A walking type hydraulic mechanical arm for carrying a bearing sleeve

Abstract

The application relates to the technical field of mechanical arms, in particular to a walking type hydraulic mechanical arm for carrying a bearing sleeve; the walking type hydraulic mechanical arm comprises a bottom plate, a sliding rail is fixedly connected to the bottom plate, a supporting base is slidably connected to the sliding rail, a mechanical arm is rotatably connected to the supporting base, a clamping jaw mechanism is arranged at one end of the mechanical arm, a buffer plate is slidably connected to each end of the bottom plate, buffer springs are arranged between the buffer plates and the bottom plate, and brake structures are arranged at the two ends of the bottom plate; the walking type hydraulic mechanical arm effectively solves the problems that the existing carrying mechanical arm is prone to tilting when walking to a fixed position for grabbing or placing, the clamping jaw cannot clamp the bearing sleeve at the center position when the clamping jaw clamps the bearing sleeve, the clamping jaw is prone to tilting when being transported, the bearing sleeve is prone to misplacement when being placed, and the bearing sleeve cannot be placed at the fixed position; and the stability of the mechanical arm during working is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically a walking hydraulic robotic arm for transporting and carrying bearing bushings. Background Technology

[0002] During the production of aluminum coils in the workshop, the load-bearing bushings need to be moved and transferred. The load-bearing bushings are placed on the rotating shaft of the winding machine to facilitate the winding of aluminum into the load-bearing bushings. Due to the large weight of the load-bearing bushings, manual handling is inefficient. Existing handling devices use robotic arms for transfer, thereby improving handling efficiency.

[0003] However, existing robotic arms for material handling have the following problems:

[0004] When existing handling robotic arms are used to grasp and place bearing bushings, they tend to move around when they need to move to a fixed position for grasping or placing. This can cause the grippers to not grip the center of the bearing bushing. During transfer, the grippers are prone to tilting, which can lead to misalignment when placing the bearing bushing, preventing it from being placed in the fixed position.

[0005] Therefore, the present invention provides a mobile hydraulic robotic arm for transporting load-bearing bushings to solve the above problems. Summary of the Invention

[0006] Therefore, the technical problem to be solved by the present invention is to provide a walking hydraulic robotic arm for transporting bearing bushings, which effectively solves the problems of existing handling robotic arms moving to a fixed position for grasping or placing, causing the gripper to easily move and tilt, resulting in the gripper not gripping the center position of the bearing bushing, and the gripper easily tilting during transfer, causing misalignment when placing the bearing bushing, resulting in the bearing bushing not being placed in the fixed position.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0008] A mobile hydraulic robotic arm for transporting bearing bushings includes a base plate, on which two parallel slide rails are fixedly connected. A support base is slidably connected to the slide rails. One end of the robotic arm is rotatably connected to the support base. A gripper mechanism is installed at the other end of the robotic arm. Buffer plates are slidably connected to both ends of the base plate. A buffer spring is installed between the buffer plate and the base plate. A brake structure is installed at both ends of the base plate.

[0009] The braking structure includes two brake rods slidably connected to the base plate. A brake block is fixedly connected to the upper end of the brake rod. A brake groove that mates with the brake block is opened at the bottom of the support base. Push plates are fixedly connected to both sides of the buffer plate. A push linkage is connected between the push plate and the brake rod. A one-way limiting structure for limiting the sliding of the brake rod is provided on the base plate.

[0010] Preferably, the unidirectional limiting structure includes multiple control rods slidably connected to the base plate. The control rods are distributed on one side near the brake rod. A self-locking groove is provided on one side of the brake rod. The cross-section of the self-locking groove is set as a right-angled triangle. A self-locking block that cooperates with the self-locking groove is fixedly connected to one end of the control rod. A self-locking spring is installed between the control rod and the base plate. A push control structure is connected to the control rod.

[0011] Preferably, the push control structure includes a control slider slidably connected to both ends of the slide rail, two driven wheels installed at one end of the support base, and two drive wheels installed at the other end of the support base, a drive motor for driving the drive wheels is installed on the support base, the drive wheels are used to control the sliding of the control slider, a control push plate is fixedly connected to the control slider, an unlocking push plate that cooperates with the control push plate is fixedly connected to the control rod, and a push spring is installed between the control slider and the slide rail.

