CN217143959U - Automatic robot adopting hydraulic power - Google Patents
Automatic robot adopting hydraulic power Download PDFInfo
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- CN217143959U CN217143959U CN202220862045.XU CN202220862045U CN217143959U CN 217143959 U CN217143959 U CN 217143959U CN 202220862045 U CN202220862045 U CN 202220862045U CN 217143959 U CN217143959 U CN 217143959U
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Abstract
The utility model discloses an adopt hydraulic power's automatic robot relates to the industrial automation field, sets up the electronic components of rotary encoder or other transmission machinery strokes through the junction at each arm. The relative position information between two adjacent mechanical arms is recorded by using a rotary encoder or other electronic components for transmitting mechanical strokes, and then the position information is fed back to the control system, and the control system models to obtain the position of the actuating mechanism compared with the position of the mounting platform according to the relative position information of each mechanical arm, so that the position deviation caused by the problems of parameters such as the weight of a load and the like can be avoided. The hydraulic control valve body and the mechanical main body are combined together through mechanism design, so that the action integration is achieved. Meanwhile, compared with the existing robot driven by a motor, the robot has the advantages of larger power and lower cost.
Description
Technical Field
The utility model belongs to the industrial automation field, concretely relates to adopt hydraulic power's automatic robot.
Background
With the development of industrial robot technology, the application of mechanical arm structures with high speed, high precision and high load-weight ratio is receiving attention in the industrial field.
Most of existing industrial robots control motors through a plurality of motors, and record the position of an executing end of a mechanical arm through recording the number of rotation turns of each motor, the recorded position has a lot of uncertainties, parameters such as load mass, connecting rod mass, length, connecting rod mass center and the like are unknown or partially known, all of which can cause the deviation of the operation of the mechanical arm, and the deviation can be continuously accumulated. And the cost of the existing pure electric control automatic robot is higher.
SUMMERY OF THE UTILITY MODEL
In order to solve the influence that can receive load weight of arm among the prior art, lead to arm operation precision to appear the problem of error and with high costs, the utility model aims to provide an adopt hydraulic power's automatic robot.
The utility model discloses the technical scheme who adopts does:
the utility model provides an adopt hydraulic power's automatic robot, the robot is connected with control system, the robot includes mounting platform, horizontal slewing mechanism, vertical slewing mechanism and actuating mechanism, vertical slewing mechanism includes a plurality of arms that connect gradually, the last horizontal slewing mechanism that installs of mounting platform, horizontal slewing mechanism is connected through vertical slewing mechanism with actuating mechanism, rotatable coupling between a plurality of arms of vertical slewing mechanism, and the junction of each arm all is provided with rotary encoder, a plurality of vertical slewing mechanism all are connected with the hydraulic drive component, the hydraulic drive component is used for promoting vertical slewing mechanism and rotates, horizontal slewing mechanism, actuating mechanism, rotary encoder and hydraulic drive component all are connected with control system.
Optionally, the longitudinal rotating mechanism comprises a first mechanical arm, a second mechanical arm, a third mechanical arm and a fourth mechanical arm which are rotatably connected in sequence, the first mechanical arm is mounted on the horizontal rotating mechanism, and an executing mechanism is mounted on the fourth mechanical arm.
Optionally, the hydraulic driving element comprises a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder, one end of the second mechanical arm, which is far away from the first mechanical arm, is connected with the telescopic rod of the first hydraulic cylinder, and the cylinder body of the first hydraulic cylinder is rotatably mounted on the horizontal rotating mechanism;
one end of the third mechanical arm, which is far away from the second mechanical arm, is connected with a telescopic rod of a second hydraulic cylinder, and a cylinder body of the second hydraulic cylinder is rotatably arranged on the second mechanical arm;
one end of the fourth mechanical arm far away from the third mechanical arm is connected with a telescopic rod of the third hydraulic cylinder, and a cylinder body of the third hydraulic cylinder is rotatably arranged on the third mechanical arm.
