A rocker linkage mechanical arm

Abstract

The present invention relates to the technical field of support and motion mechanism of garden machinery as a trimming working mechanism of hedges and lawns, the technical field of support and motion mechanism of mining machinery as a driving, grooving and excavating working mechanism, the technical field of engineering machinery handling platform, the grasping and shifting working mechanism and support and motion mechanism of manipulator, and particularly to a rocker linkage mechanical arm. The rocker linkage mechanical arm of the present invention realizes the conversion of the telescopic motion of the piston rod of the power push rod into the parallel lifting, parallel telescopic and rotating motion of the working mechanism relative to the base and the synthetic motion of these three motions through the structural connection of the base, main arm, outer arm, rocker, connecting rod, working mechanism, pin shaft and power push rod, so as to meet the needs of the motion trajectory of the working mechanism of various garden machinery, engineering machinery and mining machinery.

Description

Technical Field

[0001] The present invention relates to the technical fields of support and motion mechanisms of garden machinery used as trimming working mechanisms for hedges and lawns, the technical fields of support and motion mechanisms of mining machinery used as tunneling, grooving and excavating working mechanisms, and the technical fields of grasping and shifting working mechanisms and support and motion mechanisms of engineering machinery handling platforms and manipulators, and in particular to a rocker-linked mechanical arm. Background Art

[0002] At present, the robotic arms used in garden machinery, mining machinery and engineering machinery are all composed of multi-section rod structures connected by pins. The motion trajectory of the supported working mechanism is a motion trajectory formed by rotating around a pin or a compound motion trajectory formed by rotating multiple pins. Due to the restrictions on the movement of the push rod fulcrum and the stroke between the two rods on the rod, the angle of control of the movement around the pin is small. To achieve large-scale rod movement, the compound movement of multiple sections of rods is required, resulting in complex mechanical structure, complex control systems for multiple sets of push-pull rods, poor overall stability of multiple rods, and inability to realize the operation of large-load working mechanisms along large-size trajectories. Summary of the invention

[0003] In order to solve the problems existing in the prior art, the present invention provides a rocker linkage mechanical arm, which comprises a base, a main arm, an outer arm, a connecting rod, a rocker, a pin shaft, a power push rod, and a working mechanism.

[0004] One end of the main arm is connected to the support seat 1 of the base through a pin shaft, and the support seat 1 of the base is coaxially connected to the center hole of the rocker arm. The middle support seat of the main arm is connected to the cylinder end of the power push rod through a pin shaft, and the piston rod end of the power push rod is connected to the rocker arm 1 of the rocker arm through a pin shaft. One end of the connecting rod is connected to the rocker arm 1 of the rocker arm through a pin shaft. The other end of the main arm is connected to one end of the outer arm through a pin shaft. Another pin hole of the outer arm close to the end connected to the main arm is connected to the other end of the connecting rod through a pin shaft. Two power push rods are connected in parallel between the rocker arm 2 of the rocker arm and the two support seats 2 of the base through a pin shaft.

[0005] The support seat at the middle position of the outer arm is connected to the cylinder end hole of the power push rod through a pin shaft, the piston rod end hole of the power push rod is connected to the working mechanism support seat 2 through a pin shaft, and the working mechanism support seat 2 is connected to the other end of the outer arm through a pin shaft. The above-mentioned main arm, outer arm, connecting rod, and rocker are respectively connected to the power push rod through a pin shaft to form a mechanical arm motion rod mechanism. Through the telescopic movement of the power push rod piston rod, one end of the main arm can rotate around the base support plate, the other end of the main arm can extend relative to the outer arm, and the load structure can rotate relative to one end of the outer arm. Through the telescopic movement of the above-mentioned power push rod piston rod or the telescopic coordinated movement of multiple power push rod piston rods, the parallel lifting, rotation, and lifting and lowering compound movements of the working mechanism relative to the base can be realized, and the working mechanism can complete various operations with multiple degrees of freedom.

[0006] The type and parameters of the power push rod need to be selected according to specific working conditions.

[0007] The sizes of the base, main arm, outer arm, connecting rod, rocker, pin shaft and power push rod need to be selected according to specific working conditions and equipment technical parameters.

