Self-balancing hydraulic manipulator at any position in non-load state

Abstract

The utility model discloses a self-balancing hydraulic manipulator at any position in a non-load state, which comprises a mechanical arm, and a top seat is rotatably mounted on the mechanical arm through a second hinge piece; a hydraulic manipulator is mounted on the top seat and comprises a hydraulic oil cylinder mounted on the top seat, a hydraulic telescopic rod is mounted at the output end of the hydraulic oil cylinder, and a manipulator is mounted at one end of the hydraulic telescopic rod; a positioning measuring mechanism is mounted on the top seat and is used for performing position balance measurement on the hydraulic manipulator; the utility model relates to the technical field of hydraulic manipulators, in particular to a self-balancing hydraulic manipulator at any position in a non-load state. The problems that in the actual using process of an existing mechanical arm, whether the mechanical arm is in a balanced state or not is difficult to judge through visual inspection, adjustment is inconvenient, and consequently the precision of the output state of the mechanical arm is not high are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of hydraulic manipulators, in particular to a self-balancing hydraulic manipulator in any position in a non-load state. Background Art

[0002] When in use, the existing robotic arms have a clamping path that is too long, which increases the clamping time and reduces work efficiency. They are also prone to slipping, causing the clamped objects to fall off and cause damage, increasing construction costs and work difficulty. At the same time, they are prone to shaking during work, causing the robotic arms to lose balance, affecting work results, reducing practicality, and not meeting the needs of modern people.

[0003] In order to solve the above problems, patent CN201922262758.3 discloses a self-balancing robotic arm, which prevents slipping, avoids objects from falling off, prevents damage, reduces construction costs, and ensures the balance of the robotic arm.

[0004] However, in actual use, it is difficult to determine whether the robotic arm is in a balanced state by naked eye observation, and it is inconvenient to adjust, resulting in low accuracy of the output state of the robotic arm. Therefore, there is an urgent need for a flexible and maneuverable robotic arm device that can be fine-tuned to accurately align with the target hole position. Utility Model Content

[0005] In view of the shortcomings of the prior art, the utility model provides a self-balancing hydraulic manipulator in any position in a non-load state, which solves the problem that it is difficult to judge whether the robot arm is in a balanced state by naked eye during actual use of the existing manipulator, and it is inconvenient to adjust, resulting in low accuracy of the output state of the robot arm.

[0006] To achieve the above purpose, the utility model is implemented by the following technical solutions: a self-balancing hydraulic manipulator in any position in a non-load state, comprising a mechanical arm, on which a top seat is rotatably mounted via a second hinge;

[0007] A hydraulic manipulator is installed on the top seat, and the hydraulic manipulator includes a hydraulic oil cylinder installed on the top seat, a hydraulic telescopic rod is installed at the output end of the hydraulic oil cylinder, and a manipulator is installed at one end of the hydraulic telescopic rod;

[0008] A positioning and measuring mechanism is installed on the top seat for measuring the position balance of the hydraulic manipulator;

[0009] The mechanical arm is provided with an adjustment mechanism for calibrating the position balance of the hydraulic manipulator;

[0010] The bottom end of the mechanical arm is hingedly mounted on the adjustment seat through a first hinge, the bottom of the adjustment seat is rotatably mounted on the base through a bearing, and a rotating mechanism is arranged in the base to drive the adjustment seat to rotate.

[0011] Preferably, connecting flanges are fixedly connected to the four corners of the base respectively.

[0012] Preferably, the rotating mechanism includes a rotating rod fixed at the bottom end of the bearing, the bottom end of the rotating rod is rotatably connected to the base through the bearing, a driven gear is fixedly connected to the rotating rod, one side of the driven gear is meshingly connected to a driving gear, the driving gear is installed on the output shaft of the first motor, and the first motor is installed in the base.

[0013] Preferably, a solenoid valve is installed on the top seat for controlling the hydraulic cylinder.

