Hydraulic mechanical arm and mechanical equipment

Abstract

The utility model discloses a hydraulic mechanical arm and mechanical equipment, and relates to the technical field of industrial robots, the hydraulic mechanical arm comprises a first rotary joint, a first rotary swing arm, a first linear oil cylinder, a second rotary joint, a second linear oil cylinder, a second rotary swing arm, a third rotary joint and a third linear oil cylinder. The mechanical equipment comprises the hydraulic mechanical arm. According to the technical scheme, the first rotating oil cylinder, the second rotating oil cylinder, the third rotating oil cylinder, the first linear oil cylinder, the second linear oil cylinder and the third linear oil cylinder are adopted for hydraulically driving the mechanical arm, the dead weight of the mechanical arm is reduced, meanwhile, larger driving force can be achieved, and the load capacity of the mechanical arm is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a hydraulic mechanical arm and mechanical equipment. Background Art

[0002] The robotic arm is a complex system with multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in the field of industrial assembly. With the development of robotic arms, its structure and precision have been greatly improved. It is not only used in the current field, but also expanded to many technical fields that directly assist people in operation.

[0003] In the application field of collaborative robots, collaborative robots often use motor control, but the motor and its accessories are heavy, which adds extra burden to the robot arm and weakens the carrying capacity of the robot arm, resulting in high energy consumption of the robot arm, frequent and difficult maintenance, and high manufacturing and maintenance costs.

[0004] Therefore, how to reduce the deadweight of the robotic arm is an urgent problem to be solved by people in this field. Utility Model Content

[0005] The main purpose of the utility model is to provide a hydraulic mechanical arm and mechanical equipment, aiming to solve the problems of heavy weight and high consumables of collaborative robots.

[0006] To achieve the above object, the utility model provides a hydraulic mechanical arm, comprising:

[0007] A first rotary joint, the first rotary joint comprising a first mounting end and a first rotary cylinder extending in a first direction, the first rotary cylinder having a first rotary end capable of rotating around an axis extending in the first direction;

[0008] A first rotating swing arm has a second mounting end and a first connecting end, the second mounting end being rotatably connected to the first rotating end around an axis extending in a second direction;

[0009] A first linear oil cylinder, one end of which is rotatably connected to the first rotating end around an axis extending in the second direction and is arranged away from the second mounting end, and a driving end of the first linear oil cylinder is rotatably connected to the first rotating swing arm around an axis extending in the second direction;

[0010] A second rotary joint, the second rotary joint having a third mounting end and a second rotary cylinder, the third mounting end being rotatably connected to the first connection end around an axis extending in the second direction, and the second rotary cylinder having a second rotary end rotatable around an axis extending in the third direction;

[0011] A second linear cylinder, one end of which is rotatably connected to the first rotating swing arm around an axis extending in the second direction, and a driving end of the second linear cylinder is rotatably connected to the second rotating joint around an axis extending in the second direction;

[0012] A second rotating swing arm has a fourth mounting end and a second connecting end, and the fourth mounting end is fixedly connected to the second rotating end;

[0013] a third rotating joint, the third rotating joint having a fifth mounting end and a third rotating oil cylinder, the fifth mounting end being rotatably connected to the second connecting end around an axis extending in a fourth direction, the third rotating oil cylinder having a third rotating end rotatable around an axis extending in the fifth direction; and

[0014] The third linear cylinder has one end rotationally connected to the second rotating swing arm around an axis extending in the fourth direction, and the driving end of the third linear cylinder is rotationally connected to the third rotating joint.

[0015] In one embodiment, the hydraulic robotic arm also includes a hydraulic system, which includes a first electro-hydraulic servo valve for controlling the first rotary cylinder, a second electro-hydraulic servo valve for controlling the first linear cylinder, a third electro-hydraulic servo valve for controlling the second linear cylinder, a fourth electro-hydraulic servo valve for controlling the second rotary cylinder, a fifth electro-hydraulic servo valve for controlling the third linear cylinder, and a sixth electro-hydraulic servo valve for controlling the third rotary cylinder.

