Upper arm of mechanical arm

Abstract

The embodiment of the invention discloses an upper arm of a mechanical arm. The upper arm comprises a linear hydraulic cylinder, a hydraulic cylinder end cover, a large arm plate, a connecting piece, a valve block, a connecting rod mechanism, an elbow shaft and a small arm connecting piece. The hydraulic cylinder end cover is fixedly connected with the linear hydraulic cylinder; a hydraulic cylinder end cover oil hole is formed in the hydraulic cylinder end cover; the hydraulic cylinder end cover is connected with the large arm plate, and the large arm plate is provided with a plurality of large arm plate oil holes; a connecting piece oil hole is formed in the connecting piece, and the connecting piece oil hole is communicated with the hydraulic cylinder end cover oil hole; the valve block is connected with the hydraulic cylinder end cover through a connecting piece, a plurality of valve block oil holes are formed in the valve block, and the valve block oil holes are communicated with the connecting piece oil holes; the elbow shaft is connected with the big arm plate, an elbow shaft oil hole is formed in the elbow shaft, and the elbow shaft oil hole is communicated with the big arm plate oil hole; the small arm connecting piece is connected with the large arm plate through the elbow shaft, and the small arm connecting piece is provided with a small arm connecting piece oil hole communicated with the elbow shaft oil hole. According to the upper arm of the mechanical arm, a closed hydraulic oil pipeline is formed, and hydraulic oil transmission is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic robots, and particularly to an upper arm of a robotic arm. Background Art

[0002] A hydraulic humanoid robot is a humanoid robot that realizes motion control through a hydraulic drive system. The robotic arm is an important part of it. Due to the requirement of imitating humans, the size constraints need to be considered in the design process of the robotic arm. The traditional upper arm of a hydraulic-driven robotic arm usually includes a hydraulic hose, and the transmission of hydraulic oil depends on the hydraulic hose.

[0003] The hose occupies a certain space in the whole structure, making the structure of the robotic arm more complex and the volume larger. Moreover, the hose itself has weight, and this additional weight will affect the flexibility and speed of the robotic arm's movement. For example, in some scenarios where the robotic arm needs to respond quickly and operate precisely, the overweight robotic arm is difficult to complete actions quickly and accurately, resulting in reduced work efficiency. When the hydraulic system is working, the pressure is relatively high. In such a high-pressure environment for a long time, the hose is prone to leakage. At the same time, changes in factors such as environmental temperature and humidity will also accelerate the aging and damage of the hose. Once the hose leaks, ages or is damaged, the transmission of hydraulic oil will be unstable, and the robotic arm will experience problems such as jamming and shaking during operation, and it cannot work stably and reliably. In severe cases, it may even cause the robotic arm to stop moving, affecting the entire work process. When the robotic arm moves, the hose will continuously bend and twist. Each bend and twist requires overcoming a certain resistance, which causes energy loss. As the robotic arm operates for a long time, this energy loss accumulates continuously, and the robot needs to consume more energy to maintain movement, increasing the operating cost. Moreover, the energy loss will also lead to a decrease in the movement efficiency of the robotic arm and it cannot complete tasks efficiently. Therefore, there is room for improvement. Summary of the Invention

[0004] Based on this, it is necessary to propose an upper arm of a robotic arm for the above problems.

[0005] An upper arm of a robotic arm, comprising: a linear hydraulic cylinder, a hydraulic cylinder end cap, a large arm plate, a connecting member, a valve block, a linkage mechanism, an elbow shaft, and a small arm connecting member; the hydraulic cylinder end cap is fixedly connected to the linear hydraulic cylinder, and the hydraulic cylinder end cap is provided with a hydraulic cylinder end cap oil hole for hydraulic oil transmission; the large arm plate, the hydraulic cylinder end cap is connected to the large arm plate, and the large arm plate is provided with a plurality of large arm plate oil holes, including a large arm plate oil hole communicating with the hydraulic cylinder end cap oil hole; the connecting member, on which a connecting member oil hole is opened, and the connecting member oil hole communicates with the hydraulic cylinder end cap oil hole; the valve block is arranged on the outer periphery of the linear hydraulic cylinder and is connected to the hydraulic cylinder end cap through the connecting member, and the valve block is provided with a plurality of valve block oil holes, and the valve block oil holes communicate with the connecting member oil holes; the linkage mechanism, the output shaft of the linear hydraulic cylinder is connected to the linkage mechanism; the elbow shaft is connected to one end of the large arm plate away from the hydraulic cylinder end cap, and the elbow shaft is provided with an elbow shaft oil hole, and the elbow shaft oil hole communicates with the large arm plate oil hole; the small arm connecting member is connected to the large arm plate through the elbow shaft, and the small arm connecting member is provided with a small arm connecting member oil hole communicating with the elbow shaft oil hole.

