Full-hydraulic driving material grabbing robot
Through the design of full hydraulic drive and multi-axis activity, the problem of insufficient freedom and flexibility of the grab material robot is solved, high stiffness, strong load bearing and precise movement are achieved, and the adaptability and scope of application of the equipment are improved.
Patent Information
- Application Number
- CN202420920842.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-29
- Publication Date
- 2025-01-10
- Estimated Expiration
- 2034-04-29
AI Technical Summary
The existing grab material robot has little freedom and low motion flexibility, which cannot meet the increasingly high performance needs of users.
A fully hydraulically driven grab material robot is designed, including a mobile car, a slewing device, a robotic arm and a mechanical claw. Driven by hydraulic cylinder and a hydraulic motor, the multi-axis movement and flexible movement of the robotic arm and a mechanical claw are realized, combined with a gear reduction motor Power and automated control are provided.
It improves the freedom and flexibility of the material grabber robot, has high stiffness, strong load-bearing capacity, precise movement and large working space, greatly improves the adaptability and application range, compact structure and convenient control.
Smart Images
Figure CN222328196U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of material grabbing devices, and in particular relates to a fully hydraulically driven material grabbing robot. Background Art
[0002] With the rise in labor prices, the "demographic dividend" of China's manufacturing industry is disappearing. The international economic situation is complex and changeable, the world economy is undergoing a deep adjustment, developed countries are promoting "re-industrialization" and "manufacturing return", and the global manufacturing industry is becoming more and more competitive in the high-end direction. The robot density of China's manufacturing industry is far lower than the global average, and the robot industry has a large room for development. The technical level of industrial robots determines the precision, accuracy and efficiency of manufacturing production, and the depth and breadth of their application have become an important indicator of a country's manufacturing and technological level. However, there are great deficiencies in the fields of materials and key components involved in my country's manufacturing automation technology, which is subject to foreign technology. It has become an inevitable choice for the optimization and upgrading of China's manufacturing industry and the sustained economic growth to upgrade traditional industries with modern and automated equipment and promote the replacement of demographic dividends with technological dividends. Replacing people with machines has become an important measure to promote the transformation and upgrading of traditional manufacturing industries.
[0003] Among them, the grasping robot is an industrial robot used for automated mobile handling, loading and unloading and other operations. It can complete the handling and loading and unloading of workpieces of various shapes and states by replacing or selecting different end effectors, which greatly reduces labor intensity. It can be widely used in machine tool loading and unloading, automatic assembly lines and other occasions to replace human labor. However, most of the grasping robots on the market are fixed-mounted, with small degrees of freedom and low movement flexibility, and cannot meet users' increasingly high performance requirements. Utility Model Content
[0004] In order to solve the shortcomings and deficiencies of the prior art, a fully hydraulically driven material grabbing robot is provided, thereby solving the problems of small degree of freedom and low movement flexibility of the prior material grabbing robots.
[0005] A fully hydraulically driven material grabbing robot is provided to achieve the purpose of the utility model, including a mobile trolley for performing movement and load walking tasks, a driving power supply is arranged in the mobile trolley for providing power support, a slewing device is movably installed on the top of the mobile trolley, the slewing device is driven by a slewing reduction motor to realize the self-rotation of the slewing device, a mechanical arm mounting seat is fixed on the top of the slewing device, one end of the mechanical arm mounting seat is hinged to the fixed end of the mechanical arm hydraulic cylinder by bolts, and the other end is hinged to the fixed end of the mechanical arm by bolts, the movable end of the mechanical arm hydraulic cylinder is movably connected to the middle part of the fixed end of the mechanical arm, so as to realize the adjustment of the position of the mechanical arm, the movable end of the mechanical arm is movably connected to the mechanical claw, and the two mechanical claw claw heads of the mechanical claw are respectively connected to the two movable ends of the mechanical claw hydraulic cylinder, so that the mechanical claw is driven by the mechanical claw hydraulic cylinder to grab the material.
