Mechanical arm hydraulic lifting turnover platform based on hydraulic synchronization

Abstract

The invention provides a mechanical arm hydraulic lifting turnover platform based on hydraulic synchronization, which comprises a first mechanical arm, a second mechanical arm, a third mechanical arm, a first oil cylinder, a second oil cylinder, a third oil cylinder, a circular truncated cone and a hydraulic control system, the first oil cylinder, the second oil cylinder and the third oil cylinder are each provided with a magnetic displacement sensor and two stay wire absolute value encoders, and the hydraulic control system is connected with the first oil cylinder, the second oil cylinder, the third oil cylinder, the magnetic displacement sensors and the stay wire absolute value encoders. The hydraulic control system adopts a magnetic displacement sensor as main control displacement, the other two stay wire absolute value encoders are used for detection and comparison, and when the magnetic displacement sensor breaks down, the hydraulic control system adopts the stay wire absolute value encoders to replace the magnetic displacement sensor to serve as the main control displacement sensor. And the first oil cylinder, the second oil cylinder and the third oil cylinder are accurately controlled, so that the conditions of equipment damage and safety accidents are avoided.

Description

Technical Field

[0001] This application belongs to the technical field of performing arts equipment. More specifically, it relates to a robotic arm hydraulic lifting and flipping platform based on hydraulic synchronization. Background Art

[0002] There are multiple unique performing arts equipment in the performing arts show venue. Among them, the central lifting platform in the show venue is one of the key equipment for the performing arts show. The central lifting platform is presented simultaneously with the fountains, holographic lights, and the 360° immersive rotating water-based audience seats in the show venue, creating an immersive viewing experience with multiple spaces and scenes.

[0003] The existing central lifting platforms generally control the position of the lifting platform through displacement sensors. When the displacement sensors malfunction, it is easy to cause collisions of the lifting platform and pose safety hazards. Summary of the Invention

[0004] To solve the above problems, the technical solution adopted in this application is: to provide a robotic arm hydraulic lifting and flipping platform based on hydraulic synchronization, including a first robotic arm, a second robotic arm, a third robotic arm, a first oil cylinder, a second oil cylinder, a third oil cylinder, a turntable, and a hydraulic control system. One end of the first robotic arm is hinged to the ground, and the other end is hinged to the third robotic arm. One end of the second robotic arm is hinged to the middle of the third robotic arm, and the other end is slidably connected to the first robotic arm. The middle of the turntable is hinged to the end of the third robotic arm away from the first robotic arm. One end of the first oil cylinder is hinged to the ground, and the other end is hinged to the first robotic arm. One end of the second oil cylinder is hinged to the first robotic arm, and the other end is hinged to the sliding end of the second robotic arm. One end of the third oil cylinder is hinged to the third robotic arm, and the other end is hinged to the turntable. A magnetic displacement sensor and two wire-drawing absolute encoders are provided on each of the first oil cylinder, the second oil cylinder, and the third oil cylinder. The hydraulic control system is respectively connected to the first oil cylinder, the second oil cylinder, the third oil cylinder, the magnetic displacement sensor, and the wire-drawing absolute encoder.

[0005] Optionally, the number of the first robotic arm, the second robotic arm, the third robotic arm, the first oil cylinder, the second oil cylinder, and the third oil cylinder is two, and they are symmetrically arranged with respect to the central axis of the turntable.

[0006] Optionally, the hydraulic control system includes a hydraulic pump station. The hydraulic pump station is respectively connected to the first oil cylinder, the second oil cylinder, and the third oil cylinder through a plurality of hydraulic pipelines. Pressure-holding valves are provided on the hydraulic pipelines where the front chambers and the rear chambers of the first oil cylinder, the second oil cylinder, and the third oil cylinder are connected.

[0007] Optionally, servo proportional valves are provided on the hydraulic pipelines where the front chambers and the rear chambers of the first oil cylinder, the second oil cylinder, and the third oil cylinder are connected.

[0008] Optionally, a plurality of laser distance detection sensors are evenly arranged around the frustum.

[0009] Optionally, an arc-shaped avoidance groove is provided in the middle of the second robotic arm.

