Mechanical arm for hoisting and control system and method thereof

Abstract

The invention relates to the field of engineering mechanical equipment, in particular to a mechanical arm for hoisting and a control system and method.The mechanical arm comprises a mechanical arm body, the mechanical arm body comprises a mounting base arranged at the bottom end, and a slewing bearing assembly is arranged on the mounting base; a stand column base is arranged on the slewing bearing assembly, and a stand column is installed on the stand column base. A driving support is further arranged on the slewing bearing assembly, and a driving device is mounted on the driving support; the mechanical arm body further comprises a mechanical arm assembly, and a corresponding hydraulic oil cylinder device is arranged on the mechanical arm assembly in a matched mode. The mechanical arm assembly is further provided with a hoisting device in a matched mode. According to the invention, the hoisting task can be quickly and accurately completed, and the working efficiency is improved; the precise positioning and motion control capability is realized, and the operation precision and safety are improved; the structure is more compact, the occupied space is small, and flexible operation in a limited space can be achieved; the operation process is simple, the complex hoisting motion can be completed through a simple instruction, and the cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of engineering machinery and equipment, and in particular to a mechanical arm for lifting and a control system and method thereof. Background Art

[0002] Lifting manipulators and their control systems are a type of automation equipment widely used in industries such as industry, construction, warehousing, and logistics. Manipulators can perform precise handling, assembly, and maintenance tasks, improving work efficiency and safety. Control systems usually consist of two parts: hardware and software. The hardware is responsible for executing control commands, while the software is responsible for processing sensor data, executing control algorithms, and human-computer interaction interfaces.

[0003] In recent years, with the development of computer technology, sensor technology and control theory, the degree of industrial automation has been continuously improving. However, the existing lifting robotic arms have shown certain limitations when facing diverse lifting tasks and complex working environments. When performing lifting operations in a small space, the range of motion and posture adjustment of the robotic arms are not flexible enough; when lifting objects of different weights and shapes, the control adaptability is insufficient, which may affect the efficiency and safety of the lifting. Summary of the invention

[0004] In order to solve some of the problems existing in the above-mentioned prior art, the present invention provides a mechanical arm for lifting and a control system and method thereof, which solve the deficiencies existing in the prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides a robotic arm for lifting, including a robotic arm body, the robotic arm body including a mounting base arranged at the bottom end, a slewing bearing assembly being arranged on the mounting base; a column seat being arranged on the slewing bearing assembly, a column being mounted on the column seat; a driving support being also arranged on the slewing bearing assembly, a driving device being mounted on the driving support; the robotic arm body also includes a robotic arm assembly, the robotic arm assembly being equipped with a corresponding hydraulic cylinder device; the robotic arm assembly is also equipped with a lifting device.

[0006] As a further improvement of the present invention, in order to better cooperate between the mechanical arms, the structure is compact and occupies little space, thereby improving safety and adaptability; the mechanical arm assembly includes an upper arm, a lower arm and a middle arm arranged between the upper arm and the lower arm, and the lower arm, the middle arm and the upper arm are respectively provided with corresponding lower arm hydraulic cylinder devices, middle arm hydraulic cylinder devices and upper arm hydraulic cylinder devices; one end of the upper arm is provided with a joint connection device 1, and is connected to the column through the joint connection device 1; the other end of the upper arm is provided with a joint connection device 2, and is connected to the middle arm through the joint connection device 2; the lower arm is embedded and installed in the inner cavity of the middle arm, and a connecting end is provided on the outer end of the lower arm; a middle arm inner cavity port block is also provided at the inner cavity port of the middle arm.

[0007] As a further improvement of the present invention, in order to lift objects of different weights and shapes and increase safety and flexibility during lifting; the lifting device includes a crossbeam, both ends of which are provided with hangers, and the lower end of the hanger is installed with a magnetic suction cup; a connecting rod is provided at the center position of the crossbeam, and the connecting rod is connected to the forearm through a connecting end.