Optionally, the first mechanical arm, the second mechanical arm and the third mechanical arm are all provided with rotary encoders, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are all provided with gear pieces, a rotating shaft of each rotary encoder is provided with a gear, and the gear pieces are meshed with gears of adjacent rotary encoders.
Optionally, the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm all comprise two oppositely arranged mounting plates, and the two oppositely arranged mounting plates are connected through a plurality of connecting rods.
Optionally, an arc-shaped groove is formed in the first mechanical arm, the arc-shaped groove is located on one side of a connection point of the first mechanical arm and the second mechanical arm, limiting columns are arranged on the outer sides of the two mounting plates of the second mechanical arm, and the limiting columns are located in the arc-shaped groove.
Optionally, an included angle a is formed at two ends of the two mounting plates of the third mechanical arm, an included angle b is formed at two ends of the two mounting plates of the fourth mechanical arm, and both the included angle a and the included angle b are obtuse angles.
Optionally, the horizontal rotation mechanism comprises a driving motor and a rotating platform, the driving motor and the rotating platform are respectively installed on two sides of the installation platform, a power output shaft of the driving motor is connected with the rotating platform, and a first mechanical arm is installed on the rotating platform.
As optional, still be provided with the valve unit on the revolving stage, first pneumatic cylinder, second pneumatic cylinder and third pneumatic cylinder all are connected with the valve unit, valve unit and control system electric connection.
Optionally, the actuating mechanism includes a clamping cylinder and a clamping claw, the clamping cylinder is mounted on the fourth mechanical arm, and the clamping claw is mounted on the clamping cylinder.
The utility model has the advantages that:
the utility model provides an automatic robot adopting hydraulic power, which comprises a mounting platform, a horizontal rotating mechanism, a longitudinal rotating mechanism and an actuating mechanism, wherein the longitudinal rotating mechanism is connected in sequence, the horizontal rotating mechanism is mounted on the mounting platform and is connected with the actuating mechanism through the longitudinal rotating mechanism, the longitudinal rotating mechanism comprises a plurality of mechanical arms which are rotatably connected, a rotary encoder is arranged at the joint of each mechanical arm, the rotary encoder is used for recording the relative position information between two adjacent mechanical arms, and then the position information is fed back to a control system, the control system obtains the position of the actuating mechanism compared with the mounting platform according to the relative position information of each mechanical arm, the position deviation caused by the problems of the weight and other parameters of a load can not occur, and the control system is more accurate compared with the existing robot, the cost is also lower.
And simultaneously, the utility model discloses a vertical slewing mechanism's each arm all drives through hydraulic drive component, and hydraulic drive component compares and can provide bigger drive power in motor drive, and the weight that receives the load influences littleer, and hydraulic drive component control is sensitive, and at the information through a plurality of rotary encoder feedbacks, after actuating mechanism reachs the assigned position, control system control hydraulic drive component stop driving, can not accumulate the error.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a side view of the present invention.
Fig. 3 is a schematic half-section view of fig. 2.
Fig. 4 is a schematic view showing the connection relationship of the longitudinal turning mechanism.
Fig. 5 is a schematic view of the connection relationship of another view angle of the longitudinal rotating mechanism.
In the figure: 1-an installation platform, 2-a horizontal rotating mechanism, 21-a driving motor, 22-a rotating table, 3-a longitudinal rotating mechanism, 31-a first mechanical arm, 311-an arc-shaped groove, 32-a second mechanical arm, 33-a third mechanical arm, 34-a fourth mechanical arm, 4-an actuating mechanism, 41-a clamping cylinder, 41-a clamping claw, 51-a first hydraulic cylinder, 52-a second hydraulic cylinder, 53-a third hydraulic cylinder, 54-a control valve group, 6-a gear piece, 7-a rotary encoder and 8-a connecting rod.