[0016] In one embodiment, the first rotating cylinder is installed with a first magnetic encoder, the second magnetic encoder is installed at the connection between the first rotating end and the second mounting end, the third magnetic encoder is installed at the connection between the first connecting end and the third mounting end, the second rotating cylinder is installed with a fourth magnetic encoder, the fifth magnetic encoder is installed at the connection between the second connecting end and the fifth mounting end, and the third rotating cylinder is installed with a sixth magnetic encoder.

[0017] In one embodiment, the hydraulic robotic arm also includes a controller, which is electrically connected to the first electro-hydraulic servo valve, the second electro-hydraulic servo valve, the third electro-hydraulic servo valve, the fourth electro-hydraulic servo valve, the fifth electro-hydraulic servo valve, the sixth electro-hydraulic servo valve, the first magnetic encoder, the second magnetic encoder, the third magnetic encoder, the fourth magnetic encoder, the fifth magnetic encoder and the sixth magnetic encoder.

[0018] In one embodiment, the rotation axis of the second rotating end intersects the rotation axis of the fifth mounting end.

[0019] In one embodiment, the first rotating cylinder is detachably connected to the first mounting end, and the third rotating cylinder is detachably connected to the fifth mounting end.

[0020] In one embodiment, the first rotating swing arm includes a pair of first side plates arranged opposite to each other and a first support frame connected to the first side plates, and the first side plates and the first support frame are enclosed to form a cavity for accommodating the first linear cylinder and the second linear cylinder;

[0021] The second rotating swing arm includes a pair of second side plates arranged opposite to each other and a second support frame connected to the second side plates. The second side plates and the second support frame are enclosed to form a cavity for accommodating the third linear cylinder.

[0022] In one embodiment, at least one of the two side surfaces of the first side plate and the second side plate in the thickness direction is provided with a raised rib.

[0023] In one embodiment, the first mounting shaft is connected through the opposite first side plate, and one end of the first linear cylinder and the second linear cylinder is rotatably sleeved on the first driving shaft, and the driving direction is perpendicular to the length direction of the first driving shaft;

[0024] The opposite second side plate is connected through a third mounting shaft, one end of the third linear oil cylinder is rotatably sleeved on the third mounting shaft, and the driving direction is perpendicular to the length direction of the third mounting shaft.

[0025] The utility model also provides a mechanical device, comprising the hydraulic mechanical arm.

[0026] The technical solution of the utility model adopts a first rotary oil cylinder, a second rotary oil cylinder, a third rotary oil cylinder, a first linear oil cylinder, a second linear oil cylinder and a third linear oil cylinder to hydraulically drive the mechanical arm, thereby reducing the deadweight of the mechanical arm while providing greater driving force, thereby improving the load capacity of the mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0028] Figure 1 A schematic diagram of the overall structure of an embodiment provided by the utility model;

[0029] Figure 2 for Figure 1 A schematic diagram of the connection of the first mounting end of the first rotary joint;

[0030] Figure 3 for Figure 1 A schematic diagram of the connection between the first rotating end of the first rotating joint, the first rotating swing arm and the third mounting end of the second rotating joint;

[0031] Figure 4 for Figure 1 Schematic diagram of the second rotary cylinder of the second rotary joint;

[0032] Figure 5 for Figure 1 A schematic diagram of the connection between the second rotating swing arm and the fifth mounting end of the third rotating joint;

[0033] Figure 6 for Figure 1 Schematic diagram of the third rotating cylinder;

[0034] Figure 7 for Figure 1 Schematic diagram of the hydraulic system used;

[0035] Figure 8 for Figure 1 Schematic diagram of the installation position of the first solenoid valve to the sixth solenoid valve.

