Special vehicle-mounted hydraulic mechanical arm device

Abstract

The utility model belongs to the technical field of special equipment, particularly relates to a special vehicle-mounted hydraulic mechanical arm device, and aims to solve the problems that the risk of equipment damage caused by misoperation and the problem of grabbing dead angles exist due to the fact that a large-arm-span and high-load hydraulic mechanical arm is made of a high-strength material under the condition that the bearing of an existing special vehicle is limited. According to the technical scheme, the device comprises a fixing support, a large rotary table, a rotary connecting support, a first-arm mechanism, a first-arm hydraulic cylinder, a second-arm mechanism, a second-arm hydraulic cylinder, a third-arm hydraulic cylinder, a third-arm mechanism, a fourth-arm mechanism, a fourth-arm hydraulic cylinder, a small rotary table, a clamping jaw, a clamping jaw hydraulic cylinder, a hydraulic valve set and a travel switch. The device is convenient to integrally mount, simple to operate, high in use safety coefficient and low in manual labor intensity. The device can be matched with various devices for use, and is sensitive in response, accurate in positioning and stable in movement.

Description

Technical Field

[0001] The present invention relates to the technical field of special equipment, and in particular to a special vehicle-mounted hydraulic mechanical arm device. Background Art

[0002] According to the needs of special equipment working in radiation environment, a hydraulic mechanical arm device that can match the special equipment is designed to meet the relevant requirements of a certain arm span, a certain load and simple operation under the premise of light weight.

[0003] When the load capacity of special vehicles is limited, the use of high-strength materials to make large-span, high-load hydraulic robotic arms carries the risk of equipment damage due to misoperation, and there may also be problems with grasping blind spots.

[0004] In view of the above problems, the present invention document proposes a special vehicle-mounted hydraulic mechanical arm device. Summary of the invention

[0005] The present invention provides a special vehicle-mounted hydraulic mechanical arm device, which solves the shortcomings of the prior art that when the load-bearing capacity of a special vehicle is limited, a hydraulic mechanical arm with a large arm span and a high load is made of high-strength materials, which has the risk of damage to the equipment due to easy misoperation and the problem of grasping blind spots.

[0006] The present invention provides the following technical solutions:

[0007] A special vehicle-mounted hydraulic mechanical arm device includes a special vehicle and further includes:

[0008] A fixed bracket fixed on the special vehicle, wherein a large turntable is provided on the upper side of the fixed bracket;

[0009] Two clamping jaws, the two clamping jaws are arranged on one side of the fixed bracket for clamping materials, a group of movable components are arranged between the clamping jaws and the large turntable, and the movable component includes a swivel connecting bracket fixed on the placement platform of the large turntable, and the swivel connecting bracket has an arm mechanism, a one-arm hydraulic cylinder and a two-arm hydraulic cylinder that are rotated through a pin shaft, the output end of the one-arm hydraulic cylinder is rotated to the side end of the one-arm mechanism through a pin shaft, and the side end of the one-arm mechanism is rotated with a two-arm mechanism through a pin shaft, and the output end of the two-arm hydraulic cylinder is rotated to the side end of the two-arm mechanism through a pin shaft, and a three-arm hydraulic cylinder and a three-arm mechanism are rotated in the two-arm mechanism through a pin shaft, and the output end of the three-arm hydraulic cylinder is rotated to the side end of the three-arm mechanism through a pin shaft, and the side end of the three-arm mechanism is rotated with a four-arm mechanism and a four-arm hydraulic cylinder through a pin shaft, and the side end of the three-arm mechanism is rotated with a small A turntable, a linear connecting rod is rotated by a pin at the side end of the small turntable, an arc-shaped connecting rod is rotated by a pin at the side end of the linear connecting rod, the arc-shaped connecting rod is rotated in a three-arm mechanism by a pin, the side end of the four-arm mechanism is rotated in the arc-shaped connecting rod by a pin, a four-arm hydraulic cylinder is rotated by a pin at the side end of the three-arm mechanism, the output end of the four-arm hydraulic cylinder is rotated in the arc-shaped connecting rod by a pin, the rotation position of the output end of the four-arm hydraulic cylinder is the same as the rotation position of the four-arm mechanism and the arc-shaped connecting rod, the rotation position of the four-arm hydraulic cylinder and the three-arm mechanism is the same as the rotation position of the four-arm mechanism and the three-arm mechanism, the two clamps are both rotated on the side end of the small turntable by a pin, a clamp hydraulic cylinder is fixed to the side end of the small turntable, and the output ends of the clamp hydraulic cylinder on both sides are respectively rotated in two clamps by pins;

[0010] It also includes a double rocker controller, which is used for operating and grabbing materials.