[0008] The hole at one end of the main arm is connected with the coaxial hole of the base support seat and the center hole of the rocker through a pin shaft, the hole at the other end of the main arm is connected with the hole at one end of the outer arm through a pin shaft, the hole of the support seat of the cross beam at the middle position of the main arm is connected with the hole at the end of the power push rod cylinder body through a pin shaft, the hole at the end of the power push rod piston rod is connected with the hole of the rocker arm through a pin shaft, the hole at one end of the connecting rod is coaxially connected with the hole of the rocker arm through a pin shaft, the hole at the other end of the connecting rod is connected with the hole at one end of the outer arm through a pin shaft, the hole at the same end of the outer arm near the connection position between the connecting rod and the outer arm is connected with the hole at one end of the main arm through a pin shaft, and the main arm is able to rotate around the coaxial hole of the base support seat through the extension and retraction of the piston rod of the power push rod.

[0009] The end hole of the power push rod cylinder body is connected with the coaxial hole of the base support seat through a pin shaft, and the end hole of the power push rod piston rod is connected with the rocker arm hole through a pin shaft. The main arm and the outer arm can perform relative extension movement through the telescopic movement of the power push rod piston rod.

[0010] The coaxial hole at the other end of the outer arm is connected to the coaxial hole of the support seat of the working mechanism through a pin shaft, the coaxial hole of the support seat in the middle position of the outer arm is connected to the end hole of the power push rod cylinder body through a pin shaft, and the end hole of the power push rod piston rod is connected to the coaxial hole of the support seat of the working mechanism through a pin shaft, and the working mechanism can realize the rotational motion around the coaxial hole of the support seat at one end of the outer arm through the extension and retraction of the power push rod piston rod.

[0011] The combined motion of the main arm's rotational motion around the coaxial hole of the base support seat, the main arm's relative extension motion to the outer arm, and the load structure's rotational motion around the support hole at one end of the outer arm enables the load structure to perform parallel or vertical lifting motion relative to the horizontal plane of the base, horizontal lateral motion, and vertical and horizontal motion at an inclined angle to the horizontal plane of the base, thereby achieving multi-dimensional combined motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of a rocker linkage mechanical arm provided by the present invention.

[0013] Figure 2 This is a specific exploded structural diagram of a rocker linkage mechanical arm provided by the present invention.

[0014] Among them: 1 base; 1.1 supporting seat; 1.2 supporting seat; 2 main arm; 2.1 supporting seat; 3 rocker; 3.1 rocker arm; 3.2 rocker arm; 4 pin; 5 power push rod; 6 pin; 7 outer arm; 7.1 supporting seat; 8 connecting rod; 9 pin; 10 pin; 11 power push rod; 12 pin; 13 pin; 14 pin; 15 power push rod; 16 pin; 17 working mechanism; 17.1 supporting seat; 17.2 supporting seat; 18 pin; 19 pin. DETAILED DESCRIPTION

[0015] In order to solve the problems existing in the prior art. Figure 1 and Figure 2 The present invention provides a rocker linkage mechanical arm, which includes: a base 1; a support seat 1.1; a support seat 1.2; a main arm 2; a support seat 2.1; a rocker 3; a rocker arm 3.1; a rocker arm 3.2; a pin 4; a power push rod 5; a pin 6; an outer arm 7; a support seat 7.1; a connecting rod 8; a pin 9; a pin 10; a power push rod 11; a pin 12; a pin 13; a pin 14; a power push rod 15; a pin 16; a working mechanism 17; a support seat 17.1; a support seat 17.2; a pin 18; a pin 19.

