction and reliably realize translation lifting action, and also can make the construction appliance driven by the transverse mechanical arm flexible in the height direction, accurate and reliably realize single-fulcrum cycloid operation action, and can also make the construction appliance driven by the transverse mechanical arm flexible in the height direction, accurate and reliably realize crossed cycloid operation action, the construction operation track is various and highly flexible, highly accurate and favorable for the exquisite molding of an engineering construction robot, and the molded engineering construction robot can effectively meet the technical requirements of high flexibility and high accuracy of engineering construction operation.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view of respective structures and relative structures of the first vertical robot arm and the second vertical robot arm in fig. 1.

Fig. 3 is a schematic structural view of the lateral robot arm in fig. 1.

Fig. 4 is a schematic view of a usage status of the present invention.

The reference numbers in the figures mean: 1-a first vertical mechanical arm; 11-arm one; 12-a first screw rod; 13-a first sliding block; 14-driving a motor I; 2-a second vertical mechanical arm; 21-arm two; 22-a second lead screw; 23-a second sliding block; 24-driving a second motor; 3-a transverse mechanical arm; 31-a free bearing I; 32-a free bearing II; 33-a telescoping mechanism; 34-lengthening the pipe; 35-free bearing III; 36-connecting rod shaft; 4, a base; 5, a support frame; 6, a movable arm; 61-appliance connector; 62, driving a cylinder; 63-a rotary electric machine; a-a running gear; b, a rotating device; c-a slipway device; d, a construction tool.

Detailed Description

The utility model relates to an engineering construction robot's component equipment specifically is an arm structure that engineering construction robot used, and is right with a plurality of embodiments below the utility model discloses a main part technical content carries out the detailed description. In the embodiment 1, the technical solution content of the present invention is clearly and specifically explained in conjunction with the attached drawings of the specification, that is, fig. 1, fig. 2, fig. 3 and fig. 4; in other embodiments, although not separately depicted, the main structure of the embodiment can still refer to the drawings of embodiment 1.

It is expressly stated here that the drawings of the present invention are schematic, and unnecessary details have been simplified for the purpose of clarity in order to avoid obscuring the technical solutions that contribute to the prior art.

Example 1

Referring to fig. 1, 2 and 3, the utility model discloses a mechanical arm structure that engineering construction robot used, it includes first vertical mechanical arm 1, second vertical mechanical arm 2, horizontal mechanical arm 3 and swing arm 6. The first vertical mechanical arm 1 and the second vertical mechanical arm 2 are respectively vertically fixed on a base 4 through fasteners and the like, and the base 4 can be independently arranged for the mechanical arms or can be a component part on an engineering construction robot, such as a mounting plate and the like described below in the embodiment; first vertical arm 1 and second vertical arm 2 are arranged side by side with relative interval on base 4, for the structural strength of reinforcing relative position between first vertical arm 1 and the second vertical arm 2, still are provided with support frame 5 between first vertical arm 1 and second vertical arm 2.

Specifically, the first vertical mechanical arm 1 mainly comprises an arm body I11, a screw rod I12, a sliding block I13 and a driving motor I14.

The first arm body 11 of the first vertical mechanical arm 1 is used as a bearing foundation for the first arrangement lead screw 12, the first slide block 13 and the first driving motor 14 and is erected on the top surface of one end of the base 4 through fasteners and the like. The side of the arm body 11 used for arranging the screw rod 12 is set to be the front side. The center of the front face of the arm body I11 is provided with a space capable of arranging the screw rod I12 along the height direction, and the upper end and the lower end of the space are respectively provided with a group of bearing assemblies. And slide rail structures are arranged on two sides of the front surface of the arm body I11 along the height direction.

The length direction of a first lead screw 12 of the first vertical mechanical arm 1 corresponds to the height direction of a first arm body 11. The first screw 12 is fixed on the first arm 11 through bearing assemblies at two ends of the front surface of the first arm 11, so that the first screw 12 is assembled along the height direction of the first arm 11, and a basically parallel arrangement structure is formed between the first screw 12 and the first arm 11.

The back of a first sliding block 13 of the first vertical mechanical arm 1 is connected with a first lead screw 12 through a threaded structure (such as a nut), two sides of the back of the first sliding block 13 form sliding fit with two side sliding rail structures on the front of a first arm body 11, and the first lead screw 12 converts circumferential rotation motion into linear motion of the first sliding block 13 on the sliding rails of the first arm body 11 through a matching structure between the first lead screw and the first sliding block 13 in the action process.

An output shaft of a first driving motor 14 of the first vertical mechanical arm 1 is relatively fixedly connected with one end of a first lead screw 12, and the first driving motor 14 is usually fixed at the top of the first arm body 11 through a fastener and the like, so that the output shaft of the first driving motor 14 is connected with the top end of the first lead screw 12, and the circumferential rotation action of the first lead screw 12 is controlled by the first driving motor 14. The first drive motor 14 is preferably a servo motor (a stepping motor or the like may be used instead) which is convenient and accurate to control.

