An extended robotic arm

Abstract

The present invention provides an extended robotic arm. The extended robotic arm is mainly used for an excavator and includes a boom adjustably hinged to the main body of the excavator and a forearm adjustably hinged to the front end of the boom. The extended robotic arm further includes a bucket portion provided at the front end of the forearm for on-site operation. The bucket portion includes a mounting seat provided at the front end of the forearm; a U-shaped frame hinged to the mounting seat for supporting and cooperating with angular deflection; a circular seat fixedly installed on the side of the U-shaped frame located on the forearm for cooperating with the forearm to assemble and drive a driving mechanism for rotating the bucket portion; and a T-shaped connector movably installed in a T-shaped assembly groove of the circular seat and insertable into a quick-connect groove at the front end of the forearm. The extended robotic arm provided by the present invention has the advantages that the bucket portion can be rotated as needed after assembly, it is easier to find a better operation angle, the working difficulty is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of the processing of the robotic arm of an excavator, and in particular to an extended robotic arm. Background Art

[0002] As a construction machine, an excavator generally includes a vehicle body, a two-section boom, and a bucket part. The bucket part is usually detachably arranged and includes various models such as a grab bucket, a digging bucket, a hydraulic clamp, a hydraulic rammer, etc. During use, people can assemble the bucket part according to needs and then use it.

[0003] Since the environmental conditions for the use of various models of bucket parts are different, for example: for a grab bucket, during use, since it is necessary to grasp, and the objects to be grasped are not all neatly arranged. When grabbing large pieces of gravel or slate, since the gravel or slate is often in a relatively inclined position and is easier to be clamped, at this time, people need to continuously adjust the position of the excavator and the position of the gravel or slate, which takes a long time and is difficult to operate, resulting in low efficiency. For example: the above technical problems have occurred in the patent document with the authorization publication number of CN216552132U.

[0004] Therefore, it is necessary to provide a new extended robotic arm to solve the above technical problems. Summary of the Invention

[0005] The technical problem solved by the present invention is to provide an extended robotic arm that can rotate the bucket part according to needs after assembly, making it easier to find a better operation angle, reducing the working difficulty, and improving the working efficiency.

[0006] To solve the above technical problems, the extended robotic arm provided by the present invention is mainly used for an excavator and includes: a boom that is adjustably hinged to the main body of the excavator and a forearm that is adjustably hinged to the front end of the boom; the extended robotic arm further includes: a bucket part provided at the front end of the forearm for on-site operation, and the bucket part includes: a mounting seat provided at the front end of the forearm; a U-shaped frame hinged to the mounting seat for supporting and cooperating with the angular deflection; a circular seat fixedly installed on the side of the U-shaped frame facing the forearm and used for cooperating with the forearm to assemble and drive the rotation of the bucket part; and a T-shaped connector that is movably installed in a T-shaped assembly groove of the circular seat and can be inserted into a quick-connect groove at the front end of the forearm.

[0007] Preferably, the driving mechanism includes: a plurality of teeth uniformly and fixedly installed in a circular array on the outer side of the circular seat; a circular gear fixedly installed on the output shaft of a high-torque motor of the forearm and meshing with the plurality of teeth.

[0008] Preferably, a locking and positioning mechanism is provided on the small arm and the T-shaped connector; the locking and positioning mechanism includes: at least two anti-tilting openings formed on opposite sides of the quick-connect groove; at least two anti-tilting rods fixedly installed on opposite sides of the T-shaped connector and corresponding to at least two of the anti-tilting openings respectively; and locking cylinders hinged on opposite sides of the small arm and respectively driving locking members for locking at least two of the anti-tilting rods by means of hinge settings on the opposite sides of the small arm.

[0009] Preferably, a positioning groove corresponding to the positioning opening on the inner wall of the quick-connect groove is formed on the T-shaped connector, and a positioning safety block extending outside the small arm is embedded in the positioning groove and the positioning opening.

[0010] Preferably, slidable connection seats are provided on both corresponding sides of the small arm, adjusting bolts rotatably connected to the side of the small arm are threadedly installed on at least two of the connection seats, hooks for hanging at least two tightening steel cables are fixedly installed on at least two of the connection seats, and at least two of the tightening steel cables are fixedly connected to the anti-tilting rods and the positioning safety block respectively.

