Hydraulic electromechanical combined type heavy-load mechanical arm robot

Abstract

The invention relates to the field of mechanical arms, in particular to a hydraulic electromechanical combined type heavy-load mechanical arm robot. The hydraulic electromechanical combined type heavy-load mechanical arm robot comprises a base. A hydraulic driving assembly is installed on the top of the base, and large-load-capacity transmission can be achieved through the hydraulic driving assembly. And an all-electric driving assembly is mounted on one side of the hydraulic driving assembly. According to the hydraulic electromechanical combined type heavy-load mechanical arm robot, the advantages of a hydraulic driving system in the aspects of large load capacity and low power consumption are adopted, and the characteristics of flexibility, precision and rapidness of a full-electric driving system in the aspect of mechanical arm control are adopted; a hydraulic driving part is applied to a first-stage joint part, a second-stage joint part or a third-stage joint part of the mechanical arm, and a fourth-stage joint part, a fifth-stage joint part and a sixth-stage joint part are driven by a motor, so that high-precision and high-speed control is realized, and control of various degrees of freedom and speeds can be realized.

Description

Technical Field

[0001] The invention relates to the field of mechanical arms, and in particular to a hydraulic, electromechanical combined heavy-load mechanical arm robot. Background Art

[0002] With the rapid development of science and technology, labor costs have gradually increased, and mechanization and automation technology have made significant progress in replacing labor. In the field of robotics, robotic arms, as an important component, have been widely used in many industries. The existing robotic arm technology is mainly divided into two routes, hydraulic drive and full electric drive.

[0003] However, hydraulically driven robotic arms have the advantages of high load capacity and low energy consumption, but they have problems such as slow response, slow speed, small activity radius and low control accuracy. Fully electric driven robotic arms have the advantages of high control accuracy, fast response speed, high flexibility and large activity radius, but they have lower load capacity and higher energy consumption.

[0004] Therefore, it is necessary to provide a new hydraulic-mechanical-electrical combined heavy-duty manipulator robot to solve the above-mentioned technical problems. Summary of the invention

[0005] In order to overcome the defects of the prior art, a hydraulic and electromechanical combined heavy-duty mechanical arm robot is provided to solve the above-mentioned problems.

[0006] The hydraulic-mechanical-electric combined heavy-duty robotic arm robot provided by the present invention comprises: a base; a hydraulic drive component is installed on the top of the base, and a large load capacity can be transmitted through the night pressure drive component; wherein, a full-electric drive component is installed on one side of the hydraulic drive component, and high-precision and high-speed control can be achieved through the full-electric drive component; a control component is arranged in the base, and the coordinated work of the hydraulic drive component and the full-electric drive component can be controlled through the control component; the hydraulic drive component comprises a first hydraulic motor joint, a second-level hydraulic motor joint and a third-level hydraulic motor joint, the first hydraulic motor joint is installed on the top of the base, a first robotic arm is commonly connected between the first hydraulic motor joint and the second-level hydraulic motor joint, and a second robotic arm is commonly connected between the second-level hydraulic motor joint and the third-level hydraulic motor joint.

[0007] Preferably, the all-electric drive assembly includes a fourth-level servo motor joint, a fifth-level servo motor joint and a sixth-level servo motor joint, a third robotic arm is commonly connected between the fourth-level servo motor joint and the third-level hydraulic motor joint, a fourth robotic arm is commonly connected between the fifth-level servo motor joint and the fourth-level servo motor joint, a fifth robotic arm is commonly connected between the sixth-level servo motor joint and the fifth-level servo motor joint, and a robotic gripper is connected to the side of the sixth-level servo motor joint away from the fifth robotic arm.

[0008] Preferably, a hydraulic pump station is provided on the top side of the base away from the first hydraulic motor joint, and the hydraulic pump station is respectively connected to the first hydraulic motor joint, the second-stage hydraulic motor joint and the third-stage hydraulic motor joint through hydraulic pipelines, and a hydraulic combination valve is installed on the hydraulic pipeline.