[0014] Preferably, the positioning and measuring mechanism comprises a laser seat mounted on a top seat, a laser lamp is mounted on the laser seat, a positioning seat is mounted on the manipulator, a positioning hole is formed on the positioning seat, and the positioning seat and the laser lamp are in the same straight line.

[0015] Preferably, the adjustment mechanism includes a first articulated frame connected to the top seat, a connecting frame is hinged on one side of the first articulated frame, a second articulated frame is hinged on one end of the connecting frame, a second motor is installed on the adjustment seat, and one end of the second articulated frame is fixed to the output shaft of the second motor.

[0016] Preferably, a PLC controller is installed on the base for controlling electrical components.

[0017] Beneficial Effects

[0018] The utility model provides a self-balancing hydraulic manipulator in any position in a non-load state. Compared with the prior art, it has the following beneficial effects:

[0019] 1. This is a self-balancing hydraulic manipulator in any position in a non-load state. In the non-load state, a positioning and measuring mechanism is set on the hydraulic manipulator. The positioning and measuring mechanism includes a laser seat, a laser lamp, etc. The laser lamp is started to emit a laser, which passes through the positioning hole to reach the output target position of the manipulator. Therefore, the target hole position can be accurately aligned by observing the landing point of the laser lamp. At the same time, the balance state of the hydraulic manipulator itself can be judged by observing the shape of the landing point, and the observation accuracy is higher.

[0020] 2. A self-balancing hydraulic manipulator in an unloaded state and at any position has an adjusting mechanism on the manipulator arm, the adjusting mechanism comprising a first articulated frame, a connecting frame, etc. The hydraulic manipulator is observed to be in an unbalanced state through a positioning and measuring mechanism. The second motor is started to rotate to drive the second articulated frame to rotate, which can drive the connecting frame to pull the first articulated frame to rotate around the manipulator arm, thereby driving the top seat to rotate and fine-tune, and fine-tune the elevation angle of the hydraulic manipulator on the top seat, thereby flexibly and maneuverably fine-tuning the position of the hydraulic manipulator to make it self-balanced and accurately align with the target construction point, thereby achieving the purpose of self-balancing adjustment at any position. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of the utility model from the first viewing angle;

[0022] Figure 2 This is a schematic diagram of the three-dimensional structure of the utility model from a second viewing angle;

[0023] Figure 3 This is a schematic diagram of the overall structure of the main view of the utility model;

[0024] Figure 4 For this utility model Figure 3 Schematic diagram of the partially enlarged structure.

[0025] In the figure: 1. base; 2. mechanical arm; 3. top seat; 4. hydraulic manipulator; 41. hydraulic cylinder; 42. hydraulic telescopic rod; 43. manipulator; 5. first hinge; 6. adjustment seat; 7. bearing; 8. rotating mechanism; 81. rotating rod; 82. driven gear; 83. driving gear; 84. first motor; 9. solenoid valve; 10. positioning and measuring mechanism; 101. laser seat; 102. laser light; 103. positioning seat; 104. positioning hole; 11. adjusting mechanism; 111. first articulated frame; 112. connecting frame; 113. second articulated frame; 114. second motor; 12. second articulated member; 13. connecting flange. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] See also Figure 1-4 , the utility model provides two technical solutions:

[0028] Embodiment 1:

[0029] A self-balancing hydraulic manipulator in any position in a non-load state comprises a mechanical arm 2, on which a top seat 3 is rotatably mounted via a second hinge 12;

[0030] A hydraulic manipulator 4 is installed on the top seat 3. The hydraulic manipulator 4 includes a hydraulic cylinder 41 installed on the top seat 3. A hydraulic telescopic rod 42 is installed at the output end of the hydraulic cylinder 41. A manipulator 43 is installed at one end of the hydraulic telescopic rod 42.