[0011] Preferably, a deflection angle adjusting mechanism for adjusting the angle is provided on the small arm and the assembly seat, and the deflection angle adjusting mechanism includes: a front-end oil cylinder hinged on the small arm; a T-shaped sliding seat movably installed in a T-shaped annular groove formed on the assembly seat; a ball head fixedly installed at one end of the T-shaped sliding seat outside the assembly seat; and a first deflection rod and a second deflection rod respectively hinged on the output rod of the front-end oil cylinder and hinged to the ball head and the small arm.

[0012] Preferably, an oil supply mechanism is provided on the assembly seat; the oil supply mechanism includes: an oil distribution ring movably sleeved on the assembly seat and fixedly connected to the small arm by a remote support frame; and a sub-oil distribution ring rotatably and sealingly arranged on the side of the oil distribution ring away from the U-shaped frame.

[0013] Preferably, a plurality of connecting small blocks are fixedly installed between the inner ring of the sub-oil distribution ring and the assembly seat, and a plurality of steel ball quick connectors are provided on the sub-oil distribution ring.

[0014] Preferably, the same tail-end oil cylinder is hinged between the excavator main body and the large arm, and the same middle-position oil cylinder is hinged between the large arm and the small arm.

[0015] Preferably, the insertion side of the quick-connect groove is a guiding opening structure that expands outward, and the insertion end of the T-shaped connector is provided as a guiding end.

[0016] Compared with the related art, the lengthened robotic arm provided by the present invention has the following beneficial effects:

[0017] The present invention provides a lengthened robotic arm:

[0018] In the present invention, the assembly base can be adjusted in angle deflection with the U-shaped frame. The circular base is used to cooperate with the driving mechanism to drive the head to rotate. The T-shaped connecting head is quickly inserted and fixed through the quick-connect groove on the small arm. The T-shaped connecting head rotates relative to the circular base, so as to achieve the purpose that the bucket part can adjust the operation angle according to needs, and can also be installed quickly and conveniently, greatly reducing the working difficulty and improving the working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a front view structural schematic diagram of a preferred embodiment of the extended robotic arm provided by the present invention;

[0020] Figure 2 is a front view structural schematic diagram of the small arm and the bucket part in the present invention;

[0021] Figure 3 is Figure 2 an enlarged structural schematic diagram of part A shown in

[0022] Figure 4 is Figure 2 an enlarged structural schematic diagram of part B shown in

[0023] Figure 5 is a front view sectional structural schematic diagram of the small arm and the bucket part in the present invention;

[0024] Figure 6 is Figure 5 an enlarged structural schematic diagram of part C shown in

[0025] Figure 7 is Figure 5 an enlarged structural schematic diagram of part D shown in

[0026] Figure 8 is Figure 6 an enlarged structural schematic diagram of part E shown in

[0027] Figure 9 is a front view sectional structural schematic diagram of the assembly base in the present invention;

[0028] Figure 10 is a front view structural schematic diagram of the assembly base in the present invention;

[0029] Figure 11 is a structural schematic diagram of the T-shaped connecting head in the present invention.

[0030] Reference numerals in the figure: 1, the main body of the excavator; 2, the boom; 3, the forearm; 4, the mounting seat; 5, the U-shaped frame; 6, the circular seat; 7, the T-shaped mounting groove; 8, the T-shaped connector; 9, the quick-connect groove; 10, the teeth; 11, the high-torque motor; 12, the circular gear; 13, the anti-tipping port; 14, the anti-tipping rod; 15, the locking cylinder; 16, the locking piece; 17, the positioning groove; 18, the positioning port; 19, the positioning insurance block; 20, the connecting seat; 21, the adjusting bolt; 22, the hook; 23, the tightening steel cable; 24, the front-end cylinder; 25, the T-shaped ring groove; 26, the T-shaped sliding seat; 27, the ball head; 28, the deflection rod one; 29, the deflection rod two; 30, the remote support frame; 31, the oil distribution ring; 32, the oil splitting ring; 33, the connecting small block; 34, the main oil pipe; 35, the side oil pipe; 36, the grasping cylinder; 37, the movable gripper; 38, the tail-end cylinder; 39, the middle cylinder. Detailed implementation manners

[0031] The present invention will be further described below in conjunction with the accompanying drawings and implementation manners.