The second vertical mechanical arm 2 mainly comprises an arm body II 21, a lead screw II 22, a slide block II 23 and a driving motor II 24.

The second arm body 21 of the second vertical mechanical arm 2 is used as a bearing foundation for the second arrangement lead screw 22, the second slide block 23 and the second drive motor 24, and is erected on the top surface of the other end of the base 4 through a fastener and the like, the side surface of the second arm body 21 used as the second arrangement lead screw 22 is set to be a front surface, and the front surface of the second arm body 21 is basically opposite to the plane where the front surface of the first arm body 11 is located, namely the front surface extension surface of the first arm body 11 is basically in T-shaped fit with the front surface of the second arm body 21. The center of the front surface of the second arm body 21 is provided with a space capable of arranging the second lead screw 22 along the height direction, and the upper end and the lower end of the space are respectively provided with a group of bearing assemblies. The two sides of the front surface of the second arm body 21 are provided with slide rail structures along the height direction.

The length direction of the second lead screw 22 of the second vertical mechanical arm 2 corresponds to the height direction of the second arm body 21. The second lead screw 22 is fixed on the second arm body 21 through bearing assemblies at two ends of the front surface of the second arm body 21, so that the second lead screw 22 is assembled along the height direction of the second arm body 21, and a basically parallel arrangement structure is formed between the second lead screw 22 and the second arm body 21.

The back of the second sliding block 23 of the second vertical mechanical arm 2 is connected with the second lead screw 22 through a threaded structure (such as a nut), two sides of the back of the second sliding block 23 form sliding fit with two side slide rail structures on the front of the second arm body 21, and the second lead screw 22 converts circumferential rotation motion into linear motion of the second sliding block 23 on the two slide rails of the second arm body 21 through a fit structure between the second lead screw and the second sliding block 23 in the action process.

An output shaft of a second driving motor 24 of the second vertical mechanical arm 2 is relatively and fixedly connected with one end of a second lead screw 22, usually, the second driving motor 24 is fixed at the top of the second arm body 21 through a fastener and the like, so that the output shaft of the second driving motor 24 is connected with the top end of the second lead screw 22, and the circumferential rotation action of the second lead screw 22 is controlled by the second driving motor 24. The second driving motor 24 is preferably a servo motor (a stepping motor can be used instead) which is convenient and accurate to control.

The first slide block 13 of the first vertical mechanical arm 1 moves up and down independently of the second slide block 23 of the second vertical mechanical arm 2. Namely, under the action of a first driving motor 14 and a first lead screw 12, a first sliding block 13 can independently slide and displace up and down on a first arm body 11; under the action of a second driving motor 24 and a second lead screw 22, a second sliding block 23 can independently slide up and down on a second arm body 21; under the synchronous action of the first driving motor 14 and the second driving motor 24, the first sliding block 13 and the second sliding block 23 can synchronously perform vertical sliding displacement on the corresponding arm bodies.

The transverse mechanical arm 3 mainly comprises a first hinged support 31, an extension pipe 34, a telescopic mechanism 33 and a second hinged support 32 which are sequentially connected together. The telescopic mechanism 33 is of a cylinder structure, the lengthening pipe 34 is a supplementary lengthening structure of the telescopic mechanism 33 of the cylinder structure under the condition that the length between the first hinged support 31 and the second hinged support 32 is insufficient, the lengthening pipe 34 and one end of the telescopic mechanism 33 form lengthening connection through a threaded connection structure or a pin connection structure, and if the telescopic mechanism 33 of the cylinder structure is long enough, the lengthening pipe 34 structure is not needed. The first hinged support 31 is hinged to the first sliding block 13 of the first vertical mechanical arm 1 through a hinged shaft (or a matched bearing assembly and the like), the second hinged support 32 is hinged to the second sliding block 23 of the second vertical mechanical arm 2 through a hinged shaft (or a matched bearing assembly and the like), and the telescopic mechanism 33 is used for adjusting the length change of the transverse mechanical arm 3 when the first hinged support 31 and the second hinged support 32 slide and displace under the unequal height state. Thus, when the first slide block 13 on the first vertical mechanical arm 1 and the second slide block 23 on the second vertical mechanical arm 2 are lifted synchronously (no matter the horizontal state is available or not), the transverse mechanical arm 3 moves horizontally and lifts; when the first slide block 13 on the first vertical mechanical arm 1/the second slide block 23 on the second vertical mechanical arm 2 are lifted singly, the second slide block 23 on the second vertical mechanical arm 2/the first slide block 13 on the first vertical mechanical arm 1 are kept fixed, and then the transverse mechanical arm 3 realizes the cycloid operation action of a single fulcrum; when the first slide block 13 on the first vertical mechanical arm 1 ascends/descends and the second slide block 23 on the second vertical mechanical arm 2 descends/ascends, the transverse mechanical arm 3 realizes the cross cycloid operation action.

