Mechanical arm and maintenance truck

Abstract

The invention relates to a mechanical arm and a maintenance truck. The mechanical arm comprises an arm frame (200) and a connecting device (100) connected to the arm frame (200), and the connecting device (100) is used for being connected with an operation machine tool (300). The connecting device (100) comprises a first connecting mechanism (10) hinged to the arm support (200), and the first connecting mechanism (10) can rotate around a first axis (1a) relative to the arm support (200); the rotating mechanism (30) comprises a rotating disc (31) and a rotating shaft (32) connected to the rotating disc (31), and the rotating shaft (32) is rotatably connected with the first connecting mechanism (10) so that the rotating disc (31) can rotate around the rotating shaft (32) relative to the first connecting mechanism (10); and the second connecting mechanism (20) is hinged to the radial edge of the rotating disc (31), the second connecting mechanism (20) can rotate around a second axis (1b) relative to the rotating disc (31), and the second connecting mechanism (20) is used for being connected with an operation machine tool (300). The maintenance truck comprises the mechanical arm.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a mechanical arm and a maintenance vehicle. Background Art

[0002] In the field of construction machinery, complex and ever-changing construction conditions and increasingly stringent quality standards make it difficult for a single tool to adapt to all conditions. To meet the needs of diverse application scenarios, related technologies typically utilize a single mainframe equipped with multiple interchangeable tools to enhance equipment flexibility and functional diversity.

[0003] Currently, the boom end connection device commonly used in landscaping maintenance vehicles and other equipment is mainly driven by a cylinder at the end of the boom. This cylinder shifting allows the working tool to change its working angle relative to the boom. However, in special construction scenarios and complex working conditions, the working tool needs to dynamically adjust its spatial position based on the real-time working conditions. This solution of driving the working tool through the cylinder at the end of the boom is obviously difficult to meet the needs.

[0004] It should be noted that the information disclosed in the background technology section of the present invention is only intended to increase the understanding of the overall background of the present invention, and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art. Summary of the Invention

[0005] The present invention provides a mechanical arm and a maintenance vehicle, which increase the movement freedom of a connecting device of the mechanical arm for loading an operating tool and improve the operating flexibility of the maintenance vehicle.

[0006] According to one aspect of the present invention, a boom and a connecting device connected to the boom are provided, wherein the connecting device is used to connect a work tool, and the connecting device includes:

[0007] A first connecting mechanism is hinged to the boom, and the first connecting mechanism is capable of rotating relative to the boom about a first axis;

[0008] a rotating mechanism comprising a rotating disk and a rotating shaft connected to the rotating disk, wherein the rotating shaft is rotatably connected to the first connecting mechanism so that the rotating disk can rotate about the rotating shaft relative to the first connecting mechanism; and

[0009] The second connecting mechanism is hinged to the radial edge of the turntable and can rotate relative to the turntable around the second axis. The second connecting mechanism is used to connect with the working tool.

[0010] In some embodiments, the rotation shaft is perpendicular to the first axis and the second axis, respectively, and the first axis is perpendicular to the second axis.

[0011] In some embodiments, the connecting device also includes a first driving device, the first connecting mechanism includes a support arm and a base connected to the support arm, the support arm is hinged to the arm frame, and the first driving device is connected between the base and the turntable to drive the turntable to rotate relative to the base.

[0012] In some embodiments, the first driving device includes a driving motor, a gear and an inner ring gear. A first mounting hole is provided on the base, which passes through the extension direction of the rotating shaft. The body of the driving motor is installed on the side of the base away from the turntable. The output end of the driving motor passes through the first mounting hole and extends to the side of the base facing the turntable. The inner ring gear is installed on the turntable, and the gear is installed at the output end and engages with the inner ring gear.

[0013] In some embodiments, a second mounting hole is provided on the base and extends along the extension direction of the rotating shaft. The rotating shaft can be rotatably inserted into the second mounting hole. The rotating mechanism also includes a limiting structure connected to the rotating shaft. In the radial direction of the second mounting hole, the maximum width of the limiting structure is greater than the aperture of the second mounting hole to limit the rotating shaft from escaping axially along the second mounting hole.

[0014] In some embodiments, an external thread is provided on the rotating shaft, and the limiting structure includes a limiting nut and a support gasket, the limiting nut is provided with an internal thread matching the external thread, the support gasket is provided with a center hole, the limiting nut is threadedly connected to the end of the rotating shaft away from the turntable, the support gasket is sleeved on the rotating shaft through the center hole, and is located between the axial end face of the limiting nut close to the turntable and the axial end face of the second mounting hole away from the turntable, wherein, in the radial direction of the second mounting hole, the maximum width of the limiting nut is greater than the aperture of the center hole, and the maximum width of the support gasket is greater than the aperture of the second mounting hole.

[0015] In some embodiments, a radial edge of the turntable is provided with a first connecting hole extending along the second axis, the second connecting mechanism includes a support portion and a hinge shaft, a second connecting hole is provided on the side of the support portion facing the turntable, the second connecting hole is coaxially aligned with the first connecting hole, and the hinge shaft is rotatably passed through the first connecting hole and the second connecting hole.

[0016] In some embodiments, the connecting device also includes a bracket for connecting to the work tool, the second connecting mechanism also includes a support shaft connected to one end of the support part, and the axis of the support shaft is parallel to the second axis, the bracket includes a load-bearing part and a hook connected to one end of the load-bearing part, the load-bearing part is used to connect to the work tool, and the hook is detachably hung on the support shaft.

[0017] In some embodiments, the support shaft includes a shaft segment body and two guide segments connected to both ends of the shaft segment body. Along the axial direction of the support shaft, the diameter of the guide segment gradually increases from the end of the guide segment connected to the shaft segment body toward the end away from the shaft segment body.

