Hydraulic type large manipulator

Abstract

The invention belongs to the technical field of hydraulic mechanical grippers, and particularly relates to a hydraulic large manipulator which comprises a main body support, a rotary support fixedly connected to the main body support, and a hanging lug fixedly connected to the rotary support. The multiple mechanical grippers are rotationally connected to the main body support, and hydraulic cylinders are connected between the main body support and the mechanical grippers and used for driving the mechanical grippers to rotate; the main body support is of a rectangular frame structure, and a rotatable material winding mechanism is connected to the main body support and used for winding grabbed materials on the surface of the material winding mechanism. The material rolling mechanism is connected to the main body frame, grabbed materials are rolled through the material rolling mechanism, the problem that the long-strip-shaped materials are dragged on the ground after being grabbed, and loading is inconvenient is solved, the number of grabbed materials can be increased through the material rolling mechanism, meanwhile, the material rolling mechanism can ascend and descend, and the material rolling efficiency is improved. And grabbing of other types of materials by the manipulator is not influenced.

Description

Technical Field

[0001] The invention relates to the technical field of hydraulic manipulators, and in particular to a large hydraulic manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. Accumulated scrap steel and domestic garbage are generally grabbed and moved by a manipulator. The manipulator is generally driven by hydraulic steel to open and close two or four grippers to achieve the grabbing of materials.

[0003] When grabbing materials, the existing hydraulic manipulators clamp and fix the materials by closing the mechanical gripper, which is suitable for grabbing scattered and irregular materials. However, for slender materials, such as wire ropes and steel bars, most of the lower ends of the steel bars are dragged on the ground due to their long length, which makes it inconvenient to load and unload the materials. The steel bars dragged on the ground need to be loaded again, affecting the loading and unloading efficiency. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a large hydraulic manipulator that can reel in steel bars by connecting a coiling mechanism to a main support, aiming to solve the problem of inconvenient steel loading and unloading in the background technology.

[0005] In order to achieve the above technical objectives, the specific technical scheme of the present invention is as follows: a hydraulic large-scale manipulator proposed by the present invention comprises: a main body support, a slewing support is fixedly connected to the main body support, and a hanging ear is fixedly connected to the slewing support; a mechanical gripper, the mechanical gripper is provided with a plurality of and rotatably connected to the main body support, and a hydraulic cylinder is connected between the main body support and the mechanical gripper for driving the mechanical gripper to rotate; the main body support is a rectangular frame structure, and a rotatable winding mechanism is connected to the main body support for winding the grasped material on its surface; the winding mechanism comprises a connecting seat, which is fixedly installed in the main body support, and a rotating shaft is rotatably connected to the connecting seat, the rotating shaft extends to the bottom of the main body support, and the rotating shaft is rotatably connected to the main body support; a guide column is fixedly connected to the rotating shaft, and a lifting disk is connected to the surface of the guide column, and a plurality of reels are evenly fixedly connected to the lifting disk along its circumference, and the rotation of the rotating shaft drives the lifting disk and the reel to rotate, and the material is wound on the reel surface.

[0006] As a preferred technical solution of the present invention, a driven gear is connected to the rotating shaft, a driving motor is installed in the main body bracket, and a driving gear meshing with the driven gear is connected to the driving motor.

[0007] As a preferred technical solution of the present invention, a lifting cylinder is installed on the connecting seat to drive the lifting plate to move up and down. A connecting block is fixedly connected to the piston rod of the lifting cylinder, and the connecting block is slidably connected to the peripheral side of the lifting plate.

[0008] As a preferred technical solution of the present invention, a stopper is fixedly connected to the lower end of the guide column for unloading the steel material; and the reel passes through the stopper.

[0009] As a preferred technical solution of the present invention, a groove is provided on the inner side of the mechanical gripper, and a pair of side plates that can move to both sides are connected to the groove to prevent the steel from leaking; and a driving assembly is installed on the inner side of the mechanical gripper to drive the two side plates to move; when the mechanical gripper rotates inward, the two side plates can automatically extend out of the groove.