[0036] Description of Figure Numbers:

[0037] 1000, hydraulic mechanical arm; 110, first rotary joint; 111, first mounting end; 112, first rotary cylinder; 113, first rotary end; 120, first rotary swing arm; 121, second mounting end; 122, first connecting end; 123, first side plate; 124, first support frame; 125, first drive shaft; 130, first linear cylinder; 140, second rotary joint; 141, third mounting end; 142, second rotary cylinder; 143, second rotary end; 150, second linear cylinder; 160, second rotary swing arm; 161, fourth mounting end; 162, second connecting end; 163, second side plate; 1 64. Second support frame; 165. Third mounting axis; 170. Third rotary joint; 171. Fifth mounting end; 172. Third rotary cylinder; 173. Third rotary end; 180. Third linear cylinder; 20. Hydraulic system; 21. First electro-hydraulic servo valve; 22. Second electro-hydraulic servo valve; 23. Third electro-hydraulic servo valve; 24. Fourth electro-hydraulic servo valve; 25. Fifth electro-hydraulic servo valve; 26. Sixth electro-hydraulic servo valve; 31. First magnetic encoder; 32. Second magnetic encoder; 33. Third magnetic encoder; 34. Fourth magnetic encoder; 35. Fifth magnetic encoder; 36. Sixth magnetic encoder; 40. Controller; 50. Ribs.

[0038] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] 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 of 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.

[0040] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0041] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0042] Collaborative robots are often controlled by motors. The motors and their attached mechanisms are relatively heavy, which adds an extra burden to the robot arm. In particular, for a robot arm with a load reduced to 80kg-90kg and flexibility requirements within a radius of 1.9m, the self-weight problem is particularly obvious. At this weight level, it is difficult to significantly reduce the weight of the motor, and the robot arm must maintain flexibility, which requires a high degree of stability, and the weight of the robot arm cannot be significantly reduced. In view of this, the utility model provides a hydraulic robot arm and mechanical equipment.

[0043] See also Figure 1 In one embodiment of the utility model, the hydraulic mechanical arm 1000 includes a first rotary joint 110, a first rotating swing arm 120, a first linear cylinder 130, a second rotary joint 140, a second linear cylinder 150, a second rotating swing arm 160, a third rotary joint 170, and a third linear cylinder 180.

[0044] See also Figure 2 and Figure 3 The first rotary joint 110 includes a first mounting end 111 and a first rotary cylinder 112 extending along a first direction, and the first rotary cylinder 112 has a first rotary end 113 that can rotate around an axis extending in the first direction;

[0045] The first rotating swing arm 120 has a second mounting end 121 and a first connecting end 122, and the second mounting end 121 is rotatably connected to the first rotating end 113 around an axis extending in the second direction;

[0046] See also Figure 1 One end of the first linear cylinder 130 is rotatably connected to the first rotating end 113 around an axis extending in the second direction, and is arranged away from the second mounting end 121, and the driving end of the first linear cylinder 130 is rotatably connected to the first rotating swing arm 120 around an axis extending in the second direction;

[0047] See also Figure 3 and Figure 4 The second rotary joint 140 has a third mounting end 141 and a second rotary cylinder 142. The third mounting end 141 is rotatably connected to the first connection end 122 around an axis extending in the second direction. The second rotary cylinder 142 has a second rotary end 143 that can rotate around an axis extending in the third direction.

[0048] See also Figure 1 , one end of the second linear cylinder 150 is rotatably connected to the first rotating swing arm 120 around an axis extending in the second direction, and the driving end of the second linear cylinder 150 is rotatably connected to the second rotating joint 140 around an axis extending in the second direction;

[0049] See also Figure 5 and Figure 6 The second rotating swing arm 160 has a fourth mounting end 161 and a second connecting end 162, and the fourth mounting end 161 is fixedly connected to the second rotating end 143;

[0050] See also Figure 6 and Figure 7 The third rotary joint 170 has a fifth mounting end 171 and a third rotary cylinder 172, the fifth mounting end 171 is rotatably connected to the second connection end 162 around an axis extending in the fourth direction, and the third rotary cylinder 172 has a third rotary end 173 that can rotate around an axis extending in the fifth direction; and

[0051] One end of the third linear cylinder 180 is rotatably connected to the second rotating swing arm 160 around an axis extending in the fourth direction, and a driving end of the third linear cylinder 180 is rotatably connected to the third rotating joint 170 .