[0031] A positioning and measuring mechanism 10 is installed on the top seat 3 for measuring the position balance of the hydraulic manipulator 4;

[0032] An adjustment mechanism 11 is installed on the mechanical arm 2 for calibrating the position balance of the hydraulic manipulator 4;

[0033] The bottom end of the robot arm 2 is hingedly mounted on the adjustment seat 6 through a first hinge 5 , and the bottom of the adjustment seat 6 is rotatably mounted on the base 1 through a bearing 7 . A rotating mechanism 8 is arranged in the base 1 to drive the adjustment seat 6 to rotate.

[0034] Embodiment 2:

[0035] The main difference from the first embodiment is:

[0036] A self-balancing hydraulic manipulator in any position in a non-load state, wherein the four corners of the base 1 are respectively fixedly connected with connecting flanges 13, and the base 1 is fixedly mounted on the frame through the connecting flanges 13; the rotating mechanism 8 includes a rotating rod 81 fixed at the bottom end of the bearing 7, and the bottom end of the rotating rod 81 is rotatably connected to the base 1 through the bearing, and the rotating rod 81 is fixedly connected to the driven gear 82, and one side of the driven gear 82 is meshingly connected with a driving gear 83, and the driving gear 83 is mounted on the output shaft of the first motor 84, and the first motor 84 is mounted in the base 1, and the first motor 84 is started to drive the driving gear 83 to rotate The driven gear 82 is driven to rotate, and then the rotating rod 81 is driven to rotate, thereby driving the bearing 7 to rotate, thereby driving the adjusting seat 6 and the mechanical arm 2 to rotate, and then driving the hydraulic manipulator 4 to rotate and adjust; the top seat 3 is equipped with an electromagnetic valve 9 for controlling the hydraulic cylinder 41, so as to control the hydraulic cylinder 41 to drive the hydraulic telescopic rod 42 to extend and retract; the positioning and measuring mechanism 10 includes a laser seat 101 installed on the top seat 3, a laser lamp 102 is installed on the laser seat 101, and a positioning seat 103 is installed on the manipulator 43, and a positioning hole 104 is opened on the positioning seat 103, and the positioning seat 103 and the laser lamp 102 are connected. On the same straight line, the laser lamp 102 is started to emit a laser, which passes through the positioning hole 104 and reaches the output target position of the manipulator, so that the target hole position can be accurately aligned by observing the landing point of the laser lamp 102. At the same time, the balance state of the hydraulic manipulator 4 itself can be judged by observing the shape of the landing point, and the observation accuracy is higher; the adjustment mechanism 11 includes a first articulated frame 111 connected to the top seat 3, one side of the first articulated frame 111 is hinged with a connecting frame 112, one end of the connecting frame 112 is hinged with a second articulated frame 113, a second motor 114 is installed on the adjustment seat 6, and one end of the second articulated frame 113 is fixed to the second On the output shaft of the motor 114, the hydraulic manipulator 4 is observed to be in an unbalanced state through the positioning and measuring mechanism 10. By starting the second motor 114 to rotate and drive the second articulated frame 113 to rotate, the connecting frame 112 can be driven to pull the first articulated frame 111 to rotate around the robot arm 2, thereby driving the top seat 3 to rotate fine-tuning, and fine-tuning the elevation angle of the hydraulic manipulator 4 on the top seat 3, so as to flexibly and maneuverably fine-tune the position of the hydraulic manipulator 4 to make it self-balanced and accurately align with the target construction point; a PLC controller is installed on the base 1 to control the electrical components and improve the degree of automation.