Detailed Description
The first embodiment is as follows:
in this embodiment, as shown in fig. 1 to 3, an automatic robot using hydraulic power, the robot is connected to a control system, the robot includes a mounting platform 1, a horizontal rotating mechanism 2, a longitudinal rotating mechanism 3 and an executing mechanism 4, the longitudinal rotating mechanism 3 includes a plurality of mechanical arms connected in sequence, the horizontal rotating mechanism 2 is installed on the mounting platform 1, the horizontal rotating mechanism 2 is connected to the executing mechanism 4 through the longitudinal rotating mechanism 3, the mechanical arms of the longitudinal rotating mechanism 3 are rotatably connected to each other, a rotary encoder 7 is arranged at the joint of each mechanical arm, the longitudinal rotating mechanisms 3 are all connected to a hydraulic driving element, the hydraulic driving element is used for pushing the longitudinal rotating mechanism 3 to rotate, the horizontal rotating mechanism 2, the executing mechanism 4, the rotary encoder 7 and the hydraulic driving element are all connected to the control system.
In the present embodiment, as shown in fig. 1 to 5, the longitudinal rotating mechanism 3 includes a first robot arm 31, a second robot arm 32, a third robot arm 33, and a fourth robot arm 34 rotatably connected in sequence, the first robot arm 31 is mounted on the horizontal rotating mechanism 2, and the fourth robot arm 34 is mounted with the actuator 4.
In the present embodiment, as shown in fig. 1, the longitudinal rotating mechanism 3 includes four mechanical arms, and each of the first mechanical arm 31, the second mechanical arm 32, the third mechanical arm 33, and the fourth mechanical arm 34 includes two oppositely disposed mounting plates, and the two oppositely disposed mounting plates are connected by a plurality of connecting rods 8. Specifically, two mounting plates of the first mechanical arm 31 are mounted on the rotating platform 22, one end of the first mechanical arm 31, which is far away from the rotating platform 22, is connected with the second mechanical arm 32 through a hole shaft, so that the second mechanical arm 32 can rotate by taking one end of the first mechanical arm 31 as a rotation center, one end of the second mechanical arm 32, which is far away from the first mechanical arm 31, is connected with the third mechanical arm 33 through a hole shaft, one end of the third mechanical arm 33, which is far away from the second mechanical arm 32, is connected with the fourth mechanical arm 34 through a hole shaft, and the execution mechanism 4 is mounted at one end of the fourth mechanical arm 34, which is far away from the third mechanical arm 33.
In the present embodiment, as shown in fig. 2 and 3, a plurality of connecting rods 8 are distributed on both sides of the mounting plates so that a sufficient mounting space is formed in the middle area of the two mounting plates, and the hydraulic drive components are both mounted in the mounting space between the two mounting plates.
In the embodiment, as shown in fig. 3, the hydraulic driving component includes a first hydraulic cylinder 51, a second hydraulic cylinder 52 and a third hydraulic cylinder 53, one end of the second mechanical arm 32 away from the first mechanical arm 31 is connected with the telescopic rod of the first hydraulic cylinder 51, and the cylinder body of the first hydraulic cylinder 51 is rotatably mounted on the horizontal rotating mechanism 2; one end of the third mechanical arm 33, which is far away from the second mechanical arm 32, is connected with a telescopic rod of a second hydraulic cylinder 52, and the cylinder body of the second hydraulic cylinder 52 is rotatably mounted on the second mechanical arm 32; one end of the fourth mechanical arm 34 far away from the third mechanical arm 33 is connected with a telescopic rod of a third hydraulic cylinder 53, and the cylinder body of the third hydraulic cylinder 53 is rotatably arranged on the third mechanical arm 33.
In the embodiment, specifically, the cylinder body of the first hydraulic cylinder 51 is hinged on the rotating platform 22, and the telescopic rod of the first hydraulic cylinder 51 is hinged with the connecting rod 8 on the third mechanical arm 32, which is close to the second mechanical arm 32; the cylinder body of the second hydraulic cylinder 52 is hinged on the connecting rod 8 of the second mechanical arm 32 close to the first mechanical arm 31, and the telescopic rod of the second hydraulic cylinder 52 is hinged on the third mechanical arm 32 far from the connecting rod 8 of the second mechanical arm 32. The positional relationship between the second mechanical arm 32 and the third mechanical arm 33 is controlled by the combination of the first hydraulic cylinder 51 and the second hydraulic cylinder 52.