[0008] As a further improvement of the present invention, in order to increase the range of motion of the robotic arm and improve work efficiency; the upper arm can swing through the upper arm hydraulic cylinder device, and the swing angle is -85° to 35°; the middle arm can swing through the middle arm hydraulic cylinder device, and the swing angle is 0° to 90°; the forearm can telescope forward and backward in the inner cavity of the middle arm through the forearm hydraulic cylinder device.

[0009] As a further improvement of the present invention, in order to limit the retraction distance of the forearm and ensure the safety of the forearm during operation; when the forearm is in a retracted state, the connecting end arranged on the outer end of the forearm moves to the outer port of the middle arm; when the forearm is in a maximum extended state, the tail end of the forearm moves to the blocking position of the inner cavity port of the middle arm.

[0010] As a further improvement of the present invention, in order to be able to operate in all directions and adapt to a variety of environments and workplaces; the column can be rotated 360 degrees on the horizontal plane through the slewing bearing assembly.

[0011] As a further improvement of the present invention, in order for the forearm to be better extended and retracted and to participate in the work, the diameter of the forearm is smaller than the diameter of the inner cavity of the middle arm.

[0012] The beneficial effects of the present invention are: it can complete the lifting task quickly and accurately, greatly shortening the operation time and improving work efficiency; it has precise positioning and motion control capabilities, reducing errors in the lifting process and improving operation accuracy; it replaces workers in heavy and dangerous lifting work, reduces the labor intensity and risk of injury of workers, and improves work safety; the operation remains highly consistent, ensuring the quality and stability of the work; the structure is more compact, occupies less space, can operate flexibly in a limited space, adapt to different complex environments, and improves adaptability and flexibility.

[0013] The present invention provides a mechanical arm control system for lifting, the control system comprising: a remote controller, a sensor, a controller, a one-way throttle valve, a superimposed hydraulic one-way valve, and an electromagnetic reversing valve; the remote controller can remotely control the movement of the entire mechanical arm to improve work efficiency; the sensor can capture the position and posture information of the mechanical arm in real time, and feed this information back to the control system to achieve precise control of the mechanical arm; the sensor can also sense the surrounding working environment, identify obstacles and dangerous areas, and help the mechanical arm avoid collisions and operate safely; the one-way throttle valve and the large arm are connected to each other. The hydraulic cylinder device is connected, and the one-way throttle valve is used to control the boom hydraulic cylinder device to work, so as to realize the precise swing of the boom; the superimposed hydraulic-controlled one-way valve is connected to the middle arm hydraulic cylinder device, and the middle arm hydraulic cylinder device is controlled to work through the superimposed hydraulic-controlled one-way valve, so as to realize the precise swing of the middle arm; the electromagnetic reversing valve is connected to the forearm hydraulic cylinder device, and the forearm hydraulic cylinder device is controlled to work through the electromagnetic reversing valve, so as to realize the forward and backward extension of the forearm; the driving device works to drive the slewing bearing assembly, and drives the column to rotate 360° on the horizontal plane.

[0014] The present invention also provides a control method for a robotic arm used for lifting, the control method comprising: calculating the motion trajectory of the robotic arm according to preset tasks or real-time operation requirements, and obtaining the swing angle and telescopic length of the robotic arm by responding to a trajectory tracking signal triggered externally; when the robotic arm is performing a task, the control system adjusts the action of the robotic arm in real time to ensure that its actual motion trajectory is consistent with the planned trajectory; the control system reasonably sets the speed and acceleration curves according to the task requirements and the dynamic characteristics of the robotic arm to achieve smooth movement and prevent mechanical shock; during the lifting process, the control system adjusts the torque according to the weight of the load and the dynamic response of the robotic arm to maintain a stable lifting state.

[0015] The beneficial effects of the present invention also lie in: it can be seamlessly connected and work in coordination with other automated equipment and systems to achieve automation of the entire lifting process; it adopts an advanced control system that can automatically adjust power output according to actual load, reduce energy waste, and perform intelligent energy consumption management to effectively reduce energy consumption; the control system simplifies the operating process, and operators can complete complex lifting actions through simple instructions, reducing labor costs and improving overall economic benefits.