[0012] Preferably, a plurality of rubber strips are fixedly connected to the upper end face of the control slider.

[0013] Preferably, a triangular support block is fixedly connected to the brake lever, a sliding ring is slidably connected to the brake lever, a mating sliding block that cooperates with the support block is slidably connected to the sliding ring, a compression spring is installed between the mating sliding block and the sliding ring, one end of the sliding ring is rotatably connected to the push rod, the other end of the push rod is rotatably connected to the push plate, an unlocking spring is installed between the base plate and the brake lever, an inclined unlocking mating plate is fixedly connected to the end of the mating sliding block away from the support block, and an unlocking control plate that cooperates with the unlocking mating plate is fixedly connected to the base plate.

[0014] Preferably, the cross-sections of both the brake block and the brake groove are set as isosceles trapezoids.

[0015] Preferably, a buffer rubber block is fixedly connected to one end face of the buffer plate near the support base.

[0016] Preferably, the gripper mechanism includes a support arm fixedly connected to the top of the robotic arm and a clamping arm rotatably connected to the top of the robotic arm. A clamping hydraulic rod is installed between the clamping arm and the robotic arm. A support base is fixedly connected to the end of the support arm away from the robotic arm. A clamping top plate is fixedly connected to the end of the clamping arm away from the robotic arm. Correcting rods are slidably connected to both sides of the clamping top plate. A control roller is rotatably connected to the lower end of the correcting rod. V-shaped limiting plates are rotatably connected to both ends of the clamping top plate. The end of the correcting rod away from the control roller is slidably connected to the end of the limiting plate. A return spring is installed between the correcting rod and the clamping top plate.

[0017] Preferably, the pressing top plate and the support seat are provided with multiple sliding grooves on the side that are close to each other, and a guide plate is slidably connected inside the sliding groove. A tension spring is installed between the guide plate and the sliding groove.

[0018] The technical solution of the present invention achieves the following beneficial technical effects:

[0019] By adding a base plate, slide rail, support base, robotic arm, buffer plate, buffer spring, brake lever, brake block, brake groove, push plate, push linkage, control lever, self-locking slot, self-locking block, and self-locking spring, the problem of easy movement of the gripper when the existing handling robotic arm moves to a fixed position for grasping or placing is effectively solved. This problem causes the gripper to not grip the center position of the bearing bush when it is picked up, and during transfer, the gripper is prone to tilting, which can lead to misalignment when placing the bearing bush and prevent it from being placed in the fixed position. The solution is achieved by adding a control slider, driven wheel, drive wheel, drive motor, control push plate, and unlocking mechanism. The push plate and push spring are used to control the sliding of the control slider by controlling the drive wheel, thereby controlling the brake block and brake groove to disengage. By adding a support block, sliding ring, mating sliding block, clamping spring, unlocking spring, unlocking mating plate and unlocking control plate, the brake block and brake groove can be quickly disengaged when transfer is required, reducing the impact of the brake block and brake groove on the sliding of the support base. By adding a support arm, clamping arm, clamping hydraulic rod, support seat, clamping top plate, straightening rod, control roller, limit plate and return spring, the bearing bushing is restricted to a fixed position. This invention can effectively improve the stability of the robotic arm during operation and improve work efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall installation of the present invention;

[0021] Figure 2 This is a schematic diagram of the installation position of the internal structure of the present invention;

[0022] Figure 3 This is a schematic cross-sectional view of the base plate of the present invention;

[0023] Figure 4 For the present invention Figure 3 Enlarged view of a portion of point A in the middle;

[0024] Figure 5 This is a schematic diagram showing the installation position of the control slider according to the present invention;

[0025] Figure 6 This is a schematic diagram showing the control lever of the present invention in use;

[0026] Figure 7 This is a cross-sectional view of the brake lever of the present invention;

[0027] Figure 8 For the present invention Figure 7 Enlarged view of a portion of point B in the middle;

[0028] Figure 9 This is a schematic diagram of the gripper mechanism of the present invention;

[0029] Figure 10 This is a schematic diagram of the straightening rod of the present invention;

