Hydraulically driven top-hugging gripper arm

Abstract

The application discloses a hydraulic driving top-hugging type clamping mechanical arm, which comprises a base, a slewing bearing movably arranged on the upper end of the base, a slewing motor fixedly arranged on the base, a rotary table fixedly arranged on the upper end of the slewing bearing, a pitching arm frame movably connected to the top of the rotary table, a swing support movably connected to the front end of the pitching arm frame, a swing arm frame fixedly arranged on the swing support, a swing cylinder and a telescopic rod movably connected between the pitching arm frame and the swing arm frame, a grab frame connected to the bottom of the swing support, a turnover cylinder connected between the swing arm frame and the grab frame, and a pitching cylinder movably connected between the rotary table and the pitching arm frame. The hydraulic driving top-hugging type clamping mechanical arm can clamp, turn over, translate and lift a small vehicle, so that the small vehicle is conveniently disassembled, the safety of disassembling workers is ensured, and the disassembling and recycling efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of automobile recycling, and in particular to a hydraulically driven overhead gripping robotic arm. Background Technology

[0002] The top-gripping robotic arm is a support device for gripping and retrieving vehicles during recycling. With the development of the automotive industry, the number of scrapped vehicles is increasing, and the recycling and reuse of vehicles is receiving more and more attention. Most existing equipment can only raise or lower vehicles during dismantling, increasing workload and safety hazards. The hydraulically driven top-gripping tipping mechanism can clamp, tip, move, and lift small vehicles, facilitating their dismantling. This ensures the safety of dismantling workers and improves dismantling and recycling efficiency. With continuous technological advancements, the manufacturing process requirements for top-gripping robotic arms are also becoming increasingly stringent.

[0003] Existing robotic arms have certain drawbacks. First, they cannot easily and quickly grip and position cars. During car disassembly, they can mostly only raise or lower the car, which is labor-intensive and inconvenient for users. Furthermore, there are significant safety hazards when gripping, positioning, and moving cars, which negatively impacts the user experience. Therefore, we propose a hydraulically driven top-gripping robotic arm. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a hydraulically driven top-gripping robotic arm capable of clamping, flipping, translating, and lifting small vehicles, thereby facilitating their disassembly, ensuring the safety of disassembly workers, improving disassembly and recycling efficiency, and effectively solving the problems in the background technology.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a hydraulically driven top-gripping robotic arm, comprising a base, a slewing bearing movably mounted on the upper end of the base, a slewing motor positioned on the base, a turntable positioned on the upper end of the slewing bearing, a pitching boom movably connected to the top of the turntable, a swing bracket movably connected to the front end of the pitching boom, a swinging boom positioned on the swing bracket, a swing cylinder and a telescopic rod movably connected between the pitching boom and the swinging boom, a gripper frame connected to the bottom of the swing bracket, a tilting cylinder connected between the swinging boom and the gripper frame, and a pitching cylinder movably connected between the turntable and the pitching boom.

[0006] As a preferred technical solution of this application, a hydraulic pump station is installed on the turntable, and an electrically controlled multi-way valve is connected to the hydraulic pump station. A positioning mounting seat and an anti-corrosion base are positioned and installed at the bottom of the base.

[0007] As a preferred technical solution of this application, a gripper body is positioned and installed at the bottom of the gripper frame, an adjustment shaft is movably connected to the inner side of the gripper frame, a second guide shaft is movably connected to one end of the gripper body, a first guide shaft is movably connected to the other end of the gripper body, a second claw and a second claw seat are positioned at the end of the second guide shaft, and a first claw seat and a first claw are positioned at the end of the first guide shaft.

[0008] As a preferred technical solution of this application, a positioning support, a drive cylinder, a cylinder body, a push-pull rod, an adjusting shaft and a positioning bracket are provided between the gripper body and the second claw seat. A telescopic cylinder is connected between the gripper body and the first claw seat. The positioning bracket is connected to the position of the second claw seat and the positioning support is connected to the position of the gripper body. A clamping cylinder is provided on both the first claw seat and the second claw seat.

[0009] As a preferred technical solution of this application, the rotary motor drives the rotary bearing and the turntable to rotate at the upper end of the base. The turntable and the pitch boom are connected by a pitch cylinder. The pitch boom and the swing boom are connected by a swing cylinder and the telescopic rod. The swing support and the gripper frame are connected by a tilting cylinder.

[0010] As a preferred technical solution of this application, the turntable is positioned between the turntable and the hydraulic pump station, and the position of the hydraulic pump station is controlled by the electrically controlled multi-way valve.

[0011] As a preferred technical solution of this application, the gripper frame is positioned and installed with the gripper, the gripper frame is movable by adjusting the position of the adjusting shaft, the second claw tooth seat is movable at one end of the gripper by the second guide shaft, and the first claw tooth seat is movable at the other end of the gripper by the first guide shaft.