[0018] In some embodiments, a hanging surface and a guide surface are provided on the inner side of the hook, and the guide surface is connected to the end of the hanging surface away from the load-bearing portion. The hanging surface is configured to fit with the surface of the support shaft when the hook is hung on the support shaft, and the opening size of the hook gradually increases in the direction from the connection between the hanging surface and the guide surface to the free end of the hook.

[0019] In some embodiments, the connecting device also includes a connecting assembly, the supporting portion includes a first support plate and a second support plate fixedly connected, the bearing portion includes a first bearing plate and a second bearing plate fixedly connected, after the hook is hung on the support shaft, the first bearing plate and the first support plate are in contact with each other, and there is a gap between the second bearing plate and the second support plate, the connecting assembly is constructed to connect the second bearing plate and the second support plate and apply opposite pressure to the second bearing plate and the second support plate so that the first bearing plate and the first support plate are pressed against each other and / or the hook and the support shaft are pressed against each other.

[0020] In some embodiments, the first support plate is connected to the second support plate at an obtuse angle, and / or the first supporting plate is connected to the second supporting plate at an obtuse angle.

[0021] In some embodiments, a first through hole is provided on the second support plate, and a second through hole is provided on the second bearing plate. After the hook is hung on the support shaft, the second support plate is parallel to the second bearing plate, and the first through hole is coaxial with the second through hole. The connecting assembly includes a bolt and a fastening nut that cooperates with the bolt. The bolt is passed through the first through hole and the second through hole and is tightened with the fastening nut to apply opposite pressure to the second bearing plate and the second support plate.

[0022] In some embodiments, the rotating shaft is connected to one side of the turntable, the rotating mechanism also includes a mounting portion connected to the side of the turntable away from the rotating shaft, and the connecting device also includes a second driving device, one end of the second driving device is connected to the mounting portion, and the other end is connected to the support portion, so that the support portion is driven to rotate around the hinge axis relative to the mounting portion through the telescopic drive of the second driving device.

[0023] According to another aspect of the present invention, a maintenance vehicle is provided, comprising the above-mentioned robotic arm.

[0024] Based on the above technical solution, the present invention provides a first connecting mechanism, a slewing mechanism and a second connecting mechanism that are interconnected in the connecting device of the robotic arm. The first connecting mechanism can rotate relative to the arm of the robotic arm, the slewing mechanism can rotate relative to the first connecting mechanism, and the second connecting mechanism can rotate relative to the slewing mechanism, so that the connecting device as a whole can provide at least three degrees of freedom of movement, thereby meeting the multi-angle posture adjustment requirements of the working equipment, so that the working equipment connected to the robotic arm can achieve flexible working posture adjustment and adapt to different working application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0026] Figure 1 A schematic structural diagram of a robotic arm and a working tool in one embodiment of the present invention is shown.

[0027] Figure 2 An exploded view of a connecting device in one embodiment of the present invention is shown.

[0028] Figure 3 A cross-sectional view of a connecting device in one embodiment of the present invention is shown.

[0029] Figure 4 FIG. 1 is a structural diagram of a first connecting mechanism in an embodiment of the present invention.

[0030] Figure 5 The figure shows a schematic structural diagram of a rotary mechanism in one embodiment of the present invention.

[0031] Figure 6 FIG. 1 is a schematic structural diagram of a second connecting mechanism in an embodiment of the present invention.

[0032] Figure 7 A schematic structural diagram of a bracket in one embodiment of the present invention is shown.

[0033] Figure 8 A schematic diagram of the interaction force between the supporting portion and the bearing portion in one embodiment of the present invention is shown.

[0034] Figure 9 A schematic structural diagram of a maintenance vehicle in one embodiment of the present invention is shown. DETAILED DESCRIPTION

[0035] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying 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 therefore should not be understood as limiting the scope of protection of the present invention.

[0037] In the field of engineering machinery, complex and changeable construction conditions and increasingly higher construction quality requirements, especially in special construction scenarios and complex working conditions, require operating machinery to dynamically adjust its spatial posture according to real-time working conditions.

[0038] In response to the demand that the above-mentioned working machine needs to be dynamically adjusted in multiple postures according to different working conditions, the present invention provides a robotic arm.

[0039] In some embodiments of the mechanical arm provided by the present invention, the mechanical arm includes an arm frame 200 and a connecting device 100 connected to the arm frame 200, and the connecting device 100 is used to connect a working tool 300. Optionally, the connecting device 100 can be connected to the end of the arm frame 200.

[0040] refer to Figure 1 As shown, the connection device 100 includes a first connection mechanism 10, a swivel mechanism 30, and a second connection mechanism 20. The first connection mechanism 10 is hingedly connected to the boom 200 and is capable of rotating relative to the boom 200 about a first axis 1a. The swivel mechanism 30 includes a turntable 31 and a rotating shaft 32 connected to the turntable 31. The rotating shaft 32 is rotatably connected to the first connection mechanism 10, allowing the turntable 31 to rotate relative to the first connection mechanism 10 about the rotating shaft 32. The second connection mechanism 20 is hingedly connected to the radial edge of the turntable 31 and is capable of rotating relative to the turntable 31 about a second axis 1b. The second connection mechanism 20 is used to connect to the work tool 300.

[0041] Through the above arrangement, the first connecting mechanism 10 can rotate relative to the boom 200 about the first axis 1a, thereby driving the slewing mechanism 30 to rotate relative to the boom 200. The turntable 31 can rotate about the rotation axis 32, thereby driving the second connecting mechanism 20 to rotate about the rotation axis 32, particularly a 360-degree rotation. The second connecting mechanism 20 can rotate relative to the turntable 31 about the second axis 1b, thereby driving the work tool 300 to rotate relative to the turntable 31. In this way, the connecting device 100 as a whole can provide the work tool 300 with three degrees of freedom of motion.

[0042] Thus, by further controlling the independent and coordinated motion of the first connecting mechanism 10, the slewing mechanism 30, and the second connecting mechanism 20, the connecting device 100 can adjust the work tool 300 in at least three degrees of freedom, helping the work tool 300 flexibly adjust its operating posture to meet the needs of different application scenarios. For example, when the work tool 300 needs to operate in a narrow or irregular space, or needs to cooperate with other work tools 300 in multi-angle and multi-directional operations, flexible adjustment of its own operating posture is important for successfully completing the operation.