[0010] Optionally, a slide rail is fixedly connected to the first robotic arm, one end of the second robotic arm is slidably connected to the slide rail through a sliding bearing, and the driving end of the second oil cylinder is hinged to one end of the second robotic arm.

[0011] The beneficial effects of the robotic arm lifting and flipping platform provided by this application are as follows: Compared with the prior art, this application is provided with a magnetic displacement sensor and two wire-pulling absolute encoders on each of the first oil cylinder, the second oil cylinder, and the third oil cylinder. The hydraulic control system uses the magnetic displacement sensor as the main control displacement, and the other two wire-pulling absolute encoders are used for detection and comparison. When the magnetic displacement sensor fails, the hydraulic control system uses the wire-pulling absolute encoder to replace the magnetic displacement sensor as the main control displacement sensor to precisely control the first oil cylinder, the second oil cylinder, and the third oil cylinder, thereby avoiding equipment damage and safety accidents. Description of the Drawings

[0012] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0013] Figure 1 It is a schematic structural diagram of the robotic arm lifting and flipping platform provided by the embodiment of this application;

[0014] Figure 2 It is a schematic hydraulic principle diagram of the robotic arm lifting and flipping platform provided by the embodiment of this application;

[0015] Figure 3 It is a schematic diagram of the robotic arm lifting and flipping platform in the raised state provided by the embodiment of this application;

[0016] Figure 4 It is a schematic diagram of the robotic arm lifting and flipping platform flipped by 45° provided by the embodiment of this application;

[0017] Figure 5 It is a schematic diagram of the robotic arm lifting and flipping platform flipped by 70° provided by the embodiment of this application;

[0018] Figure 6 This is the top view of the robotic arm lifting and flipping platform provided by the embodiment of the present application;

[0019] Among them, each reference numeral in the figure:

[0020] 1. First robotic arm; 2. First oil cylinder; 3. Second oil cylinder; 4. Second robotic arm; 5. Slide rail; 6. Third robotic arm; 7. Third oil cylinder; 8. Round platform; 9. Laser distance detection sensor; 10. Stage. Detailed implementation manners

[0021] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0022] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0023] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0024] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0025] Please refer to Figures 1-6 together, and now the robotic arm lifting and flipping platform provided by the embodiment of the present application will be described.

[0026] A robotic arm hydraulic lifting and flipping platform based on hydraulic synchronization, refer to Figure 1, including a first robotic arm 1, a second robotic arm 4, a third robotic arm 6, a first oil cylinder 2, a second oil cylinder 3, a third oil cylinder 7, a frustum 8 and a hydraulic control system. One end of the first robotic arm 1 is hinged to the ground, and the other end is hinged to the third robotic arm 6. One end of the second robotic arm 4 is hinged to the middle of the third robotic arm 6, and the other end is slidably connected to the first robotic arm 1. The middle of the frustum 8 is hinged to the end of the third robotic arm 6 away from the first robotic arm 1. One end of the first oil cylinder 2 is hinged to the ground, and the other end is hinged to the first robotic arm 1. One end of the second oil cylinder 3 is hinged to the first robotic arm 1, and the other end is hinged to the sliding end of the second robotic arm 4. One end of the third oil cylinder 7 is hinged to the third robotic arm 6, and the other end is hinged to the frustum 8. A magnetic displacement sensor and two wire-drawing absolute encoders are provided on each of the first oil cylinder 2, the second oil cylinder 3 and the third oil cylinder 7. The hydraulic control system is respectively connected to the first oil cylinder 2, the second oil cylinder 3, the third oil cylinder 7, the magnetic displacement sensor and the wire-drawing absolute encoders.