[0030] The reference numerals in the diagram represent: 1. Base plate; 2. Slide rail; 3. Support base; 4. Robotic arm; 5. Buffer plate; 6. Buffer spring; 7. Brake lever; 8. Brake block; 9. Brake groove; 10. Push plate; 11. Push linkage; 12. Control lever; 13. Self-locking slot; 14. Self-locking block; 15. Self-locking spring; 16. Control slider; 17. Driven wheel; 18. Drive wheel; 19. Control push plate; 20. Unlock push plate; 21. Push spring; 22. 23. Rubber strip; 24. Support block; 25. Sliding ring; 26. Matching sliding block; 27. Compression spring; 28. Unlocking spring; 39. Unlocking mating plate; 30. Unlocking control plate; 31. Buffer rubber block; 32. Support arm; 33. Compression arm; 34. Compression hydraulic rod; 35. Support seat; 36. Compression top plate; 37. Correction rod; 38. Control roller; 49. Limit plate; 40. Reset spring; 41. Sliding groove; 42. Guide plate; 43. Tension spring. Detailed Implementation

[0031] The foregoing and other technical contents, features and effects of the present invention are described in conjunction with the appendix below. Figures 1 to 10 The detailed description of the embodiments will clearly demonstrate this. All structural details mentioned in the following embodiments are based on the accompanying drawings.

[0032] In the description of this invention, it should be understood that the terms "upper," "middle," "outer," "inner," etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0033] Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings.

[0034] Example 1: A mobile hydraulic robotic arm for transporting a bearing bushing includes a base plate 1. Two parallel slide rails 2 are fixedly connected to the base plate 1. A support base 3 is slidably connected to the slide rails 2. One end of a robotic arm 4 is rotatably connected to the support base 3. A hydraulic cylinder is installed between the robotic arm 4 and the support base 3. The hydraulic cylinder controls the swing of the robotic arm 4 to transport the bearing bushing. A gripper mechanism is installed at the other end of the robotic arm 4 to grip the bearing bushing. Buffer plates 5 are slidably connected to both ends of the base plate 1. Buffer springs 6 are installed between the buffer plates 5 and the base plate 1. In the initial state, the buffer plates 5 are pushed towards the support base 3 by the buffer springs 6, thus achieving a buffering effect when the support base 3 slides towards the buffer plates 5. A buffer rubber block 32 is fixedly connected to the end face of the buffer plate 5 near the support base 3 to protect the support base 3.

[0035] Braking structures are installed at both ends of the base plate 1. The braking structure includes two brake rods 7 that are slidably connected to the base plate 1. The brake rods 7 can slide up and down on the base plate 1. A brake block 8 is fixedly connected to the upper end of the brake rod 7. A brake groove 9 that cooperates with the brake block 8 is opened at the bottom of the support base 3. Push plates 10 are fixedly connected to both sides of the buffer plate 5. A push rod 11 is connected between the push plate 10 and the brake rod 7.

[0036] When the bearing bush needs to be transferred during use, the support base 3 slides towards the buffer plate 5 to transfer the bearing bush. After the support base 3 and the buffer plate 5 come into contact, the buffer spring 6 is compressed, causing the buffer plate 5 to slide away from the base plate 1. The buffer plate 5 drives the push plate 10 to slide synchronously. At the same time, the push plate 10 controls the brake rod 7 to slide towards the support base 3 through the push linkage 11, thereby enabling the brake block 8 to be inserted into the brake groove 9. The cross sections of the brake block 8 and the brake groove 9 are both set as isosceles trapezoids to facilitate their fit. This locks the support base 3 in the current position, preventing the support base 3 from shaking and causing displacement deviation when the bearing bush is clamped or placed, which would cause deviation when the gripper mechanism clamps the bearing bush.

[0037] The base plate 1 is equipped with a one-way limiting structure to restrict the sliding of the brake lever 7. The one-way limiting structure can be a ratchet and pawl mechanism, with a ratchet on the brake lever 7 and a pawl on the base plate 1. This allows the brake lever 7 to slide upwards and downwards, restricting it. The pawl is controlled to rotate by a servo motor. When it is necessary to release the brake and move the vehicle, the servo motor is activated to control the pawl to rotate, thereby unlocking the ratchet and pawl. As a result, when the support base 3 slides away from the buffer plate 5, the buffer spring 6 pushes the buffer plate 5 to slide closer to the base plate 1. This, in turn, pushes the connecting rod 11 to control the brake lever 7 to slide away from the support base 3, thus separating the brake block 8 from the brake groove 9 and achieving the brake engagement state. The one-way limiting structure ensures that the brake block 8 is locked inside the brake groove 9, preventing the brake block 8 from unlocking due to the sliding of the support base 3.

