Hydraulically-driven heavy-load manipulator

Abstract

A hydraulically-driven heavy-load manipulator comprises a base which is a steel structure platform, and a mounting hole is formed in the center of the upper end face of the base; the first working arm, the second working arm and the third working arm are sequentially connected through the first adapter and the second adapter; flanges are arranged at the two ends of the body, and an inclinometer is arranged in the center of the body in the axial direction; the double-shaft driving module comprises a mounting shell which is composed of two steel pipes which intersect in a right-angle mode; the two rotary hydraulic cylinders are respectively arranged in the two steel pipes of the mounting shell, cylinder bodies are fixed on the steel pipes, and output ends of the rotary hydraulic cylinders are provided with connecting flanges; the output end connecting flange of the rotary hydraulic cylinder on one side is connected with the flange at one end of the body; the rotary detection device comprises a rotary encoder which is arranged on one side of the upper end face of the base and corresponds to a steel pipe on one side of the mounting shell of the first working arm double-shaft driving module; and the rotary hydraulic cylinders, the inclinometers and the rotary encoders on the first working arm, the second working arm, the third working arm and the third working arm are connected with the controller. The rotary hydraulic cylinder is adopted for driving, the bearing capacity is high, the impact resistance is high, the two-dimensional inclination angle of each working arm is measured through the double-shaft inclinometer, the system is simple and suitable for being used in mines, metallurgy and other industries, and automatic production is achieved.

Description

Technical Field

[0001] This invention relates to the field of transfer technology, and more particularly to a hydraulically driven high-load manipulator. Background Technology

[0002] In mining, metallurgy and other fields, operations are conducted in open-air, dusty and high-temperature environments. Because existing robotic arms are driven by servo motors and reducers, they have small loads and small working ranges, and cannot meet the requirements of operations such as a 1-ton end load and a 6-meter working radius.

[0003] Some hydraulically driven robotic arms use linear hydraulic cylinders, which cannot achieve 360-degree rotation, have a small range of motion, lack effective sensors to detect the status of each arm, have low control precision, and cannot achieve multi-joint control of position and posture. Summary of the Invention

[0004] The purpose of this invention is to provide a hydraulically driven high-load manipulator that solves the problems of small load and small working range of existing manipulators. It has the advantages of high load capacity, strong impact resistance and simple system, and is suitable for use in mining, metallurgy and other industries to realize automated production.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] A hydraulically driven heavy-duty manipulator, comprising:

[0007] The base is a steel structure platform with a mounting hole at the center of its upper surface;

[0008] The first working arm, the second working arm, and the third working arm are connected in sequence via the first adapter and the second adapter. The first and second adapters are each composed of two steel pipes that intersect at right angles.

[0009] The first to third working arms each include,

[0010] The main body has flanges at both ends, and an inclinometer or triaxial accelerometer is installed in the center of the body along the axial direction.

[0011] Dual-axis drive module, including,

[0012] The mounting housing consists of two steel pipes intersecting at right angles;

[0013] Two rotary hydraulic cylinders are respectively installed inside two steel pipes of the mounting housing. The cylinder body is fixed to the steel pipe, and the output end is provided with a connecting flange; the output end connecting flange of one of the rotary hydraulic cylinders is connected to the flange at one end of the main body.

[0014] The output end of the rotary hydraulic cylinder on the other side of the dual-axis drive module of the first working arm is connected to the mounting hole at the center of the upper surface of the base via a flange; the flange at the other end of the first working arm body is connected to the pipe end on one side of the first adapter.

[0015] The output end of the rotary hydraulic cylinder on one side of the dual-axis drive module of the second working arm is connected to the flange of the other side of the pipe end of the first adapter; the flange of the other end of the body of the second working arm is connected to the pipe end of one side of the second adapter.

[0016] The output end of the rotary hydraulic cylinder on one side of the dual-axis drive module of the third working arm is connected to the flange of the other side of the pipe end of the second adapter; the flange of the other end of the body of the third working arm is connected to the end effector.

[0017] Rotation detection device, comprising:

[0018] The transmission gear is coaxially sleeved on the steel pipe on one side of the mounting housing of the dual-axis drive module of the first working arm;

[0019] The driven gear is movably mounted on the upper surface of the base via a rotating shaft and meshes with the transmission gear.

[0020] A rotary encoder is coaxially mounted on the upper end face of the driven gear;

[0021] The controller is connected to each of the rotary hydraulic cylinders, inclinometers, and rotary encoders on the first to third working arms.

[0022] Preferably, the inclinometer is a biaxial inclinometer.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] 1. The robotic arm described in this invention is driven by a rotary hydraulic cylinder, which drives the beam to rotate, with a rotation angle of up to 360 degrees; moreover, the rotary hydraulic cylinder has a large torque and strong resistance to load impact; the rotary hydraulic cylinder also has strong resistance to high temperature and dust.