[0043] By varying the spatial position and orientation of the first axis 1a, the rotating shaft 32, and the second axis 1b, the distribution of degrees of freedom of motion of the work tool 300 connected to the robotic arm can be flexibly adjusted to suit the needs of different work scenarios. Specifically, for example, the diameter of the turntable 31 can be changed, the length of the rotating shaft 32 can be changed, the connection between the rotating shaft 32 and the turntable 31 can be changed (eccentric or centered), or the angle between any two of the first axis 1a, the rotating shaft 32, and the second axis 1b can be changed.

[0044] In some embodiments, the rotation shaft 32 is perpendicular to the first axis 1 a and the second axis 1 b , respectively, and the first axis 1 a is perpendicular to the second axis 1 b .

[0045] In some examples, such as Figure 1 and Figure 2 As shown, the axis of the rotating shaft 32 is shown as the third axis 1c, and the first axis 1a, the second axis 1b and the third axis 1c are perpendicular to each other.

[0046] In this case where the first axis 1a, the second axis 1b and the third axis 1c form a three-dimensional coordinate system that is perpendicular to each other, the connecting device 100 can realize independent posture adjustment in three orthogonal directions respectively, so as to more comprehensively cover the target points in the three-dimensional space, thereby improving the accessibility and operational freedom of the working tool 300 connected to the connecting device 100.

[0047] Furthermore, since the axes are perpendicular to each other, it is helpful to simplify the kinematic model of the connecting device 100 so as to integrate it into the functional design of the control system, thereby providing a basis for the automated motion control of the working tool 300.

[0048] In some embodiments, the connecting device 100 also includes a first driving device 40, the first connecting mechanism 10 includes a support arm 11 and a base 12 connected to the support arm 11, the support arm 11 is hinged to the arm frame 200, and the first driving device 40 is connected between the base 12 and the turntable 31 to drive the turntable 31 to rotate relative to the base 12.

[0049] The first drive device 40 is capable of controlling the rotation of the turntable 31 relative to the base 12. In practical applications, different drive modes, such as an electric servo motor, a hydraulic motor, or a pneumatic motor, can be selected for the first drive device 40 based on different requirements (e.g., the specific application environment of the robotic arm, the required torque, and the cost of use).

[0050] In some embodiments, as Figure 2 As shown, the first drive device 40 includes a hydraulic motor 41, a gear 42, and an inner ring gear 43. A first mounting hole 121 is provided on the base 12, extending along the direction of the rotating shaft 32. The main body of the hydraulic motor 41 is mounted on the side of the base 12 facing away from the rotating disk 31. The output end of the hydraulic motor 41 passes through the first mounting hole 121 and extends to the side of the base 12 facing the rotating disk 31. The inner ring gear 43 is mounted on the rotating disk 31, and the gear 42 is mounted on the output end and meshes with the inner ring gear 43.

[0051] The first mounting hole 121 provides a path for the output end of the hydraulic motor 41 to pass through, so that power can be transmitted to one side of the turntable 31. Specifically, the body of the hydraulic motor 41 is fixedly mounted on the base 12. The output end of the hydraulic motor 41 transmits the torque directly to the gear 42. The gear 42 further transmits the torque to the inner ring 43 through a meshing relationship. The inner ring 43 is connected to the turntable 31 and can drive the turntable 31 to rotate, and then the rotating shaft 32 can achieve synchronous rotation with the turntable 31. Based on this, the hydraulic motor 41 is back-mounted relative to the turntable 31. While cooperating with the through first mounting hole 121 to achieve power output, it avoids interference with the movement space of the turntable 31 and also helps to make the overall structure more compact.

[0052] Optionally, a brake can be provided on the hydraulic motor 41 so that after the turntable 31 rotates to a set position relative to the base 12 (the position can be determined during actual operation), the movement of the output end of the hydraulic motor 41 is locked by the brake, thereby maintaining the rotational position of the turntable 31 relative to the base 12.

[0053] As some implementations, such as Figure 5 As shown, the inner gear ring 43 has the same diameter as the rotating disk 31, and the inner gear ring 43 is coaxially arranged with the rotating disk 31. Optionally, the inner gear ring 43 and the rotating disk 31 are connected by screws.

[0054] In addition to the combined drive mode of motor + gear + internal gear ring provided in the above embodiments, those skilled in the art should understand that other equivalent drive modes, such as a motor combined with a planetary reducer, a harmonic reducer, a transmission belt, etc., can also be applied to the present invention.

[0055] In some embodiments, the base 12 is provided with a second mounting hole 122 extending along the extension direction of the rotating shaft 32. The rotating shaft 32 is rotatably inserted into the second mounting hole 122. The swivel mechanism 30 also includes a limiting structure connected to the rotating shaft 32. In the radial direction of the second mounting hole 122, the maximum width of the limiting structure is greater than the diameter of the second mounting hole 122, thereby preventing the rotating shaft 32 from axially dislodging from the second mounting hole 122.

[0056] By setting a limiting structure, the rotating shaft 32 can be effectively prevented from axially displacing or even falling off relative to the second mounting hole 122 due to factors such as orientation change, vibration, impact or load change during the movement of the robotic arm, which helps to improve the overall structural integrity and operational reliability of the connecting device 100.

[0057] Specifically, during the rotation of the shaft 32 relative to the base 12, the limiting structure and the turntable 31 are connected to the limiting structure to achieve overall rotation. Under this structural setting, the two ends of the second mounting hole 122 are respectively connected to the limiting structure and the turntable 31. Figure 3 As shown, the maximum width of the limiting structure and the rotating disk 31 in the radial direction of the second mounting hole 122 is greater than the diameter of the second mounting hole 122. In other words, the limiting structure and the rotating disk 31 respectively act as limiters at both ends of the rotating shaft 32, thereby constraining the axial movement of the rotating shaft 32 relative to the second mounting hole 122. Furthermore, the distance between the limiting structure and the rotating disk 31 can be set to be slightly greater than the axial length of the second mounting hole 122, thereby leaving sufficient space for the rotating shaft 32 to rotate freely.