[0027] The first oil cylinder 2 can drive the first robotic arm 1 to rotate around the end hinged to the ground. The second oil cylinder 3 can drive one end of the second robotic arm 4 to slide along the length direction of the first robotic arm 1, thereby driving the third robotic arm 6 to rotate around one end of the first robotic arm 1. The third oil cylinder 7 can drive the frustum 8 to rotate around the top of the third robotic arm 6, thereby realizing the lifting and flipping of the frustum 8. A magnetic displacement sensor and two wire-drawing absolute encoders are provided on each of the first oil cylinder 2, the second oil cylinder 3 and the third oil cylinder 7. The hydraulic control system uses the magnetic displacement sensor as the main control displacement, and the other two wire-drawing absolute encoders as detection and comparison. When the magnetic displacement sensor fails, the hydraulic control system uses the wire-drawing absolute encoder to replace the magnetic displacement sensor as the main control displacement sensor to precisely control the first oil cylinder 2, the second oil cylinder 3 and the third oil cylinder 7, thereby avoiding equipment damage and safety accidents.

[0028] In some embodiments of the present application, refer to Figure 6 , the numbers of the first robotic arm 1, the second robotic arm 4, the third robotic arm 6, the first oil cylinder 2, the second oil cylinder 3 and the third oil cylinder 7 are all two, and they are symmetrically arranged with respect to the central axis of the frustum 8.

[0029] Setting two first robotic arms 1, two second robotic arms 4, two third robotic arms 6, two first oil cylinders 2, two second oil cylinders 3 and two third oil cylinders 7, and symmetrically arranging them below the frustum 8 can better support the frustum 8 and provide sufficient supporting force.

[0030] In some embodiments of the present application, refer to Figure 2, the hydraulic control system includes a hydraulic pump station, and the hydraulic pump station is respectively connected to the first cylinder 2, the second cylinder 3, and the third cylinder 7 through a plurality of hydraulic pipelines. Pressure maintaining valves are provided on the hydraulic pipelines where the front chambers and rear chambers of the first cylinder 2, the second cylinder 3, and the third cylinder 7 are connected.

[0031] The hydraulic pump station transports hydraulic oil to the cylinders through hydraulic pipelines to drive the cylinders to extend and retract, and independently controls the extension and retraction of the first cylinder 2, the second cylinder 3, and the third cylinder 7 through a plurality of hydraulic pipelines. Pressure maintaining valves are provided on the hydraulic pipelines where the front chambers and rear chambers of the first cylinder 2, the second cylinder 3, and the third cylinder 7 are connected, which can avoid the leakage of hydraulic oil in the cylinders, enabling the robotic arm lifting and flipping platform to stay stably at any position, and can maintain the preset position without sliding for a long time, improving safety performance.

[0032] In some embodiments of the present application, refer to Figure 2 , servo proportional valves are provided on the hydraulic pipelines where the front chambers and rear chambers of the first cylinder 2, the second cylinder 3, and the third cylinder 7 are connected.

[0033] By providing servo proportional valves on the hydraulic pipelines where the front chambers and rear chambers of the first cylinder 2, the second cylinder 3, and the third cylinder 7 are connected, the front and rear chambers of the first cylinder 2, the second cylinder 3, and the third cylinder 7 can be precisely controlled, realizing various displacement controls of multiple cylinders synchronously and coordinately, ensuring that the turntable 8 does not collide with surrounding equipment, and improving the reliability and safety of the equipment.

[0034] In some embodiments of the present application, refer to Figure 1 , Figures 3-5 , a plurality of laser distance detection sensors are evenly arranged around the turntable 8.

[0035] By providing a plurality of laser distance detection sensors, when the turntable 8 deviates from the preset deviation from the center, the hydraulic control system controls each cylinder to stop immediately, avoiding the equipment from colliding with the surrounding and damaging the equipment, and further improving safety performance.

[0036] In some other embodiments of the present application, a plurality of laser distance detection sensors can also be arranged around the foundation pit of the stage 10.

[0037] In some embodiments of the present application, the number of laser distance detection sensors is 4. Optionally, the number of laser distance detection sensors can also be 6, 8, etc., which can be set according to specific requirements, and the present application does not make a limitation.

[0038] In some embodiments of the present application, refer to Figure 5 , an arc-shaped avoidance groove is provided in the middle of the second robotic arm 4.

[0039] Refer toFigure 5 , an arc-shaped avoidance groove is provided in the middle of the second robotic arm 4, which can avoid the interference of the hinge joint between the first robotic arm 1 and the third robotic arm 6 with the second robotic arm 4 when the turntable 8 rises to the highest position.