[0032] Please refer to Figures 1 - 11 , wherein, Figure 1 is the front view structural schematic diagram of a preferred embodiment of the lengthened robotic arm provided by the present invention; Figure 2 is the front view structural schematic diagram of the forearm and the bucket part in the present invention; Figure 3 is Figure 2 the enlarged structural schematic diagram of part A shown in Figure 4 is Figure 2 the enlarged structural schematic diagram of part B shown in Figure 5 is the front view sectional structural schematic diagram of the forearm and the bucket part in the present invention; Figure 6 is Figure 5 the enlarged structural schematic diagram of part C shown in Figure 7 is Figure 5 the enlarged structural schematic diagram of part D shown in Figure 8 is Figure 6 the enlarged structural schematic diagram of part E shown in Figure 9 is the front view sectional structural schematic diagram of the mounting seat in the present invention; Figure 10 is the front view structural schematic diagram of the mounting seat in the present invention; Figure 11 is the structural schematic diagram of the T-shaped connector in the present invention.

[0033] The lengthened robotic arm provided by the present invention is mainly used for excavators and includes: a boom 2 adjustably hinged to the main body 1 of the excavator and a forearm 3 adjustably hinged to the front end of the boom 2; the lengthened robotic arm further includes: a bucket part provided at the front end of the forearm 3 for on-site operation, and the bucket part includes: a mounting seat 4 provided at the front end of the forearm 3; a U-shaped frame 5 hinged to the mounting seat 4 for supporting and coordinating angular deflection; a circular seat 6 fixedly installed on one side of the U-shaped frame 5 where the forearm 3 is located and used for coordinating with the drive mechanism of the forearm 3 to drive the rotation of the bucket part; and a T-shaped connector 8 movably installed in the T-shaped assembly groove 7 of the circular seat 6 and insertable into the quick-connect groove 9 at the front end of the forearm 3.

[0034] It should be noted that as a kind of construction machinery, an excavator usually includes a vehicle body, a two-section boom and a bucket part. The bucket part is usually detachably arranged and includes various models such as a grab bucket, a digging bucket, a hydraulic clamp, a hydraulic ram, etc. During use, people can assemble the bucket part according to needs and then use it. Since the environmental conditions for the use of various models of bucket parts are different, for example: the grab bucket shown in this solution, during use, because it needs to grab, and the objects to be grabbed are not all neatly placed. For example, when grabbing large pieces of gravel or stone slabs, since the gravel or stone slabs are often in a relatively inclined position and are easier to be clamped, at this time, people need to continuously adjust the position of the excavator and the position of the gravel or stone slabs, which takes a long time and is difficult to operate, resulting in low efficiency.

[0035] In order to meet the special needs, the two-section boom of the excavator can also be set to be lengthened. As the two-section boom is lengthened, the difficulty for people to operate the excavator to accurately install the bucket part will increase greatly. It is necessary for the operator to continuously adjust the angle with the object, and the operation difficulty is relatively high, which is not conducive to rapid operation. Therefore, the lengthened robotic arm proposed in this solution can solve such problems and achieve the purpose of quickly installing the bucket part.

[0036] The lengthened robotic arm set in this solution is mainly used for excavators, but is not limited to machinery such as building demolition machines and pile drivers that require relevant booms.

[0037] During the use of the present invention, the boom 2 and the forearm 3 use the end cylinder 38 and the mid-position cylinder 39 to adjust the operation angle. The operation method and the related drive principle are all mature technologies in the related art, and this solution will not make redundant elaboration. The difference between this solution and the existing technology is that during use, the mounting seat 4 in the bucket part composition can be adjusted for angular deflection with the U-shaped frame 5, the circular seat 6 is used to cooperate with the drive mechanism to drive the head to rotate, and the T-shaped connector 8 is quickly inserted and fixed through the quick-connect groove 9 on the forearm 3. The T-shaped connector 8 rotates relative to the circular seat 6, so as to achieve the purpose that the bucket part can be adjusted for the operation angle according to needs, and can also be installed quickly and conveniently, greatly reducing the work difficulty and improving the work efficiency.