[0038] This embodiment provides another unidirectional limiting structure, including multiple control rods 12 slidably connected to the base plate 1. The control rods 12 are distributed on one side near the brake rod 7. A self-locking groove 13 is provided on one side of the brake rod 7. The cross-section of the self-locking groove 13 is set as a right-angled triangle. One end of the control rod 12 is fixedly connected to a self-locking block 14 that cooperates with the self-locking groove 13. The cross-section of the self-locking block 14 is also set as a right-angled triangle. A self-locking spring 15 is installed between the control rod 12 and the base plate 1. In the initial state, the self-locking spring 15 pushes the control rod 12 to slide towards the self-locking groove 13, so that the self-locking block 14 is engaged in the self-locking groove 13. In use, the self-locking block 14 is engaged in the self-locking groove 13. (Refer to the attached figure.) Figure 6 The inclined surface of the self-locking block 14 and the inclined surface of the self-locking groove 13 are engaged. When the brake lever 7 slides upward, the inclined surface of the self-locking groove 13 pushes the inclined surface of the self-locking block 14, causing the self-locking block 14 to push the control lever 12 away from the brake lever 7 to compress the self-locking spring 15. After the brake lever 7 slides upward to the limit position, the straight edge surface of the self-locking block 14 and the straight edge surface of the locking groove 13 are engaged, restricting the brake lever 7 to the current position and preventing the brake lever 7 from sliding downward.

[0039] A push control structure is connected to the control lever 12; the push control structure includes a control slider 16 slidably connected to both ends of the slide rail 2, two driven wheels 17 are installed at one end of the support base 3, and two drive wheels 18 are installed at the other end of the support base 3, a drive motor for driving the drive wheels 18 is installed on the support base 3, the drive motor is connected to an external power supply, the drive wheels 18 are used to control the sliding of the control slider 16, when it is necessary to move, the drive motor starts to drive the drive wheels 18 to rotate, a control push plate 19 is fixedly connected to the control slider 16, an unlock push plate 20 that cooperates with the control push plate 19 is fixedly connected to the control lever 12, and a push spring 21 is installed between the control slider 16 and the slide rail 2. In the initial state, the push spring 21 pushes the control slider 16 to push it closer to the support base 3;

[0040] In use, the drive motor drives the drive wheel 18 to rotate, which causes the support base 3 to slide onto the control slider 16. At this time, the support base 3 slides to a fixed position to clamp or place the bearing bush.

[0041] After use, the drive motor rotates in the reverse direction, causing the drive wheel 18 to rotate in the reverse direction. At this time, under the action of friction, the drive wheel 18 first drives the control slider 16 to slide away from the support base 3. At this time, the control slider 16 pushes the unlocking push plate 20 to slide away from the brake lever 7 through the control push plate 19. The unlocking push plate 20 drives the control lever 12 to slide away from the brake lever 7. At this time, the self-locking block 14 and the self-locking groove 13 separate. At this time, the brake lever 7 can slide away from the support base 3, so that the brake block 8 and the brake groove 9 separate.

[0042] Multiple rubber strips 22 are fixedly connected to the upper end face of the control slider 16. The rubber strips 22 are used to increase friction.