[0006] According to an embodiment of the present invention, the linkage mechanism includes: a first link, a second link, and a link shaft, and the first link and the second link are connected through the link shaft.

[0007] In some embodiments, the output shaft of the linear hydraulic cylinder is connected to the link shaft.

[0008] In some embodiments, the upper arm of the robotic arm further includes: a support member, the support member is connected to the second link; and / or; further includes: a connecting plate, and the large arm plate is fixed on the connecting plate.

[0009] According to an embodiment of the present invention, the end cap oil hole includes: a first end cap oil hole and a second end cap oil hole, and the first end cap oil hole and the second end cap oil hole communicate.

[0010] In some embodiments, the large arm plate oil hole includes: a first large arm plate oil hole and a second large arm plate oil hole, and the first end cap oil hole communicates with the first large arm plate oil hole.

[0011] In some embodiments, the connecting member oil hole includes: a first connecting member oil hole and a second connecting member oil hole, and the first connecting member oil hole communicates with the second end cap oil hole.

[0012] In some embodiments, the valve block oil hole includes: a valve block oil hole in a first direction and a valve block oil hole in a second direction, the second connecting member oil hole communicates with the valve block oil hole in the first direction, and the valve block oil hole in the second direction communicates with the valve block oil hole in the first direction through an externally added servo valve.

[0013] In some embodiments, the elbow shaft oil hole includes: a first elbow shaft oil hole and a second elbow shaft oil hole;

[0014] The boom plate oil hole further includes: a third boom plate oil hole, and the second boom plate oil hole communicates with the third boom plate oil hole; the first elbow shaft oil hole communicates with the third boom plate oil hole.

[0015] In some embodiments, the forearm connecting piece oil hole includes: a first forearm connecting piece oil hole and a second forearm connecting piece oil hole, and the first forearm connecting piece oil hole communicates with the second forearm connecting piece oil hole; the second elbow shaft oil hole communicates with the second forearm connecting piece oil hole.

[0016] Adopting the embodiments of the present invention has the following beneficial effects:

[0017] According to the upper arm of the robotic arm of the embodiment of the present invention, the hydraulic cylinder end cover is fixedly connected to the linear hydraulic cylinder. The hydraulic cylinder end cover is provided with a hydraulic cylinder end cover oil hole, and the linear hydraulic cylinder is provided with a linear hydraulic cylinder oil hole, and the oil holes of the two communicate with each other. The hydraulic cylinder end cover is connected to the boom plate, and an internal oil passage hole is provided inside the boom plate, and a boom plate oil hole is provided outside the boom plate, and the boom plate oil hole communicates with the internal oil passage hole. The internal oil passage hole inside the boom plate communicates with the hydraulic cylinder end cover oil hole to form an initial hydraulic oil transmission channel. The hydraulic oil enters its internal oil passage hole from the boom plate oil hole, and then enters the hydraulic cylinder end cover oil hole from the internal oil passage hole, ensuring that the hydraulic oil can smoothly enter the hydraulic cylinder end cover from the boom plate, avoiding the complexity of hose connection; the connecting piece oil hole communicates with the hydraulic cylinder end cover oil hole, further extending the hydraulic oil transmission path; the valve block is connected to the hydraulic cylinder end cover through the connecting piece and the valve block oil hole communicates with the connecting piece oil hole, enabling the hydraulic oil to smoothly enter the linear hydraulic cylinder. Compared with a hose, this connection method is more stable and reduces space occupation; the output shaft of the linear hydraulic cylinder is connected to the link mechanism. Driven by it, the output shaft of the linear hydraulic cylinder moves linearly to pull the link mechanism to rotate, and the link mechanism pulls the forearm connecting piece to rotate, thereby converting the linear motion into the rotational motion of the link mechanism, causing the forearm connecting piece to rotate and realizing the rotational motion of the elbow joint. The structure is compact and efficient; the elbow shaft is connected to the boom plate and its oil hole communicates with the boom plate oil hole. The forearm connecting piece is connected to the boom plate through the elbow shaft and the oil holes communicate, providing a path for the hydraulic oil to be transmitted to the forearm connecting piece. The entire structure removes the hose, making the structure of the robotic arm simpler, more compact, reducing the weight, improving the motion flexibility and speed, reducing the leakage risk, and reducing the energy loss. Description of the Drawings