[0009] Preferably, the control component includes a motion controller and multiple encoders, the motion controller is connected to each encoder through a signal, and the first hydraulic motor joint, the second hydraulic motor joint, the third hydraulic motor joint, the fourth servo motor joint, the fifth servo motor joint and the sixth servo motor joint are respectively connected to one of the encoders.

[0010] Preferably, the motion controller is electrically connected to the fourth-level servo motor joint, the fifth-level servo motor joint and the sixth-level servo motor joint.

[0011] Preferably, the motion controller is connected to the hydraulic pump station via a signal.

[0012] Preferably, the motion controller is connected to the hydraulic combination valve via a signal.

[0013] Preferably, the motion controller is connected to a PC terminal via a signal.

[0014] Compared with the related art, the hydraulic electromechanical combined heavy-duty manipulator arm robot provided by the present invention has the following beneficial effects:

[0015] The present invention utilizes the advantages of the hydraulic drive system in terms of large load capacity and low power consumption, as well as the flexibility, precision and rapidity of the all-electric drive system in controlling the robotic arm. Through a reasonable division of labor design, the hydraulic drive part is applied to the primary, secondary or tertiary joints of the robotic arm, while the fourth, fifth and sixth joints are driven by motors to achieve high-precision and high-speed control, which can realize control of various degrees of freedom and speeds.

[0016] The hydraulic-mechanical-electrical combined heavy-load robotic arm robot provided by the present invention can also be applied to application scenarios with limited power supply, such as vehicle-mounted outdoor mobile emergency rescue and disaster relief industries, as well as the military field. In these scenarios, due to limited power supply conditions but the need to perform heavy-load work, the hydraulic-mechanical-electrical combined heavy-load robotic arm of this patent can give full play to its advantages. By using servo motors and hydraulic pump stations, it can reduce energy consumption and improve work efficiency while ensuring large load capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic structural diagram of a preferred embodiment of the hydraulic, electromechanical combined heavy-duty mechanical arm robot provided by the present invention;

[0018] Figure 2 It is a structural diagram of electro-hydraulic control.

[0019] Numbers in the figure: 1. base; 2. first hydraulic motor joint; 21. second hydraulic motor joint; 22. third hydraulic motor joint; 3. fourth servo motor joint; 31. fifth servo motor joint; 32. sixth servo motor joint; 4. first robotic arm; 41. second robotic arm; 42. third robotic arm; 43. fourth robotic arm; 44. fifth robotic arm; 45. robotic gripper; 5. hydraulic pump station. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0022] A hydraulic-mechanical-electric combined heavy-duty robotic arm robot is provided in an embodiment of the present invention. The hydraulic-mechanical-electric combined heavy-duty robotic arm robot comprises: a base 1; a hydraulic drive assembly is installed on the top of the base 1, and the transmission of large load capacity can be achieved through the night pressure drive assembly; wherein, a full-electric drive assembly is installed on one side of the hydraulic drive assembly, and high-precision and high-speed control can be achieved through the full-electric drive assembly; a control assembly is arranged in the base 1, and the coordinated operation of the hydraulic drive assembly and the full-electric drive assembly can be controlled through the control assembly; the hydraulic drive assembly comprises a first hydraulic motor joint 2, a second-level hydraulic motor joint 21 and a third-level hydraulic motor joint 22, the first hydraulic motor joint 2 is installed on the top of the base 1, and the first hydraulic motor joint 2 is connected to the third-level hydraulic motor joint 22. A first robotic arm 4 is commonly connected between the secondary hydraulic motor joints 21, a second robotic arm 41 is commonly connected between the second hydraulic motor joint 21 and the third hydraulic motor joint 22, the all-electric drive assembly includes a fourth servo motor joint 3, a fifth servo motor joint 31 and a sixth servo motor joint 32, a third robotic arm 42 is commonly connected between the fourth servo motor joint 3 and the third hydraulic motor joint 22, a fourth robotic arm 43 is commonly connected between the fifth servo motor joint 31 and the fourth servo motor joint 3, a fifth robotic arm 44 is commonly connected between the sixth servo motor joint 32 and the fifth servo motor joint 31, and a robotic gripper 45 is connected to the side of the sixth servo motor joint 32 away from the fifth robotic arm 44.