[0043] A triangular support block 23 is fixedly connected to the brake lever 7. A sliding ring 24 is slidably connected to the brake lever 7, and the sliding ring 24 is fitted onto the brake lever 7. A mating sliding block 27 that cooperates with the support block 23 is slidably connected to the sliding ring 24. A compression spring 28 is installed between the mating sliding block 27 and the sliding ring 24. The end of the mating sliding block 27 near the support block 23 is triangular. In the initial state, under the action of the compression spring 28, the mating sliding block 27 is pushed towards the support block 23. The sliding ring 24 is rotatably connected to one end of the push rod 11. The other end of the moving link 11 is rotatably connected to the push plate 10. An unlocking spring 29 is installed between the base plate 1 and the brake lever 7. In the initial state, under the action of the unlocking spring 29, the brake lever 7 is pushed away from the brake groove 9. An inclined unlocking mating plate 30 is fixedly connected to the end of the sliding block 27 away from the support block 23. An unlocking control plate 31 that mates with the unlocking mating plate 30 is fixedly connected to the base plate 1. The unlocking control plate 31 is L-shaped. An inclined guide plate is provided at the lower end of the unlocking control plate 31. The guide plate and the unlocking mating plate 30 mate with each other.

[0044] In use, the push link 11 drives the sliding ring 24 to slide on the brake lever 7. When the push link 11 drives the sliding ring 24 to slide upward, the straight surface of the sliding block 27 and the straight edge of the support block 23 come into contact. The sliding block 27 pushes the support block 23 to slide upward in sync. The support block 23 drives the brake lever 7 to slide upward in sync. After the brake lever 7 slides upward to its limit position, the unlocking control plate 31 slides the unlocking mating plate 30 away from the support block 23, so that the mating sliding block 27 and the support block 23 are disengaged. Under the action of the unlocking spring 29, the brake lever 7 is pushed away from the brake groove 9, so that the brake block 8 and the brake groove 9 are separated.

[0045] When the buffer plate 5 is reset under the action of the buffer spring 6, the push rod 11 drives the sliding ring 24 to slide downward. At this time, the inclined surface of the sliding block 27 and the inclined surface of the support block 23 come into contact. The inclined surface of the support block 23 pushes the sliding block 27 to slide away from the brake lever 7. After the sliding block 27 slides past the position of the support block 23, under the action of the compression spring 28, the sliding block 27 is pushed to move closer to the support block 23. The straight edge of the sliding block 27 and the straight edge of the support block 23 are in contact.

[0046] Example 2, based on Example 1, provides a limiting structure for a bearing bushing. Specifically, the gripper mechanism includes a support arm 33 fixedly connected to the top of the robotic arm 4 and a clamping arm 34 rotatably connected to the top of the robotic arm 4. A clamping hydraulic rod 35 is installed between the clamping arm 34 and the robotic arm 4. A support seat 36 is fixedly connected to the end of the support arm 33 away from the robotic arm 4, and the cross-section of the support seat 36 is arc-shaped. A clamping top plate 37 is fixedly connected to the end of the clamping arm 34 away from the robotic arm 4, and the cross-section of the clamping top plate 37 is arc-shaped. In use, the bearing bushing is placed inside the support seat 36, and the hydraulic rod 35 pushes the clamping arm 34 to swing, thereby causing the clamping top plate 37 to clamp the bearing bushing. Both sides of the pressing top plate 37 are slidably connected to a straightening rod 38. The lower end of the straightening rod 38 is rotatably connected to a control roller 39. Both ends of the pressing top plate 37 are rotatably connected to a V-shaped limiting plate 40. The end of the straightening rod 38 away from the control roller 39 is slidably connected to the end of the limiting plate 40. The end of the limiting plate 40 near the straightening rod 38 has a groove. The end of the straightening rod 38 near the limiting plate 40 is fixedly connected to a sliding shaft that is slidably connected to the groove. A return spring 41 is installed between the straightening rod 38 and the pressing top plate 37. In the initial state, the return spring 41 drives the straightening rod 38 to be pulled towards the support seat 36. The straightening rod 38 drives the end of the limiting plate 40 near the straightening rod 38 to swing downward.

[0047] In use, the bearing bushing is placed inside the support base 36. The hydraulic rod 35 pushes the clamping arm 34 to swing, thereby causing the clamping top plate 37 to clamp the bearing bushing. When the clamping top plate 37 clamps the bearing bushing, the control roller 39 is pushed away from the bearing bushing after contact with it. The straightening rod 38 drives the limiting plate 40 to swing, causing the end of the limiting plate 40 away from the straightening rod 38 to swing downward until the end of the limiting plate 40 away from the straightening rod 38 is perpendicular to the clamping top plate 37. During the swing, the bearing bushing is pushed to slide towards the center of the support base 36, thereby controlling the position of the bearing bushing and ensuring that the bearing bushing will not slip when it is transferred.