The left end of the lateral robot arm 3 shown in the drawing is set to serve as the link boom 6, and thus a third anchor 35 is provided at the left end of the lateral robot arm 3. The third hinged support 35 is connected to the outer end of the first hinged support 31 and is in a horizontal U-shaped or Y-shaped shape, a hinged hole formed in the vertical direction is formed in the third hinged support 35, a group of bearing assemblies are respectively assembled in the upper hinged hole and the lower hinged hole, the upper hinged hole and the lower hinged hole are connected with a connecting rod shaft 36 through the upper group of bearing assemblies and the lower group of bearing assemblies, and the connecting rod shaft 36 can relatively freely rotate in the third hinged support 35 through the bearing assemblies.

The movable arm 6 is a long arm rod structure. The front end of the movable arm 6 is hinged with an appliance joint 61, the middle rear part is hinged with a driving cylinder 62, and the rear end is connected with a rotary motor 63.

The rear end of the movable arm 6 is inserted into a third hinge seat 35 of the transverse mechanical arm 3 and is hinged together by a connecting rod shaft 36. The link shaft 36 is connected to the rear end of the boom 6 in a relatively fixed manner, for example, by a key or the like, and the rotation of the link shaft 36 can drive the boom 6 to swing left and right with respect to the horizontal robot arm 3.

The rotary motor 63 of the boom 6 is fixed to the third hinge base 35 of the lateral robot arm 3 by a fastener or the like. An output shaft of the rotary motor 63 is connected to the link shaft 36 between the movable arm 6 and the transverse mechanical arm 3, the link shaft 36 is circumferentially rotated in the bearing assembly by the rotating force output by the rotary motor 63, the movable arm 6 is driven by the link shaft 36 which is circumferentially rotated to synchronously swing, and the movable arm 6 is swung and folded in the left-right direction at the three hinged seats 35 of the transverse mechanical arm 3. The rotary motor 63 is preferably a servo motor (a stepping motor or the like may be used instead) which is easy to control and accurate.

The front end of the implement joint 61 serves as a construction implement for connecting the construction robot, the middle of the implement joint 61 serves as an articulation with the front end of the above-described boom 6, and the rear end of the implement joint 61 serves as an articulation with the front end of the driving cylinder 62. The middle of implement joint 61 is hinged at the front end of boom 6 by a hinge shaft (or a mating bearing assembly), and the front end of implement joint 61 extends forward and the rear end extends rearward.

The rear end of the driving cylinder 62 is hinged to a side wall of the middle rear portion of the movable arm 6 (normally, an overhanging seat should be provided at the side wall) by a hinge shaft (or a mating bearing assembly), and the front end of the driving cylinder 62 is hinged to the rear end of the implement joint 61 by a hinge shaft (or a mating bearing assembly). The drive cylinder 62 is typically a servo-electric cylinder arrangement. The implement joint 61 swings vertically at the tip end of the boom 6 with the pivot point of the boom 6 by the driving cylinder 62.

The construction tools connected by the tool joint 61 are scarifiers, rakes or buckets and the like, and can be flexibly replaced according to the requirements of the current engineering working conditions.

The application of the present invention in the construction robot with the above structure is shown in fig. 4.

The engineering construction robot comprises a walking device A, a rotating device B, a sliding table device C, the mechanical arm structure and a construction tool D.

The walking device A of the engineering construction robot is of a crawler-type structure and mainly comprises a rack, walking wheels, a crawler, walking power and the like. The frame is used as a bearing base body, a group of walking wheels are respectively arranged on two sides of the frame, and each group of walking wheels mainly comprises a driving wheel, an inducer, a riding wheel and the like; the inside of the frame is used for arranging walking power (such as a motor, a storage battery and the like). The two pairs of tracks are respectively sleeved on the corresponding travelling wheels on each side of the frame. The driving system of the walking device A can adopt the mature infrared remote control driving technology, people do not need to drive in the vehicle, and the walking device A can realize the controllable walking function by the unmanned driving technology.

The rotating device B of the engineering construction robot mainly comprises a turntable assembly, a bearing platform and rotating power. The turntable assembly usually uses a turntable bearing, and its outer ring/inner ring forms a fixed connection with the top of the frame of the traveling device a, and its inner ring/outer ring forms a fixed connection with the bottom of the bearing platform, i.e. the bottom of the turntable assembly is assembled on the frame of the traveling device a, and the top is used as a connecting bearing platform, so as to support the bearing platform above the traveling device a. The bearing platform is used as a construction operation execution platform, the area of the bearing platform is generally similar to the plane area of the walking device A, the following sliding table device C can be effectively arranged, and under the action of the turntable assembly, the bearing platform can realize circumferential rotation position adjustment above the rack of the walking device A. The rotating power is preferably a servo motor (which can be replaced by a stepping motor) which is convenient and accurate to control, the rotating power is fixed in the frame of the walking device A through a fastener and the like, the output end of the rotating power is meshed with the turntable assembly, and the rotating power is used for driving the turntable assembly to generate circumferential rotating motion.