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0019] Wherein:

[0020] Figure 1 is a schematic structural view of the upper arm of the robotic arm according to an embodiment of the present invention from a perspective;

[0021] Figure 2 is a schematic structural view of the upper arm of the robotic arm according to an embodiment of the present invention from another perspective;

[0022] Figure 3 is a schematic structural view of the upper arm of the robotic arm according to an embodiment of the present invention from yet another perspective;

[0023] Figure 4 is Figure 3 a cross-sectional view taken along line C-C in;

[0024] Figure 5 is Figure 4 an enlarged view of the structure at O in;

[0025] Figure 6 is Figure 4 an enlarged view of the structure at K in;

[0026] Figure 7 is a schematic structural view of the large arm plate, including a schematic structural view of the large arm plate from a perspective, a schematic structural view of the large arm plate from another perspective, and a cross-sectional view of the large arm plate from another perspective;

[0027] Figure 8 is a schematic structural view of the connecting member, including a schematic structural view of the connecting member from a perspective, a schematic structural view of the connecting member from another perspective, and a cross-sectional view of the connecting member from another perspective;

[0028] Figure 9 is a schematic structural view of the hydraulic cylinder end cover and a cross-sectional view of this structure;

[0029] Figure 10 is a schematic structural view of the valve block, including a schematic structural view of the valve block from one perspective, a schematic structural view of the valve block from another perspective, and a cross-sectional view of the valve block from another perspective;

[0030] Figure 11 is a schematic structural view of the elbow shaft and a cross-sectional view of this structure;

[0031] Figure 12It is a schematic structural diagram of the forearm connecting member, including the structural schematic diagram of the forearm connecting member from one perspective, the structural schematic diagram of the forearm connecting member from another perspective, and the structural sectional view of the forearm connecting member from another perspective.

[0032] Reference numerals:

[0033] Upper arm 100 of the robotic arm,

[0034] Linear hydraulic cylinder 10, output shaft 101 of the linear hydraulic cylinder,

[0035] Hydraulic cylinder end cover 20, hydraulic cylinder end cover oil hole 201, end cover first oil hole 201a, end cover second oil hole 201b,

[0036] Large arm plate 30, large arm plate oil hole 301, large arm plate first oil hole 301a, large arm plate second oil hole 301b, large arm plate third oil hole 301c, internal oil passage hole 301d,

[0037] Connecting member 40, connecting member oil hole 401, connecting member first oil hole 401a, connecting member second oil hole 401b,

[0038] Valve block 50, valve block oil hole 501, valve block oil hole 5011 in the first direction, valve block first oil hole 5011a, valve block second oil hole 5011b, valve block oil hole 5012 in the second direction, valve block third oil hole 5012a, valve block fourth oil hole 5012b,

[0039] Link mechanism 60, first link 601, second link 602, link shaft 603,

[0040] Elbow shaft 70, elbow shaft oil hole 701, elbow shaft first oil hole 701a, elbow shaft second oil hole 701b,

[0041] Forearm connecting member 80, forearm connecting member oil hole 801, forearm connecting member first oil hole 801a, forearm connecting member second oil hole 801b,

[0042] Support member 90, connecting plate 91. Detailed implementation manner

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] As Figures 1 - 12As shown in the figure, the upper arm 100 of the robotic arm according to an embodiment of the present invention includes: a linear hydraulic cylinder 10, a hydraulic cylinder end cover 20, a large arm plate 30, a connecting member 40, a valve block 50, a linkage mechanism 60, an elbow shaft 70, and a small arm connecting member 80. The hydraulic cylinder end cover 20 is fixedly connected to the linear hydraulic cylinder 10, and the hydraulic cylinder end cover 20 is provided with a hydraulic cylinder end cover oil hole 201 for hydraulic oil transmission; the hydraulic cylinder end cover is connected to the large arm plate 30, and the large arm plate 30 is provided with a large arm plate oil hole 301, including a large arm plate oil hole 301 communicating with the hydraulic cylinder end cover oil hole 201, forming a hydraulic oil pipeline so that hydraulic oil can enter the hydraulic cylinder end cover from the large arm plate.