[0012] As a preferred technical solution of this application, the positioning bracket is positioned and installed between the second claw seat and the positioning support is positioned and installed between the claw body, the drive cylinder drives the push-pull rod to extend and retract inside the cylinder body, and the push-pull rod drives the position of the second claw seat to move.

[0013] As a preferred technical solution of this application, the hydraulic pump station includes an electric motor, a starter cabinet, a radiator, a hydraulic oil pump, a pump sleeve, a coupling, an oil suction filter, an oil return filter, an air filter, and an electrically controlled multi-way valve, and the electrically controlled multi-way valve is operated to control various movements on the turntable.

[0014] Compared with existing technologies, this invention provides a hydraulically driven top-gripping robotic arm with the following advantages: This hydraulically driven top-gripping robotic arm can clamp, flip, translate, and lift small vehicles, facilitating their disassembly, ensuring the safety of disassembly workers, and improving disassembly and recovery efficiency. Within its working range, it can grasp and move small vehicles. For small vehicles whose placement is inconvenient, the position of the small vehicle can be adjusted by rotating the arm of the tipping mechanism after clamping it, effectively ensuring safe production and improving labor efficiency. Within its working range, it can... This device can grab and flip small vehicles. For areas where the bottom of a small vehicle is inconvenient to operate, flipping it so that the bottom is facing upwards reduces risk and improves efficiency. Within the working range, the position and height of the gripper can be adjusted by changing the position of the pitching and swinging arms, making the tipping mechanism applicable to more types of small vehicles, reducing equipment costs and improving economic benefits. Within the working range, the telescopic clamp can reduce manipulation errors during the gripping process, thereby reducing the skill requirements of the operator. The entire top-gripping robotic arm has a simple structure, is easy to operate, and performs better than traditional methods. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of a hydraulically driven top-gripping robotic arm according to the present invention.

[0016] Figure 2 This is a schematic diagram of the gripper in a hydraulically driven top-gripping robotic arm according to the present invention.

[0017] Figure 3 This is a schematic diagram of the push-pull rod in a hydraulically driven top-gripping robotic arm according to the present invention.

[0018] Figure 4 This is a schematic diagram of the hydraulic principle of a hydraulically driven top-gripping robotic arm according to the present invention.

[0019] In the diagram: 1. Base; 2. Rotary motor; 3. Rotary bearing; 4. Electrically controlled multi-way valve; 5. Hydraulic pump station; 6. Turntable; 7. Pitch cylinder; 8. Pitch boom; 9. Swing cylinder; 10. Swing boom; 11. Tilting cylinder; 12. Clamping cylinder; 13. Telescopic cylinder; 14. First guide shaft; 15. First claw; 16. Grip body; 17. Grip frame; 18. Swing support; 19. Telescopic rod; 20. Second guide shaft; 21. Second claw; 22. Push-pull rod; 23. Adjusting shaft; 24. Positioning support; 25. Cylinder body; 26. Drive cylinder; 27. Positioning support; 28. Second claw seat; 29. ​​First claw seat; 30. Positioning mounting seat; 31. Corrosion-resistant base. Detailed Implementation

[0020] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments. However, those skilled in the art will understand that the embodiments described below are some embodiments of the present invention, but not all embodiments, and are only used to illustrate the present invention, and should not be regarded as limiting the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Where specific conditions are not specified in the embodiments, conventional conditions or conditions recommended by the manufacturer shall be followed. Where the manufacturers of reagents or instruments are not specified, they are all conventional products that can be purchased commercially.

[0021] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] like Figure 1-4 As shown, a hydraulically driven top-gripping robotic arm includes a base 1, a slewing bearing 3 movably mounted on the upper end of the base 1, a slewing motor 2 positioned on the base 1, a turntable 6 positioned on the upper end of the slewing bearing 3, a pitching boom 8 movably connected to the top of the turntable 6, a swing bracket 18 movably connected to the front end of the pitching boom 8, a swinging boom 10 positioned on the swing bracket 18, a swing cylinder 9 and a telescopic rod 19 movably connected between the pitching boom 8 and the swinging boom 10, a gripper frame 17 connected to the bottom of the swing bracket 18, a tilting cylinder 11 connected between the swinging boom 10 and the gripper frame 17, and a pitching cylinder 7 movably connected between the turntable 6 and the pitching boom 8.

[0024] Furthermore, a hydraulic pump station 5 is installed on the turntable 6, and an electrically controlled multi-way valve 4 is connected to the hydraulic pump station 5. A positioning mounting seat 30 and an anti-corrosion base 31 are installed at the bottom of the base 1.