[0006] As a further improvement of the above scheme, the robotic arm includes a first connecting rod, a second connecting rod, a third connecting rod, a synchronous connecting rod and a robotic claw mounting rod. The first connecting rod is a T-shaped connecting rod and the third end is hinged to the movable end of the robotic arm hydraulic cylinder. The first end of the first connecting rod is movably fixed on the robotic arm mounting seat, and the second end is fixedly connected to one end of the second connecting rod. The other end of the second connecting rod is hinged to the fixed end of the robotic claw mounting rod. The free end of the robotic claw mounting rod is movably mounted on the robotic claw. The middle part of the robotic claw mounting rod is hinged to one end of the third connecting rod, and the other end of the third connecting rod is hinged to the robotic arm mounting seat. The first end and the second end of the first connecting rod are movably connected to one end of the synchronous connecting rod, and the middle part of the third connecting rod is movably connected to the other end of the synchronous connecting rod to achieve synchronous movement.
[0007] As a further improvement of the above scheme, the robotic claw includes a robotic claw mounting seat, a robotic claw hydraulic motor, a robotic claw head and a stabilizing fork arm. One end of the robotic claw mounting seat is fixedly installed on the free end of the robotic claw mounting rod by bolts, and the other end of the robotic claw mounting seat is equipped with a robotic claw hydraulic motor. The rotating shaft of the robotic claw hydraulic motor is fixed to the rear side of the stabilizing fork arm, thereby realizing a 360° rotation of the stabilizing fork arm. Two robotic claw heads are symmetrically connected to the upper and lower arms of the stabilizing fork arm through an axle pin. A robotic claw hydraulic cylinder is also laterally arranged between the upper and lower arms of the stabilizing fork arm. The relative ends of the two robotic claw heads are respectively movably hinged to the piston rods at both ends of the robotic claw hydraulic cylinder, thereby realizing the opening and closing of the robotic claw by the extension and retraction of the piston rod in the robotic claw hydraulic cylinder.
[0008] As a further improvement of the above solution, a rotary reduction motor is fixedly installed below the rotary device to provide power for the rotary device.
[0009] As a further improvement of the above solution, a reduction motor is provided in the mobile trolley, and the output shaft of the reduction motor is fixed to the running wheels of the mobile trolley, so that the reduction motor is used to provide power for the mobile trolley.
[0010] As a further improvement of the above solution, an operation panel is provided at the rear end of the mobile vehicle, and the operation panel is electrically connected to the mechanical arm hydraulic cylinder, the mechanical gripper hydraulic cylinder, the rotary reduction motor, the mechanical gripper hydraulic motor and the reduction motor, so as to realize automatic control.
[0011] The beneficial effects of the utility model are:
[0012] Compared with the prior art, the utility model provides a fully hydraulically driven material grabbing robot, which effectively improves the freedom and flexibility of the device through the cooperation of a mobile trolley + a rotating device + a mechanical gripper mounting seat + a mechanical arm hydraulic cylinder + a mechanical gripper hydraulic motor, thereby improving its adaptability and scope of application; at the same time, the device adopts full hydraulic drive when in operation, thus having the advantages of high rigidity, strong load-bearing capacity, high motion precision and large working space; in addition, the device has a compact structure, convenient adjustment and control, and is more suitable for promotion. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 It is the front view of the utility model;
[0014] Figure 2 It is a rear view of the utility model;
[0015] Figure 3 It is a left view of the utility model;
[0016] Figure 4 It is a right side view of the utility model;
[0017] Figure 5 It is a structural schematic diagram of the mechanical arm in the utility model;
[0018] Figure 6 It is a structural schematic diagram of the mechanical gripper in the utility model.