[0010] As a preferred technical solution of the present invention, the driving assembly includes: an adjusting disk, which is rotatably connected to the inner side of the mechanical gripper, and a vortex-shaped guide hole is provided on the surface of the adjusting disk; a guide frame, which has a U-shaped structure, and is fixedly connected to the inner side of the mechanical gripper, and is provided with a sliding hole, in which a pair of sliders are slidably connected, and a first connecting rod is rotatably connected between the slider and the side plate, and the slider is slidably connected to the guide hole; when the adjusting disk rotates, it drives the two sliders to move in different directions along the sliding hole, and when the slider moves, it drives the two side plates to move in different directions.

[0011] As a preferred technical solution of the present invention, a vertical slide groove is provided on the inner side of the mechanical gripper, a moving block is slidably connected in the slide groove, a rack is fixedly connected to the moving block, and a coaxially rotating cylindrical gear is connected to the adjusting disk, the cylindrical gear is meshed with the rack, and a second connecting rod is connected between the moving block and the main body bracket.

[0012] As a preferred technical solution of the present invention, a limiting strip is provided on the inner side surface of the groove, and a limiting groove slidably connected to the limiting strip is provided on the side plate.

[0013] The beneficial effects of the present invention are:

[0014] 1. The present invention connects a coiling mechanism to the main frame. When the mechanical gripper grabs the material, the coiling mechanism winds the grabbed material, thereby avoiding the problem that the long strip of material is dragged on the ground after being grabbed, which is inconvenient for loading. The coiling mechanism can also increase the amount of grabbed material output. At the same time, the coiling mechanism can be raised and lowered without affecting the manipulator's grabbing of other types of materials.

[0015] 2. The present invention connects a pair of retractable side plates to the mechanical gripper, and a driving assembly is connected to the mechanical gripper. When the mechanical gripper grabs the material, the rack cooperates with the driving assembly to drive the two automatic side plates to extend, thereby increasing the area covered by the mechanical gripper and reducing the spillage of the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a front view schematic diagram of a large hydraulic manipulator proposed by the present invention.

[0017] Figure 2 This is a three-dimensional schematic diagram of a hydraulic large-scale manipulator proposed by the present invention.

[0018] Figure 3 This is a schematic structural diagram of the main support proposed in the present invention.

[0019] Figure 4 It is a structural schematic diagram of the material coiling mechanism proposed in the present invention.

[0020] Figure 5 This is a schematic diagram of the structure of the mechanical gripper proposed in the present invention.

[0021] Figure 6 This is a schematic diagram of the structure of the drive assembly proposed in the present invention.

[0022] Figure 7 This is a schematic diagram from another angle of the driving assembly proposed by the present invention.

[0023] In the figure: 1. main support; 2. swivel support; 3. mechanical gripper; 31. driving assembly; 311. guide frame; 312. adjusting plate; 313. guide hole; 314. sliding hole; 315. sliding block; 316. first connecting rod; 317. cylindrical gear; 32. groove; 321. limit strip; 33. side plate; 331. limit groove; 34. sliding groove; 35. moving block; 36. rack; 4. winding mechanism; 41. connecting seat; 42. guide column; 43. block seat; 44. lifting plate; 45. reel; 46. lifting cylinder; 47. connecting block; 48. driven gear; 49. rotating shaft; 5. hydraulic cylinder; 6. second connecting rod; 7. hanging ear; 8. driving motor; 9. driving gear. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0025] Embodiment 1