[0023] It should be noted that: the base 1 is the supporting structure of the entire robot. The base 1 can be installed on a small mobile chassis, and can be used as a robot in conjunction with the intelligent chassis and can be carried on cars, airplanes, etc. The first mechanical arm 4 is connected between the first hydraulic motor joint 2 and the second hydraulic motor joint 21, and is used to transfer loads and realize movement. The first hydraulic motor joint 2 is used to drive the movement of the first mechanical arm 4. The second mechanical arm 41 is connected between the second hydraulic motor joint 21 and the third hydraulic motor joint 22, and is used to transfer loads and realize movement. The second hydraulic motor joint 21 is used to drive the movement of the second mechanical arm 41. The third mechanical arm 42 is connected between the third hydraulic motor joint 22 and the fourth servo motor joint 3, and is used to transfer loads and realize movement. The third hydraulic motor joint 22 is used to drive the movement of the third mechanical arm 42. The fourth mechanical arm 43 is connected between the fourth servo motor joint 3 and the fifth servo motor joint 31, and is used to transfer loads and realize movement. The fourth servo motor joint 3 is used to drive the movement of the fourth mechanical arm 43. The fifth robot arm 44 is connected between the fifth-level servo motor joint 31 and the sixth-level servo motor joint 32, and is used to transfer loads and realize movement. The fifth-level servo motor joint 31 is used to drive the movement of the fifth robot arm 44. The mechanical gripper 45 is connected to the sixth-level servo motor joint 32, and is used to grasp and operate objects. The control component is located in the base 1, and is responsible for controlling the coordinated work of the hydraulic drive component and the all-electric drive component to realize the movement and operation of the robot. The first and second levels are mainly load-bearing, with small amounts of activity and low control accuracy requirements. Each joint is driven by a hydraulic motor reducer, and an encoder is added to accurately monitor the active radius and position of each joint. The fourth, fifth, and sixth level joints are driven by motors to achieve high-precision and high-speed control. The fourth, fifth, and sixth level joints are driven by motors using servo motors to control reducers to achieve various degrees of freedom control and various speed controls.

[0024] In an embodiment of the present invention, a hydraulic pump station 5 is arranged on the side of the top of the base 1 away from the first hydraulic motor joint 2. The hydraulic pump station 5 is respectively connected to the first hydraulic motor joint 2, the second-level hydraulic motor joint 21 and the third-level hydraulic motor joint 22 through hydraulic pipelines. A hydraulic combination valve is installed on the hydraulic pipeline. The motion controller is connected to the hydraulic pump station 5 through signals, and the motion controller is connected to the hydraulic combination valve through signals.

[0025] It should be noted that the hydraulic pump station 5 is located at the top of the base 1, away from the side of the first hydraulic motor joint 2. The hydraulic pump station 5 is the core component in the hydraulic system, which is used to generate hydraulic energy and transmit the hydraulic energy to each hydraulic motor joint through the hydraulic pipeline. The hydraulic pipeline connects the hydraulic pump station 5 with the pipeline system of the first hydraulic motor joint 2, the second-level hydraulic motor joint 21 and the third-level hydraulic motor joint 22. The hydraulic pipeline is used to transmit hydraulic oil and transmit the hydraulic energy generated by the hydraulic pump station 5 to each hydraulic motor joint, thereby driving the movement of the robot arm. The hydraulic combination valve is a valve component installed on the hydraulic pipeline. The hydraulic combination valve is used to control the flow direction, pressure and flow of the hydraulic oil, so as to achieve precise control of each hydraulic motor joint. It can adjust the supply of hydraulic oil according to the instructions of the motion controller to meet different motion requirements. The motion controller is a control component located in the base 1, which is responsible for controlling the movement of the entire robot. The motion controller is connected to the hydraulic pump station 5 through a signal, and can send instructions to the hydraulic pump station 5 to control its output of hydraulic energy. At the same time, the motion controller is also connected to the hydraulic combination valve through signals, and can send instructions to the hydraulic combination valve to control the flow of hydraulic oil, thereby achieving precise control of each hydraulic motor joint.