[0045] The connecting member 40 is provided with a connecting member oil hole 401, and the connecting member oil hole 401 communicates with the hydraulic cylinder end cover oil hole 201. By connecting the connecting member oil hole 401 with the hydraulic cylinder end cover oil hole 201, the connecting member oil hole 401 and the hydraulic cylinder end cover oil hole 201 form a hydraulic oil pipeline, and hydraulic oil enters through this pipeline.

[0046] The valve block 50 is arranged on the outer periphery of the linear hydraulic cylinder 10 and is connected to the hydraulic cylinder end cover through a connecting member. The valve block 50 is provided with a plurality of valve block oil holes 501, and the valve block oil holes 501 communicate with the connecting member oil holes 401 to form a hydraulic oil pipeline so that hydraulic oil can enter the linear hydraulic cylinder 10.

[0047] The output shaft 101 of the linear hydraulic cylinder is connected to the linkage mechanism 60. During the linear movement of the output shaft 101 of the linear hydraulic cylinder, it drives the linkage mechanism 60 to rotate, and the linkage mechanism 60 is connected to the small arm connecting member 80, thereby driving the small arm connecting member 80 to rotate together to achieve the rotational movement of the elbow joint.

[0048] The elbow shaft 70 is connected to the end of the large arm plate 30 away from the hydraulic cylinder end cover. The elbow shaft 70 is provided with an elbow shaft oil hole 701, and the elbow shaft oil hole 701 communicates with the large arm plate oil hole 301, so that the elbow shaft oil hole 701 and the large arm plate oil hole 301 communicate to form a hydraulic oil pipeline.

[0049] The small arm connecting member 80 is connected to the large arm plate 30 through the elbow shaft. The small arm connecting member 80 is provided with a small arm connecting member oil hole 801 communicating with the elbow shaft oil hole 701, so that the small arm connecting member oil hole 801 and the elbow shaft oil hole 701 communicate to form a hydraulic oil pipeline.

[0050] Wherein, the linkage mechanism is movably connected to the small arm connecting member and movably connected to the large arm plate; the linear movement of the output shaft of the linear hydraulic cylinder pulls the linkage mechanism to rotate, causing the small arm connecting member to rotate.

[0051] According to the upper arm of the robotic arm according to an embodiment of the present invention, the hydraulic cylinder end cover is fixedly connected to the linear hydraulic cylinder. The hydraulic cylinder end cover is provided with a hydraulic cylinder end cover oil hole, and the linear hydraulic cylinder is provided with a linear hydraulic cylinder oil hole. The oil holes of the two are interconnected. The hydraulic cylinder end cover is connected to the large arm plate. An internal oil passage hole 301d is provided inside the large arm plate, and a large arm plate oil hole is provided outside the large arm plate. The large arm plate oil hole is communicated with the internal oil passage hole. The internal oil passage hole in the large arm plate is communicated with the hydraulic cylinder end cover oil hole to form an initial hydraulic oil transmission channel. The hydraulic oil enters its internal oil passage hole from the large arm plate oil hole, and then enters the hydraulic cylinder end cover oil hole from the internal oil passage hole, ensuring that the hydraulic oil can smoothly enter the hydraulic cylinder end cover from the large arm plate and avoiding the complexity of hose connection; the connecting piece oil hole is communicated with the hydraulic cylinder end cover oil hole, further extending the hydraulic oil transmission path; the valve block is connected to the hydraulic cylinder end cover through the connecting piece and the valve block oil hole is communicated with the connecting piece oil hole, enabling the hydraulic oil to smoothly enter the linear hydraulic cylinder. Compared with a hose, this connection method is more stable and reduces space occupancy; the output shaft of the linear hydraulic cylinder is connected to the link mechanism. Under the drive, the output shaft of the linear hydraulic cylinder moves linearly to pull the link mechanism to rotate, and the link mechanism pulls the small arm connecting piece to rotate, thereby converting the linear motion into the rotational motion of the small arm connecting piece and realizing the rotational motion of the elbow joint. The structure is compact and efficient; the elbow shaft is connected to the large arm plate and its oil hole is communicated with the large arm plate oil hole. The small arm connecting piece is connected to the large arm plate through the elbow shaft and the oil holes are communicated, providing a path for the hydraulic oil to be transmitted to the small arm connecting piece. The entire structure removes the hose, making the structure of the robotic arm simpler, more compact, reducing the weight, improving the movement flexibility and speed, reducing the leakage risk, and reducing the energy loss.