The sliding table device C of the engineering construction robot mainly comprises two sliding rails, a plurality of sliding table side sliding blocks, a mounting plate, a sliding table side lead screw and a sliding table side driving motor. Two slide rails of the sliding table device C are fixed on the bearing platform through fasteners and the like along the central area of the length direction of the bearing platform, on the bearing platform, the two slide rails are arranged at intervals and keep parallel, the interval between the outer sides of the two slide rails is basically equal to or slightly smaller than the width of the mounting plate, and the interval between the inner sides of the two slide rails is used as a side lead screw of the sliding table. The plurality of sliding table side sliding blocks of the sliding table device C are divided into two groups corresponding to the two sliding rails and are assembled on the corresponding sliding rails in a sliding mode. The bottom surfaces of the two sides of the mounting plate of the sliding table device C are respectively connected with the sliding table side sliding blocks corresponding to the lower part through fasteners and the like, so that the mounting plate is assembled on the sliding rail of the lower part through a plurality of sliding table side sliding blocks in a sliding structure. The sliding table side lead screw of the sliding table device C is arranged between the two sliding rails along the length direction of the sliding rails through the two groups of bearing assemblies, the sliding table side lead screw between the two groups of bearing assemblies is in threaded connection with the bottom of the mounting plate, and the sliding table side lead screw converts circumferential rotation motion into linear motion of the mounting plate on the sliding rails through a matching structure between the sliding table side lead screw and the mounting plate in the action process. An output shaft of a sliding table side driving motor of the sliding table device C is connected with one end of a sliding table side screw rod, the circumferential rotation action of the sliding table side screw rod is controlled by the sliding table side driving motor, and the sliding table side driving motor is preferably a servo motor which is convenient and accurate to control. The mounting plate of the sliding table device C serves as a first vertical mechanical arm 1 and a second vertical mechanical arm 2 for assembling the mechanical arm structure, namely the mounting plate is a base 4 of the first vertical mechanical arm 1 and the second vertical mechanical arm 2.

The construction tool D is connected to one end of the horizontal arm 3 of the arm structure via a boom 6.

Example 2

The utility model discloses a mechanical arm structure that engineering construction robot used, it includes first vertical arm, the vertical arm of second, horizontal arm and swing arm. The first vertical mechanical arm and the second vertical mechanical arm are vertically fixed on the base through fasteners and the like; first vertical arm and second vertical arm are arranged side by side with relative interval on the base, for the structural strength of reinforcing relative position between first vertical arm and the second vertical arm, still are provided with the support frame between first vertical arm and the second vertical arm.

Specifically, a first vertical mechanical arm mainly comprises a first arm body, a first lead screw, a first sliding block and a first driving motor.

The first arm body of the first vertical mechanical arm is used as a bearing foundation for the first arrangement lead screw, the first sliding block and the first driving motor and is erected on the top surface of one end of the base through fasteners and the like. The side surface of the arm body I used for arranging the first lead screw is set to be the front surface. The front center of the first arm body is provided with a space capable of arranging the first lead screw along the height direction, and the upper end and the lower end of the space are respectively provided with a group of bearing assemblies. And slide rail structures are arranged at the two sides of the front surface of the first arm body along the height direction.

The length direction of a first lead screw of the first vertical mechanical arm corresponds to the height direction of the first arm body. The first lead screw is fixed on the first arm body through bearing assemblies at two ends of the front face of the first arm body, so that the first lead screw is assembled along the height direction of the first arm body, and a basically parallel arrangement structure is formed between the first lead screw and the first arm body.

The back of a first sliding block of the first vertical mechanical arm is connected with a first lead screw through a threaded structure (such as a nut), two sides of the back of the first sliding block form sliding fit with two side sliding rail structures on the front of a first arm body, and the first lead screw converts circumferential rotary motion into linear motion of the first sliding block on the first sliding rail of the first arm body through a matching structure between the first lead screw and the first sliding block in the action process.

An output shaft of a first driving motor of the first vertical mechanical arm is fixedly connected with one end of a first lead screw, and the first driving motor is usually fixed to the top of the first arm body through a fastener and the like. The drive motor is preferably a servo motor (a stepping motor can be used for replacement) which is convenient and accurate to control.

The second vertical mechanical arm mainly comprises an arm body II, a screw rod II, a slide block II and a driving motor II.