[0052] The technical solution of the utility model adopts the first rotary cylinder 112, the second rotary cylinder 142, the third rotary cylinder 172, the first linear cylinder 130, the second linear cylinder 150 and the third linear cylinder 180 to hydraulically drive the robot arm. The hydraulic drive can reduce the deadweight of the robot arm while providing greater driving force, thereby improving the load capacity of the robot arm.

[0053] The technical solution of the utility model is provided with six degrees of freedom, and can achieve full coverage preliminary positioning through the first rotating joint 110 and the first rotating swing arm 120 under high degrees of freedom, reduce the blind spot of the robot arm operation through the second rotating joint 140, and use the second rotating cylinder 142, the second rotating swing arm 160 and the third rotating joint 170 at the second rotating joint 140 to achieve precise positioning in a small range of the spherical surface, thereby reducing the calculation difficulty of hydraulic drive under precise control requirements.

[0054] In the technical solution provided by the utility model, the first mounting end 111 can be mounted on a plane or on a mobile device. When mounted on a plane, it can be mounted on a vertical or horizontal plane, or on a plane with a certain angle to the horizontal plane or the vertical plane. The utility model is suitable for a variety of mounting positions and can realize flexible operation.

[0055] Taking a mechanical arm installed on a horizontal plane as an example, in order to achieve preliminary positioning of the mechanical arm in the horizontal direction and control the working direction of the mechanical arm, the utility model is provided with a first rotary joint 110. The first mounting end 111 of the first rotary joint 110 is mounted on the horizontal plane and fixedly connected to the fixed end of the first rotary cylinder 112, the first rotary end 113 is fixedly connected to the movable end of the first rotary cylinder 112, the first rotary end 113 can rotate relative to the first mounting end 111 around an axis extending in a first direction, the axis being the first axis, the direction of which is perpendicular to the mounting plane, and the first rotary cylinder 112 drives the mechanical arm as a whole to rotate 360° around the axis with the first axis as the center, that is, to rotate in a plane parallel to the mounting plane.

[0056] In order to realize the preliminary positioning of the robot arm in the vertical direction, the utility model is provided with a first rotating swing arm 120 at the first rotating end 113 of the first rotating joint 110. Two parallel rotating shafts extending in the second direction are arranged on the first rotating end 113, namely, the second shaft and the first mounting shaft. The second shaft is provided with the first rotating swing arm 120 swinging with it as the axis, the first mounting shaft is provided with the first linear oil cylinder 130 rotating with it as the center, the first rotating swing arm 120 is provided with a first driving shaft 125 parallel to the second shaft, and the driving end of the first linear oil cylinder 130 is installed on the first driving shaft 125. The parallel second axis, the first installation axis, and the first drive axis 125 form a triangle, wherein the second axis and the first installation axis are both located at two fixed positions on the first rotating end 113, and the distance between the second axis and the first installation axis is fixed; the second axis and the first drive axis 125 are both located at two fixed positions on the first swing arm, and the distance between the second axis and the first drive axis 125 is fixed; at the second axis, the first installation axis, and the first drive axis 125, they are all rotatably connected, and their angles can be changed, and between the first installation axis and the first drive axis 125 is the first linear cylinder 130, and the length can be changed. In the triangle formed by the second axis, the first installation axis, and the first drive axis 125, only the lengths of two sides are fixed, and the triangle is unstable and can change under the drive of the first linear cylinder 130, thereby causing the first rotating swing arm 120 to rotate in a plane perpendicular to the installation plane.