[0052] According to an embodiment of the present invention, as Figure 1 shown, in the linear motion of the linear hydraulic cylinder 10, in order to be able to realize the rotational movement of the small arm connecting piece, it is achieved by setting the link mechanism 60. The link mechanism 60 includes: a first link 601, a second link 602, and a link shaft 603. The first link 601 and the second link 602 are connected through the link shaft 603. Among them, one end of the first link 601 far from the link shaft 603 is connected to the small arm connecting piece, so that when the link mechanism 60 rotates, the small arm connecting piece can be driven to rotate together.

[0053] Specifically, the linkage mechanism 60 includes: a first connecting rod 601, a second connecting rod 602, and a connecting rod shaft 603. By driving the linear hydraulic cylinder, its output shaft 101 is connected to the connecting rod shaft 603 and pulls the connecting rod shaft 603 to move. The connecting rod shaft 603 is simultaneously connected to the first connecting rod 601 and the second connecting rod 602: one end of the first connecting rod 601 away from the connecting rod shaft 603 is connected to the forearm connecting member 80 through a first rotating shaft. When the connecting rod shaft 603 is driven by the hydraulic cylinder to move, it pulls the first connecting rod 601 to act, and then makes the forearm connecting member 80 rotate around the axis through the first rotating shaft; one end of the second connecting rod 602 away from the connecting rod shaft 603 is connected to the large arm plate through a second rotating shaft. This rotating shaft restricts the movement trajectory of the second connecting rod 602, making it act as a support structure to provide a fulcrum for the first connecting rod 601, and realizing that the linear movement of the output shaft 101 of the hydraulic cylinder is transmitted to the first connecting rod 601 through the connecting rod shaft 603 and converted into the rotational movement of the forearm connecting member 80.

[0054] The hydraulic oil first enters the oil hole of the large arm plate. Since the large arm plate is connected to the end cover of the hydraulic cylinder and their oil holes are communicated, the hydraulic oil flows into the oil hole of the end cover of the hydraulic cylinder. Then, because the oil hole of the connecting member is communicated with the oil hole of the end cover of the hydraulic cylinder, the hydraulic oil enters the connecting member. Subsequently, the valve block is connected to the end cover of the hydraulic cylinder through the connecting member, and the oil hole of the valve block is communicated with the oil hole of the connecting member, and the hydraulic oil enters the linear hydraulic cylinder therefrom.

[0055] When the hydraulic oil in the linear hydraulic cylinder pushes the piston, the output shaft of the linear hydraulic cylinder makes a linear movement. The output shaft of the linear hydraulic cylinder is connected to the linkage mechanism and pulls the linkage mechanism to move. The first connecting rod and the second connecting rod in the linkage mechanism are connected by a connecting rod shaft. The output shaft pulls the connecting rod shaft to rotate, causing the first connecting rod and the second connecting rod to rotate accordingly. One end of the first connecting rod away from the connecting rod shaft is connected to the forearm connecting member, thereby driving the forearm connecting member to rotate and realizing the rotational movement of the elbow joint.

[0056] In some embodiments, as Figure 1 shown, in order to ensure that the power of the output shaft of the linear hydraulic cylinder can be effectively transmitted to the linkage mechanism 60 and realize stable motion conversion. Therefore, the output shaft of the linear hydraulic cylinder is connected to the connecting rod shaft 603. That is to say, when the hydraulic oil in the linear hydraulic cylinder 10 pushes the output shaft to move, the output shaft will pull the connecting rod shaft 603 to move. Since the connecting rod shaft 603 is connected to the first connecting rod 601 and the second connecting rod 602, and the first connecting rod is connected to the forearm connecting member through a first rotating shaft, by pulling the first connecting rod to rotate, the first connecting rod pulls the forearm connecting member to rotate. For example, when the output shaft of the hydraulic cylinder extends, the output shaft pushes the connecting rod shaft away from the hydraulic cylinder, pulling the first connecting rod and the second connecting rod to rotate, and making the included angle formed by the first connecting rod and the second connecting rod gradually increase to a predetermined angle to realize the extension of the elbow; when the output shaft retracts, the included angle formed by the first connecting rod and the second connecting rod gradually decreases to a predetermined angle to realize the flexion of the elbow.