[0025] 2. This invention uses an inclinometer to measure the horizontal inclinometer angle of the working arm, which allows for the calculation of the rotation angle of the hydraulic cylinder, making it simple and convenient. Attached Figure Description

[0026] Figure 1 Three-dimensional representation of an embodiment of the present invention Figure 1 ;

[0027] Figure 2 Three-dimensional representation of an embodiment of the present invention Figure 2

[0028] Figure 3 A perspective view of the first working arm in an embodiment of the present invention;

[0029] Figure 4 An exploded perspective view of the first working arm in an embodiment of the present invention. Detailed Implementation

[0030] See Figures 1-4 The hydraulically driven heavy-duty manipulator of the present invention comprises:

[0031] The base 1 is a steel structure platform with a mounting hole at the center of its upper surface;

[0032] The first working arm 2, the second working arm 3, and the third working arm 4 are connected in sequence by the first adapter 5 and the second adapter 6. The first adapter 5 and the second adapter 6 are each composed of two steel pipes that intersect at right angles.

[0033] The first to third working arms 2 to 4 each include,

[0034] The main body 21 (taking the first working arm 2 as an example, the same below) has flanges at both ends, and an inclinometer 23 or a triaxial accelerometer is installed in the center of the body along the axial direction.

[0035] Dual-axis drive module 22, including,

[0036] Mounting housing 221, which consists of two steel pipes intersecting at right angles;

[0037] Two rotary hydraulic cylinders 222 and 223 are respectively installed in two steel pipes of the mounting housing 221. Their cylinder bodies are fixed to the steel pipes, and their output ends are provided with connecting flanges; the output end connecting flange of one rotary hydraulic cylinder 222 is connected to the flange at one end of the main body 1.

[0038] The output end of the rotary hydraulic cylinder 223 on the other side of the dual-axis drive module 22 of the first working arm 2 is connected to the mounting hole at the center of the upper surface of the base 1 via a flange; the flange at the other end of the body 21 of the first working arm 2 is connected to the pipe end on one side of the first adapter 5.

[0039] The output end of the rotary hydraulic cylinder on one side of the dual-axis drive module of the second working arm 3 is connected to the flange of the other side of the pipe end of the first adapter 5; the flange of the other side of the body of the second working arm 3 is connected to the pipe end of one side of the second adapter 6.

[0040] The output end of the rotary hydraulic cylinder on one side of the dual-axis drive module of the third working arm 4 is connected to the flange of the other side of the pipe end of the second adapter 6; the flange of the other end of the body of the third working arm 4 is connected to the end effector 7.

[0041] Rotation detection device 8 includes:

[0042] The transmission gear 81 is coaxially sleeved on the steel pipe on one side of the mounting housing 221 of the dual-axis drive module 22 of the first working arm 2;

[0043] The passive gear 82 is movably mounted on the upper surface of the base 1 via a rotating shaft and meshes with the transmission gear 81.

[0044] A rotary encoder 9 is coaxially mounted on the upper end face of the driven gear 82;

[0045] The controller is connected to each of the rotary hydraulic cylinders, inclinometers, and rotary encoders on the first to third working arms.

[0046] Preferably, the inclinometer 23 is a biaxial inclinometer.

[0047] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A hydraulically driven high-load manipulator, characterized in that, include: The base is a steel structure platform with a mounting hole at the center of its upper surface; The first working arm, the second working arm, and the third working arm are connected in sequence via the first adapter and the second adapter. The first and second adapters are each composed of two steel pipes that intersect at right angles. The first to third working arms each include, The main body has flanges at both ends, and an inclinometer or triaxial accelerometer is installed in the center of the body along the axial direction. Dual-axis drive module, including, The mounting housing consists of two steel pipes intersecting at right angles; Two rotary hydraulic cylinders are respectively installed inside two steel pipes of the mounting housing. The cylinder body is fixed to the steel pipe, and the output end is provided with a connecting flange; the output end connecting flange of one of the rotary hydraulic cylinders is connected to the flange at one end of the main body. The output end of the rotary hydraulic cylinder on the other side of the dual-axis drive module of the first working arm is connected to the mounting hole at the center of the upper surface of the base via a flange; the flange at the other end of the first working arm body is connected to the pipe end on one side of the first adapter. The output end of the rotary hydraulic cylinder on one side of the dual-axis drive module of the second working arm is connected to the flange of the other side of the pipe end of the first adapter; the flange of the other end of the body of the second working arm is connected to the pipe end of one side of the second adapter. The output end of the rotating hydraulic cylinder on one side of the dual-axis drive module of the third working arm is connected to the flange and the other end of the pipe of the second adapter. The end effector is connected to the flange at the other end of the third working arm body; Rotation detection device, comprising: The transmission gear is coaxially sleeved on the steel pipe on one side of the mounting housing of the dual-axis drive module of the first working arm; The driven gear is movably mounted on the upper surface of the base via a rotating shaft and meshes with the transmission gear. A rotary encoder is coaxially mounted on the upper end face of the driven gear; a controller is connected to each rotary hydraulic cylinder, inclinometer, and rotary encoder on the first to third working arms.

2. The high-load robotic arm as described in claim 1, characterized in that, The inclinometer is a biaxial inclinometer.

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