[0026] In an embodiment of the present invention, the control component includes a motion controller and multiple encoders. The motion controller is connected to each encoder through a signal. The first hydraulic motor joint 2, the second hydraulic motor joint 21, the third hydraulic motor joint 22, the fourth servo motor joint 3, the fifth servo motor joint 31 and the sixth servo motor joint 32 are respectively connected to one of the encoders. The motion controller is electrically connected to the fourth servo motor joint 3, the fifth servo motor joint 31 and the sixth servo motor joint 32. The motion controller is connected to a PC terminal through a signal.

[0027] It should be noted that the control component includes a motion controller and multiple encoders, which are responsible for controlling the movement and position detection of the entire robot. As the core of the control component, the motion controller is responsible for receiving instructions from the PC and controlling the movement of each joint according to the instructions. It communicates with each encoder through a signal connection, obtains the position information of the joint, and adjusts the movement of the joint according to this information. At the same time, the motion controller also communicates with the fourth-level servo motor joint 3, the fifth-level servo motor joint 31 and the sixth-level servo motor joint 32 through an electrical connection to directly control the movement of these joints. The encoder is used to detect the position and speed of the joint. Each joint (the first hydraulic motor joint 2, the second-level hydraulic motor joint 21, the third-level hydraulic motor joint 22, the fourth-level servo motor joint 3, the fifth-level servo motor joint 31 and the sixth-level servo motor joint 32) is connected to one of the encoders, and the encoder converts the position and speed information of the joint into an electrical signal and sends it to the motion controller. Based on this information, the motion controller can monitor the movement state of the joint in real time and make corresponding control adjustments. As the upper computer of the robot, the PC is responsible for sending control instructions to the motion controller and receiving feedback information from the motion controller. The PC can communicate with the motion controller through a graphical interface or programming interface to achieve remote control and monitoring of the robot. Through the collaborative work of the motion controller, encoder and PC, the hydraulic-mechanical-electric combined heavy-duty manipulator robot can achieve precise position control and motion monitoring to meet various complex work requirements.

[0028] The working principle of the hydraulic electromechanical combined heavy-duty manipulator provided by the present invention is as follows: the PC end serves as the host computer and sends control instructions to the motion controller. These instructions can be generated through graphical interface operations or sent through a programming interface. After receiving the instructions, the motion controller controls the movement of each joint according to the requirements of the instructions. For the first hydraulic motor joint 2, the second hydraulic motor joint 21 and the third hydraulic motor joint 22, the motion controller communicates with the hydraulic pump station 5 and the hydraulic combination valve through signal connection to control the flow direction, pressure and flow of the hydraulic oil, thereby driving the movement of these joints. For the fourth servo motor joint 3, the fifth servo motor joint 31 and the sixth servo motor joint 32, the motion controller directly controls the movement of these joints through electrical connection. During the movement process, the encoder detects the position and speed information of each joint in real time, and converts this information into electrical signals and sends them to the motion controller. Based on this information, the motion controller can monitor the movement state of the joint in real time and make corresponding control adjustments to ensure that the joint moves according to the predetermined trajectory and speed. The hydraulic drive component and the all-electric drive component work together under the coordination of the motion controller. The hydraulic drive assembly is mainly responsible for the transmission of large load capacity, which is achieved through the hydraulic motor joints, and the all-electric drive assembly is mainly responsible for high-precision and high-speed control, which is achieved through the servo motor joints. The coordinated work of the two enables the robot to withstand large loads and achieve high-precision operations. Under the coordinated movement of each joint, the mechanical gripper 45 can realize the function of grasping and manipulating objects. By controlling the movement of the mechanical gripper, the robot can complete various complex work tasks, such as carrying heavy objects, assembling parts, etc.