[0019] Among them: 1-mobile trolley, 2-rotating device, 3-mechanical arm hydraulic cylinder, 4-mechanical arm mounting seat, 5-mechanical arm, 6-mechanical claw hydraulic cylinder, 7-mechanical claw, 8-operating panel, 9-rotating reduction motor, 501-first connecting rod, 502-second connecting rod, 503-third connecting rod, 504-synchronous connecting rod, 505-mechanical claw mounting rod, 701-mechanical claw mounting seat, 702-mechanical claw hydraulic motor, 703-mechanical claw head, 704-stable fork arm. DETAILED DESCRIPTION
[0020] The following is a further detailed description of the specific implementation of the utility model in conjunction with the accompanying drawings:
[0021] according to Figure 1-Figure 4 As shown, the utility model provides a fully hydraulically driven material grabbing robot, including a mobile trolley 1 for performing moving and load walking tasks. A driving power supply is provided in the mobile trolley 1 for providing power support. A slewing device 2 is movably installed on the top of the mobile trolley 1. The slewing device 2 is driven by a slewing reduction motor 9 to realize the self-rotation of the slewing device 2. A mechanical arm mounting seat 4 is fixed on the top of the slewing device 2. One end of the mechanical arm mounting seat 4 is hinged to the fixed end of the mechanical arm hydraulic cylinder 3 by bolts, and the other end is hinged to the fixed end of the mechanical arm 5 by bolts. The movable end of the mechanical arm hydraulic cylinder 3 is movably connected to the middle part of the fixed end of the mechanical arm 5 , thereby realizing the adjustment of the position of the robot arm 5, the movable end of the robot arm 5 is movably connected to the robot claw 7, and the ends of the two robot claw heads 703 of the robot claw 7 are respectively connected to the two movable ends of the robot claw hydraulic cylinder 6, so that the robot claw 7 is driven by the robot claw hydraulic cylinder 6 to grab the material; a rotary reduction motor 9 is fixedly installed under the rotary device 2 to provide power for the rotary device 2; an operation panel 8 is provided at the rear end of the mobile car 1, and the operation panel 8 is electrically connected to the robot arm hydraulic cylinder 3, the robot claw hydraulic cylinder 6, the rotary reduction motor 9, the robot claw hydraulic motor 702 and the reduction motor, thereby realizing automatic control.
[0022] according to Figure 5 As shown, the robotic arm 5 includes a first connecting rod 501, a second connecting rod 502, a third connecting rod 503, a synchronous connecting rod 504 and a robotic gripper mounting rod 505, wherein the first connecting rod 501 is a T-shaped connecting rod and the third end is hinged to the movable end of the robotic arm hydraulic cylinder 3, the first end of the first connecting rod 501 is movably fixed on the robotic arm mounting seat 4, the second end is fixedly connected to one end of the second connecting rod 502, the other end of the second connecting rod 502 is hinged to the fixed end of the robotic gripper mounting rod 505, the free end of the robotic gripper mounting rod 505 is movably mounted with the robotic gripper 7, the middle part of the robotic gripper mounting rod 505 is hinged to one end of the third connecting rod 503, the other end of the third connecting rod 503 is hinged to the robotic arm mounting seat 4, the first end and the second end of the first connecting rod 501 are movably connected to one end of the synchronous connecting rod 504, the middle part of the third connecting rod 503 is movably connected to the other end of the synchronous connecting rod 504, to achieve synchronous movement.
[0023] according to Figure 6As shown, the manipulator claw 7 includes a manipulator claw mounting seat 701, a manipulator claw hydraulic motor 702, a manipulator claw head 703 and a stabilizing fork arm 704. One end of the manipulator claw mounting seat 701 is fixedly installed on the free end of the manipulator claw mounting rod 505 by bolts, and the other end of the manipulator claw mounting seat 701 is built-in with a manipulator claw hydraulic motor 702. The rotating shaft of the manipulator claw hydraulic motor 702 is fixed to the rear side of the stabilizing fork arm 704, thereby realizing a 360° rotation of the stabilizing fork arm 704. Two manipulator claw heads 703 are symmetrically connected to the upper and lower arms of the stabilizing fork arm 704 through an axle pin. A manipulator claw hydraulic cylinder 6 is also laterally arranged between the upper and lower arms of the stabilizing fork arm 704. The opposite ends of the two manipulator claw heads 703 are respectively movably hinged to the piston rods at both ends of the manipulator claw hydraulic cylinder 6, thereby realizing the opening and closing of the manipulator claw 7 by the extension and retraction of the piston rod in the manipulator claw hydraulic cylinder 6.