[0037] When the self-balancing hydraulic manipulator in any position in a non-load state is used, in the non-load state, a positioning and measuring mechanism 10 is set on the hydraulic manipulator 4, and the positioning and measuring mechanism 10 includes a laser seat 101, a laser lamp 102, etc. The laser lamp 102 is started to emit a laser, which passes through the positioning hole 104 and reaches the output target position of the manipulator, so that the target hole position can be accurately aligned by observing the landing point of the laser lamp 102, and the balance state of the hydraulic manipulator 4 itself can be judged by observing the shape of the landing point, and the observation accuracy is higher; in addition, an adjustment mechanism 11 is set on the mechanical arm 2 of the utility model, The adjusting mechanism 11 includes a first articulated frame 111, a connecting frame 112, etc. The hydraulic manipulator 4 is observed to be in an unbalanced state through the positioning and measuring mechanism 10. By starting the second motor 114 to rotate and drive the second articulated frame 113 to rotate, the connecting frame 112 can be driven to pull the first articulated frame 111 to rotate around the robot arm 2, thereby driving the top seat 3 to rotate and fine-tune, and fine-tune the elevation angle of the hydraulic manipulator 4 on the top seat 3, so as to flexibly and maneuverably fine-tune the position of the hydraulic manipulator 4 to make it self-balanced and accurately align with the target construction point, thereby achieving the purpose of self-balancing adjustment at any position.

[0038] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0039] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A self-balancing hydraulic manipulator in any position under no-load condition, comprising a manipulator arm (2), characterized in that: A top seat (3) is rotatably mounted on the mechanical arm (2) via a second hinge (12); A hydraulic manipulator (4) is installed on the top seat (3), and the hydraulic manipulator (4) comprises a hydraulic cylinder (41) installed on the top seat (3), a hydraulic telescopic rod (42) is installed at the output end of the hydraulic cylinder (41), and a manipulator (43) is installed at one end of the hydraulic telescopic rod (42); The top seat (3) is provided with a positioning and measuring mechanism (10) for measuring the position balance of the hydraulic manipulator (4); The mechanical arm (2) is provided with an adjustment mechanism (11) for calibrating the position balance of the hydraulic manipulator (4); The bottom end of the mechanical arm (2) is hingedly mounted on the adjustment seat (6) via a first hinge (5); the bottom of the adjustment seat (6) is rotatably mounted on the base (1) via a bearing (7); and a rotating mechanism (8) is provided in the base (1) for driving the adjustment seat (6) to rotate.

2. A self-balancing hydraulic manipulator in any position under non-load state according to claim 1, characterized in that: The four corners of the base (1) are respectively fixedly connected with connecting flanges (13).

3. A self-balancing hydraulic manipulator in any position under non-load state according to claim 1, characterized in that: The rotating mechanism (8) comprises a rotating rod (81) fixed at the bottom end of the bearing (7); the bottom end of the rotating rod (81) is rotatably connected to the base (1) via the bearing; a driven gear (82) is fixedly connected to the rotating rod (81); one side of the driven gear (82) is meshingly connected to a driving gear (83); the driving gear (83) is mounted on the output shaft of a first motor (84); and the first motor (84) is mounted in the base (1).

4. A self-balancing hydraulic manipulator in any position under non-load state according to claim 1, characterized in that: The top seat (3) is provided with a solenoid valve (9) for controlling the hydraulic cylinder (41).

5. The self-balancing hydraulic manipulator in any position under non-load state according to claim 1, characterized in that: The positioning and measuring mechanism (10) comprises a laser seat (101) mounted on a top seat (3), a laser lamp (102) being mounted on the laser seat (101), a positioning seat (103) being mounted on the manipulator (43), a positioning hole (104) being provided on the positioning seat (103), and the positioning seat (103) and the laser lamp (102) being on the same straight line.

6. A self-balancing hydraulic manipulator in any position under non-load state according to claim 1, characterized in that: The adjustment mechanism (11) comprises a first articulated frame (111) connected to the top seat (3); a connecting frame (112) is articulated on one side of the first articulated frame (111); a second articulated frame (113) is articulated on one end of the connecting frame (112); a second motor (114) is mounted on the adjustment seat (6); and one end of the second articulated frame (113) is fixed to an output shaft of the second motor (114).

7. A self-balancing hydraulic manipulator in any position under non-load state according to claim 1, characterized in that: A PLC controller is installed on the base (1) for controlling the electrical components.

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