[0016] The coaxial hole at one end of the main arm 2 and the center hole of the rocker 3 are connected to the coaxial hole of the support seat 1.1 of the base 1 through a pin 4, the coaxial hole of the support seat 2.1 in the middle of the main arm 2 is connected to the cylinder end hole of the power push rod 5 through a pin 6, the piston rod end hole of the power push rod 5 is connected to the coaxial hole of the rocker arm 3.1 of the rocker 3 and the coaxial hole at one end of the connecting rod 8 through a pin 13, the coaxial hole at one end of the outer arm 7 is connected to the coaxial hole at the other end of the main arm 2 through a pin 9, the nearly parallel holes at the connecting end of the outer arm 4 and the main arm 2 are connected to the coaxial hole at one end of the connecting rod 8 through a pin 10, and the coaxial hole at the other end of the connecting rod 8 is connected to the coaxial hole of the rocker arm 3.1 of the rocker 3 through a pin 13. The telescopic movement of the piston rod of the power push rod 5 is achieved by connecting the support seat 1.1 of the base 1, the coaxial hole at one end of the main arm 2, the coaxial hole of the support seat 2.1 in the middle of the main arm, the coaxial hole at one end of the outer arm 7, the coaxial hole of the rocker arm 3.1 of the rocker 3, and the coaxial hole at one end of the connecting rod 11, so as to realize the extending movement of the outer arm 4 relative to the main arm 2.

[0017] The coaxial hole at one end of the main arm 2 is connected to the coaxial hole of the support seat 1.1 of the base 1 through the pin 4, the central axis hole of the rocker 3 is connected to the coaxial hole of the support seat 1.1 of the base 1 through the pin 4, the cylinder end hole of the power push rod 11 is connected to the coaxial hole of the support seat 1.2 of the base 1 through the pin 12, and the piston rod end hole of the power push rod 11 is connected to the coaxial hole of the rocker arm 3.1 of the rocker 3 through the pin 14. The telescopic movement of the piston rod of the power push rod 11 is achieved through the structural connection of the support seat 1.2 of the base 1, the main arm 2, the rocker 3, and the rocker arm 3.1, so as to realize the rotational movement of the main arm 2 relative to the horizontal plane of the base 1.

[0018] The coaxial hole of the middle support seat 7.1 of the outer arm 7 is connected to the end hole of the cylinder body of the power push rod 15 through a pin 16, the end hole of the piston rod of the power push rod 15 is connected to the coaxial hole of the support seat 17.1 of the working mechanism 17 through a pin 19, and the coaxial hole at one end of the outer arm 7 is connected to the coaxial hole of the working mechanism support seat 17.2 through a pin 18. The telescopic movement of the piston rod of the power push rod 15 is achieved through the structural connection of the middle support seat 7.1 of the outer arm 7, the support seat 17.1 of the working mechanism 17, and the support seat 17.2 of the working mechanism 17, so that the working mechanism 17 can rotate around the coaxial hole at one end of the outer arm 7.

[0019] The extension movement of the outer arm 7 relative to the main arm 2, the rotation movement of the main arm 2 relative to the horizontal plane of the base 1, and the rotation movement of the working mechanism 17 around one end of the outer arm 7 are combined into parallel or vertical lifting movement of the working mechanism 17 relative to the horizontal plane of the base 1, horizontal lateral movement, and vertical and horizontal movement at an inclined angle to the horizontal plane of the base 1, thereby realizing multi-dimensional synthetic movement of the working mechanism 17.