[0048] Multiple sliding grooves 42 are provided on the side of the pressing top plate 37 and the support base 36 that are close to each other. A guide plate 43 is slidably connected inside the sliding groove 42. A tension spring 44 is installed between the guide plate 43 and the sliding groove 42. In the initial state, the tension spring 44 controls the guide plate 43 to be in the middle position of the sliding groove 42. When the bearing bush is placed on the guide plate 43, the limiting plate 40 pushes the bearing bush to slide inside the support base 36, and simultaneously drives the guide plate 43 to slide, thereby reducing friction and protecting the bearing bush.

[0049] In practice,

[0050] The bearing bushing is placed inside the support base 36. The hydraulic rod 35 pushes the clamping arm 34 to swing, thereby causing the clamping top plate 37 to clamp the bearing bushing. When the clamping top plate 37 clamps the bearing bushing, the control roller 39 is pushed away from the bearing bushing after contact with it. The straightening rod 38 drives the limiting plate 40 to swing, causing the end of the limiting plate 40 away from the straightening rod 38 to swing downward until the end of the limiting plate 40 away from the straightening rod 38 is perpendicular to the clamping top plate 37. During the swing, the bearing bushing is pushed to slide towards the center of the support base 36, thereby controlling the position of the bearing bushing and ensuring that the bearing bushing will not slip when it is transferred.

[0051] When the bearing bush needs to be transferred, the drive motor drives the drive wheel 18 to rotate, causing the support base 3 to slide onto the control slider 16. The support base 3 slides towards the buffer plate 5 to transfer the bearing bush. After the support base 3 contacts the buffer plate 5, the buffer spring 6 is compressed, causing the buffer plate 5 to slide away from the base plate 1. The buffer plate 5 drives the push plate 10 to slide synchronously. At the same time, the push plate 10 drives the sliding ring 24 to slide on the brake rod 7 through the push rod 11. When the push rod 11 drives the sliding ring 24 to slide upward, the straight surface of the sliding block 27 contacts the straight edge of the support block 23. The sliding block 27 pushes the support block 23 to slide upward synchronously. The support block 23 drives the brake rod 7 to slide upward synchronously until the brake rod 7 slides upward to the limit position. Then, the brake block 8 locks the brake groove 9 to achieve the operation of fixing the brake. At this time, the support base 3 slides to a fixed position to clamp or place the bearing bush.

[0052] After the brake lever 7 slides upward to its limit position, the unlocking control plate 31 will slide the unlocking mating plate 30 away from the support block 23, so that the mating sliding block 27 and the support block 23 are disengaged.

[0053] When transfer is required, the drive motor rotates in the opposite direction, causing the drive wheel 18 to rotate in the opposite direction. At this time, under the action of friction, the drive wheel 18 first drives the control slider 16 to slide away from the support base 3. At this time, the control slider 16 pushes the unlocking push plate 20 to slide away from the brake lever 7 through the control push plate 19. The unlocking push plate 20 drives the control lever 12 to slide away from the brake lever 7. At this time, the self-locking block 14 and the self-locking groove 13 separate. Under the action of the unlocking spring 29, the brake lever 7 is pushed away from the brake groove 9, so that the brake block 8 and the brake groove 9 separate.

[0054] When the buffer plate 5 is reset under the action of the buffer spring 6, the push link 11 drives the sliding ring 24 to slide downward. At this time, the inclined surface of the sliding block 27 and the inclined surface of the support block 23 come into contact. The inclined surface of the support block 23 pushes the sliding block 27 to slide away from the brake lever 7. After the sliding block 27 slides past the position of the support block 23, under the action of the compression spring 28, the sliding block 27 is pushed to move closer to the support block 23. The straight edge of the sliding block 27 and the straight edge of the support block 23 are in contact.

[0055] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of the claims of this patent application.