Specifically, when the telescopic rod of the second hydraulic cylinder 52 is kept still, the second mechanical arm 32 and the third mechanical arm 33 are equivalent to a whole at this time, and the extension or the contraction of the telescopic rod of the first hydraulic cylinder 51 can drive the whole second mechanical arm 32 and the whole third mechanical arm 31 to rotate at the connection point of the second mechanical arm 32 and the first mechanical arm 31; when the telescopic rod of the first hydraulic cylinder 51 is extended and the second hydraulic cylinder 52 is shortened, the third mechanical arm 33 rotates counterclockwise at the connection point with the second mechanical arm 32; when the telescopic rod of the first hydraulic cylinder 52 is extended and the telescopic rod of the first hydraulic cylinder 51 is shortened, the third robot arm 33 rotates clockwise at the connection point with the second robot arm 32.
In this embodiment, the cylinder of the third hydraulic cylinder 53 is hinged to the other connecting rod 8 at the end of the third mechanical arm 33 close to the second mechanical arm 32, and the telescopic rod of the third hydraulic cylinder 53 is hinged to the connecting rod 8 at the end of the fourth mechanical arm 34 close to the third mechanical arm 33.
In this embodiment, as shown in fig. 2, the arc-shaped grooves 311 are formed in the two mounting plates of the first mechanical arm 31, the arc-shaped grooves 311 are located on one side of a connection point between the first mechanical arm 31 and the second mechanical arm 32, the two mounting plates of the second mechanical arm 32 are provided with limiting posts on the outer sides, the limiting posts are located in the arc-shaped grooves 311, and the second mechanical arm 32 can be limited to have a rotating radian by matching the arc-shaped grooves 311 with the limiting posts.
In the present embodiment, as shown in fig. 3 and 5, an included angle a is formed at two ends of two mounting plates of the third mechanical arm 33, an included angle b is formed at two ends of two mounting plates of the fourth mechanical arm 34, the included angle a is an obtuse angle, and connecting shafts on the fourth mechanical arm 34, which are connected to the third hydraulic cylinder 53 and the third mechanical arm 33, are respectively located at different sides of the included angle a; the connecting axes of the third arm 33 to the second arm 32 and the second cylinder 52 are on different sides of the angle b.
In this embodiment, the control system may be a conventional industrial control system, which may be a DCS system, an industrial computer, or a PLC controller according to the production process. The control system sends an instruction with a position information execution command to the rotary encoder 7, the hydraulic transmission element and the execution mechanism 4 according to the process flow, after the hydraulic transmission element controls the mechanical arms to move the execution mechanism 4 to the specified position, the rotary encoder 7 feeds back the information to the control system, the control system stops the movement of the mechanical arms, the execution mechanism 4 performs execution actions later, after the execution actions are completed, the hydraulic transmission element executes the next position information, and the process is repeated.
The second embodiment:
the present embodiment provides an alternative to the first embodiment for the installation of the rotary encoder.
In the present embodiment, as shown in fig. 1, the first robot arm 31, the second robot arm 32, and the third robot arm 33 are each provided with a rotary encoder 7, the second robot arm 32, the third robot arm 33, and the fourth robot arm 34 are each provided with a gear piece 6, a gear is provided on a rotating shaft of the rotary encoder 7, and the gear piece 6 is engaged with a gear of an adjacent rotary encoder 7.
Specifically, rotary encoder 7 sets up on first arm 31, second arm 32 and third arm 33 are with the same one side the mounting panel, when moving, through installing at first arm 31, gear piece 6 on second arm 32 and the third arm 33 drives rotary encoder 7 and rotates, rotary encoder 7 obtains the positional information who corresponds the arm from this, and because be provided with the gear in rotary encoder 7's the pivot, gear piece 6 and adjacent rotary encoder 7's gear engagement, gear engagement is every to rotate a tooth, corresponding arm pivoted angle is fixed, therefore the positional information of gear engagement's mode feedback is more accurate.