[0016] When the present invention is working, it first calculates the motion trajectory of the robot arm according to the preset task or real-time operation requirements, and obtains the swing angle and telescopic length of the robot arm by responding to the trajectory tracking signal triggered by the external device; the remote control remotely controls the movement of the entire robot arm, and the sensor can capture the position and posture information of the robot arm in real time, and feed this information back to the control system; the sensor can also sense the surrounding working environment, identify obstacles and dangerous areas, and help the robot arm avoid collisions and operate safely; when the robot arm performs the task, the control system adjusts the movement of the robot arm in real time to ensure that its actual motion trajectory is consistent with the planned trajectory; after determining the position of the hoisted object, the robot arm is controlled to move, the one-way throttle valve is connected to the boom hydraulic cylinder device, and the boom hydraulic cylinder device is controlled to work through the one-way throttle valve to realize the boom. Precise swing; the superimposed hydraulic control one-way valve is connected to the middle arm hydraulic cylinder device, and the middle arm hydraulic cylinder device is controlled to work through the superimposed hydraulic control one-way valve to achieve precise swing of the middle arm; the electromagnetic reversing valve is connected to the forearm hydraulic cylinder device, and the forearm hydraulic cylinder device is controlled to work through the electromagnetic reversing valve to achieve forward and backward extension of the forearm; a connecting end is provided on the outer end of the forearm, and is connected to the crossbeam through a connecting rod, and hangers are provided at both ends of the crossbeam, and a magnetic suction cup is installed at the lower end of the hanger; after the magnetic suction cup absorbs the object to be lifted, the driving device works to drive the slewing bearing assembly, driving the column to rotate 360° on the horizontal plane, and lifting the object to the specified position; during the lifting process, the control system adjusts the torque according to the weight of the load and the dynamic response of the mechanical arm to maintain a stable lifting state. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to facilitate the understanding of those skilled in the art, the present invention is further described below with reference to the accompanying drawings: Figure 1 It is the front view of the present invention.

[0018] Figure 2 For the present invention Figure 1 Enlarged view of point A in the middle.

[0019] Figure 3 It is the principle diagram of the control system of the present invention.

[0020] Figure 4 It is a flow chart of the control method of the present invention.

[0021] Figure 5 This is a diagram of the lowest point lifting working state of the present invention.

[0022] Figure 6 This is a diagram of the highest point lifting working state of the present invention.

[0023] Figure 7 This is a diagram of the working state of the arm of the present invention being retracted and hoisted.

[0024] Figure 8 This is a diagram of the horizontal lifting working state of the present invention.

[0025] Among them, 1 is the mechanical arm body, 2 is the mounting base, 3 is the slewing bearing assembly, 4 is the driving device, 5 is the driving support, 6 is the column seat, 7 is the column, 8 is the upper arm hydraulic cylinder device, 9 is the forearm, 10 is the middle arm, 11 is the upper arm, 12 is the forearm hydraulic cylinder device, 13 is the middle arm hydraulic cylinder device, 14 is the joint connection device one, 15 is the joint connection device two, 16 is the connecting end, 17 is the connecting rod, 18 is the crossbeam, 19 is the hanger, 20 is the magnetic suction cup, 21 is the middle arm inner cavity port block, 22 is the remote control, 23 is the sensor, 24 is the controller, 25 is the one-way throttle valve, 26 is the superimposed hydraulic control one-way valve, and 27 is the electromagnetic reversing valve. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solution in this application, Figure 1-8 The present invention is further described. The following examples are only used to more clearly illustrate the technical solution of the present invention, and are not intended to limit the protection scope of the present invention.