[0011] In a possible design, at least four groups of infrared high-definition cameras are installed on the top of the characteristic vehicle and around the fixed bracket to monitor the operation of the robotic arm and the environmental conditions around the grasped object in real time.

[0012] In a possible design, the distance between the two jaws after opening is 805mm-815mm, and they can grasp cylinders with a diameter in the range of φ100mm≤V≤φ335mm and a weight less than or equal to 250kg; and square objects with a volume in the range of 255×255×255mm≤V≤255×255×800mm and a weight less than or equal to 90kg.

[0013] In a possible design, the one-arm mechanism, the two-arm mechanism, the three-arm mechanism and the four-arm mechanism are all welded with Q890D high-strength material.

[0014] In a possible design, the arm span of the slewing connecting bracket, the one-arm mechanism, the two-arm mechanism, the three-arm mechanism and the four-arm mechanism after being unfolded is 4m.

[0015] In a possible design, the joints among the large turntable, the rotary connecting bracket, the one-arm mechanism, the two-arm mechanism, the three-arm mechanism and the four-arm mechanism are all detected by passive positioning sensors.

[0016] In a possible design, copper-based graphite self-lubricating bearings are installed outside the plurality of pin shafts to reduce the sliding resistance between the moving parts.

[0017] In a possible design, the buttons of the dual-stick controller are mechanical buttons with an automatic reset function.

[0018] It is to be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the invention.

[0019] In the present invention, it is realized that in a radiation environment, the operator of a special vehicle can remotely control the mechanical arm in the vehicle to replace manual rapid grabbing and carrying of heavy objects over a large range;

[0020] In the present invention, the lightweight of the special vehicle-mounted hydraulic mechanical arm is achieved, the weight of the body is effectively reduced, more load space is reserved for the vehicle, and the performance of the vehicle is improved;

[0021] In the present invention, the special vehicle-mounted hydraulic mechanical arm realizes the functions of one-key automatic deployment, one-key automatic recovery, and one-key automatic material discharge, which is simple to operate and has stable movement;

[0022] In the present invention, a multi-joint and double-rotation structure is adopted to realize the overall 360° rotation of the hydraulic mechanical arm and the 360° continuous rotation grasping of the claw hand, with flexible movement, large working range, adjustable claw hand angle and other fine control;

[0023] In the present invention, the hydraulic grab has an opening of 810mm, and can grab cylinders with a diameter within the range of φ100mm≤V≤φ335mm and a weight less than or equal to 250kg; and square objects with a volume within the range of 255×255×255mm≤V≤255×255×800mm and a weight less than or equal to 90kg. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a front view of the structure of the present invention;

[0025] Figure 2 It is a side view of the structure of the present invention;

[0026] Figure 3 The degrees of freedom of movement and joint diagram of the present invention;

[0027] Figure 4 This is a first control principle block diagram of the present invention;

[0028] Figure 5 This is a block diagram of the second control principle of the present invention;

[0029] Figure 6 It is a connection diagram of each movable joint of the present invention;

[0030] Figure 7 It is a schematic diagram of the opening and closing state of the clamping jaws of the present invention.