The second arm body of the second vertical mechanical arm is used as a bearing foundation for the second arrangement lead screw, the second sliding block and the second driving motor, is erected on the top surface of the other end of the base through fasteners and the like, the side face of the second arm body, which is used for arranging the second lead screw, is set to be a front face, and the front face of the second arm body and the front face of the first arm body are basically located on the same plane. The center of the front face of the second arm body is provided with a space capable of arranging the second lead screw along the height direction, and the upper end and the lower end of the space are respectively provided with a group of bearing assemblies. And slide rail structures are arranged at the two sides of the front surface of the arm body II along the height direction.

The length direction of a second lead screw of the second vertical mechanical arm corresponds to the height direction of the second arm body. The second screw rod is fixed on the second arm body through bearing assemblies at two ends of the front face of the second arm body, so that the second screw rod is assembled along the height direction of the second arm body, and a basically parallel arrangement structure is formed between the second screw rod and the second arm body.

The back of the second sliding block of the second vertical mechanical arm is connected with the second lead screw through a threaded structure (such as a nut), two sides of the back of the second sliding block form sliding fit with two side sliding rail structures on the front of the second arm body, and the second lead screw converts circumferential rotary motion into linear motion of the second sliding block on the two sliding rails of the second arm body through a matching structure between the second lead screw and the second sliding block in the action process.

An output shaft of a second driving motor of the second vertical mechanical arm is fixedly connected with one end of a second lead screw, and the second driving motor is usually fixed to the top of the second arm body through a fastener and the like. The second driving motor is preferably a servo motor (or a stepping motor can be used for replacement) which is convenient to control and accurate.

And the up-and-down displacement action of the first sliding block of the first vertical mechanical arm is independent of the up-and-down displacement action of the second sliding block of the second vertical mechanical arm. Namely, under the action of a first driving motor and a first lead screw, a first sliding block can independently slide and displace up and down on a first arm body; under the action of a second driving motor and a second lead screw, a second sliding block can independently slide up and down on a second arm body; under the synchronous action of the first driving motor and the second driving motor, the first sliding block and the second sliding block can synchronously slide up and down on the corresponding arm bodies.

The transverse mechanical arm is of a long arm rod structure. The transverse mechanical arm is provided with two waist-shaped holes which are arranged at intervals, the two waist-shaped holes correspond to the first sliding block on the first vertical mechanical arm and the second sliding block on the second vertical mechanical arm, and one waist-shaped hole is set as a first hinged support and the other waist-shaped hole is set as a second hinged support. The first hinged support is hinged to the first sliding block of the first vertical mechanical arm through a hinged shaft, namely the first sliding block is connected with a hinged shaft which can penetrate into a hole of the first hinged support (of course, the outer end of the hinged shaft is provided with an anti-falling limiting structure); the second hinge seat is hinged to a second sliding block of the second vertical mechanical arm through a hinge shaft, namely the second sliding block is connected with the hinge shaft which can penetrate into a hole of the second hinge seat (of course, the outer end of the hinge shaft is provided with an anti-falling limiting structure). The displacement of the transverse mechanical arm on the first vertical mechanical arm and the second vertical mechanical arm is changed, and the first hinged support and the second hinged support of the waist-shaped hole structure are automatically adjusted. Therefore, when the first sliding block on the first vertical mechanical arm and the second sliding block on the second vertical mechanical arm synchronously lift (no matter the first sliding block and the second sliding block are horizontal or not), the transverse mechanical arm performs translational lifting motion; when the first sliding block on the first vertical mechanical arm/the second sliding block on the second vertical mechanical arm are lifted, the second sliding block on the second vertical mechanical arm/the second sliding block on the first vertical mechanical arm are kept fixed, and then the transverse mechanical arm realizes the cycloid operation action of a single pivot; when the first sliding block on the first vertical mechanical arm ascends/descends and the second sliding block on the second vertical mechanical arm descends/ascends, the transverse mechanical arm realizes the operation of the crossed cycloid.

One end of the transverse mechanical arm of the structure is used for connecting the movable arm, so that a third hinged support is arranged at one end of the transverse mechanical arm of the structure. The third hinged support is positioned at the outer end of the first hinged support and is in a horizontal U-shaped or Y-shaped shape, a hinged hole formed in the vertical direction is formed in the third hinged support, a group of bearing assemblies are respectively assembled in the upper hinged hole and the lower hinged hole, a connecting rod shaft is connected through the upper group of bearing assemblies and the lower group of bearing assemblies, and the connecting rod shaft can relatively freely rotate in the third hinged support through the bearing assemblies.

The movable arm is in a long arm rod structure. The front end of the movable arm is hinged with an appliance joint, the middle rear part is hinged with a driving cylinder, and the rear end is connected with a rotary motor.

The rear end of the movable arm is arranged in a third hinged support on the transverse mechanical arm in a penetrating way and is hinged together by a connecting rod shaft. The link shaft is connected to the rear end of the boom in a relatively fixed manner, for example, by a key or other structure, and the rotation of the link shaft can drive the boom to swing left and right relative to the horizontal robot arm.