[0027] like Figure 1-2A mechanical arm for lifting shown in 5-8 comprises a mechanical arm body 1, wherein the mechanical arm body 1 comprises a mounting base 2 arranged at the bottom end, and a slewing bearing assembly 3 is arranged on the mounting base 2; a column seat 6 is arranged on the slewing bearing assembly 3, and a column 7 is installed on the column seat 6; a driving support 5 is also arranged on the slewing bearing assembly 3, and a driving device 4 is installed on the driving support 5; the mechanical arm body 1 also comprises a mechanical arm assembly, and the mechanical arm assembly is equipped with a corresponding hydraulic cylinder device; the mechanical arm assembly is also equipped with a lifting device; The mechanical arm assembly includes a large arm 11, a small arm 9 and a middle arm 10 arranged between the large arm 11 and the small arm 9, and the small arm 9, the middle arm 10 and the large arm 11 are respectively provided with corresponding small arm hydraulic cylinder devices 12, middle arm hydraulic cylinder devices 13 and large arm hydraulic cylinder devices 8; one end of the large arm 11 is provided with a joint connection device 14, and is connected to the column 7 through the joint connection device 14; the other end of the large arm 11 is provided with a joint connection device 2 15, and is connected to the middle arm 10 through the joint connection device 2 15; the small arm 9 is embedded and installed in In the inner cavity of the middle arm 10, a connecting end 16 is arranged on the outer end of the small arm 9; a middle arm inner cavity port block 21 is also arranged at the inner cavity port of the middle arm 10; the lifting device includes a cross beam 18, both ends of the cross beam 18 are provided with hangers 19, and the lower end of the hanger 19 is installed with a magnetic suction cup 20; a connecting rod 17 is arranged at the center of the cross beam 18, and the connecting rod 17 is connected to the small arm 9 through the connecting end 16; the big arm 11 can swing through the big arm hydraulic cylinder device 8, and the swing angle is -85° to 35°; the middle arm 10 is The middle arm hydraulic cylinder device 13 can perform swinging motion with a swinging angle of 0° to 90°; the forearm 9 can perform forward and backward telescopic motion in the inner cavity of the middle arm 10 through the forearm hydraulic cylinder device 12; when the forearm 9 is in a retracted state, the connecting end 16 set on the outer end of the forearm 9 moves to the outer port of the middle arm 10; when the forearm 9 is in a maximum extended state, the tail end of the forearm 9 moves to the position of the block 21 at the port of the inner cavity of the middle arm; the column 7 can rotate 360° on a horizontal plane through the slewing bearing assembly 3; the diameter of the forearm 9 is smaller than the diameter of the inner cavity of the middle arm 10.

[0028] like Figure 3A control system for a lifting robot arm is shown, the control system comprising: a remote controller 22, a sensor 23, a controller 24, a one-way throttle valve 25, a superimposed hydraulic one-way valve 26, and an electromagnetic reversing valve 27; the remote controller 22 can remotely control the movement of the entire robot arm to improve work efficiency; the sensor 23 can capture the position and posture information of the robot arm in real time, and feed this information back to the control system to achieve precise control of the robot arm; the sensor 23 can also sense the surrounding working environment, identify obstacles and dangerous areas, and help the robot arm avoid collisions and operate safely; the one-way throttle valve 25 and the boom hydraulic cylinder device 8, and the one-way throttle valve 25 is used to control the boom hydraulic cylinder device 8 to work, so as to realize the precise swing of the boom 11; the superimposed hydraulically controlled one-way valve 26 is connected to the middle arm hydraulic cylinder device 13, and the middle arm hydraulic cylinder device 13 is controlled to work through the superimposed hydraulically controlled one-way valve 26, so as to realize the precise swing of the middle arm 10; the electromagnetic reversing valve 27 is connected to the forearm hydraulic cylinder device 12, and the forearm hydraulic cylinder device 12 is controlled to work through the electromagnetic reversing valve 27, so as to realize the forward and backward extension of the forearm 9; the driving device 4 works to drive the slewing bearing assembly 3, and drive the column 7 to rotate 360° on the horizontal plane.