[0038] During assembly, insert the T-shaped connector 8 into the quick-connect groove 9 and then fix it, and the assembly is simple.

[0039] In a further preferred embodiment of the present invention, the driving mechanism includes: a plurality of teeth 10 fixedly installed on the outer side of the circular seat 6 in a circular array; a circular gear 12 fixedly installed on the output shaft of the high-torque motor 11 on the small arm 3 and meshing with the plurality of teeth 10.

[0040] In this embodiment, during operation, when the bucket needs to rotate to adjust the working angle, start the high-torque motor 11. The output shaft of the high-torque motor 11 drives the circular gear 12 to rotate, and cooperates with the teeth 10 on the circular seat 6 to drive the circular seat 6 to rotate along the T-shaped connector 8. The circular seat 6, the U-shaped frame 5 and the assembly seat 4 rotate synchronously. The assembly seat 4 drives the movable gripper 37 driven by the gripping oil cylinder 36 thereon to rotate, so as to find an appropriate gripping angle. In this solution, the high-torque motor 11 has an output shaft self-locking function.

[0041] In a further preferred embodiment of the present invention, a locking and positioning mechanism is provided on the small arm 3 and the T-shaped connector 8; the locking and positioning mechanism includes: at least two anti-tilting ports 13 opened on the opposite side of the quick-connect groove 9; at least two anti-tilting rods 14 fixedly installed on the opposite side of the T-shaped connector 8 and corresponding to the at least two anti-tilting ports 13 respectively; a locking oil cylinder 15 hinged on the opposite side of the small arm 3 and a locking member 16 for driving and locking the at least two anti-tilting rods 14 respectively, which are hinged on the opposite side of the small arm 3.

[0042] In this embodiment, when the T-shaped connector 8 is inserted into the quick-connect groove 9, the anti-tilting rod 14 corresponds to the anti-tilting port 13, so as to avoid the problem of rotation during use. After the T-shaped connector 8 and the anti-tilting rod 14 are installed in place, start the locking oil cylinder 15 to make the locking member 16 buckle on the anti-tilting rod 14 to complete the preliminary fixation.

[0043] In a further preferred embodiment of the present invention, a positioning groove 17 corresponding to the positioning port 18 on the inner wall of the quick-connect groove 9 is opened on the T-shaped connector 8, and a positioning insurance block 19 extending outside the small arm 3 is embedded in the positioning groove 17 and the positioning port 18.

[0044] In this embodiment, in order to further improve the installation stability of the bucket and increase the use strength, at this time, the larger positioning insurance block 19 can be inserted into the positioning groove 17 through the positioning port 18 to fix the T-shaped connector 8 and the small arm 3.

[0045] In a further preferred embodiment of the present invention, slidable connecting seats 20 are provided on both corresponding sides of the small arm 3. At least two adjusting bolts 21 that are rotationally connected to the side of the small arm 3 are threadedly installed on at least two of the connecting seats 20. Hooks 22 for hanging at least two tightening steel cables 23 are fixedly installed on at least two of the connecting seats 20. At least two of the tightening steel cables 23 are fixedly connected to the anti-tilting rod 14 and the positioning insurance block 19 respectively.

[0046] In this embodiment, in order to prevent the positioning insurance block 19 from falling off and reduce the pressure of the locking oil cylinder 15, at this time, the tightening steel cables 23 on the positioning insurance block 19 and the anti-tilting rod 14 are hung on the hooks 22 of the connecting seat 20 through hanging rings. Then, a tool is used to rotate the adjusting bolt 21 to tighten the tightening steel cable 23, thereby completing the fixation. In this solution, the connecting seat 20 is slidably connected to the small arm 3 but cannot be separated, that is: a guide rod or a guide groove (not shown) is provided between the connecting seat 20 and the small arm 3 for guiding.