[0025] Furthermore, a gripper body 16 is positioned and installed at the bottom of the gripper frame 17, an adjusting shaft 23 is movably connected to the inner side of the gripper frame 17, a second guide shaft 20 is movably connected to one end of the gripper body 16, a first guide shaft 14 is movably connected to the other end of the gripper body 16, a second claw 21 and a second claw seat 28 are positioned at the end of the second guide shaft 20, and a first claw seat 29 and a first claw 15 are positioned at the end of the first guide shaft 14.

[0026] Furthermore, a positioning support 27, a drive cylinder 26, a cylinder body 25, a push-pull rod 22, an adjusting shaft 23, and a positioning bracket 24 are provided between the gripper body 16 and the second claw seat 28. A telescopic cylinder 13 is connected between the gripper body 16 and the first claw seat 29. The positioning bracket 24 is connected to the position of the second claw seat 28, and the positioning support 27 is connected to the position of the gripper body 16. A clamping cylinder 12 is provided on both the first claw seat 29 and the second claw seat 28.

[0027] Furthermore, the rotary motor 2 drives the rotary bearing 3 and the turntable 6 to rotate at the upper end of the base 1. The turntable 6 moves with the pitch boom 8 through the pitch cylinder 7. The pitch boom 8 moves with the swing boom 10 through the swing cylinder 9 and the telescopic rod 19. The swing bracket 18 moves with the grab frame 17 through the tilting cylinder 11.

[0028] Furthermore, the turntable 6 is positioned and installed between the hydraulic pump station 5, and the position of the hydraulic pump station 5 is controlled by the electrically controlled multi-way valve 4.

[0029] Furthermore, the gripper frame 17 is positioned and installed between the gripper body 16. The gripper frame 17 is movable by adjusting the position of the adjusting shaft 23. The second claw seat 28 is movable at one end of the gripper body 16 by the second guide shaft 20, and the first claw seat 29 is movable at the other end of the gripper body 16 by the first guide shaft 14.

[0030] Furthermore, the positioning bracket 24 is positioned and installed between the second claw seat 28, the positioning support 27 is positioned and installed between the claw body 16, the drive cylinder 26 drives the push-pull rod 22 to extend and retract inside the cylinder body 25, and the push-pull rod 22 drives the position of the second claw seat 28 to move.

[0031] Furthermore, the hydraulic pump station 5 includes an electric motor, a starter cabinet, a radiator, a hydraulic oil pump, a pump sleeve, a coupling, an oil suction filter, an oil return filter, an air filter, and an electrically controlled multi-way valve, and operates the electrically controlled multi-way valve 4 to control various actions on the turntable 6.

[0032] Working principle: This invention includes a base 1, a rotary motor 2, a slewing bearing 3, an electrically controlled multi-way valve 4, a hydraulic pump station 5, a turntable 6, a pitch cylinder 7, a pitch boom 8, a swing cylinder 9, a swing boom 10, a tilt cylinder 11, a clamping cylinder 12, a telescopic cylinder 13, a first guide shaft 14, a first claw 15, a gripper body 16, a gripper frame 17, a swing bracket 18, a telescopic rod 19, a second guide shaft 20, a second claw 21, a push-pull rod 22, an adjusting shaft 23, a positioning bracket 24, a cylinder body 25, a drive cylinder 26, a positioning support 27, a second claw seat 28, a first claw seat 29, a positioning mounting base 30, and an anti-corrosion base. 31. When gripping a small vehicle, operate the electronically controlled multi-way valve 4 to control the rotation of the rotary motor 2, which drives the rotary bearing 3 to rotate. The rotation of the rotary bearing 3 causes the turntable 6 to rotate, ultimately rotating the gripper 16 to a suitable position. Operate the electronically controlled multi-way valve 4 to control the pitch cylinder 7 to adjust the position of the gripper 16 by tilting it up and down. Operate the electronically controlled multi-way valve 4 to control the extension or retraction of the swing cylinder 9 to fine-tune the position of the gripper 16 again. Operate the electronically controlled multi-way valve 4 to extend the telescopic cylinder 13, thereby driving the extension of the first claw 15. Operate the electronically controlled multi-way valve 4 to extend the clamping cylinder 12, thereby opening the first claw 15. Operate the electronically controlled multi-way valve 4 to extend the clamping cylinder 12, thereby opening the first claw 15. Valve 4 controls the movement of the swing cylinder 9, adjusting the first claw 15 to a suitable clamping position for the small vehicle. By adjusting the clamping of the first claw 15, its retraction causes the tipping mechanism to grip the top of the small vehicle. The extension of the pitch cylinder 7, controlled by the electronically controlled multi-way valve 4, raises the small vehicle. The small vehicle is then moved to a suitable position by the electronically controlled multi-way valve 4. The tilting cylinder 11 extends, causing the small vehicle to tilt at an angle. At the end of the operation, the gripper 16 moves to a suitable position by the electronically controlled multi-way valve 4, retracting the clamping cylinder 12 and extending the telescopic cylinder 13 to release the small vehicle. The rear electronically controlled multi-way valve 4 adjusts the tipping mechanism to keep it in a suitable position. During the movement, the hydraulic pump station 5 provides hydraulic oil to the tipping mechanism to drive its movement. The base 1, turntable 6, pitch boom 8, swing boom 10, and gripper 16 serve as the main load-bearing structure to bear the main force. The base 1, slewing bearing 3, pitch cylinder 7, swing cylinder 9, and tipping cylinder 11 serve as adjustment mechanisms to adjust the position of the gripper 16. The clamping cylinder 12 and telescopic cylinder 13 serve as clamping mechanisms to hold the small vehicle. The first guide shaft 14 serves as a structural component to guide and also acts as a load-bearing element while the clamping mechanism is in operation.