And a rotary motor of the movable arm is fixed at the third hinged support on the transverse mechanical arm through fasteners and the like. An output shaft of the rotary motor is connected to the connecting rod shaft between the movable arm and the transverse mechanical arm, the rotating force output by the rotary motor enables the connecting rod shaft to rotate circumferentially in the bearing assembly, the connecting rod shaft rotating circumferentially drives the movable arm to swing synchronously, and the movable arm can swing and fold in the left and right directions at three hinged seats of the transverse mechanical arm. The rotary motor is preferably a servo motor (a stepping motor or the like may be used instead) which is convenient and accurate to control.

The front end of the tool joint is used for connecting construction tools of the engineering construction robot, the middle part of the tool joint is used for being hinged with the front end of the movable arm, and the rear end of the tool joint is used for being hinged with the front end of the driving cylinder. The middle part of the appliance joint is hinged at the front end of the movable arm through a hinge shaft (or a matched bearing assembly), the front end of the appliance joint extends forwards, and the rear end of the appliance joint extends backwards.

The rear end of the driving cylinder is hinged on the side wall of the middle rear part of the movable arm (usually, an overhanging support is arranged on the side wall) through a hinge shaft (or a matched bearing assembly), and the front end of the driving cylinder is hinged on the rear end of the joint of the tool through the hinge shaft (or the matched bearing assembly). The drive cylinder is typically a servo-electric cylinder arrangement. Under the action of the driving cylinder, the tool joint swings up and down at the front end of the movable arm by taking a hinged part with the movable arm as a fulcrum.

The construction appliances connected by the appliance joints are scarifiers, rakes or buckets and the like, and can be flexibly replaced according to the requirements of the current engineering working conditions.

Example 3

The utility model discloses a mechanical arm structure that engineering construction robot used, it includes first vertical arm, the vertical arm of second, horizontal arm, first swing arm and second swing arm. The first vertical mechanical arm and the second vertical mechanical arm are vertically fixed on the base through fasteners and the like; first vertical arm and second vertical arm are arranged side by side with relative interval on the base, for the structural strength of reinforcing relative position between first vertical arm and the second vertical arm, still are provided with the support frame between first vertical arm and the second vertical arm.

The transverse mechanical arm mainly comprises a first hinged support, a telescopic mechanism and a second hinged support which are sequentially connected together. The telescopic mechanism is of a cylinder structure. The first hinged support is hinged to the first sliding block of the first vertical mechanical arm through a hinged shaft (or a matched bearing assembly and the like), the second hinged support is hinged to the second sliding block of the second vertical mechanical arm through a hinged shaft (or a matched bearing assembly and the like), and the telescopic mechanism is used for adjusting the length change of the transverse mechanical arm when the first hinged support and the second hinged support slide and displace in unequal height states. Therefore, when the first sliding block on the first vertical mechanical arm and the second sliding block on the second vertical mechanical arm synchronously lift (no matter the first sliding block and the second sliding block are horizontal or not), the transverse mechanical arm performs translational lifting motion; when the first sliding block on the first vertical mechanical arm/the second sliding block on the second vertical mechanical arm are lifted, the second sliding block on the second vertical mechanical arm/the second sliding block on the first vertical mechanical arm are kept fixed, and then the transverse mechanical arm realizes the cycloid operation action of a single pivot; when the first sliding block on the first vertical mechanical arm ascends/descends and the second sliding block on the second vertical mechanical arm descends/ascends, the transverse mechanical arm realizes the operation of the crossed cycloid.

The left end of the transverse mechanical arm is used for connecting the first movable arm, and the right end of the transverse mechanical arm is used for connecting the second movable arm, so that a third hinged support is arranged at the left end of the transverse mechanical arm, and a fourth hinged support is arranged at the right end of the transverse mechanical arm. The third hinged support is connected to the outer end of the first hinged support and is in a horizontal U-shaped or Y-shaped shape, a hinged hole formed in the vertical direction is formed in the third hinged support, a group of bearing assemblies are respectively assembled in the upper hinged hole and the lower hinged hole, corresponding connecting rod shafts are connected through the upper group of bearing assemblies and the lower group of bearing assemblies, and the connecting rod shafts can relatively freely rotate in the third hinged support through the corresponding bearing assemblies. The hinge base four is connected to the outer end of the hinge base two and is in a horizontal U-shaped or Y-shaped shape, hinge holes formed in the vertical direction are formed in the hinge base four, a group of bearing assemblies are assembled in the hinge holes respectively, corresponding connecting rod shafts are connected through the upper group of bearing assemblies and the lower group of bearing assemblies, and the connecting rod shafts can rotate freely relatively in the hinge base four through the corresponding bearing assemblies.