[0057] When the rotating swing arm of the mechanical arm is tilted at a certain angle, there will be an operational dead angle below the rotating swing arm. In order to reduce the operational dead angle of the rotating swing arm, the utility model is provided with a second rotating joint 140 at the first connecting end 122 of the first rotating swing arm 120. Two parallel rotating shafts extending in the second direction are arranged on the first connecting end 122, which are the third shaft and the second mounting shaft. The third shaft is provided with a second rotating joint 140 swinging with it as the axis, and the second mounting shaft is provided with a second linear cylinder 150 rotating with it as the center. The second rotating joint 140 is provided with a second driving shaft parallel to the third shaft, and the driving end of the second linear cylinder 150 is installed on the second driving shaft. The second rotating joint 140 can rotate about the third axis under the drive of the second linear cylinder 150. The second rotating joint 140 is "L" shaped, and the minimum angle between its rotating end and the first swing arm can be 0°, which can reduce the operational dead angle of the rotating swing arm.

[0058] After the initial positioning of the robot arm is completed, in order to achieve accurate positioning of the end of the robot arm, the utility model uses a second rotating swing arm 160 with a fourth axis and a third rotating joint 170 with a fifth axis, which can achieve flexible operation within the end sphere.

[0059] The second rotating arm 160 is installed at the second rotating end 143 of the second rotating joint 140. The second rotating oil cylinder 142 has a second rotating end 143 rotating around an axis extending in the third direction, and the axis is the fourth axis. The movable end of the second rotating oil cylinder 142 is fixedly connected to the second rotating arm 160. The second rotating arm 160 rotates around the fourth axis as the axis under the drive of the second rotating oil cylinder 142.

[0060] A third rotary joint 170 is installed at the second connection end 162 of the second rotary swing arm 160. There are two parallel rotary shafts extending in the fourth direction, namely the fifth shaft and the third mounting shaft 165. The fifth shaft is perpendicular to the fourth shaft, and is installed with the third rotary joint 170 rotating around the fifth shaft, and the third mounting shaft 165 is installed with the third linear oil cylinder 180 rotating around the fifth shaft, and the third rotary joint 170 is provided with a third driving shaft parallel to the third mounting shaft 165, and the driving end of the third linear oil cylinder 180 is installed on the third driving shaft.

[0061] The second rotating swing arm 160 rotates around the fourth axis under the drive of the second rotating cylinder 142, and the third rotating joint 170 swings around the fifth axis under the drive of the third linear cylinder 180. The fourth axis is perpendicular to the fifth axis, so that the end of the third rotating joint 170 can be flexibly positioned within a small spherical range.

[0062] In order to allow the direction of the end effector of the robot arm to rotate freely, a third rotary cylinder 172 is installed at the end of the third rotary joint 170. The third rotary cylinder 172 has a third rotating end 173 that can rotate around an axis extending in the fifth direction. The axis is the sixth axis.

[0063] The third rotating end 173 can be fixedly connected to an actuator such as a mechanical claw, a drill bit or a tray.

[0064] The first rotating cylinder 112 , the second rotating cylinder 142 , and the third rotating cylinder 172 are spiral swing cylinders.

[0065] The first linear cylinder 130 , the second linear cylinder 150 and the third linear cylinder 180 are one-way hydraulic cylinders or two-way hydraulic cylinders. To improve the safety and stability of the robotic arm, a hydraulic one-way lock or a hydraulic two-way lock is used to self-lock the robotic arm when it is stationary.

[0066] In one embodiment of the present invention, please refer to Figure 7The hydraulic robotic arm also includes a hydraulic system 20, which includes a first electro-hydraulic servo valve 21 for controlling the first rotating cylinder 112, a second electro-hydraulic servo valve 22 for controlling the first linear cylinder 130, a third electro-hydraulic servo valve 23 for controlling the second linear cylinder 150, a fourth electro-hydraulic servo valve 24 for controlling the second rotating cylinder 142, a fifth electro-hydraulic servo valve 25 for controlling the third linear cylinder 180, and a sixth electro-hydraulic servo valve 26 for controlling the third rotating cylinder 172.