[0058] There are many options for the specific form of the limiting mechanism.

[0059] For example, in Figure 2 and Figure 3 In some illustrated embodiments, the rotating shaft 32 is provided with external threads, and the retaining structure includes a retaining nut 33 and a support washer 34. The retaining nut 33 has internal threads that mate with the external threads, and the support washer 34 has a center hole. The retaining nut 33 is threadedly connected to the end of the rotating shaft 32 away from the turntable 31. The support washer 34 is sleeved onto the rotating shaft 32 through the center hole and is located between the axial end surface of the retaining nut 33 proximal to the turntable 31 and the axial end surface of the second mounting hole 122 away from the turntable 31. In the radial direction of the second mounting hole 122, the maximum width of the retaining nut 33 is greater than the diameter of the center hole, and the maximum width of the support washer 34 is greater than the diameter of the second mounting hole 122.

[0060] Optional, such as Figure 5As shown, the rotating shaft 32 includes an optical axis segment 321 passing through the second mounting hole 122 and a threaded segment 322 connected to the end of the optical axis segment 321 away from the rotating disk 31. The external thread is provided on the threaded segment 322. As an example, the diameter of the threaded segment 322 is smaller than the diameter of the optical axis segment 321.

[0061] Optional, such as Figure 2 and Figure 3 As shown, the limiting nut 33 is a slotted nut, and the limiting mechanism also includes a cotter pin 35. Figure 5 As shown, the threaded section 322 is provided with a pin hole 322a extending radially therethrough, and the cotter pin 35 is passed through the pin hole 322a and matched with the notch of the slotted nut to achieve the anti-loosening function of the slotted nut.

[0062] In other embodiments, Figure 2 and Figure 3 As shown, the limiting mechanism further includes a friction washer 36, which is disposed between the support washer 34 and the axial end surface of the second mounting hole 122 away from the turntable 31. Optionally, the friction washer 36 is made of a wear-resistant material, or has good self-lubricating properties, so as to reduce direct contact wear between the support washer 34 and the axial end surface of the second mounting hole 122, thereby increasing the service life of the entire limiting structure.

[0063] In some embodiments, as Figure 2 and Figure 3 As shown, the slewing mechanism 30 also includes a bearing 37. The bearing 37 is mounted on the rotating shaft 32 and is located axially between the base 11 and the turntable 31. The bearing 37 is used to enable relative rotation between the base 11 and the turntable 31, thereby reducing frictional resistance to the rotation of the turntable 31 relative to the base 12. Specifically, the bearing 37 includes two bearing rings that abut the base 11 and the turntable 31, respectively, axially along the rotating shaft 32, with a roller disposed between the two bearing rings.

[0064] As some implementations, the bearing 37 is located radially inward of the inner gear ring 43. Optionally, the axial thickness of the bearing 37 is equal to the axial thickness of the inner gear ring 43.

[0065] In some implementations, the bearing 37 is a thrust bearing or a crossed roller bearing.

[0066] In other embodiments, Figure 2 and Figure 3As shown, the slewing mechanism 30 further includes a sleeve 38. The sleeve 38 is embedded between the radially inner side of the second mounting hole 122 and the radially outer side of the rotating shaft 32. Specifically, the inner wall of the sleeve 38 contacts the outer circumference of the rotating shaft 32, while the outer wall of the sleeve 38 contacts the inner wall of the second mounting hole 122. Thus, the sleeve 38 can guide, support, and reduce friction during the rotation of the rotating shaft 32.

[0067] In some embodiments, as Figure 2 、 Figure 5 and Figure 6 As shown, a first connection hole 312 extending along the second axis 1b is defined on the radial edge of the turntable 31. The second connection mechanism 20 comprises a support portion 21 and a hinge shaft 22. A second connection hole 201 is defined on the side of the support portion 21 facing the turntable 31. The second connection hole 201 is coaxially aligned with the first connection hole 312, and the hinge shaft 22 is rotatably disposed in both the first connection hole 312 and the second connection hole 201.

[0068] Optional, such as Figure 5 As shown, the radial edge of the rotating disk 31 is provided with two first connection holes 312 spaced apart along the second axis 1b, and the second connection hole 201 is disposed between the two first connection holes 312. This arrangement helps to improve the force balance of the hinge shaft 22, thereby increasing its service life, and also helps to improve the assembly stability of the hinge shaft 22, the first connection holes 312, and the second connection hole 201.

[0069] In some embodiments, the connection device 100 further includes a bracket 60 for connecting to the work tool 300. The second connection mechanism 20 further includes a support shaft 23 connected to one end of the support portion 21, with the axis of the support shaft 23 parallel to the second axis 1b. The bracket 60 includes a load-bearing portion 61 and a hook 62 connected to one end of the load-bearing portion 61. The load-bearing portion 61 is used to connect to the work tool 300, and the hook 62 is detachably mounted on the support shaft 23.

[0070] In the bracket 60, the load-bearing portion 61 can serve as the installation base for the working tool 300, and the hook 62 can realize the quick connection or disconnection between the bracket 60 and the second connecting mechanism 20, thereby facilitating the efficient replacement of different types of working tools 300 for the robotic arm and improving the equipment's flexibility and operating efficiency.

[0071] Optionally, a corresponding bracket 60 can be configured for each work tool 300. This allows the bracket 60 to be connected to the work tool 300 of the corresponding type and specification before installing the work tool 300 on the robot arm. The bracket 60, with the work tool 300 connected, can then be hooked to the support shaft 23 via the hook 62, achieving a quick connection between the work tool 300 and the second connecting mechanism 20, thus efficiently installing the work tool 300. Similarly, to remove the work tool 300, the hook 62 is disconnected from the support shaft 23, effectively disconnecting the work tool 300 from the second connecting mechanism 20.