[0020] The working principle of the present invention is as follows: the coaxial hole at one end of the main arm 2 and the center hole of the rocker 3 are connected with the coaxial hole of the support seat 1.1 of the base 1 through a pin 4, the cylinder end holes of the two power push rods 11 are connected with the coaxial hole of the support seat 1.2 of the base 1 through a pin 12, and the piston rod end holes of the two power push rods 11 are connected with the coaxial hole of the rocker arm 3.1 of the rocker 3 through a pin 14; the coaxial hole at the other end of the main arm 2 is connected with the coaxial hole at one end of the outer arm 7 through a pin 9, the coaxial hole at one end of the outer arm 7 is connected with the coaxial hole at one end of the connecting rod 8 through a pin 10, the coaxial hole at the other end of the connecting rod 8 is connected with the coaxial hole of the rocker arm 3.2 of the rocker 3 through a pin 13, the coaxial hole of the middle support seat 2.1 of the main arm 2 is connected with the cylinder end hole of the power push rod 5 through a pin 6, and the piston rod end hole of the power push rod 5 is connected with the coaxial hole at the other end of the connecting rod 8 and the coaxial hole of the rocker arm 3.2 of the rocker 3 through a pin 13. The telescopic movement of the piston rods of the two power push rods 14 connected to the support seat 1.2 of the base 1 by the pin shaft 12 realizes the main arm 2 driving the outer arm 7 to rotate around the support seat 1.1 hole of the base 1 through the rod mechanism composed of the main arm 2 supported by the support seat 1.1 of the base 1 and the main arm 2 connected to the coaxial hole at one end of the outer arm 7 through the pin shaft 9, the connecting rod 8 connected to the outer arm 7 through the pin shaft 10, and the connecting rod 8 connected to the rocker arm 3.1 of the rocker 3 through the pin shaft 13. The telescopic movement of the piston rod of the power push rod 5 connected to the support seat 2.1 in the middle of the main arm 2 by the pin shaft 6 realizes the extension movement of the outer arm 7 around the coaxial hole at the other end of the main arm 2 through the rod mechanism composed of the rocker arm 3.1 of the rocker 3 and the connecting rod 8. The telescopic movement of the piston rod of the power push rod 15 connected to the support seat 7.1 in the middle of the outer arm 7 by the pin shaft 16 realizes the rotational movement of the working mechanism 17 around the coaxial hole at the other end of the outer arm 7 through the rod mechanism composed of the outer arm 7 and the working mechanism 17. The rotational movement of the main arm 2 around the coaxial hole of the support seat 1.1 of the base 1, the extension movement of the outer arm 7 around the coaxial hole at one end of the main arm 2 and the rotational movement of the working mechanism 17 around the coaxial hole at the other end of the outer arm 7 realize the lifting movement of the working mechanism 17 relative to the horizontal plane of the base 1, the telescopic movement of the vertical plane and the rotational movement around the axis of intersection of the horizontal plane and the vertical plane, so as to realize the movement trajectory of the working mechanism required by garden machinery, engineering machinery, mining machinery, etc.

[0021] The rocker-linked mechanical arm of the present invention realizes the conversion of the telescopic motion of the piston rod of the power push rod into the parallel lifting, parallel telescopic and rotational motion of the working mechanism relative to the base and the synthetic motion of these three motions through the structural connection of the base, the main arm, the outer arm, the rocker, the connecting rod, the working mechanism, the pin shaft and the power push rod, so as to meet the needs of the motion trajectory of the working mechanism of various garden machinery, engineering machinery and mining machinery.