[0067] In the technical solution provided by the utility model, after receiving the corresponding signal, the first electro-hydraulic servo valve 21, the fourth electro-hydraulic servo valve 24, and the sixth electro-hydraulic servo valve 26 output the required flow and pressure to control the rotation direction and angle of the first rotary cylinder 112, the second rotary cylinder 142, and the third rotary cylinder 172, thereby controlling the angles of the first axis, the fourth axis, and the sixth axis of the robot arm. After receiving the corresponding signal, the second electromagnetic servo valve, the third electromagnetic servo valve, and the fifth electromagnetic servo valve output the required flow and pressure to control the movement direction and distance of the first linear cylinder 130, the second linear cylinder 150, and the third linear cylinder 180, thereby controlling the angles of the second axis, the third axis, and the fifth axis of the robot arm.

[0068] In one embodiment of the present invention, please refer to Figure 7 and Figure 8 The first rotating cylinder 112 is installed with a first magnetic encoder 31, the second magnetic encoder 32 is installed at the connection between the first rotating end 113 and the second mounting end 121, the third magnetic encoder 33 is installed at the connection between the first connecting end 122 and the third mounting end 141, the fourth magnetic encoder 34 is installed at the second rotating cylinder 142, the fifth magnetic encoder 35 is installed at the connection between the second connecting end 162 and the fifth mounting end 171, and the sixth magnetic encoder 36 is installed at the third rotating cylinder 172.

[0069] In the technical solution provided by the present utility model, the first magnetic encoder 31 reads the rotation angle of the first axis of the robotic arm and generates the first axis angle information; the second magnetic encoder 32 reads the rotation angle of the second axis of the robotic arm and generates the second axis angle information; the third magnetic encoder 33 reads the rotation angle of the third axis of the robotic arm and generates the third axis angle information; the fourth magnetic encoder 34 reads the rotation angle of the fourth axis of the robotic arm and generates the fourth axis angle information; the fifth magnetic encoder 35 reads the rotation angle of the fifth axis of the robotic arm and generates the fifth axis angle information; the sixth magnetic encoder 36 reads the rotation angle of the sixth axis of the robotic arm and generates the sixth axis angle information.

[0070] In one embodiment of the present invention, please refer to Figure 7The hydraulic robotic arm also includes a controller, and the controller 40 is electrically connected to the first electro-hydraulic servo valve 21, the second electro-hydraulic servo valve 22, the third electro-hydraulic servo valve 23, the fourth electro-hydraulic servo valve 24, the fifth electro-hydraulic servo valve 25, the sixth electro-hydraulic servo valve 26, the first magnetic encoder 31, the second magnetic encoder 32, the third magnetic encoder 33, the fourth magnetic encoder 34, the fifth magnetic encoder 35 and the sixth magnetic encoder 36.

[0071] In the technical solution provided by the present utility model, the controller 40 receives the angle information of the first magnetic encoder 31, the second magnetic encoder 32, the third magnetic encoder 33, the fourth magnetic encoder 34, the fifth magnetic encoder 35 and the sixth magnetic encoder 36, calculates in combination with the target position information, and outputs the corresponding flow and pressure information to the first electro-hydraulic servo valve 21, the second electro-hydraulic servo valve 22, the third electro-hydraulic servo valve 23, the fourth electro-hydraulic servo valve 24, the fifth electro-hydraulic servo valve 25 and the sixth electro-hydraulic servo valve 26 to control the movement of the robotic arm, and then the controller 40 continues to receive the angle information to form a closed-loop control.

[0072] In one embodiment of the present invention, please refer to Figure 1 , Figure 4 and Figure 5 The rotation axis of the second rotating end 143 intersects with the rotation axis of the fifth mounting end 171 .