[0029] like Figure 4 A control method for a robotic arm used for lifting is shown, and the control method includes: calculating the motion trajectory of the robotic arm according to a preset task or real-time operation requirement, and obtaining the swing angle and telescopic length of the robotic arm by responding to a trajectory tracking signal triggered externally; when the robotic arm is performing a task, the control system adjusts the movement of the robotic arm in real time to ensure that its actual motion trajectory is consistent with the planned trajectory; the control system reasonably sets the speed and acceleration curves according to the task requirements and the dynamic characteristics of the robotic arm to achieve smooth movement and prevent mechanical shock; during the lifting process, the control system adjusts the torque according to the weight of the load and the dynamic response of the robotic arm to maintain a stable lifting state.

[0030] When the present invention is working, it first calculates the motion trajectory of the robot arm according to the preset task or real-time operation requirements, and obtains the swing angle and telescopic length of the robot arm by responding to the trajectory tracking signal triggered by the external device; the remote control 22 remotely controls the movement of the entire robot arm, and the sensor 23 can capture the position and posture information of the robot arm in real time, and feed this information back to the control system; the sensor 23 can also sense the surrounding working environment, identify obstacles and dangerous areas, and help the robot arm avoid collisions and operate safely; when the robot arm is performing a task, the control system adjusts the movement of the robot arm in real time to ensure that its actual motion trajectory is consistent with the planned trajectory; after determining the position of the hoisted object, the robot arm is controlled to move, and the one-way throttle valve 25 is connected to the boom hydraulic cylinder device 8, and the boom hydraulic cylinder device 8 is controlled to work through the one-way throttle valve 25 to achieve precise swinging of the boom 11; the superimposed hydraulically controlled one-way valve 26 is connected to the middle arm hydraulic cylinder device 13, and the middle arm hydraulic cylinder device 13 is controlled to work through the superimposed hydraulic control one-way valve 26 to achieve precise swinging of the middle arm 10; the electromagnetic reversing valve 27 is connected to the forearm hydraulic cylinder device 12, and the forearm hydraulic cylinder device 12 is controlled to work through the electromagnetic reversing valve 27 to achieve the forward and backward extension of the forearm 9; a connecting end 16 is provided on the outer end of the forearm 9, and is connected to the crossbeam 18 through a connecting rod 17, and hangers 19 are provided at both ends of the crossbeam 18, and a magnetic suction cup 20 is installed at the lower end of the hanger 19; after the magnetic suction cup 20 sucks the object to be lifted, the driving device 4 works to drive the slewing bearing assembly 3, driving the column 7 to rotate 360° on the horizontal plane, and lifting the object to the specified position; during the lifting process, the control system adjusts the torque according to the weight of the load and the dynamic response of the mechanical arm to maintain a stable lifting state.

[0031] The present invention is not limited to the above-mentioned embodiments. On the basis of the technical solution disclosed in the present invention, technicians in this field can make some substitutions and deformations to some technical features therein according to the disclosed technical content without creative labor, and these substitutions and deformations are all within the protection scope of the present invention.

Claims

1. A mechanical arm for lifting, comprising a mechanical arm body (1), characterized in that: The mechanical arm body (1) comprises a mounting base (2) arranged at the bottom end, and a slewing bearing assembly (3) is arranged on the mounting base (2); a column seat (6) is arranged on the slewing bearing assembly (3), and a column (7) is mounted on the column seat (6); a driving support (5) is also arranged on the slewing bearing assembly (3), and a driving device (4) is mounted on the driving support (5); the mechanical arm body (1) also comprises a mechanical arm assembly, and a corresponding hydraulic cylinder device is matched on the mechanical arm assembly; the mechanical arm assembly is also matched with a lifting device.

2. A mechanical arm for lifting according to claim 1, characterized in that: The mechanical arm assembly comprises an upper arm (11), a lower arm (9) and a middle arm (10) arranged between the upper arm (11) and the lower arm (9); the lower arm (9), the middle arm (10) and the upper arm (11) are respectively provided with corresponding lower arm hydraulic cylinder devices (12), middle arm hydraulic cylinder devices (13) and upper arm hydraulic cylinder devices (8); one end of the upper arm (11) is provided with a joint connection device 1 (14), and is connected to a column (7) through the joint connection device 1 (14); the other end of the upper arm (11) is provided with a joint connection device 2 (15), and is connected to the middle arm (10) through the joint connection device 2 (15); the lower arm (9) is embedded and installed in the inner cavity of the middle arm (10), and a connecting end (16) is provided on the outer end of the lower arm (9); and a middle arm inner cavity port block (21) is also provided at the inner cavity port of the middle arm (10).