[0029] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0030] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A hydraulic, electromechanical combined heavy-duty manipulator robot, characterized in that: include: Base (1); A hydraulic drive assembly is installed on the top of the base (1), and a large load capacity can be transmitted through the hydraulic drive assembly; Wherein, a full electric drive assembly is installed on one side of the hydraulic drive assembly, and high-precision and high-speed control can be achieved through the full electric drive assembly; A control component is arranged inside the base (1), and the coordinated operation of the hydraulic drive component and the all-electric drive component can be controlled by the control component; The hydraulic drive assembly comprises a first hydraulic motor joint (2), a second-level hydraulic motor joint (21) and a third-level hydraulic motor joint (22); the first hydraulic motor joint (2) is mounted on the top of a base (1); a first mechanical arm (4) is commonly connected between the first hydraulic motor joint (2) and the second-level hydraulic motor joint (21); and a second mechanical arm (41) is commonly connected between the second-level hydraulic motor joint (21) and the third-level hydraulic motor joint (22).

2. The hydraulic-mechanical-electrical combined heavy-duty manipulator arm robot according to claim 1, characterized in that: The all-electric drive assembly comprises a fourth-level servo motor joint (3), a fifth-level servo motor joint (31) and a sixth-level servo motor joint (32); a third mechanical arm (42) is commonly connected between the fourth-level servo motor joint (3) and the third-level hydraulic motor joint (22); a fourth mechanical arm (43) is commonly connected between the fifth-level servo motor joint (31) and the fourth-level servo motor joint (3); a fifth mechanical arm (44) is commonly connected between the sixth-level servo motor joint (32) and the fifth-level servo motor joint (31); and a mechanical gripper (45) is connected to a side of the sixth-level servo motor joint (32) away from the fifth mechanical arm (44).

3. The hydraulic-mechanical-electrical combined heavy-duty manipulator arm robot according to claim 2, characterized in that: A hydraulic pump station (5) is arranged on the top of the base (1) at a side away from the first hydraulic motor joint (2), and the hydraulic pump station (5) is respectively connected to the first hydraulic motor joint (2), the second-stage hydraulic motor joint (21) and the third-stage hydraulic motor joint (22) through hydraulic pipelines, and a hydraulic combination valve is installed on the hydraulic pipeline.

4. The hydraulic-mechanical-electrical combined heavy-duty manipulator arm robot according to claim 3, characterized in that: The control component comprises a motion controller and a plurality of encoders, wherein the motion controller is connected to each encoder via a signal, and the first hydraulic motor joint (2), the second hydraulic motor joint (21), the third hydraulic motor joint (22), the fourth servo motor joint (3), the fifth servo motor joint (31) and the sixth servo motor joint (32) are respectively connected to one of the encoders.

5. The hydraulic-mechanical-electrical combined heavy-duty manipulator arm robot according to claim 4, characterized in that: The motion controller is electrically connected to the fourth-level servo motor joint (3), the fifth-level servo motor joint (31) and the sixth-level servo motor joint (32).

6. The hydraulic-mechanical-electrical combined heavy-duty manipulator arm robot according to claim 5, characterized in that: The motion controller is connected to the hydraulic pump station (5) via signals.

7. The hydraulic-mechanical-electrical combined heavy-duty manipulator arm robot according to claim 6, characterized in that: The motion controller is connected to the hydraulic combination valve via a signal.

8. The hydraulic-mechanical-electrical combined heavy-duty manipulator arm robot according to claim 7, characterized in that: The motion controller is connected to a PC terminal via a signal.

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