[0031] Reference numerals:

[0032] 1. Fixed bracket; 2. Large turntable; 3. Rotating connecting bracket; 4. One-arm mechanism; 5. One-arm hydraulic cylinder; 6. Two-arm mechanism; 7. Two-arm hydraulic cylinder; 8. Three-arm hydraulic cylinder; 9. Three-arm mechanism; 10. Four-arm mechanism; 11. Four-arm hydraulic cylinder; 12. Small turntable; 13. Gripper; 14. Gripper hydraulic cylinder; 15. First joint; 16. Second joint; 17. Third joint; 18. Fourth joint; 19. Fifth joint; 20. Sixth joint; 21. Seventh joint; 22. Double rocker controller; 23. Control bus; 24. Programmable control module; 25. Control cable; 26. Return oil pipeline; 27. Oil inlet pipeline; 28. Control oil pipeline; 29. ​​Pin; 30. Cylinder; 31. Copper-based graphite self-lubricating bearing. DETAILED DESCRIPTION

[0033] The embodiments of the present invention are described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0034] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms, "connection" and "installation" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. In addition, "connection" can be a direct connection or an indirect connection through an intermediate medium. Among them, "fixed" means that they are connected to each other and the relative position relationship after connection remains unchanged. The directional terms mentioned in the embodiments of the present invention, such as "inside", "outside", "top", "bottom", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present invention, 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 cannot be understood as a limitation on the embodiments of the present invention.

[0035] In the embodiments of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0036] In the embodiments of the present invention, "and / or" is only a description of the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0037] References to "one embodiment" or "some embodiments" etc. described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present invention. Thus, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0038] Example 1

[0039] Reference Figure 1-Figure 7 , a special vehicle-mounted hydraulic mechanical arm device, including a special vehicle, and also including:

[0040] A fixed bracket 1 fixed on the special vehicle, and a large turntable 2 is provided on the upper side of the fixed bracket 1;

[0041] Two clamping jaws 13 are arranged on one side of the fixed bracket 1 for clamping materials. A group of movable components is arranged between the clamping jaws 13 and the large turntable 2. The movable components include a swivel connecting bracket 3 fixed on the placement platform of the large turntable 2. A one-arm mechanism 4, a one-arm hydraulic cylinder 5 and a two-arm hydraulic cylinder 7 are rotated in the swivel connecting bracket 3 through a pin shaft. The output end of the one-arm hydraulic cylinder 5 is rotated to the side end of the one-arm mechanism 4 through a pin shaft. The side end of the one-arm mechanism 4 is rotated with a two-arm mechanism 6 through a pin shaft. The output end of the two-arm hydraulic cylinder 7 is rotated to the side end of the two-arm mechanism 6 through a pin shaft. A three-arm hydraulic cylinder 8 and a three-arm mechanism 9 are rotated in the two-arm mechanism 6 through a pin shaft. The output end of the three-arm hydraulic cylinder 8 is rotated to the side end of the three-arm mechanism 9 through a pin shaft. The side end of the three-arm mechanism 9 is rotated with a four-arm mechanism 10 and a four-arm hydraulic cylinder 11 through a pin shaft. The side end of the three-arm mechanism 9 is rotated with a small turntable 12 through a pin shaft. The end of the linear connecting rod is rotated by a pin, and the side end of the linear connecting rod is rotated by a pin with an arc connecting rod, and the arc connecting rod is rotated in the three-arm mechanism 9 through the pin, and the side end of the four-arm mechanism 10 is rotated in the arc connecting rod through the pin, and the side end of the three-arm mechanism 9 is rotated by a four-arm hydraulic cylinder 11 through the pin, and the output end of the four-arm hydraulic cylinder 11 is rotated in the arc connecting rod through the pin, and the rotation position of the output end of the four-arm hydraulic cylinder 11 is the same as the rotation position of the four-arm mechanism 10 and the arc connecting rod, and the rotation position of the four-arm hydraulic cylinder 11 and the three-arm mechanism 9 is the same as the rotation position of the four-arm mechanism 10 and the three-arm mechanism 9. The two clamps 13 are both rotated on the side ends of the small turntable 12 through the pin, and the side ends of the small turntable 12 are fixed with a clamp hydraulic cylinder 14, and the output ends of the clamp hydraulic cylinder 14 on both sides are respectively rotated in the two clamps 13 through the pin; it also includes a double rocker controller, and the double rocker controller is used to operate and grab materials;

[0042] The hydraulic manipulator adopts a hydraulic seven-joint six-degree-of-freedom design, which realizes the ability to work without dead angles within the effective grasping range; the device uses hydraulic power as the power, and controls the opening of the hydraulic servo valve through a self-developed automatic control system, thereby controlling the flow rate of the hydraulic oil, and realizing the running speed of each moving part of the manipulator;