[0057] In some embodiments, as Figure 1 shown, in order to enhance the stability and overall performance of the structure of the upper arm 100 of the robotic arm, the upper arm 100 of the robotic arm further includes: a support member 90, and the support member 90 is connected to the second link 602. The connection between the support member 90 and the second link 602 can provide additional support for the link mechanism 60, reduce the swaying and vibration of the link mechanism 60 during movement, and enhance the stability of the entire upper arm 100 of the robotic arm during operation.

[0058] In some embodiments, as Figure 1 shown, the upper arm 100 of the robotic arm further includes: a connecting plate 91, and the large arm plate 30 is fixed on the connecting plate 91. The fixation of the large arm plate 30 on the connecting plate 91 can make the relative positions of the components more stable, make the overall structure more compact, improve the rigidity and durability of the upper arm 100 of the robotic arm, and ensure the reliable operation of the robotic arm.

[0059] According to an embodiment of the present invention, as Figure 9 shown, the end cover oil hole includes: an end cover first oil hole 201a and an end cover second oil hole 201b, and the end cover first oil hole 201a and the end cover second oil hole 201b are communicated to form a hydraulic oil pipeline, so that the hydraulic oil flows in from within this pipeline.

[0060] In some embodiments, as Figure 7 shown, in order to ensure that the hydraulic oil can be smoothly transmitted from the large arm plate 30 to the hydraulic cylinder end cover, the large arm plate oil hole 301 includes: a large arm plate first oil hole 301a and a large arm plate second oil hole 301b, and the end cover first oil hole 201a is communicated with the large arm plate first oil hole 301a, so that the hydraulic oil flows from the large arm plate first oil hole 301a into the end cover first oil hole 201a, and further enables the hydraulic oil to flow smoothly into the large arm plate, ensuring the transmission continuity of the hydraulic oil in the upper arm 100 of the robotic arm.

[0061] In some embodiments, as Figure 8 shown, the connector oil hole includes: a connector first oil hole 401a and a connector second oil hole 401b, and the connector first oil hole 401a is communicated with the end cover second oil hole 201b, so that the hydraulic oil flows from the end cover second oil hole 201b into the connector first oil hole 401a.

[0062] In some embodiments, as Figure 10As shown, in order to achieve the transmission of hydraulic oil from the cylinder head of the hydraulic cylinder to the valve block through the connecting piece, the valve block oil hole 501 includes: the valve block oil hole 5011 in the first direction and the valve block oil hole 5012 in the second direction. The second oil hole 401b of the connecting piece is communicated with the valve block oil hole 5011 in the first direction, so that the hydraulic oil flows from the second oil hole 401b of the connecting piece into the valve block oil hole 5011 in the first direction. The valve block oil hole in the second direction is communicated with the valve block oil hole in the first direction through an externally added servo valve, so that the hydraulic oil flows from the valve block oil hole 5011 in the first direction into the valve block oil hole 5012 in the second direction.

[0063] Under normal circumstances, the hydraulic oil flows from the second oil hole 401b of the connecting piece into the valve block oil hole 5011 in the first direction to ensure the preliminary transmission of the hydraulic oil; the valve block oil hole in the second direction is communicated with the valve block oil hole in the first direction through an externally added servo valve, which can change the flow direction and flow rate of the hydraulic oil. For example, when the robotic arm needs different movement speeds or forces, the connection state of the valve block oil holes can be adjusted by controlling the external force to achieve precise control of the linear hydraulic cylinder 10 and improve the working adaptability of the robotic arm.

[0064] The valve block oil hole 5011 in the first direction includes the valve block first oil hole 5011a and the valve block second oil hole 5011b. The valve block oil hole 5012 in the second direction includes: the valve block third oil hole 5012a and the valve block fourth oil hole 5012b.