Claims

1. A mobile hydraulic robotic arm for transporting bearing bushings, comprising a base plate (1), on which two parallel slide rails (2) are fixedly connected, and a support base (3) is slidably connected to the slide rails (2), and one end of a robotic arm (4) is rotatably connected to the support base (3), and a gripper mechanism is installed at the other end of the robotic arm (4), characterized in that, Both ends of the base plate (1) are slidably connected to buffer plates (5), and buffer springs (6) are installed between the buffer plates (5) and the base plate (1). Both ends of the base plate (1) are equipped with brake structures. The braking structure includes two brake rods (7) slidably connected to the base plate (1). A brake block (8) is fixedly connected to the upper end of the brake rod (7). Both ends of the bottom of the support base (3) are provided with brake grooves (9) that cooperate with the brake block (8). Push plates (10) are fixedly connected to both sides of the buffer plate (5). A push connecting rod (11) is connected between the push plate (10) and the brake rod (7). A one-way limiting structure for limiting the sliding of the brake rod (7) is provided on the base plate (1). The unidirectional limiting structure includes multiple control rods (12) slidably connected to the base plate (1). The control rods (12) are distributed on one side near the brake rod (7). A self-locking groove (13) is provided on one side of the brake rod (7). The cross-section of the self-locking groove (13) is set as a right triangle. One end of the control rod (12) is fixedly connected to a self-locking block (14) that cooperates with the self-locking groove (13). A self-locking spring (15) is installed between the control rod (12) and the base plate (1). A push control structure is connected to the control rod (12). The push control structure includes control sliders (16) slidably connected to both ends of the slide rail (2). Multiple rubber strips (22) are fixedly connected to the upper end of the control slider (16). Two driven wheels (17) are installed at one end of the support base (3), and two drive wheels (18) are installed at the other end of the support base (3). A drive motor for driving the drive wheels (18) is installed on the support base (3). The drive wheels (18) are used to control the sliding of the control slider (16). A control push plate (19) is fixedly connected to the control slider (16). An unlocking push plate (20) that cooperates with the control push plate (19) is fixedly connected to the control rod (12). A push spring (21) is installed between the control slider (16) and the slide rail (2). A triangular support block (23) is fixedly connected to the brake lever (7). A sliding ring (24) is slidably connected to the brake lever (7). A matching sliding block (27) that cooperates with the support block (23) is slidably connected to the sliding ring (24). A compression spring (28) is installed between the matching sliding block (27) and the sliding ring (24). One end of the sliding ring (24) is rotatably connected to the push rod (11). The other end of the push rod (11) is rotatably connected to the push plate (10). An unlocking spring (29) is installed between the base plate (1) and the brake lever (7). An inclined unlocking matching plate (30) is fixedly connected to the end of the matching sliding block (27) away from the support block (23). An unlocking control plate (31) that cooperates with the unlocking matching plate (30) is fixedly connected to the base plate (1).

2. The mobile hydraulic robotic arm for transporting and carrying bearing bushings according to claim 1, characterized in that, The cross sections of both the brake block (8) and the brake groove (9) are set as isosceles trapezoids.

3. The mobile hydraulic robotic arm for transporting and carrying bearing bushings according to claim 1, characterized in that, A buffer rubber block (32) is fixedly connected to one end face of the buffer plate (5) near the support base (3).

4. The mobile hydraulic robotic arm for transporting and carrying bearing bushings according to claim 1, characterized in that, The gripper mechanism includes a support arm (33) fixedly connected to the top of the robotic arm (4) and a clamping arm (34) rotatably connected to the top of the robotic arm (4). A clamping hydraulic rod (35) is installed between the clamping arm (34) and the robotic arm (4). A support seat (36) is fixedly connected to the end of the support arm (33) away from the robotic arm (4). A clamping top plate (37) is fixedly connected to the end of the clamping arm (34) away from the robotic arm (4). A straightening rod (38) is slidably connected to both sides of the clamping top plate (37). A control roller (39) is rotatably connected to the lower end of the straightening rod (38). A V-shaped limiting plate (40) is rotatably connected to both ends of the clamping top plate (37). A return spring (41) is installed between the straightening rod (38) and the clamping top plate (37).

5. A mobile hydraulic robotic arm for transporting and carrying bearing bushings according to claim 4, characterized in that, Multiple sliding grooves (42) are provided on the side of the pressing top plate (37) and the support base (36) that are close to each other. A guide plate (43) is slidably connected inside the sliding groove (42). A tension spring (44) is installed between the guide plate (43) and the sliding groove (42).

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