[0026] This embodiment discloses a large hydraulic manipulator, such as Figure 1-Figure 4As shown, it includes: a main body support 1, which is a rectangular frame structure, and a swivel support 2 is fixedly connected to the main body support 1, and a hanging ear 7 is fixedly connected to the swivel support 2, and the manipulator is installed through the hanging ear; a mechanical gripper 3, the number of the mechanical grippers 3 can be two or four, the mechanical gripper 3 is rotatably connected to the main body support 1, and a hydraulic cylinder 5 is connected between the main body support 1 and the mechanical gripper 3, which is used to drive the mechanical gripper 3 to rotate, wherein each mechanical gripper 3 is equipped with a separate hydraulic cylinder 5; a rotatable winding mechanism 4 is connected to the main body support 1, and the winding mechanism 4 is arranged in the middle position below the main body support 1, and is used to wind the grasped long strip material on its surface; the problem of dragging the long strip material on the ground and making it inconvenient to load is avoided.

[0027] like Figure 3 and Figure 4 As shown, the winding mechanism 4 includes a connecting seat 41, which can be fixedly installed in the main bracket 1 by bolts, and a rotating shaft 49 is rotatably connected to the connecting seat 41, and the rotating shaft 49 extends to the bottom of the main bracket 1, and the rotating shaft 49 is rotatably connected to the main bracket 1; a guide column 42 is fixedly connected to the rotating shaft 49, and a lifting plate 44 is connected to the surface of the guide column 42. The lifting plate 44 can be lifted and lowered along the guide column 42, and the lifting plate 44 rotates with the rotating shaft 49, and a lifting cylinder 46 is installed on the connecting seat 41 to drive the lifting plate 44 to lift and lower, and a connecting block 47 is fixedly connected to the piston rod of the lifting cylinder 46, and the connecting block 47 is slidably connected to the side of the lifting plate 44, and a groove slidably connected to the lifting plate 44 is provided on the side of the connecting block 47, which does not affect the rotation of the lifting plate 44 along the rotating shaft 49, and the lifting cylinder 46 can drive the lifting plate 44 to lift and lower. A number of reels 45 are evenly and fixedly connected to the disk 44 along its circumference. The number of reels 45 can be 4-5 to achieve a better winding effect. The rotation of the rotating shaft 49 drives the lifting disk 44 and the reel 45 to rotate, and the material is wound on the surface of the reel 45; a driven gear 48 is connected to the rotating shaft 49, and the driven gear 48 is arranged above the connecting seat 41. A driving motor 8 is installed in the main frame 1, and a driving gear 9 meshing with the driven gear 48 is connected to the driving motor 8; the driving motor 8 drives the driving gear 9 to rotate, and then drives the driven gear 48 and the rotating shaft 49 to rotate, wherein a stop seat 43 is fixedly connected to the lower end of the guide column 42 for unloading steel materials, and the reel 45 passes through the stop seat 43 and can move up and down; when unloading, the lifting cylinder 46 drives the lifting disk 44 to rise, and the stop seat 43 blocks the material, so that the reel 45 can be pulled out of the material.

[0028] During specific implementation: when grabbing the material, the hydraulic cylinder 5 drives the mechanical gripper 3 to retract inward to grab the material, and then the lifting cylinder 46 drives the lifting plate 44 to descend, so that the reel 45 is inserted into the material, and then the driving motor 8 drives the driving gear 9 to rotate, and the driving gear 9 drives the driven gear 48 to rotate, thereby driving the rotating shaft 49, the guide column 42, the lifting plate 44, the stopper 43 and the reel 45 to rotate together; when the reel 45 rotates, it drives the long strip of material to be rolled up, and the long strip of material is wound on the surface of the reel 45, avoiding the problem of the material being dragged on the ground and causing inconvenience in loading and unloading. When unloading, the lifting cylinder 46 drives the lifting plate 44 to rise, and the lifting plate 44 drives the reel 45 to rise. The material falls on the loading vehicle under the obstruction of the stopper 43 and its own gravity, and the lifting cylinder 46 drives the lifting plate 44 and the reel 45 to rise, thereby reducing the space occupied by the reel 45 in the vertical direction, and does not affect the grabbing of other types of materials by the manipulator.