[0065] Specifically, as Figure 10 shown, the valve block oil hole 5011 in the first direction: the valve block oil hole 5011 in the first direction is located on Figure 10 the horizontal channel in. Among them, the valve block first oil hole 5011a is in the left part of the horizontal channel, and the valve block second oil hole 5011b is in the right part of the horizontal channel. It should be noted that the valve block oil hole 5011 in the first direction after the valve block second oil hole 5011b is marked indicates that the valve block second oil hole 5011b is provided on the valve block oil hole 5011 in the first direction, that is, the valve block second oil hole 5011b is a part of the valve block oil hole 5011 in the first direction. Similarly, the valve block first oil hole 5011a is also included in the valve block oil hole 5011 in the first direction.

[0066] The valve block oil hole 5012 in the second direction: the valve block oil hole 5012 in the first direction is located on Figure 10 the longitudinal channel in. The valve block third oil hole 5012a is located in the upper part of the longitudinal channel, and the valve block fourth oil hole 5012b is located in the lower part of the longitudinal channel. The valve block oil hole 5011 in the first direction and the valve block oil hole 5012 in the second direction intersect at the middle part. It should be noted that the valve block third oil hole 5012a is included in the valve block oil hole 5012 in the second direction, and the valve block fourth oil hole 5012b is also included in the valve block oil hole 5012 in the second direction.

[0067] In some embodiments, as Figure 11 shown, in order to make the path of the hydraulic oil from the boom plate to the elbow shaft and ensure that the hydraulic oil can reach the forearm connector smoothly. The elbow shaft oil hole 701 includes: the first elbow shaft oil hole 701a and the second elbow shaft oil hole 701b; the boom plate oil hole 301 further includes: the third boom plate oil hole 301c, and the second boom plate oil hole 301b communicates with the third boom plate oil hole 301c;

[0068] The first elbow shaft oil hole 701a communicates with the third boom plate oil hole 301c, providing a complete path for the hydraulic oil to be transmitted from the boom plate to the elbow shaft. The hydraulic oil can pass through these oil holes smoothly and finally reach the forearm connector, ensuring the continuous transmission of the hydraulic oil among the components of the upper arm 100 of the robotic arm and maintaining the stable operation of the robotic arm.

[0069] In some embodiments, as Figure 12 shown, in order to ensure the stable transmission of the hydraulic oil between the elbow shaft and the forearm connector and provide stable hydraulic power for the forearm connector. The forearm connector oil hole 801 includes: the first forearm connector oil hole 801a and the second forearm connector oil hole 801b, and the first forearm connector oil hole 801a communicates with the second forearm connector oil hole 801b; the second elbow shaft oil hole 701b communicates with the second forearm connector oil hole 801b, thus ensuring that the hydraulic oil can be smoothly transmitted from the elbow shaft to the forearm connector and providing stable hydraulic power for the movement of the forearm connector. The hydraulic oil flows in these connected oil holes, ensuring the stability and reliability of the movement of the upper arm of the robotic arm and enabling the robotic arm to complete various complex actions.

[0070] It should be noted that the hydraulic cylinder end cover is fixed to the linear hydraulic cylinder, and the hydraulic cylinder end cover is connected to the boom plate through the first bearing to realize the rotation of the linear hydraulic cylinder itself during operation, so that the linear motion of the output shaft of the linear hydraulic cylinder can be converted into the rotational motion of the elbow joint, overcoming the mechanical resistance during the conversion of linear motion and rotational motion. Specifically, when the linear hydraulic cylinder is working, its output shaft makes a linear motion, driving the whole linear hydraulic cylinder to have a rotational tendency. The inner ring of the first bearing rotates with the hydraulic cylinder end cover, the outer ring is relatively fixed to the boom plate, and the rolling elements roll between the inner and outer rings, greatly reducing the friction force and ensuring that the linear hydraulic cylinder can rotate smoothly around the first bearing to realize the rotation of the elbow joint.

[0071] The forearm connecting piece is connected to the large arm plate through the elbow shaft. In the robotic arm structure, the elbow shaft is located between the forearm connecting piece and the large arm plate, ensuring the rotational connection between the two, reducing the energy loss and component wear caused by friction, improving the stability and accuracy of the robotic arm movement, and extending the service life of the robotic arm. Specifically, when the forearm connecting piece rotates relative to the large arm plate, the inner ring of the second bearing rotates with the forearm connecting piece, the outer ring is relatively fixed to the large arm plate, and the rolling elements roll between the inner and outer rings, reducing the friction coefficient between components, decreasing the frictional force, and ensuring that the components can rotate smoothly and efficiently.