[0022] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A rocker linkage mechanical arm, characterized in that: include: Base, support seat 1, support seat 2, main arm, support seat 3, rocker, rocker arm 1, rocker arm 2, pin 1, power push rod 1, pin 2, outer arm, support seat 4, connecting rod, pin 3, pin 4, power push rod 2, pin 5, pin 6, pin 7, power push rod 3, pin 8, working mechanism, support seat 5, support seat 6, pin 9, pin 10, the coaxial hole at one end of the main arm and the center hole of the rocker are connected with the coaxial hole of the support seat of the base through pin 1, the cylinder end holes of the two power push rods 2 are connected with the coaxial hole of the support seat 2 of the base through pin 5, and the two dynamic The piston rod end hole of the power push rod 2 is connected with a coaxial hole of the rocker arm of the rocker through a pin shaft 7; the coaxial hole at the other end of the main arm is connected with the coaxial hole at one end of the outer arm through a pin shaft 3, the coaxial hole at one end of the outer arm is connected with the coaxial hole at one end of the connecting rod through a pin shaft 4, the coaxial hole at the other end of the connecting rod is connected with the coaxial hole of the rocker arm 2 of the rocker through a pin shaft 6, the coaxial hole of the middle support seat 3 of the main arm is connected with the cylinder end hole of the power push rod 1 through a pin shaft 2, the piston rod end hole of the power push rod 1 is connected with the coaxial hole at the other end of the connecting rod and the coaxial hole of the rocker arm 2 of the rocker through a pin shaft 6, and is connected to the support seat of the base by a pin shaft 5. The telescopic movement of the piston rod of the two power push rods 2 is realized by the main arm supported on the support seat 1 of the base and the main arm is connected with the coaxial hole of one end of the outer arm through the pin shaft 3, the connecting rod is connected with the outer arm through the pin shaft 4, and the connecting rod is connected with the rocker arm 1 of the rocker through the pin shaft 6 to form a rod mechanism to realize the main arm driving the outer arm to rotate around the support seat 1 hole of the base, and the telescopic movement of the piston rod of the power push rod 1 of the support seat 3 connected to the middle part of the main arm by the pin shaft 2, and the outer arm is extended around the coaxial hole at the other end of the main arm through the rod mechanism composed of the rocker arm 1 of the rocker and the connecting rod. The shaft 8 is connected to the telescopic movement of the piston rod of the power push rod 3 of the support seat 4 in the middle of the outer arm, and the working mechanism is realized to rotate around the coaxial hole at the other end of the outer arm through the rod mechanism. The main arm rotates around a coaxial hole of the base support seat, the outer arm extends around the coaxial hole at one end of the main arm, and the working mechanism rotates around the coaxial hole at the other end of the outer arm to realize the lifting movement of the working mechanism relative to the horizontal plane of the base, the telescopic movement of the vertical plane, and the rotation movement around the axis of intersection of the horizontal plane and the vertical plane, so as to realize the movement trajectory of the working mechanism required by garden machinery, engineering machinery, and mining machinery; The coaxial hole at one end of the main arm and the center hole of the rocker arm are connected with a coaxial hole of the supporting seat of the base through a pin shaft 1, the coaxial hole of the supporting seat 3 in the middle of the main arm is connected with the cylinder end hole of the power push rod 1 through a pin shaft 2, the piston rod end hole of the power push rod 1 is connected with the coaxial hole of the rocker arm 1 of the rocker arm and the coaxial hole at one end of the connecting rod through a pin shaft 6, the coaxial hole at one end of the outer arm is connected with the coaxial hole at the other end of the main arm through a pin shaft 3, the nearly parallel holes at the connecting end of the outer arm and the main arm are connected with the coaxial hole at one end of the connecting rod through a pin shaft 4, the coaxial hole at the other end of the connecting rod is connected with a coaxial hole of the rocker arm of the rocker arm through a pin shaft 6, the telescopic movement of the piston rod of the power push rod 1 is connected through the supporting seat 1 of the base, the coaxial hole at one end of the main arm, the coaxial hole of the supporting seat 3 in the middle of the main arm, the coaxial hole at one end of the outer arm, the coaxial hole of the rocker arm of the rocker arm, and the coaxial hole at one end of the connecting rod, so as to realize the extension movement of the outer arm relative to the main arm; The coaxial hole at one end of the main arm is connected with a coaxial hole of the support seat of the base through a pin shaft 1, the central axis hole of the rocker arm is connected with a coaxial hole of the support seat of the base through a pin shaft 1, the end hole of the cylinder body of the power push rod is connected with the coaxial hole of the support seat 2 of the base through a pin shaft 5, and the end hole of the piston rod of the power push rod is connected with a coaxial hole of the rocker arm of the rocker arm through a pin shaft 7. The telescopic movement of the piston rod of the power push rod is connected through the structural connection of the support seat 2 of the base, the main arm, the rocker arm and the rocker arm 1, so as to realize the rotational movement of the main arm relative to the horizontal plane of the base.

2. The rocker linkage mechanical arm according to claim 1, characterized in that: The coaxial hole of the fourth support seat in the middle of the outer arm is connected to the end hole of the three-cylinder body of the power push rod through a pin eight, the end hole of the third piston rod of the power push rod is connected to the coaxial hole of the fifth support seat of the working mechanism through a pin ten, the coaxial hole at one end of the outer arm is connected to the coaxial hole of the sixth support seat of the working mechanism through a pin nine, and the telescopic movement of the third piston rod of the power push rod is achieved through the structural connection of the fourth support seat in the middle of the outer arm, the fifth support seat of the working mechanism, and the sixth support seat of the working mechanism, so as to realize the rotational movement of the working mechanism around the coaxial hole at one end of the outer arm.

3. The rocker linkage mechanical arm according to claim 1, characterized in that: The extension movement of the outer arm relative to the main arm, the rotation movement of the main arm relative to the horizontal plane of the base, and the rotation movement of the working mechanism around one end of the outer arm are combined into parallel or vertical lifting movement of the working mechanism relative to the horizontal plane of the base, horizontal lateral movement, and vertical and horizontal movement at an inclined angle to the horizontal plane of the base, thereby realizing multi-dimensional synthetic movement of the working mechanism.

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