[0043] The large turntable 2 uses a motor with a brake to drive the gear plate to rotate, thereby driving the entire mechanical arm to make a 180° rotation movement; the small turntable 12 uses a cycloidal motor to drive the worm gear turntable to rotate, realizing a 360° rotation of the gripper; the extension and contraction of the other actuators, one-arm hydraulic cylinder 5, two-arm hydraulic cylinder 7, three-arm hydraulic cylinder 8, four-arm hydraulic cylinder 11, and clamp hydraulic cylinder 14, drive the one-arm mechanism 4, two-arm mechanism 6, three-arm mechanism 9, four-arm mechanism 10, and clamp 13 to operate; each joint position is connected by a pin shaft, and a copper-based graphite self-lubricating bearing is installed on the outside of the pin shaft to reduce the sliding resistance between the moving parts, thereby realizing the free grabbing and carrying functions of the equipment. At the same time, the equipment uses sensors for precise positioning, which can realize functions such as one-key homing, one-key recovery, one-key grabbing, and fault self-diagnosis. Replacing manual grabbing and handling greatly reduces the labor intensity of operators and protects the personal safety of operators.

[0044] Example 2

[0045] Reference Figure 1-Figure 7 ,

[0046] Features: At least four sets of infrared high-definition cameras are installed on the top of the vehicle and around the fixed bracket 1 to monitor the operation of the robot arm and the environmental status around the grasped object in real time;

[0047] The distance between the two jaws 13 after opening is 805mm-815mm, and they can grasp cylindrical objects with a diameter within the range of φ100mm≤V≤φ335mm and a weight less than or equal to 250kg; and square objects with a volume within the range of 255×255×255mm≤V≤255×255×800mm and a weight less than or equal to 90kg;

[0048] The one-arm mechanism 4, the two-arm mechanism 6, the three-arm mechanism 9 and the four-arm mechanism 10 are all welded with Q890D high-strength material;

[0049] The arm span of the slewing connecting bracket 3, the one-arm mechanism 4, the two-arm mechanism 6, the three-arm mechanism 9 and the four-arm mechanism 10 after unfolding is 4m;

[0050] The joints among the large turntable 2, the turntable connecting bracket 3, the one-arm mechanism 4, the two-arm mechanism 6, the three-arm mechanism 9 and the four-arm mechanism 10 are all detected by passive positioning sensors;

[0051] The buttons of the dual-joystick controller are mechanical buttons with automatic reset function; the hydraulic mechanical arm position detection adopts the combination of mechanical sensor travel switch and photoelectric sensor, and the buttons are mechanical buttons with automatic reset function. With the self-developed control software, the combination of buttons, sensors and programmable control and control software can realize the functions of automatic deployment, automatic recovery and automatic material discharge of the mechanical arm with one button, reducing the risk of equipment damage caused by misoperation;

[0052] The hydraulic valve group is used to control the oil supply to the one-arm hydraulic cylinder 5 , the two-arm hydraulic cylinder 7 , the three-arm hydraulic cylinder 8 , the four-arm hydraulic cylinder 11 and the clamping claw hydraulic cylinder 14 .

[0053] However, as is well known to those skilled in the art, the working principles and wiring methods of the large turntable 2 and the small turntable 12 are commonplace, and are conventional means or common knowledge, and will not be elaborated here. Those skilled in the art may make any optional selections according to their needs or convenience.