[0072] Here, a variety of optional connection methods can be used between the carrying portion 61 and the working tool 300.

[0073] Optionally, in some examples, the bearing portion 61 is provided with a plurality of standardized threaded holes or through holes, and the work tool 300 is provided with corresponding mounting flanges or connecting plates. Further, the work tool 300 can be fixed to the bearing portion 61 by fasteners such as bolts and screws.

[0074] In some embodiments, as Figure 6 As shown, the support shaft 23 includes a shaft body 231 and two guide segments 232 connected to both ends of the shaft body 231. Along the axial direction of the support shaft 23, the diameter of the guide segment 232 gradually increases from the end connected to the shaft body 231 toward the end away from the shaft body 231.

[0075] That is to say, from the end of the guide section 232 connected to the shaft section body 231 toward the end away from the shaft section body 231, the guide section 232 has a gradually expanding structure, and its surface forms an inclined surface that can play a guiding role, so that it can play a good guiding and centering role during the installation of the bracket 60.

[0076] Specifically, when the hook 62 needs to be attached to the support shaft 23, for example, when the hook 62 approaches the support shaft 23 from a radial side, the hook 62 can slide on the surface of the guide section 232 and automatically adjust its position under the guidance of the inclined surface, thereby smoothly entering the predetermined attachment area of ​​the shaft section body 231. The provision of the guide section 232 reduces the difficulty of aligning the hook 62 with the support shaft 23, improving assembly efficiency and ease of operation.

[0077] refer to Figure 7As shown, in some embodiments, the inner side of the hook 62 is provided with an engaging surface 62a and a guiding surface 62b. The guiding surface 62b is connected to the end of the engaging surface 62a away from the bearing portion 61. The engaging surface 62a is configured to mate with the surface of the support shaft 23 when the hook 62 is attached to the support shaft 23. The opening of the hook 62 gradually increases in size from the junction of the engaging surface 62a and the guiding surface 62b toward the free end of the hook 62.

[0078] Through the above arrangement, the hook 62 can form a gradually expanding opening. When the hook 62 needs to be hung on the support shaft 23, for example, when the hook 62 moves near the support shaft 23, the guide surface 62b of the hook 62 first contacts the outer circumference of the support shaft 23. Here, there is a certain slope between the guide surface 62b and the support shaft 23, and the opening size of the hook 62 gradually increases as it approaches the free end. Therefore, even if there is a certain deviation in the initial position of the hook 62 relative to the support shaft 23, the hook 62 can automatically adjust its posture under the guidance of the guide surface 62b, smoothly slide into the hanging area of ​​the support shaft 23, and finally make the hanging surface 62a fit the outer surface of the support shaft 23, achieving stable hanging.

[0079] Optionally, the engaging surface 62 a at least has an arcuate region with a shape similar to that of the outer circumferential surface of the support shaft 23 , so as to achieve fitting with the outer circumferential surface of the support shaft 23 through the arcuate region.

[0080] In some embodiments, as Figure 3 、 Figure 6 and Figure 7 As shown, the connecting device 100 also includes a connecting assembly 80. The support portion 21 includes a first support plate 211 and a second support plate 212 that are fixedly connected. The bearing portion 61 includes a first supporting plate 611 and a second supporting plate 612 that are fixedly connected. After the hook 62 is hung on the support shaft 23, the first supporting plate 611 and the first supporting plate 211 are in contact with each other, and a gap is formed between the second supporting plate 612 and the second supporting plate 212. The connecting assembly 80 is configured to connect the second supporting plate 612 and the second supporting plate 212 and apply pressure toward the second supporting plate 612 and the second supporting plate 212, thereby pressing the first supporting plate 611 and the first supporting plate 211 against each other and / or pressing the hook 62 and the support shaft 23 against each other.

[0081] After the hook 62 is attached to the support shaft 23, the mutual contact between the first supporting plate 611 and the first supporting plate 211 enables stable support between the support portion 21 and the supporting portion 61, thereby improving the load-bearing capacity of the connecting device 100. When the second supporting plate 612 and the second supporting plate 212 are connected by the connecting assembly 80 and pressure is applied, due to the spacing between the second supporting plate 612 and the second supporting plate 212, a slight deformation occurs between the second supporting plate 612 and the second supporting plate 212 under pressure, causing the second supporting plate 612 and the second supporting plate 212 to move closer to each other. This deformation further drives the first supporting plate 611 and the first supporting plate 211 to move closer to each other and form mutual compression, or causes the hook 62 and the support shaft 23 to move closer to each other and form mutual compression, thereby achieving a tighter contact between the supporting portion 61 and the support portion 21 and achieving a reliable connection. Thus, when the connecting device 100 is in various postures, a stable connection between the work tool 300 and the connecting device 100 can be ensured.

[0082] Alternatively, the connection assembly 80 may be in various forms, such as a threaded locking member, an elastic clamping structure, and the like. For example, the second carrier plate 612 and the second support plate 212 may be connected and locked by a threaded locking member, or the second carrier plate 612 and the second support plate 212 may be clamped by an elastic clamping structure. The selection may be based on actual needs.

[0083] Optionally, the connection assembly 80 is detachably connected to the second carrier plate 612 and the second support plate 212, so that the connection assembly 80 can be easily disconnected from the first carrier plate 611 and the first support plate 211 when needed. For example, when the bracket 60 needs to be replaced or the connection status needs to be adjusted, the connection assembly 80 can be quickly removed, which is easy to operate.

[0084] Optionally, the first support plate 211 and the second support plate 212 are connected at an obtuse angle.

[0085] Optionally, the first supporting plate 611 and the second supporting plate 612 are connected at an obtuse angle.