[0073] In the technical solution provided by the utility model, the fourth axis intersects with the fifth axis, and can intersect vertically, so that the end of the robotic arm can be precisely controlled within a spherical range, or within a range of 0-90° to form a precise control range of the corresponding shape, and the corresponding control range is adapted to the working requirements of the robotic arm.

[0074] In an embodiment of the present invention, the first rotating cylinder 112 is detachably connected to the first mounting end 111 , and the third rotating cylinder 172 is detachably connected to the fifth mounting end 171 via a flange.

[0075] In the technical solution provided by the present invention, the first rotary cylinder 112 and the third rotary cylinder 172 have a heavy load, and are designed to be detachably connected for easy maintenance and replacement according to work requirements.

[0076] In one embodiment of the utility model, the first rotating swing arm 120 includes two first side plates 123 arranged opposite to each other and a first support frame 124 connecting the two first side plates 123, and the two first side plates 123 and the first support frame 124 enclose a cavity for accommodating the first linear cylinder 130 and the second linear cylinder 150; the second rotating swing arm 160 includes two second side plates 163 arranged opposite to each other and a second support frame 164 connecting the two second side plates 163, and the two second side plates 163 and the second support frame 164 enclose a cavity for accommodating the third linear cylinder 180.

[0077] In the technical solution provided by the utility model, the arrangement of the first side plate and the first support frame, the second side plate and the second support frame greatly reduces the deadweight of the robot arm. Furthermore, the material of the first rotating swing arm 120 and the second rotating swing arm 160 is selected to be aluminum alloy, and at least one of the two side surfaces in the thickness direction of the first side plate 123 and the second side plate 163 is provided with a raised rib 50, which can reduce the deadweight while maintaining the strength of the robot arm.

[0078] In one embodiment of the utility model, the relative first side plate 123 is penetrated by a first mounting shaft, and one end of the first linear cylinder 130 and the second linear cylinder 150 are rotatably mounted on the first driving shaft 125, and the driving direction is perpendicular to the length direction of the first driving shaft 125; the relative second side plate 163 is penetrated by a third mounting shaft 165, and one end of the third linear cylinder 180 is rotatably mounted on the third mounting shaft 165, and the driving direction is perpendicular to the length direction of the third mounting shaft 165.

[0079] In the technical solution provided by the present utility model, the first drive shaft 125 is arranged between two opposite first side plates 123, and the third installation shaft 165 is arranged between two opposite second side plates 163. The first drive shaft 125 and the third installation shaft 165 not only fix the rotation position but also support the first side plate 123 to enhance the strength of the robot arm itself.

[0080] The utility model also proposes a mechanical device, which includes a hydraulic mechanical arm. The specific structure of the hydraulic mechanical arm refers to the above embodiment. Since the mechanical device uses all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here one by one.

[0081] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A hydraulic mechanical arm, characterized in that: include: A first rotary joint, the first rotary joint comprising a first mounting end and a first rotary cylinder extending in a first direction, the first rotary cylinder having a first rotary end capable of rotating around an axis extending in the first direction; A first rotating swing arm has a second mounting end and a first connecting end, wherein the second mounting end is rotatably connected to the first rotating end around an axis extending in a second direction; A first linear cylinder, one end of which is rotatably connected to the first rotating end around an axis extending in the second direction and is arranged away from the second mounting end, and a driving end of the first linear cylinder is rotatably connected to the first rotating swing arm around an axis extending in the second direction; a second rotary joint, the second rotary joint having a third mounting end and a second rotary cylinder, the third mounting end being rotatably connected to the first connection end around an axis extending in a second direction, the second rotary cylinder having a second rotary end rotatable around an axis extending in a third direction; A second linear cylinder, one end of which is rotatably connected to the first rotating swing arm around an axis extending in the second direction, and a driving end of the second linear cylinder is rotatably connected to the second rotating joint around an axis extending in the second direction; A second rotating swing arm, having a fourth mounting end and a second connecting end, wherein the fourth mounting end is fixedly connected to the second rotating end; a third rotating joint, the third rotating joint having a fifth mounting end and a third rotating oil cylinder, the fifth mounting end being rotatably connected to the second connecting end around an axis extending in a fourth direction, the third rotating oil cylinder having a third rotating end rotatable around an axis extending in the fifth direction; as well as, The third linear cylinder has one end rotationally connected to the axis of the second rotating swing arm extending around the fourth direction, and the driving end of the third linear cylinder is rotationally connected to the third rotating joint.