[0047] In a further preferred embodiment of the present invention, a deflection angle adjusting mechanism for adjusting the angle is provided on the small arm 3 and the mounting seat 4. The deflection angle adjusting mechanism includes: a front-end oil cylinder 24 hinged to the small arm 3; a T-shaped sliding seat 26 movably installed in a T-shaped ring groove 25 opened on the mounting seat 4; a ball head 27 fixedly installed at one end of the T-shaped sliding seat 26 outside the mounting seat 4; and a first deflection rod 28 and a second deflection rod 29 that are respectively hinged to the ball head 27 and hinged to the small arm 3 and are hinged to the output rod of the front-end oil cylinder 24.

[0048] In this embodiment, when the deflection angle adjusting mechanism is in use, the front-end oil cylinder 24 is started. The telescopic movement of the output rod of the front-end oil cylinder 24 can push the first deflection rod 28 and the second deflection rod 29 to deflect at an angle, so that the mounting seat 4 deflects at an angle along the U-shaped frame 5. When the mounting seat 4 rotates, since the first deflection rod 28 is hinged to the ball head 27 on the T-shaped sliding seat 26, at this time, the T-shaped sliding seat 26 on the ball head 27 slides along the T-shaped ring groove 25 on the mounting seat 4, thereby ensuring the flexibility of use and preventing the problem of jamming.

[0049] In a further preferred embodiment of the present invention, an oil supply mechanism is provided on the mounting seat 4; the oil supply mechanism includes: an oil distribution ring 31 movably sleeved on the mounting seat 4 and fixedly connected to the small arm 3 by a remote support frame 30; a sub-oil distribution ring 32 rotatably and sealingly provided on the side of the oil distribution ring 31 away from the U-shaped frame 5.

[0050] In this embodiment, a gripping oil cylinder 36 and a movable gripper 37 are hinged on the assembly seat 4. Specifically, it is the structure of the gripper in several bucket parts, which is shown here (not limited to this solution only). In the oil supply mechanism, since the oil distribution ring 31 is fixedly connected to the small arm 3 through the remote support frame 30, the oil distribution ring 31 will not rotate synchronously with the assembly seat 4, while the sub-oil distribution ring 32 is rotatable relative to the oil distribution ring 31 and can follow the rotation of the assembly seat 4 to achieve the purpose of synchronously supplying oil to the gripping oil cylinder 36.

[0051] In a further preferred embodiment of the present invention, a plurality of connecting blocks 33 are fixedly installed between the inner ring of the sub-oil distribution ring 32 and the assembly seat 4, and a plurality of steel ball quick connectors are provided on the sub-oil distribution ring 32.

[0052] In this embodiment, the arrangement of the connecting blocks 33 enables the sub-oil distribution ring 32 and the assembly seat 4 to rotate synchronously. The use of the steel ball quick connectors allows for determining whether to connect the side oil pipe 35 as needed during the use of different bucket parts. The connection is simple, and the main oil pipe 34 is used for oil supply.

[0053] In a further preferred embodiment of the present invention, the same tail-end oil cylinder 38 is hinged between the excavator main body 1 and the boom 2, and the same middle-position oil cylinder 39 is hinged between the boom 2 and the small arm 3.

[0054] In this embodiment, the tail-end oil cylinder 38 can adjust the angle between the excavator main body 1 and the boom 2, and the middle-position oil cylinder 39 can adjust the angle between the boom 2 and the small arm 3.

[0055] In a further preferred embodiment of the present invention, the insertion side of the quick-connect groove 9 is a guiding port structure that expands outward, and the insertion end of the T-shaped connector 8 is provided as a guiding end.

[0056] In this embodiment, the insertion side of the quick-connect groove 9 being a guiding port structure that expands outward facilitates the connection with the guiding end of the insertion end of the T-shaped connector 8, making the installation quick and convenient.

[0057] In summary, this device can perform heat treatment on the metal parts used in the audio speaker to achieve the effect of preventing deformation.

[0058] Compared with the related art, in the present invention, the assembly seat 4 can be adjusted in angle deflection with the U-shaped frame 5, the circular seat 6 is used to cooperate with the driving mechanism to drive the head to rotate, and the T-shaped connector 8 is quickly inserted and fixed through the quick-connect groove 9 on the small arm 3. The T-shaped connector 8 rotates relative to the circular seat 6, so as to achieve the purpose that the bucket part can adjust the operation angle as needed, and can also be installed quickly and conveniently, greatly reducing the working difficulty and improving the working efficiency.