[0029] Embodiment 2

[0030] Based on the structure of the above embodiment 1, the difference is that Figure 1 and Figure 5 As shown, a groove 32 is provided on the inner side of the mechanical gripper 3, and a pair of side plates 33 that can move to both sides are connected in the groove 32. When the side plates 33 move to both sides, they are in an extended state, which increases the area of ​​the mechanical gripper and is used to prevent steel from leaking; when the side plates 33 move toward the middle, they can be stored in the groove 32; and a driving assembly 31 is installed on the inner side of the mechanical gripper 3, which is used to drive the two side plates 33 to automatically extend or retract; when the mechanical gripper 3 rotates inwardly, the two side plates 33 can automatically extend out of the groove 32; a vertical slide groove 34 is provided on the inner side of the mechanical gripper 3, and a moving block 35 is slidably connected in the slide groove 34, and a second connecting rod 6 is connected between the moving block 35 and the main bracket 1, and a rack 36 is fixedly connected to the moving block 35, and the rack 36 cooperates with the driving assembly 31 to drive the side plates 33 to move.

[0031] like Figure 6-Figure 7As shown, the driving assembly 31 includes: an adjusting disk 312, which is a disc structure, and the adjusting disk 312 is rotatably connected to the inner side of the mechanical gripper 3. The surface of the adjusting disk 312 is provided with a vortex-shaped guide hole 313; a guide frame 311, the guide frame 311 is a U-shaped structure, the guide frame 311 is horizontally arranged on the front side of the adjusting disk 312, and the guide frame 311 is fixedly connected to the inner side of the mechanical gripper 3, and a sliding hole 314 is provided on the guide frame 311, and the sliding hole 314 is horizontally arranged. A pair of sliders 315 are slidably connected in the sliding hole 314, and a first connecting rod 316 is rotatably connected between the slider 315 and the side plate 33, and the slider 315 and the guide hole 314 are connected. 13 sliding connection; a coaxially rotating cylindrical gear 317 is connected to the adjusting disk 312, the cylindrical gear 317 is arranged between the adjusting disk 312 and the inner side surface of the mechanical gripper 3, and the cylindrical gear 317 is meshed with the rack 36. When the adjusting disk 312 rotates, it drives the two sliders 315 to move in different directions along the sliding hole 314 respectively, and when the sliders 315 move, they drive the two side plates 33 to move in different directions respectively; a limiting strip 321 is provided on the inner side surface of the groove 32, and a limiting groove 331 slidingly connected to the limiting strip 321 is provided on the side plate 33, so that the side plate 33 moves stably in the groove 32 to prevent the side plate 33 from derailing from the groove 32.

[0032] During specific implementation: when the hydraulic cylinder 5 drives the mechanical gripper 3 to grab the material, when the mechanical gripper 3 rotates inward, the slider 315 slides downward along the slide groove 34 under the action of the second connecting rod 6, driving the rack 36 to move downward, and the rack 36 drives the adjusting disk 312 to rotate clockwise. When the adjusting disk 312 rotates, the two sliders 315 are driven to move away from each other along the slide hole 314 through the vortex-shaped guide hole 313, and then drive the two side plates 33 to extend outward, thereby increasing the area of ​​the mechanical gripper 3. At the same time, the side plates 33 play a role in blocking the material and reducing the leakage of the material; similarly, when unloading, the hydraulic cylinder 5 drives the mechanical gripper 3 to rotate outward, driving the slider 315 to slide upward, and the rack 36 drives the adjusting disk 312 to rotate counterclockwise, thereby driving the two side plates 33 to move closer to each other and be stored inside the groove 32, which does not affect the mechanical gripper 3 to insert into the material for grabbing next time.