[0024] In addition, a reduction motor is provided in the mobile trolley 1 , and the output shaft of the reduction motor is fixed to the running wheel of the mobile trolley 1 , so that the reduction motor is used to provide power for the mobile trolley 1 .
[0025] The utility model provides a fully hydraulically driven material grabbing robot, the operation process of which is as follows:
[0026] Before operation, the robot arm 5 and the robot claw 7 are reset first, and then the coordinate parameters are input through the operation panel 8 of the mobile car 1 according to the actual use position to move the device to the working position; then the rotating device 2 is adjusted to make the robot arm 5 face the direction of grabbing the material, completing the pre-grabbing adjustment preparation of the device.
[0027] When performing the grasping task, it is necessary to select the grasping angle and clamping method of the manipulator claw 7 according to the appearance characteristics of the grasped object. First, adjust the extension amount of the piston rod in the hydraulic cylinder 3 of the manipulator arm so that the manipulator arm 5 is lowered close to the material to be grasped, and at the same time, the piston rods at both ends of the manipulator claw hydraulic cylinder 6 are retracted, and the manipulator claw head 703 is opened. After determining the grasping method and angle, the manipulator claw hydraulic motor 702 in the manipulator claw mounting seat 701 is driven to rotate the stable fork arm 704 to adjust it to the correct angle; after grasping the material, the piston rods at both ends of the manipulator claw hydraulic cylinder 6 are extended, and the manipulator claw head 703 is closed to clamp the grasped material; then the piston rod of the manipulator arm hydraulic cylinder 3 is retracted, and the manipulator arm 5 completes the lifting task; finally, the coordinate parameters are input through the operation panel 8 of the mobile trolley 1, so that the device moves to the position required for the next step of the material to complete the material loading operation.
[0028] When the material is transported to the target location, the unloading task is performed. First, the extension amount of the piston rod in the hydraulic cylinder 3 of the robot arm is adjusted to make the robot arm 5 lowered close to the material placement position. After reaching the target position, the piston rods at both ends of the hydraulic cylinder 6 of the robot claw are retracted, and the claw head 703 of the robot claw is opened to lower the material to the target location; after unloading the material, the piston rod in the hydraulic cylinder 3 of the robot arm is retracted, and the robot arm 5 completes the lifting task. At the same time, the piston rods at both ends of the hydraulic cylinder 6 of the robot claw are extended, and the claw head 703 of the robot claw is closed; after the operation is completed, the device is reset.
[0029] The above embodiments are not limited to the technical solutions of the embodiments themselves, and the embodiments can be combined with each other to form new embodiments. The above embodiments are only used to illustrate the technical solutions of the utility model and are not intended to limit them. Any modification or equivalent replacement that does not deviate from the spirit and scope of the utility model shall be included in the scope of the technical solution of the utility model.
Claims
1. A fully hydraulically driven material grabbing robot, characterized in that: The invention comprises a mobile trolley (1) for performing moving and load-carrying tasks. A driving power source is arranged inside the mobile trolley (1) for providing power support. A slewing device (2) is movably mounted on the top of the mobile trolley (1). The slewing device (2) is driven by a slewing reduction motor (9) to realize the self-rotation of the slewing device (2). A mechanical arm mounting seat (4) is fixed on the top of the slewing device (2). One end of the mechanical arm mounting seat (4) is hinged to the fixed end of the mechanical arm hydraulic cylinder (3) by bolts, and the other end is hinged to the fixed end of the mechanical arm hydraulic cylinder (3) by bolts. One end is hinged to the fixed end of the mechanical arm (5) by bolts, the movable end of the mechanical arm hydraulic cylinder (3) is movably connected to the middle of the fixed end of the mechanical arm (5), so as to adjust the position of the mechanical arm (5), the movable end of the mechanical arm (5) is movably connected to the mechanical gripper (7), and the ends of the two mechanical gripper claw heads (703) of the mechanical gripper (7) are respectively connected to the two movable ends of the mechanical gripper hydraulic cylinder (6), so as to utilize the mechanical gripper hydraulic cylinder (6) to drive the mechanical gripper (7) to grab the material.