[0054] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention; the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A special vehicle-mounted hydraulic mechanical arm device, comprising a special vehicle, characterized in that: Also includes: A fixed bracket (1) fixed on the special vehicle, wherein a large turntable (2) is provided on the upper side of the fixed bracket (1); Two clamping jaws (13), the two clamping jaws (13) are arranged on one side of the fixed support (1) for clamping materials, a group of movable components are arranged between the clamping jaws (13) and the large turntable (2), the movable components include a swivel connecting support (3) fixed on the placement platform of the large turntable (2), a one-arm mechanism (4), a one-arm hydraulic cylinder (5) and a two-arm hydraulic cylinder (7) are arranged in the swivel connecting support (3) through a pin shaft, the output end of the one-arm hydraulic cylinder (5) is rotated to the side end of the one-arm mechanism (4) through a pin shaft, The side end of the one-arm mechanism (4) is rotated with a two-arm mechanism (6) through a pin shaft, the output end of the two-arm hydraulic cylinder (7) is rotated at the side end of the two-arm mechanism (6) through a pin shaft, a three-arm hydraulic cylinder (8) and a three-arm mechanism (9) are rotated in the two-arm mechanism (6) through a pin shaft, the output end of the three-arm hydraulic cylinder (8) is rotated at the side end of the three-arm mechanism (9) through a pin shaft, the side end of the three-arm mechanism (9) is rotated with a four-arm mechanism (10) and a four-arm hydraulic cylinder (11) through a pin shaft, and the side end of the three-arm mechanism (9) is rotated with a A small turntable (12) is rotated by a pin shaft, and a linear connecting rod is rotated at the side end of the small turntable (12) through a pin shaft, and an arc connecting rod is rotated at the side end of the linear connecting rod through a pin shaft, and the arc connecting rod is rotated in the three-arm mechanism (9) through the pin shaft, and the side end of the four-arm mechanism (10) is rotated in the arc connecting rod through the pin shaft, and the side end of the three-arm mechanism (9) is rotated by a pin shaft with a four-arm hydraulic cylinder (11), and the output end of the four-arm hydraulic cylinder (11) is rotated in the arc connecting rod through the pin shaft, and the four-arm hydraulic cylinder (11) is rotated in the arc connecting rod through the pin shaft. The rotation position of the output end of the hydraulic cylinder (11) is the same as the rotation position of the four-arm mechanism (10) and the arc-shaped connecting rod. The rotation position of the four-arm hydraulic cylinder (11) and the three-arm mechanism (9) is the same as the rotation position of the four-arm mechanism (10) and the three-arm mechanism (9). The two clamping jaws (13) are both rotated on the side ends of the small turntable (12) through the pins. The side ends of the small turntable (12) are fixed with clamping jaw hydraulic cylinders (14). The output ends on both sides of the clamping jaw hydraulic cylinders (14) are respectively rotated in the two clamping jaws (13) through the pins. It also includes a double rocker controller, which is used for operating and grabbing materials.

2. A special vehicle-mounted hydraulic mechanical arm device according to claim 1, characterized in that: At least four groups of infrared high-definition cameras are installed on the top of the special vehicle and around the fixed bracket (1) for real-time monitoring of the operation of the mechanical arm and the environmental conditions around the grasped object.

3. A special vehicle-mounted hydraulic mechanical arm device according to claim 1, characterized in that: The distance between the two clamping jaws (13) after opening is 805mm-815mm, and they can grasp a cylindrical object with a diameter within the range of φ100mm≤V≤φ335mm and a weight less than or equal to 250kg; and a square object with a volume within the range of 255×255×255mm≤V≤255×255×800mm and a weight less than or equal to 90kg.

4. A special vehicle-mounted hydraulic mechanical arm device according to claim 1, characterized in that: The one-arm mechanism (4), the two-arm mechanism (6), the three-arm mechanism (9) and the four-arm mechanism (10) are all welded using Q890D high-strength material.

5. A special vehicle-mounted hydraulic mechanical arm device according to claim 1, characterized in that: The arm span of the slewing connecting bracket (3), the one-arm mechanism (4), the two-arm mechanism (6), the three-arm mechanism (9) and the four-arm mechanism (10) after being unfolded is 4 m.

6. A special vehicle-mounted hydraulic mechanical arm device according to claim 1, characterized in that: The joints between the large turntable (2), the turntable connection bracket (3), the one-arm mechanism (4), the two-arm mechanism (6), the three-arm mechanism (9) and the four-arm mechanism (10) are all detected by passive positioning sensors.

7. A special vehicle-mounted hydraulic mechanical arm device according to claim 1, characterized in that: Copper-based graphite self-lubricating bearings are installed on the outside of multiple pins to reduce the sliding resistance between moving parts.

8. A special vehicle-mounted hydraulic mechanical arm device according to claim 1, characterized in that: The buttons of the dual-joystick controller are mechanical buttons with an automatic reset function.

Images