The first movable arm is of a long arm rod structure. The front end of the second movable arm is hinged with an appliance joint, the middle rear part of the second movable arm is hinged with a driving cylinder, and the rear end of the second movable arm is connected with a rotary motor.

The rear end of the first movable arm is arranged in a third hinged support on the transverse mechanical arm in a penetrating mode and is hinged together through a corresponding connecting rod shaft. The link shaft is connected to the rear end of the first movable arm in a relatively fixed manner, for example, by a key, and the rotation of the link shaft can drive the first movable arm to swing left and right relative to the transverse mechanical arm.

And a rotary motor of the first movable arm is fixed at three hinged supports on the transverse mechanical arm through fasteners and the like. An output shaft of the rotary motor is connected to the corresponding connecting rod shaft between the first movable arm and the transverse mechanical arm, the rotating force output by the rotary motor enables the connecting rod shaft to rotate circumferentially in the bearing assembly, the connecting rod shaft rotating circumferentially drives the first movable arm to swing synchronously, and the first movable arm is enabled to swing and fold in the left-right direction at three hinged seats of the transverse mechanical arm. The rotary motor is preferably a servo motor (a stepping motor or the like may be used instead) which is convenient and accurate to control.

The front end of the tool joint of the first boom is used as a construction tool for connecting the construction robot, the middle part of the tool joint is used for being hinged with the front end of the first boom, and the rear end of the tool joint is used for being hinged with the front end of the driving cylinder. The middle part of the appliance joint is hinged at the front end of the first movable arm through a hinge shaft (or a matched bearing assembly), the front end of the appliance joint extends forwards, and the rear end of the appliance joint extends backwards.

The rear end of the driving cylinder of the first movable arm is hinged on the side wall of the middle rear part of the first movable arm (normally, an overhanging support is arranged on the side wall) through a hinge shaft (or a matched bearing assembly), and the front end of the driving cylinder is hinged at the rear end of the tool joint through the hinge shaft (or the matched bearing assembly). The drive cylinder is typically a servo-electric cylinder arrangement. Under the action of the driving cylinder, the tool joint swings up and down at the front end of the first movable arm by taking the hinged part of the tool joint and the first movable arm as a fulcrum.

The construction tool connected with the tool joint of the first movable arm is a scarifier, a rake or a bucket and the like, and can be flexibly replaced according to the current engineering working condition requirement.

The second movable arm is of a long arm rod structure. The front end of the second movable arm is hinged with an appliance joint, the middle rear part of the second movable arm is hinged with a driving cylinder, and the rear end of the second movable arm is connected with a rotary motor.

The rear end of the second movable arm is arranged in a hinged support IV on the transverse mechanical arm in a penetrating way and is hinged together by a corresponding connecting rod shaft. The link shaft is connected to the rear end of the second boom in a relatively fixed manner, for example, by a key, and the rotation of the link shaft can drive the second boom to swing left and right relative to the horizontal robot arm.

And a rotary motor of the second movable arm is fixed at four positions of a hinged support on the transverse mechanical arm through fasteners and the like. An output shaft of the rotary motor is connected to the corresponding connecting rod shaft between the second movable arm and the transverse mechanical arm, the rotating force output by the rotary motor enables the connecting rod shaft to rotate circumferentially in the bearing assembly, the connecting rod shaft rotating circumferentially drives the second movable arm to swing synchronously, and the second movable arm is enabled to swing and fold in the left-right direction around a hinged support of the transverse mechanical arm. The rotary motor is preferably a servo motor (a stepping motor or the like may be used instead) which is convenient and accurate to control.

The front end of the tool joint of the second boom is used as a construction tool for connecting the construction robot, the middle part of the tool joint is used for being hinged with the front end of the second boom, and the rear end of the tool joint is used for being hinged with the front end of the driving cylinder. The middle part of the appliance joint is hinged at the front end of the second movable arm through a hinge shaft (or a matched bearing assembly), the front end of the appliance joint extends forwards, and the rear end of the appliance joint extends backwards.

The rear end of the driving cylinder of the second movable arm is hinged on the side wall of the middle rear part of the second movable arm (usually, an overhanging support is arranged on the side wall), and the front end of the driving cylinder is hinged at the rear end of the tool joint through a hinge shaft (or a matched bearing assembly). The drive cylinder is typically a servo-electric cylinder arrangement. Under the action of the driving cylinder, the tool joint swings in the vertical direction at the front end of the second boom by taking the hinged part with the second boom as a fulcrum.

The construction tools connected with the tool joint of the second movable arm are scarifiers, rakes or buckets and the like, and the construction tools can be flexibly replaced according to the requirements of the current engineering working conditions.

The above examples are only for illustrating the present invention and are not to be construed as limiting the same.

Although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications may be made to the above-described embodiments or equivalents may be substituted for some of the features thereof; and such modifications or substitutions do not depart from the spirit and scope of the present invention in its essence.