[0086] Here, an obtuse angle connection refers to an angle between two panels that is greater than 90° and less than 180°, such as 120°, 135°, or 150°. The connection can be direct or indirect, and can be achieved through integral molding, welding, bolting, or other fixing methods.

[0087] In a specific embodiment in which the first support plate 211 and the second support plate 212 are connected at an obtuse angle and the first bearing plate 611 and the second bearing plate 612 are connected at an obtuse angle, the relative pressure applied by the connecting assembly 80 to the second bearing plate 612 and the second support plate 212 can be decomposed into components in two directions: one component is perpendicular to the plate surface of the second bearing plate 612 and the second support plate 212, and is used to achieve compression and fixation between the first bearing plate 611 and the first support plate 211; the other component is parallel to the plate surface of the second bearing plate 612 and the second support plate 212, and is used to achieve compression and fixation between the hook 62 and the support shaft 23.

[0088] In some embodiments, as Figure 6 and Figure 7 As shown, the second support plate 212 is provided with a first through-hole 21a, and the second carrier plate 612 is provided with a second through-hole 61a. After the hook 62 is attached to the support shaft 23, the second support plate 212 and the second carrier plate 612 are parallel, and the first through-hole 21a and the second through-hole 61a are coaxial. The connecting assembly 80 includes a bolt 81 and a fastening nut 82 that cooperates with the bolt 81. The bolt 81 passes through the first through-hole 21a and the second through-hole 61a and is tightened with the fastening nut 82 to apply opposing pressure to the second carrier plate 612 and the second support plate 212.

[0089] Combine Figure 8 As shown, when the connecting assembly 80 applies pressure in opposite directions to the second carrier plate 612 and the second support plate 212, the force applied by the second carrier plate 612 to the second support plate 212 is used as an example to analyze the force between the support portion 21 and the carrier portion 61: the force applied by the second carrier plate 612 to the second support plate 212 is shown as F in the figure, the first component of the force F in a direction perpendicular to the surface of the second carrier plate 612 and the second support plate 212 is shown as F1, and the second component of the force F in a direction parallel to the surface of the second carrier plate 612 and the second support plate 212 is shown as F2. Because the first carrier plate 611 and the second carrier plate 612 are fixedly connected, the first component F1 is transmitted to the contact surface between the first carrier plate 611 and the first support plate 211, and the second component F2 is transmitted to the contact surface between the hook 62 and the support shaft 23. Thus, the first component force F1 realizes the pressing and fixing between the first bearing plate 611 and the first support plate 211 , and the second component force F2 realizes the pressing and fixing between the hook 62 and the support shaft 23 .

[0090] In some embodiments, as Figure 2 As shown, the shaft 32 is connected to one side of the turntable 31, for example Figure 2 The slewing mechanism 30 further includes a mounting portion 35 connected to the side of the slewing disc 31 away from the rotating shaft 32, such as Figure 2The connecting device 100 further includes a second driving device 50. One end of the second driving device 50 is connected to the mounting portion 35, and the other end is connected to the support portion 21. The second driving device 50 is configured to extend and retract to drive the support portion 21 to rotate relative to the mounting portion 35 about the hinge shaft 22.

[0091] The rotating shaft 32 and the mounting portion 35 are respectively located on both sides of the turntable 31 , which can effectively prevent the rotating shaft 32 and the second driving device 50 from interfering with each other during their respective movements.

[0092] Here, there are many options for the specific form of the second driving device 50, for example, it can include a hydraulic cylinder, a pneumatic cylinder or an electric push rod.

[0093] In some implementations, the second drive device 50 is a hydraulic cylinder. The hydraulic cylinder includes a cylinder barrel 51 mounted on the mounting portion 35 and a piston rod 52 that slidably engages with the cylinder barrel 51. A third connection hole 202 is provided on the side of the support portion 21 facing the turntable 31. The piston rod 51 is hingedly connected to the support portion 21 through this third connection hole 202. This hinged connection structure enables the hydraulic cylinder, and particularly the piston rod 52, to drive the support portion 21 to swing within a certain range to accommodate changes in the support portion 21's posture during movement.

[0094] Optionally, a balancing valve may be provided on the hydraulic cylinder to maintain the position of the support portion 21 relative to the mounting portion 35 after the support portion 21 rotates a preset angle relative to the mounting portion 35 (the angle may be determined during actual operation).

[0095] In some embodiments, as Figure 1 、 Figure 3 and Figure 4 As shown, the connecting device 100 further includes a third drive device 70. The first connecting mechanism 10 includes two opposing arms 11. Each arm 11 is provided with a first hinge hole 111 extending along the first axis 1a. The distal end of the arm 200 is rotatably connected between the two arms 11 through the two first hinge holes 111.

[0096] Furthermore, each arm 11 is provided with a second hinge hole 112, extending parallel to the first axis 1a, and the second hinge holes 112 on the two arms 11 are coaxially arranged. The second hinge hole 112 is provided at one end of the arm 11 away from the base 12 and is located on the side of the two first hinge holes 11 away from the base 12.

[0097] One end of the third driving device 70 is connected to the main body of the arm frame 200 , and the other end is hinged between the two supporting arms 11 through two second hinge holes 112 .

[0098] Thus, the extension and retraction of the third drive device 70 can drive the support arm 11 to rotate about the first axis 1a relative to the main body of the arm frame 200. Specifically, when the third drive device 70 retracts and retracts, it applies a force to the end of the support arm 11 away from the base 12, thereby pushing or pulling the support arm 11 to rotate about the first axis 1a, thereby driving the rotation mechanism 30 connected to the support arm 11 and other related components of the connecting device 100 to move.

[0099] Optionally, the third drive device 70 may include a hydraulic cylinder, and a balancing valve may be provided on the hydraulic cylinder to maintain the position of the support arm 11 relative to the main body of the arm 200 after the support arm 11 rotates a preset angle relative to the main body of the arm 200 (the angle may be determined during actual operation).

[0100] Based on the above-mentioned robotic arm, the present invention also proposes a maintenance vehicle, which includes the above-mentioned robotic arm.