[0033] It should be noted that, in this document, relational terms such as first and second (number one, number two), etc., are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A hydraulically driven top-gripping robotic arm, comprising a base (1), characterized in that: A slewing bearing (3) is movably installed on the upper end of the base (1). A slewing motor (2) is positioned on the base (1). A turntable (6) is positioned on the upper end of the slewing bearing (3). A pitch boom (8) is movably connected to the top of the turntable (6). A swing bracket (18) is movably connected to the front end of the pitch boom (8). A swing boom (10) is positioned on the swing bracket (18). A swing cylinder (9) and a telescopic rod (19) are movably connected between the pitch boom (8) and the swing boom (10). A grab frame (17) is connected to the bottom of the swing bracket (18). A tilting cylinder (11) is connected between the swing boom (10) and the grab frame (17). A pitch cylinder (7) is movably connected between the turntable (6) and the pitch boom (8). A hydraulic pump station (5) is installed on the turntable (6), and an electrically controlled multi-way valve (4) is connected to the hydraulic pump station (5). A positioning mounting seat (30) and an anti-corrosion base (31) are installed at the bottom of the base (1). The gripper frame (17) has a gripper body (16) installed at its bottom. An adjustment shaft (23) is movably connected to the inner side of the gripper frame (17). A second guide shaft (20) is movably connected to one end of the gripper body (16), and a first guide shaft (14) is movably connected to the other end of the gripper body (16). A second claw (21) and a second claw seat (28) are positioned at the end of the second guide shaft (20), and a first claw seat (29) and a first claw (15) are positioned at the end of the first guide shaft (14). A positioning support (27), a drive cylinder (26), a cylinder body (25), a push-pull rod (22), an adjusting shaft (23), and a positioning bracket (24) are provided between the gripper body (16) and the second claw seat (28). A telescopic cylinder (13) is connected between the gripper body (16) and the first claw seat (29). The positioning bracket (24) is connected to the position of the second claw seat (28), and the positioning support (27) is connected to the position of the gripper body (16). A clamping cylinder (12) is provided on both the first claw seat (29) and the second claw seat (28). The gripper frame (17) is positioned and installed between the gripper body (16). The gripper frame (17) is movable by adjusting the position of the adjusting shaft (23). The second claw seat (28) is movable at one end of the gripper body (16) by the second guide shaft (20). The first claw seat (29) is movable at the other end of the gripper body (16) by the first guide shaft (14).

2. The hydraulically driven top-gripping robotic arm according to claim 1, characterized in that: The rotary motor (2) drives the slewing bearing (3) and the turntable (6) to rotate at the upper end of the base (1). The turntable (6) moves with the pitch boom (8) through the pitch cylinder (7). The pitch boom (8) moves with the swing boom (10) through the swing cylinder (9) and the telescopic rod (19). The swing bracket (18) moves with the grab frame (17) through the tilting cylinder (11).

3. The hydraulically driven top-gripping robotic arm according to claim 1, characterized in that: The turntable (6) is positioned between the turntable (6) and the hydraulic pump station (5), and the position of the hydraulic pump station (5) is controlled by the electrically controlled multi-way valve (4).

4. The hydraulically driven top-gripping robotic arm according to claim 1, characterized in that: The positioning bracket (24) is positioned and installed between the second claw seat (28), the positioning support (27) is positioned and installed between the claw body (16), the driving cylinder (26) drives the push-pull rod (22) to extend and retract inside the cylinder body (25), and the push-pull rod (22) drives the position of the second claw seat (28) to move.

5. A hydraulically driven top-gripping robotic arm according to claim 3, characterized in that: The hydraulic pump station (5) includes an electric motor, a starter cabinet, a radiator, a hydraulic oil pump, a pump sleeve, a coupling, an oil suction filter, an oil return filter, an air filter, and an electrically controlled multi-way valve. The electrically controlled multi-way valve (4) is operated to control various actions on the turntable (6).

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