Claims

1. The utility model provides a mechanical arm structure for engineering construction robot which characterized in that: the mechanical arm structure mainly comprises a first vertical mechanical arm (1) and a second vertical mechanical arm (2) which are arranged side by side at intervals and a transverse mechanical arm (3) hinged between the first vertical mechanical arm (1) and the second vertical mechanical arm (2), wherein the transverse mechanical arm (3) is hinged on the first vertical mechanical arm (1) and can be adjusted in an independent displacement mode along the height direction of the first vertical mechanical arm (1), the transverse mechanical arm (3) is hinged on the second vertical mechanical arm (2) and can be adjusted in an independent displacement mode along the height direction of the second vertical mechanical arm (2), and at least one end of the transverse mechanical arm (3) is used for being connected with a construction appliance (D) of the engineering construction robot.

2. The robot arm structure for construction robots according to claim 1, characterized in that: the first vertical mechanical arm (1) mainly comprises an arm body I (11), a screw rod I (12), a sliding block I (13) and a driving motor I (14), wherein a space capable of arranging the screw rod I (12) and a sliding rail structure capable of arranging the sliding block I (13) are formed in the height direction of the arm body I (11), the screw rod I (12) is assembled on the arm body I (11) along the height direction of the arm body I (11) through at least one group of bearing assemblies, one end of the screw rod I (12) is connected with an output shaft of the driving motor I (14), the sliding block I (13) is assembled on the screw rod I (12) in a threaded structure and is in sliding fit with the sliding rail structure on the arm body I (11), and the sliding block I (13) is hinged to a corresponding part on the transverse mechanical arm (3).

3. The robot arm structure for construction robots according to claim 1, characterized in that: the second vertical mechanical arm (2) mainly comprises an arm body II (21), a lead screw II (22), a sliding block II (23) and a driving motor II (24), a space capable of arranging the lead screw II (22) and a sliding rail structure capable of arranging the sliding block II (23) are formed in the height direction of the arm body II (21), the lead screw II (22) is assembled on the arm body II (21) along the height direction of the arm body II (21) through at least one group of bearing assemblies, one end of the lead screw II (22) is connected with an output shaft of the driving motor II (24), the sliding block II (23) is assembled on the lead screw II (22) in a threaded structure and is in sliding fit with the sliding rail structure on the arm body II (21), and the sliding block II (23) is hinged with a corresponding part on the transverse mechanical arm (3).

4. A robot arm structure for construction robots according to claim 1, 2 or 3, characterized in that: the horizontal mechanical arm (3) is of a length telescopic structure, the horizontal mechanical arm (3) mainly comprises a first hinged support (31), a telescopic mechanism (33) and a second hinged support (32) which are sequentially connected together, the first hinged support (31) is used for being hinged to the first vertical mechanical arm (1), and the second hinged support (32) is used for being hinged to the second vertical mechanical arm (2).

5. The robot arm structure for construction robots according to claim 1, characterized in that: a supporting frame (5) is arranged between the first vertical mechanical arm (1) and the second vertical mechanical arm (2).

6. The robot arm structure for construction robots according to claim 1, characterized in that: the transverse mechanical arm (3) is connected with a construction tool (D) through a movable arm (6).

7. The robot arm structure for construction robots according to claim 6, characterized in that: the rear end of the movable arm (6) is hinged to the corresponding end of the transverse mechanical arm (3), and a rotary motor (63) capable of driving the movable arm (6) to swing left and right relative to the transverse mechanical arm (3) is connected to the hinged position between the movable arm (6) and the transverse mechanical arm (3).

8. The robot arm structure for construction robots according to claim 7, characterized in that: the articulated part of the movable arm (6) and the transverse mechanical arm (3) is provided with a connecting rod shaft (36), the connecting rod shaft (36) is assembled in a hinged support at the corresponding end part of the transverse mechanical arm (3) through a bearing assembly, the connecting rod shaft (36) is connected with an output shaft of the rotary motor (63), and under the driving of the rotary motor (63), the connecting rod shaft (36) is used for driving the movable arm (6) to swing left and right relative to the transverse mechanical arm (3).

9. The robot arm structure for construction robots according to claim 7 or 8, characterized in that: the front end of the movable arm (6) is hinged with an appliance joint (61) capable of being connected with a construction appliance (D), the middle of the appliance joint (61) is hinged with the front end of the movable arm (6), the front end of the appliance joint is used for connecting the construction appliance (D), the rear end of the appliance joint is used for connecting a driving cylinder (62), the rear end of the driving cylinder (62) is hinged on the movable arm (6), and under the driving of the driving cylinder (62), the appliance joint (61) drives the construction appliance (D) to do up-and-down swinging motion at the front end of the movable arm (6).

10. The robot arm structure for construction robots according to claim 1, characterized in that: the construction appliance (D) is a ripper, a rake or a bucket.