[0101] According to an embodiment of the present invention, the maintenance vehicle may be a greening comprehensive maintenance vehicle.

[0102] In some embodiments, as Figure 9 As shown, the maintenance vehicle further includes a host 400 , which is provided with a control system for controlling the movement of the robotic arm, especially the movement of the arm frame 200 and the connecting device 100 of the robotic arm.

[0103] As some implementations, the control system includes a controller and a hydraulic drive device connected to the controller signal. The hydraulic drive device is drivingly connected to the boom 200 and the connecting device 100 to control the movement of the boom 200 and the connecting device 100 according to the instructions of the controller.

[0104] Next, two specific embodiments of controlling the movement of the robotic arm by the host computer 400 in the maintenance vehicle of the present invention are described.

[0105] Example 1

[0106] In this embodiment, the mechanical arm of the maintenance vehicle includes: Figure 1 Taking the arm 200 and the connecting device 100 shown as an example, the process of an operator operating the host 400 to perform multi-degree-of-freedom motion transformation of the connecting device 100 is introduced.

[0107] The operator operates the host 400 to control the third driving device 70 (for example, a driving cylinder) connected between the arm 200 and the first connecting mechanism 10 of the connecting device 100 to extend or retract, thereby driving the first connecting mechanism 10 to rotate around the first axis 1a (the rotation direction is Figure 1 Schematically shown by arrows);

[0108] The operator operates the host 400 to control the first driving device 40 (for example, a hydraulic motor) to rotate, thereby driving the rotary mechanism 30 to rotate around the third axis 1c (the rotation direction is Figure 1 (shown schematically by a double-arrow arc);

[0109] When the pitching angle of the working tool 300 needs to be changed, the operator operates the host 400 to control the second driving device 50 (for example, a cylinder) to extend or retract, so that the second connecting mechanism 20 rotates around the second axis 1b (the rotation direction is Figure 1 Schematically shown by arrows).

[0110] Here, the second connecting mechanism 20 is fixedly connected to the work tool 300, so that by controlling the movements of the first connecting mechanism 10, the slewing mechanism 30, and the second connecting mechanism 20 as described above, the work tool 300 can be driven to change its posture. Specifically, when the maintenance vehicle is working, the posture of the work tool 300 can be changed by controlling the first connecting mechanism 10 to rotate about the first axis 1a, the slewing mechanism 30 to rotate about the third axis 1c, and the second connecting mechanism 20 to rotate about the second axis 1b. For example, Figure 9 FIG. 3 shows a posture of the work tool 300 during the operation of the maintenance vehicle.

[0111] Example 2

[0112] In this embodiment, the mechanical arm of the maintenance vehicle includes: Figures 1 to 3 Taking the arm 200 and the connecting device 100 as an example, the process of an operator operating the main machine 400 to replace the working tool 300 is introduced.

[0113] In the initial state, the work tool 300 is connected to the second connection mechanism 20 via the bracket 60. When the work tool 300 needs to be removed:

[0114] The operator operates the host computer 400 to control the movement of the robot arm so that the working tool 300 is placed on the ground;

[0115] After loosening and removing the bolts 81 and the fastening nuts 82, the operator further operates the main machine 400 to control the connecting device 100 to move closer to the ground, so that the support shaft 23 is disengaged from the hook 62, thereby separating the bracket 60 from the second connecting mechanism 20 and completing the disassembly of the working tool 300.

[0116] When it is time to install work tools:

[0117] First, place the work tool 300 on the ground. Here, different types of work tools 300 are pre-connected with corresponding brackets 60.

[0118] The operator operates the host 400 to control the second connecting mechanism 20 to approach the bracket 60, so that the support shaft 23 and the hook 62 move to the corresponding position, that is, within the guide range of the guide surface 62b and the guide section 232;

[0119] The operator operates the main unit 400 to further control the second connecting mechanism 20 to move away from the ground. Under the action of the gravity of the working tool 300 and the guidance of the guide surface 62b and the guide section 232, the support shaft 23 and the hook 62 are engaged.

[0120] The bolts 81 are installed and the nuts 82 are tightened to complete the installation of the work tool 300 .

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to preferred embodiments, ordinary technicians in the field should understand that without departing from the principles of the present invention, the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents. These modifications and equivalent replacements should all be included in the scope of the technical solutions claimed for protection by the present invention.

Claims

1. A robotic arm, characterized in that: The invention comprises a boom (200) and a connecting device (100) connected to the boom (200), wherein the connecting device (100) is used to connect a working machine (300), and the connecting device (100) comprises: A first connecting mechanism (10) is hingedly connected to the arm (200), and the first connecting mechanism (10) is capable of rotating relative to the arm (200) about a first axis (1a); a rotating mechanism (30) comprising a rotating disk (31) and a rotating shaft (32) connected to the rotating disk (31), wherein the rotating shaft (32) is rotatably connected to the first connecting mechanism (10) so that the rotating disk (31) can rotate about the rotating shaft (32) relative to the first connecting mechanism (10); and The second connecting mechanism (20) is hinged to the radial edge of the rotating disk (31), and the second connecting mechanism (20) can rotate relative to the rotating disk (31) around a second axis (1b). The second connecting mechanism (20) is used to connect to the working machine (300).

2. The robotic arm according to claim 1, wherein: The rotating shaft (32) is respectively perpendicular to the first axis (1a) and the second axis (1b), and the first axis (1a) is perpendicular to the second axis (1b).

3. The robotic arm according to claim 1 or 2, characterized in that: The connecting device (100) further includes a first driving device (40), the first connecting mechanism (10) includes a support arm (11) and a base (12) connected to the support arm (11), the support arm (11) is hinged to the arm frame (200), and the first driving device (40) is connected between the base (12) and the turntable (31) to drive the turntable (31) to rotate relative to the base (12).