[0059] It should be noted that the device structure and drawings of the present invention mainly describe the principle of the present invention. Based on the technical principle of this design, the settings of the power mechanism, power supply system, control system, etc. of the device are not fully described. However, on the premise that those skilled in the art understand the principle of the above-mentioned invention, the details of its power mechanism, power supply system and control system can be clearly known.

[0060] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An extended robotic arm, mainly used for excavators, comprising: A boom adjustably hinged to the excavator body and a forearm adjustably hinged to the front end of the boom; Characterized in that the extended robotic arm further comprises: A bucket part provided at the front end of the forearm for on-site operation, and the bucket part comprises: An assembly seat provided at the front end of the forearm; A U-shaped frame hinged to the assembly seat for supporting and cooperating with angular deflection; A circular seat fixedly installed on the side of the U-shaped frame facing the forearm for cooperating with the forearm to assemble and drive the driving mechanism for rotating the bucket part; and A T-shaped connector movably installed in the T-shaped assembly groove of the circular seat and insertable into the quick-connect groove at the front end of the forearm; The forearm and the T-shaped connector are provided with a locking and positioning mechanism; The locking and positioning mechanism comprises: At least two anti-tipping ports opened on the opposite side of the quick-connect groove; At least two anti-tipping rods fixedly installed on the opposite side of the T-shaped connector and corresponding to at least two of the anti-tipping ports respectively; Locking cylinders respectively hinged on the opposite side of the forearm and driving lock parts for locking at least two of the anti-tipping rods respectively by using the hinge settings on the opposite side of the forearm; A positioning groove corresponding to the positioning port on the inner wall of the quick-connect groove is opened on the T-shaped connector, and a positioning insurance block extending outside the forearm is embedded in the positioning groove and the positioning port; Slidable connection seats are provided on both corresponding sides of the forearm, adjusting bolts rotatably connected to the side of the forearm are threadedly installed on at least two of the connection seats, hooks for hanging at least two tightening steel cables are fixedly installed on at least two of the connection seats, and at least two of the tightening steel cables are respectively fixedly connected to the anti-tipping rods and the positioning insurance block.

2. The extended robotic arm according to claim 1, wherein The driving mechanism comprises: A plurality of teeth evenly and fixedly installed in a circular array on the outer side of the circular seat; A circular gear fixedly installed on the output shaft of the high-torque motor of the forearm and meshing with the plurality of teeth.

3. The lengthened robotic arm according to claim 1, characterized in that, The forearm and the assembly seat are provided with a deflection angle adjustment mechanism for adjusting the angle, and the deflection angle adjustment mechanism comprises: A front-end oil cylinder hinged to the forearm; A T-shaped sliding seat movably installed in the T-shaped ring groove opened on the assembly seat; A ball head fixedly installed at the outer end of the T-shaped sliding seat outside the assembly seat; and A first deflection rod respectively hinged to the ball head and a second deflection rod hinged to the forearm on the output rod of the front-end oil cylinder.

4. The lengthened robotic arm according to claim 1, wherein An oil supply mechanism is provided on the assembly seat; The oil supply mechanism comprises: An oil distribution ring movably sleeved on the assembly seat and fixedly connected to the forearm by a remote support frame; A sub-oil distribution ring rotatably and sealingly provided on the side of the oil distribution ring away from the U-shaped frame.

5. The lengthened robotic arm according to claim 4, wherein, A plurality of connecting small blocks are fixedly installed between the inner ring of the sub-oil distribution ring and the assembly seat, and a plurality of steel ball quick connectors are provided on the sub-oil distribution ring.

6. The extended robotic arm according to claim 1, wherein The same tail-end oil cylinder is hinged between the excavator body and the boom, and the same middle-position oil cylinder is hinged between the boom and the forearm.

7. The extended robotic arm according to claim 1, characterized in that, The insertion side of the quick-connect groove is a guiding port structure that expands outwards, and the insertion end of the T-shaped connector is provided as a guiding end.

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