[0033] Finally, it should be noted that in the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0034] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. 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 large hydraulic manipulator, characterized in that: include: A main body support (1), wherein a swivel support (2) is fixedly connected to the main body support (1), and a hanging ear (7) is fixedly connected to the swivel support (2); A mechanical gripper (3), the mechanical gripper (3) being provided with a plurality of parts and being rotatably connected to the main support (1), and a hydraulic cylinder (5) being connected between the main support (1) and the mechanical gripper (3) for driving the mechanical gripper (3) to rotate; The main frame (1) is in the form of a rectangular frame structure, and a rotatable material coiling mechanism (4) is connected to the main frame (1) for coiling the grabbed material onto its surface; The material coiling mechanism (4) comprises a connecting seat (41), the connecting seat (41) is fixedly mounted in the main frame (1), a rotating shaft (49) is rotatably connected to the connecting seat (41), the rotating shaft (49) extends to the bottom of the main frame (1), and the rotating shaft (49) is rotatably connected to the main frame (1); The rotating shaft (49) is fixedly connected to a guide column (42), the surface of the guide column (42) is connected to a lifting disk (44), and the lifting disk (44) is evenly and fixedly connected to a plurality of reels (45) along its circumference. The rotating shaft (49) rotates to drive the lifting disk (44) and the reels (45) to rotate, so that the material is wound on the surface of the reels (45).

2. A large hydraulic manipulator according to claim 1, characterized in that: The rotating shaft (49) is connected to a driven gear (48), a driving motor (8) is installed in the main frame (1), and the driving motor (8) is connected to a driving gear (9) meshing with the driven gear (48).

3. A large hydraulic manipulator according to claim 2, characterized in that: A lifting cylinder (46) is installed on the connection seat (41) for driving the lifting plate (44) to move up and down. A connecting block (47) is fixedly connected to the piston rod of the lifting cylinder (46). The connecting block (47) is slidably connected to the peripheral side of the lifting plate (44).

4. A large hydraulic manipulator according to claim 3, characterized in that: The lower end of the guide column (42) is fixedly connected with a stopper (43) for unloading the steel material; the reel (45) passes through the stopper (43).

5. A large hydraulic manipulator according to claim 1 or 4, characterized in that: The inner side surface of the mechanical gripper (3) is provided with a groove (32), and a pair of side plates (33) that can move toward both sides are connected to the inner side of the groove (32) to prevent the steel from leaking; and a driving component (31) is installed on the inner side surface of the mechanical gripper (3) to drive the two side plates (33) to move; when the mechanical gripper (3) rotates inward, the two side plates (33) can automatically extend out of the groove (32).

6. A large hydraulic manipulator according to claim 5, characterized in that: The driving assembly (31) comprises: an adjusting disk (312) rotatably connected to the inner side surface of the mechanical gripper (3), a surface of the adjusting disk (312) being provided with a vortex-shaped guide hole (313); a guide frame (311), the guide frame (311) being in a U-shaped structure, the guide frame (311) being fixedly connected to the inner side surface of the mechanical gripper (3), a sliding hole (314) being provided on the guide frame (311), a pair of sliders (315) being slidably connected in the sliding hole (314), a first connecting rod (316) being rotatably connected between the sliders (315) and the side plates (33), and the sliders (315) being slidably connected to the guide holes (313); when the adjusting disk (312) rotates, the two sliders (315) are driven to move in different directions along the sliding holes (314), and when the sliders (315) move, the two side plates (33) are driven to move in different directions.

7. A large hydraulic manipulator according to claim 6, characterized in that: The inner side of the mechanical gripper (3) is provided with a vertical slide groove (34), a moving block (35) is slidably connected in the slide groove (34), a rack (36) is fixedly connected to the moving block (35), and a coaxially rotating cylindrical gear (317) is connected to the adjusting disk (312), the cylindrical gear (317) is meshed with the rack (36), and a second connecting rod (6) is connected between the moving block (35) and the main support (1).

8. A large hydraulic manipulator according to claim 7, characterized in that: A limiting strip (321) is provided on the inner side of the groove (32), and a limiting groove (331) slidably connected to the limiting strip (321) is provided on the side plate (33).

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