4. The robotic arm according to claim 3, wherein: The first driving device (40) includes a hydraulic motor (41), a gear (42) and an inner gear ring (43). The base (12) is provided with a first mounting hole (121) extending along the extension direction of the rotating shaft (32); the body of the hydraulic motor (41) is mounted on a side of the base (12) facing away from the rotating disk (31); the output end of the hydraulic motor (41) passes through the first mounting hole (121) and extends to a side of the base (12) facing the rotating disk (31). The inner gear ring (43) is mounted on the rotating disk (31), and the gear (42) is mounted on the output end and meshes with the inner gear ring (43).

5. The robotic arm according to claim 3, wherein: The base (12) is provided with a second mounting hole (122) extending along the extension direction of the rotating shaft (32), and the rotating shaft (32) is rotatably inserted into the second mounting hole (122). The rotary mechanism (30) further includes a limiting structure connected to the rotating shaft (32); in the radial direction of the second mounting hole (122), the maximum width of the limiting structure is greater than the aperture of the second mounting hole (122), so as to limit the rotating shaft (32) from escaping axially along the second mounting hole (122).

6. The robotic arm according to claim 5, characterized in that: The rotating shaft (32) is provided with an external thread, and the limiting structure includes a limiting nut (33) and a supporting washer (34). The limiting nut (33) is provided with an internal thread that matches the external thread, and the supporting washer (34) is provided with a center hole. The limiting nut (33) is threadedly connected to an end of the rotating shaft (32) away from the rotating disk (31), and the supporting washer (34) is sleeved on the rotating shaft (32) through the center hole and is located between the axial end surface of the limiting nut (33) close to the rotating disk (31) and the axial end surface of the second mounting hole (122) away from the rotating disk (31). Wherein, in the radial direction of the second mounting hole (122), the maximum width of the limiting nut (33) is greater than the aperture of the center hole, and the maximum width of the supporting gasket (34) is greater than the aperture of the second mounting hole (122).

7. The robotic arm according to claim 1 or 2, characterized in that: A first connecting hole (312) extending along the second axis (1b) is provided on a radial edge of the turntable (31), the second connecting mechanism (20) comprises a support portion (21) and a hinge shaft (22), a second connecting hole (201) is provided on a side of the support portion (21) facing the turntable (31), the second connecting hole (201) is coaxially aligned with the first connecting hole (312), and the hinge shaft (22) is rotatably inserted into the first connecting hole (312) and the second connecting hole (201).

8. The robotic arm according to claim 7, wherein: The connecting device (100) further includes a bracket (60) for connecting to the working tool (300), the second connecting mechanism (20) further includes a support shaft (23) connected to one end of the supporting portion (21), and the axis of the support shaft (23) is parallel to the second axis (1b), the bracket (60) includes a bearing portion (61) and a hook (62) connected to one end of the bearing portion (61), the bearing portion (61) is used to connect to the working tool (300), and the hook (62) is detachably hung on the support shaft (23).

9. The robotic arm according to claim 8, characterized in that: The support shaft (23) comprises a shaft segment body (231) and two guide segments (232) connected to both ends of the shaft segment body (231). Along the axial direction of the support shaft (23), the diameter of the guide segment (232) gradually increases from one end of the guide segment (232) connected to the shaft segment body (231) toward one end thereof away from the shaft segment body (231).

10. The robotic arm according to claim 8, wherein: The inner side of the hook (62) is provided with a hanging surface (62a) and a guide surface (62b), the guide surface (62b) is connected to the end of the hanging surface (62a) away from the bearing portion (61), and the hanging surface (62a) is configured to fit with the surface of the support shaft (23) when the hook (62) is hung on the support shaft (23), and the opening size of the hook (62) gradually increases in the direction from the connection between the hanging surface (62a) and the guide surface (62b) to the free end of the hook (62).

11. The robotic arm according to claim 8, wherein: The connecting device (100) further includes a connecting assembly (80), The support portion (21) comprises a first support plate (211) and a second support plate (212) that are fixedly connected, and the bearing portion (61) comprises a first bearing plate (611) and a second bearing plate (612) that are fixedly connected. After the hook (62) is hung on the support shaft (23), the first bearing plate (611) and the first support plate (211) are in contact with each other, and a gap is formed between the second bearing plate (612) and the second support plate (212). The connecting assembly (80) is configured to connect the second bearing plate (612) and the second support plate (212) and apply pressure to the second bearing plate (612) and the second support plate (212) in opposite directions, so that the first bearing plate (611) and the first support plate (211) are pressed against each other and / or the hook (62) and the support shaft (23) are pressed against each other.

12. The robotic arm according to claim 11, wherein: The first support plate (211) is connected to the second support plate (212) at an obtuse angle, and / or the first bearing plate (611) is connected to the second bearing plate (612) at an obtuse angle.

13. The robotic arm according to claim 11, wherein: The second support plate (212) is provided with a first through hole (21a), and the second carrier plate (612) is provided with a second through hole (61a). After the hook (62) is hung on the support shaft (23), the second support plate (212) and the second carrier plate (612) are parallel, and the first through hole (21a) and the second through hole (61a) are coaxial. The connecting assembly (80) comprises a bolt (81) and a fastening nut (82) matched with the bolt (81); the bolt (81) is passed through the first through hole (21a) and the second through hole (61a) and is tightened with the fastening nut (82) to apply the opposing pressure to the second bearing plate (612) and the second support plate (212).

14. The robotic arm according to claim 7, wherein: The rotating shaft (32) is connected to one side of the rotating disk (31), and the rotating mechanism (30) further includes a mounting portion (35) connected to a side of the rotating disk (31) facing away from the rotating shaft (32). The connecting device (100) further includes a second driving device (50), one end of the second driving device (50) is connected to the mounting portion (35), and the other end is connected to the supporting portion (21), so that the supporting portion (21) is driven to rotate relative to the mounting portion (35) around the hinge shaft (22) through the extension and contraction of the second driving device (50).

15. A maintenance vehicle, characterized in that: Comprising the robotic arm as described in any one of claims 1 to 14.

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