Example three:
the present embodiment provides an alternative to the specific structure of the horizontal rotation mechanism on the basis of any of the above-described embodiments.
In the present embodiment, as shown in fig. 1 to 5, the horizontal rotation mechanism 2 includes a driving motor 21 and a rotating table 22, the driving motor 21 and the rotating table 22 are respectively installed at two sides of the installation platform 1, a power output shaft of the driving motor 21 is connected to the rotating table 22, and the first robot arm 31 is installed on the rotating table 22.
Specifically, driving motor 21 is fixedly installed below installation platform 1, and revolving stage 22 sets up the top at installation platform 1, and driving motor 21's power output shaft runs through installation platform 1 and is connected with revolving stage 22.
Example four:
the present embodiment provides an alternative to the control of the hydraulically driven component on the basis of any of the embodiments described above.
In the present embodiment, as shown in fig. 3, a control valve set 54 is further disposed on the rotating platform 22, the first hydraulic cylinder 51, the second hydraulic cylinder 52 and the third hydraulic cylinder 53 are all connected to the control valve set 54, and the control valve set 54 is electrically connected to the control system.
Specifically, first pneumatic cylinder 51, second pneumatic cylinder 52 and third pneumatic cylinder 53 are the oil pressure drive, and valve unit 54 is solenoid valve group, and first pneumatic cylinder 51, second pneumatic cylinder 52 and third pneumatic cylinder 53 all are connected with the solenoid valve that corresponds and control the oil pressure to the realization is to the control of arm position.
Alternatively, the first hydraulic cylinder 51, the second hydraulic cylinder 52, and the third hydraulic cylinder 53 may be hydraulically driven.
Example five:
the present embodiment provides some alternatives to the specific structure of the actuator on the basis of any of the embodiments described above.
In the present embodiment, as shown in fig. 3, the actuator 4 includes a clamp cylinder 41 and a clamp claw 42, the clamp cylinder 41 is mounted on the fourth robot arm 34, and the clamp claw 42 is mounted on the clamp cylinder 41. The robot in this embodiment is adapted to grip and transfer a range of workpieces, and the grip cylinder 41 is also connected to the control system.
Alternatively, the actuator 4 may be a vacuum chuck so that the robot in this embodiment can suck and transfer the workpiece.
Alternatively, the actuator 4 may be a pallet or the like, so that the robot in this embodiment can pick up and transfer the workpiece.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (10)
1. An adopt hydraulic power's automatic robot, the robot is connected with control system, its characterized in that: it comprises a mounting platform (1), a horizontal rotating mechanism (2), a longitudinal rotating mechanism (3) and an actuating mechanism (4), the longitudinal rotating mechanism (3) comprises a plurality of mechanical arms which are connected in sequence, the mounting platform (1) is provided with a horizontal rotating mechanism (2), the horizontal rotating mechanism (2) is connected with the actuating mechanism (4) through a longitudinal rotating mechanism (3), a plurality of mechanical arms of the longitudinal rotating mechanism (3) are rotatably connected, and the joints of the mechanical arms are provided with rotary encoders (7), a plurality of longitudinal rotating mechanisms (3) are connected with hydraulic driving elements, the hydraulic driving element is used for pushing the longitudinal rotating mechanism (3) to rotate, and the horizontal rotating mechanism (2), the executing mechanism (4), the rotary encoder (7) and the hydraulic driving element are all connected with a control system.
2. The automated robot using hydraulic power according to claim 1, wherein the longitudinal rotating mechanism (3) comprises a first mechanical arm (31), a second mechanical arm (32), a third mechanical arm (33) and a fourth mechanical arm (34) which are rotatably connected in sequence, the first mechanical arm (31) is installed on the horizontal rotating mechanism (2), and the fourth mechanical arm (34) is installed with an executing mechanism (4).