2. The hydraulic mechanical arm according to claim 1, characterized in that: The hydraulic robotic arm also includes a hydraulic system, which includes a first electro-hydraulic servo valve for controlling the first rotary cylinder, a second electro-hydraulic servo valve for controlling the first linear cylinder, a third electro-hydraulic servo valve for controlling the second linear cylinder, a fourth electro-hydraulic servo valve for controlling the second rotary cylinder, a fifth electro-hydraulic servo valve for controlling the third linear cylinder, and a sixth electro-hydraulic servo valve for controlling the third rotary cylinder.

3. The hydraulic mechanical arm according to claim 2, characterized in that: The first rotating cylinder is installed with a first magnetic encoder, the connection between the first rotating end and the second mounting end is installed with a second magnetic encoder, the connection between the first connecting end and the third mounting end is installed with a third magnetic encoder, the second rotating cylinder is installed with a fourth magnetic encoder, the connection between the second connecting end and the fifth mounting end is installed with a fifth magnetic encoder, and the third rotating cylinder is installed with a sixth magnetic encoder.

4. The hydraulic mechanical arm according to claim 3, characterized in that: The hydraulic robotic arm also includes a controller, which is electrically connected to the first electro-hydraulic servo valve, the second electro-hydraulic servo valve, the third electro-hydraulic servo valve, the fourth electro-hydraulic servo valve, the fifth electro-hydraulic servo valve, the sixth electro-hydraulic servo valve, the first magnetic encoder, the second magnetic encoder, the third magnetic encoder, the fourth magnetic encoder, the fifth magnetic encoder and the sixth magnetic encoder.

5. The hydraulic mechanical arm according to claim 1, characterized in that: The rotation axis of the second rotating end intersects with the rotation axis of the fifth mounting end.

6. The hydraulic mechanical arm according to claim 1, characterized in that: The first rotating oil cylinder is detachably connected to the first mounting end, and the third rotating oil cylinder is detachably connected to the fifth mounting end.

7. The hydraulic mechanical arm according to claim 1, characterized in that: The first rotating swing arm includes two first side plates arranged opposite to each other and a first support frame connecting the two first side plates, wherein the two first side plates and the first support frame enclose a cavity for accommodating the first linear cylinder and the second linear cylinder; The second rotating swing arm includes two second side plates arranged opposite to each other and a second support frame connecting the two second side plates. The two second side plates and the second support frame are combined to form a cavity for accommodating the third linear cylinder.

8. The hydraulic mechanical arm according to claim 7, characterized in that: At least one of the two side surfaces of the first side plate and the second side plate in the thickness direction is provided with a raised rib.

9. The hydraulic mechanical arm according to claim 7, characterized in that: The first side plate opposite to the first side plate is connected through a first drive shaft, one end of the first linear oil cylinder and the second linear oil cylinder are rotatably sleeved on the first drive shaft, and the driving direction is perpendicular to the length direction of the first drive shaft; The second opposite side plate is penetrated and connected with a third mounting shaft, one end of the third linear oil cylinder is rotatably sleeved on the third mounting shaft, and the driving direction is perpendicular to the length direction of the third mounting shaft.

10. A mechanical device, characterized in that: A hydraulic mechanical arm comprising any one of items 1 to 9.

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