[0072] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention 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 thus should not be construed as a limitation of the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0073] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "mounted", "connected", and "connected to" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0074] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0075] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An upper arm of a robotic arm, characterized in that, Comprising: Linear hydraulic cylinder; Hydraulic cylinder end cover, fixedly connected to the linear hydraulic cylinder, and the hydraulic cylinder end cover is provided with a hydraulic cylinder end cover oil hole for hydraulic oil transmission; Large arm plate, the hydraulic cylinder end cover is connected to the large arm plate, and the large arm plate is provided with a large arm plate oil hole, including a large arm plate oil hole communicating with the hydraulic cylinder end cover oil hole; Connecting piece, on which a connecting piece oil hole is opened, and the connecting piece oil hole communicates with the hydraulic cylinder end cover oil hole; Valve block, arranged on the outer periphery of the linear hydraulic cylinder, connected to the hydraulic cylinder end cover through the connecting piece, the valve block is provided with a valve block oil hole, and the valve block oil hole communicates with the connecting piece oil hole; Link mechanism, the output shaft of the linear hydraulic cylinder is movably connected to the link mechanism; Elbow shaft, connected to one end of the large arm plate away from the hydraulic cylinder end cover, and the elbow shaft is provided with an elbow shaft oil hole, and the elbow shaft oil hole communicates with the large arm plate oil hole; Small arm connecting piece, connected to the large arm plate through the elbow shaft, and the small arm connecting piece is provided with a small arm connecting piece oil hole communicating with the elbow shaft oil hole; Wherein, the link mechanism is movably connected to the small arm connecting piece, and the link mechanism is movably connected to the large arm plate; the output shaft of the linear hydraulic cylinder moves linearly to pull the link mechanism to rotate, so that the small arm connecting piece rotates.

2. The upper arm of the robotic arm according to claim 1, wherein, The link mechanism includes: a first link, a second link and a link shaft, and the first link is connected to the second link through the link shaft.

3. The upper arm of the robotic arm according to claim 2, characterized in that, The output shaft of the linear hydraulic cylinder is connected to the link shaft.

4. The upper arm of the robotic arm according to claim 2, characterized in that, Further comprising: Supporting piece, the supporting piece is connected to the second link; And / or; Further comprising: a connecting plate, and the large arm plate is fixed on the connecting plate.

5. The upper arm of the robotic arm according to claim 1, characterized in that, The end cover oil hole includes: an end cover first oil hole and an end cover second oil hole, and the end cover first oil hole and the end cover second oil hole communicate.

6. The upper arm of the robotic arm according to claim 5, characterized in that, The large arm plate oil hole includes: a large arm plate first oil hole and a large arm plate second oil hole, and the end cover first oil hole communicates with the large arm plate first oil hole.

7. The upper arm of the robotic arm according to claim 5, characterized in that, The connecting piece oil hole includes: a connecting piece first oil hole and a connecting piece second oil hole, and the connecting piece first oil hole communicates with the end cover second oil hole.

8. The upper arm of the robotic arm according to claim 7, characterized in that, The valve block oil hole includes: a valve block oil hole in a first direction and a valve block oil hole in a second direction, the connecting piece second oil hole communicates with the valve block oil hole in the first direction, and the valve block oil hole in the second direction communicates with the valve block oil hole in the first direction through an externally added servo valve.

9. The upper arm of the robotic arm according to claim 6, wherein, The elbow shaft oil hole includes: an elbow shaft first oil hole and an elbow shaft second oil hole; The large arm plate oil hole further includes: a large arm plate third oil hole, and the large arm plate second oil hole and the large arm plate third oil hole communicate; The elbow shaft first oil hole communicates with the large arm plate third oil hole.

10. The upper arm of the robotic arm according to claim 9, characterized in that, The small arm connecting piece oil hole includes: a small arm connecting piece first oil hole and a small arm connecting piece second oil hole, and the small arm connecting piece first oil hole communicates with the small arm connecting piece second oil hole; The elbow shaft second oil hole communicates with the small arm connecting piece second oil hole.

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