2. A fully hydraulically driven material grabbing robot according to claim 1, characterized in that: The robot arm (5) comprises a first connecting rod (501), a second connecting rod (502), a third connecting rod (503), a synchronous connecting rod (504) and a robot gripper mounting rod (505), wherein the first connecting rod (501) is a T-shaped connecting rod and the third end is hinged to the movable end of the robot arm hydraulic cylinder (3), the first end of the first connecting rod (501) is movably fixed on the robot arm mounting seat (4), the second end is fixedly connected to one end of the second connecting rod (502), and the other end of the second connecting rod (502) is connected to the robot gripper mounting rod ( The fixed end of the robot gripper mounting rod (505) is hinged, the free end of the robot gripper mounting rod (505) is movably mounted with the robot gripper (7), the middle part of the robot gripper mounting rod (505) is hinged with one end of the third connecting rod (503), the other end of the third connecting rod (503) is hinged with the robot arm mounting seat (4), the first end and the second end of the first connecting rod (501) are movably connected with one end of the synchronous connecting rod (504), and the middle part of the third connecting rod (503) is movably connected with the other end of the synchronous connecting rod (504) to achieve synchronous movement.
3. The fully hydraulic driven material grabbing robot according to claim 2, characterized in that: The manipulator gripper (7) comprises a manipulator gripper mounting seat (701), a manipulator gripper hydraulic motor (702), a manipulator gripper claw head (703) and a stabilizing fork arm (704), one end of the manipulator gripper mounting seat (701) is fixedly mounted on the free end of the manipulator gripper mounting rod (505) by means of bolts, the other end of the manipulator gripper mounting seat (701) is built with a manipulator gripper hydraulic motor (702), the rotating shaft of the manipulator gripper hydraulic motor (702) is fixed to the rear side of the stabilizing fork arm (704), thereby achieving The stabilizing fork arm (704) can rotate 360 degrees. Two mechanical claw heads (703) are symmetrically connected to each other between the upper and lower arms of the stabilizing fork arm (704) via an axle pin. A mechanical claw hydraulic cylinder (6) is also arranged transversely between the upper and lower arms of the stabilizing fork arm (704). The opposite ends of the two mechanical claw heads (703) are respectively movably hinged to the piston rods at both ends of the mechanical claw hydraulic cylinder (6), so that the opening and closing of the mechanical claw (7) are realized by the extension and retraction of the piston rod in the mechanical claw hydraulic cylinder (6).
4. The fully hydraulic driven material grabbing robot according to claim 3, characterized in that: A rotary reduction motor (9) is fixedly installed below the rotary device (2) to provide power for the rotary device (2).
5. The fully hydraulic driven material grabbing robot according to claim 4, characterized in that: A reduction motor is arranged inside the mobile trolley (1), and the output shaft of the reduction motor is fixed to the running wheels of the mobile trolley (1), so that the reduction motor is used to provide power for the mobile trolley (1).
6. The fully hydraulic driven material grabbing robot according to claim 5, characterized in that: An operating panel (8) is provided at the rear end of the mobile vehicle (1), and the operating panel (8) is electrically connected to the mechanical arm hydraulic cylinder (3), the mechanical gripper hydraulic cylinder (6), the rotary reduction motor (9), the mechanical gripper hydraulic motor (702) and the reduction motor, thereby realizing automatic control.