3. A mechanical arm for lifting according to claims 1 and 2, characterized in that: The lifting device comprises a crossbeam (18), both ends of which are provided with hangers (19), and the lower ends of the hangers (19) are provided with magnetic suction cups (20); a connecting rod (17) is provided at the center of the crossbeam (18), and the connecting rod (17) is connected to the forearm (9) via a connecting end (16).

4. A mechanical arm for lifting according to claim 2, characterized in that: The upper arm (11) can swing through the upper arm hydraulic cylinder device (8), with a swing angle of -85° to 35°; the middle arm (10) can swing through the middle arm hydraulic cylinder device (13), with a swing angle of 0° to 90°; and the lower arm (9) can telescope forward and backward in the inner cavity of the middle arm (10) through the lower arm hydraulic cylinder device (12).

5. A mechanical arm for lifting according to claims 2 and 4, characterized in that: When the forearm (9) is in a retracted state, a connecting end (16) provided on the outer end of the forearm (9) moves to the outer port of the middle arm (10); when the forearm (9) is in a maximally extended state, the tail end of the forearm (9) moves to the position of the blocking block (21) at the inner port of the middle arm.

6. The mechanical arm for lifting according to claim 1, characterized in that: The column (7) can rotate 360 ​​degrees on a horizontal plane via the slewing bearing assembly (3).

7. A mechanical arm for lifting according to claims 2 and 4, characterized in that: The diameter of the small arm (9) is smaller than the diameter of the inner cavity of the middle arm (10).

8. A mechanical arm control system for lifting, characterized in that: The control system comprises: a remote controller (22), a sensor (23), a controller (24), a one-way throttle valve (25), a superimposed hydraulic one-way valve (26), and an electromagnetic reversing valve (27); the remote controller (22) can remotely control the movement of the entire robotic arm to improve work efficiency; the sensor (23) can capture the position and posture information of the robotic arm in real time, and feed this information back to the control system so as to achieve precise control of the robotic arm; the sensor (23) can also sense the surrounding working environment, identify obstacles and dangerous areas, and help the robotic arm avoid collisions and operate safely; the one-way throttle valve (25) is connected to the boom hydraulic cylinder device (8), and through the one-way throttle valve ( 25) controls the boom hydraulic cylinder device (8) to work, thereby realizing the precise swing of the boom (11); the superimposed hydraulic control one-way valve (26) is connected to the middle arm hydraulic cylinder device (13), and the middle arm hydraulic cylinder device (13) is controlled to work through the superimposed hydraulic control one-way valve (26), thereby realizing the precise swing of the middle arm (10); the electromagnetic reversing valve (27) is connected to the forearm hydraulic cylinder device (12), and the forearm hydraulic cylinder device (12) is controlled to work through the electromagnetic reversing valve (27), thereby realizing the forward and backward extension of the forearm (9); the driving device (4) works to drive the slewing bearing assembly (3), thereby driving the column (7) to rotate 360 ​​degrees on the horizontal plane.

9. A method for controlling a mechanical arm for lifting, characterized in that: The control method includes: calculating the motion trajectory of the robot arm according to preset tasks or real-time operation requirements, and obtaining the swing angle and telescopic length of the robot arm by responding to the trajectory tracking signal triggered externally; when the robot arm is performing the task, the control system adjusts the movement of the robot arm in real time to ensure that its actual motion trajectory is consistent with the planned trajectory; the control system reasonably sets the speed and acceleration curves according to the task requirements and the dynamic characteristics of the robot arm to achieve smooth movement and prevent mechanical shock; during the lifting process, the control system adjusts the torque according to the weight of the load and the dynamic response of the robot arm to maintain a stable lifting state.

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