[0040] In some embodiments of the present application, refer to Figure 1 、 Figures 3-5 , the first robotic arm 1 is fixedly connected with a slide rail 5, one end of the second robotic arm 4 is slidably connected with the slide rail 5 through a sliding bearing, and the driving end of the second oil cylinder 3 is hinged with one end of the second robotic arm 4. The second oil cylinder 3 can drive one end of the second robotic arm 4 to slide along the slide rail 5, thereby driving the third robotic arm 6 to rotate around the end of the first robotic arm 1 to lift and lower the turntable 8.

[0041] In some embodiments of the present application, the hydraulic control system is provided with a one-key recovery function, enabling the equipment to have an emergency function and ensuring the normal use of the equipment.

[0042] The present application controls the coordinated operation of the three groups of oil cylinders on the basis of pairwise synchronization through a hydraulic control system, a high-precision magnetic displacement sensor, and two wire-drawing absolute encoders, ensuring that the robotic arm lifting turntable lifts along the central axis, with a deviation from the axis not exceeding 20 mm, a speed not less than 200 mm / s, and the synchronization accuracy of each group of oil cylinders not greater than 1 mm.

[0043] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A hydraulic lifting and flipping platform for a mechanical arm based on hydraulic synchronization, characterized in that: It includes a first mechanical arm, a second mechanical arm, a third mechanical arm, a first oil cylinder, a second oil cylinder, a third oil cylinder, a truncated table and a hydraulic control system, wherein one end of the first mechanical arm is hinged to the ground, and the other end is hinged to the third mechanical arm, one end of the second mechanical arm is hinged to the middle part of the third mechanical arm, and the other end is slidably connected to the first mechanical arm, and the middle part of the truncated table is hinged to an end of the third mechanical arm away from the first mechanical arm; one end of the first oil cylinder is hinged to the ground, and the other end is hinged to the first mechanical arm, one end of the second oil cylinder is hinged to the first mechanical arm, and the other end is hinged to the sliding end of the second mechanical arm, one end of the third oil cylinder is hinged to the third mechanical arm, and the other end is hinged to the truncated table; a magnetic displacement sensor and two pull-wire absolute encoders are each provided on the first oil cylinder, the second oil cylinder and the third oil cylinder, and the hydraulic control system is respectively connected to the first oil cylinder, the second oil cylinder, the third oil cylinder, the magnetic displacement sensor and the pull-wire absolute encoder.

2. The mechanical arm lifting and flipping platform according to claim 1, characterized in that: The number of the first mechanical arm, the second mechanical arm, the third mechanical arm, the first oil cylinder, the second oil cylinder and the third oil cylinder are all two, and they are symmetrically arranged with respect to the central axis of the truncated table.

3. The mechanical arm lifting and flipping platform according to claim 1, characterized in that: The hydraulic control system includes a hydraulic pump station, which is connected to the first oil cylinder, the second oil cylinder, and the third oil cylinder through multiple hydraulic pipelines. Pressure-maintaining valves are provided on the hydraulic pipelines connecting the front chamber and the rear chamber of the first oil cylinder, the second oil cylinder, and the third oil cylinder.

4. The mechanical arm lifting and turning platform according to claim 3, characterized in that: A servo proportional valve is provided on the hydraulic pipelines connecting the front chamber and the rear chamber of the first oil cylinder, the second oil cylinder and the third oil cylinder.

5. The mechanical arm lifting and turning platform according to claim 1, characterized in that: A plurality of laser distance detection sensors are evenly arranged around the truncated table.

6. The mechanical arm lifting and turning platform according to claim 1, characterized in that: An arc-shaped avoidance groove is arranged in the middle of the second mechanical arm.

7. The mechanical arm lifting and turning platform according to claim 1, characterized in that: The first mechanical arm is fixedly connected to a slide rail, one end of the second mechanical arm is slidably connected to the slide rail via a sliding bearing, and the driving end of the second oil cylinder is hinged to one end of the second mechanical arm.

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