3. The automatic robot using hydraulic power is characterized in that the hydraulic driving component comprises a first hydraulic cylinder (51), a second hydraulic cylinder (52) and a third hydraulic cylinder (53), one end of the second mechanical arm (32) far away from the first mechanical arm (31) is connected with a telescopic rod of the first hydraulic cylinder (51), and the cylinder body of the first hydraulic cylinder (51) is rotatably installed on the horizontal rotating mechanism (2);
one end of the third mechanical arm (33) far away from the second mechanical arm (32) is connected with a telescopic rod of a second hydraulic cylinder (52), and the cylinder body of the second hydraulic cylinder (52) is rotatably arranged on the second mechanical arm (32);
one end, far away from the third mechanical arm (33), of the fourth mechanical arm (34) is connected with a telescopic rod of a third hydraulic cylinder (53), and a cylinder body of the third hydraulic cylinder (53) is rotatably arranged on the third mechanical arm (33).
4. The automated robot using hydraulic power according to claim 3, wherein the first mechanical arm (31), the second mechanical arm (32) and the third mechanical arm (33) are all provided with rotary encoders (7), the second mechanical arm (32), the third mechanical arm (33) and the fourth mechanical arm (34) are all provided with gear pieces (6), a rotating shaft of each rotary encoder (7) is provided with a gear, and the gear pieces (6) are meshed with gears of adjacent rotary encoders (7).
5. The automated hydraulically powered robot of claim 4, characterized in that the first robot arm (31), the second robot arm (32), the third robot arm (33) and the fourth robot arm (34) each comprise two oppositely arranged mounting plates, and the two oppositely arranged mounting plates are connected by a plurality of connecting rods (8).
6. The automatic robot adopting the hydraulic power as claimed in claim 5, wherein the first mechanical arm (31) is provided with an arc-shaped groove (311), the arc-shaped groove (311) is located on one side of a connection point of the first mechanical arm (31) and the second mechanical arm (32), the outer sides of the two mounting plates of the second mechanical arm (32) are respectively provided with a limiting column, and the limiting columns are located in the arc-shaped groove (311).
7. The automated robot using hydraulic power according to claim 6, wherein the two mounting plates of the third mechanical arm (33) have an included angle a at both ends thereof, the two mounting plates of the fourth mechanical arm (34) have an included angle b at both ends thereof, and both the included angle a and the included angle b are obtuse angles.
8. The automated robot using hydraulic power according to claim 7, wherein the horizontal rotation mechanism (2) comprises a driving motor (21) and a rotating platform (22), the driving motor (21) and the rotating platform (22) are respectively installed at two sides of the installation platform (1), a power output shaft of the driving motor (21) is connected with the rotating platform (22), and the rotating platform (22) is provided with a first mechanical arm (31).
9. The automated robot using hydraulic power as claimed in claim 8, wherein the rotary table (22) is further provided with a control valve set (54), the first hydraulic cylinder (51), the second hydraulic cylinder (52) and the third hydraulic cylinder (53) are all connected to the control valve set (54), and the control valve set (54) is electrically connected to a control system.
10. An automated hydraulically powered robot according to claim 9, characterized in that the actuator (4) comprises a gripper cylinder (41) and a gripper jaw (42), the gripper cylinder (41) being mounted on the fourth robot arm (34), the gripper jaw (42) being mounted on the gripper cylinder (41).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220862045.XU CN217143959U (en) | 2022-04-13 | 2022-04-13 | Automatic robot adopting hydraulic power |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220862045.XU CN217143959U (en) | 2022-04-13 | 2022-04-13 | Automatic robot adopting hydraulic power |
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| CN217143959U true CN217143959U (en) | 2022-08-09 |
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| CN202220862045.XU Active CN217143959U (en) | 2022-04-13 | 2022-04-13 | Automatic robot adopting hydraulic power |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116197944A (en) * | 2022-12-26 | 2023-06-02 | 南京宁太电气有限公司 | Lifting arm of robot |
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2022
- 2022-04-13 CN CN202220862045.XU patent/CN217143959U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116197944A (en) * | 2022-12-26 | 2023-06-02 | 南京宁太电气有限公司 | Lifting arm of robot |
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