Hydraulically-driven heavy-load manipulator

Abstract

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

Description

Technical Field

[0001] The utility model relates to the technical field of transfer, in particular to a large-load manipulator driven by hydraulic pressure. Background Art

[0002] In fields such as mines and metallurgy, the operation is in an open-air, dusty and high-temperature environment. Since the existing manipulators are driven by servo motors and speed reducers, they have small loads and small working ranges, and cannot meet the operation requirements such as an end load of 1 ton and a working radius of 6 meters.

[0003] For some manipulators driven by hydraulic pressure, they use linear drive of hydraulic cylinders, cannot achieve 360-degree rotation, have a small range of motion, there are no effective sensors on each arm of the manipulator to detect the state, and the control accuracy is low, and multi-joint control of position and posture cannot be achieved. Summary of the Invention

[0004] The purpose of the utility model is to provide a large-load manipulator driven by hydraulic pressure, which solves the problems of small load and small working range of the existing manipulators, has the advantages of high load-bearing capacity, strong anti-impact ability, simple system, etc., is suitable for use in industries such as mines and metallurgy, and realizes automated production.

[0005] To achieve the above purpose, the technical solution of the utility model is as follows:

[0006] A large-load manipulator driven by hydraulic pressure, which includes:

[0007] A base, which is a steel structure platform, and an installation hole is opened at the center of the upper end surface;

[0008] A first working arm, a second working arm, and a third working arm are sequentially connected through a first adapter and a second adapter, and the first and second adapters are respectively composed of two steel pipes intersecting at right angles;

[0009] The first to third working arms respectively include

[0010] A body, with flanges provided at both ends thereof, and an inclinometer or a three-axis acceleration sensor is arranged axially in the center thereof;

[0011] A double-axis drive module, which includes

[0012] An installation housing, which is composed of two steel pipes intersecting at right angles;

[0013] Two rotary hydraulic cylinders are respectively arranged in the two steel pipes of the installation housing, the cylinder bodies thereof are fixed to the steel pipes, and connecting flanges are arranged at the output ends thereof; the connecting flange at the output end of one of the rotary hydraulic cylinders is connected to the flange at one end of the body;

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

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

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

[0017] The rotation detection device includes:

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

[0019] The driven gear is movably arranged on the upper end surface of the base through a rotating shaft and meshes with the driving gear.

[0020] The rotary encoder is coaxially arranged on the upper end surface of the driven gear.

[0021] The controller is connected to each rotary hydraulic cylinder, inclinometer and rotary encoder on the first to third working arms.

[0022] Preferably, the inclinometer is a dual-axis inclinometer.

[0023] Compared with the prior art, the beneficial effects of the present utility model are:

[0024] 1. The driving of the manipulator of the present utility model adopts a rotary hydraulic cylinder, and the driving beam makes a rotary motion with a rotation angle of up to 360 degrees; moreover, the rotary hydraulic cylinder has a large torque and strong anti-load impact ability; the rotary hydraulic cylinder has strong anti-high temperature and dust resistance.

[0025] 2. The present utility model uses an inclinometer to measure the horizontal inclination angle of the working arm, and the rotation angle of the hydraulic cylinder can be calculated, which is simple and convenient. Description of the Drawings

[0026] Figure 1 Is the three-dimensional view of the embodiment of the present utility model Figure 1 ;

[0027] Figure 2 Is the three-dimensional view of the embodiment of the present utility model Figure 2

[0028] Figure 3 The three-dimensional view of the first working arm in the embodiment of the present utility model;

[0029] Figure 4 Exploded view of the first working arm in the embodiment of the present utility model. Detailed implementation manners

[0030] See Figures 1 to 4 , the large-load manipulator driven by hydraulic pressure of the present utility model includes:

[0031] Base 1, which is a steel structure platform, and an installation hole is provided at the center of its upper end surface;

[0032] The first working arm 2, the second working arm 3, and the third working arm 4 are sequentially connected through the first adapter 5 and the second adapter 6, and the first adapter 5 and the second adapter 6 are respectively composed of two steel pipes intersecting at a right angle;

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

[0034] Body 21 (taking the first working arm 2 as an example, the same below), with flanges provided at both ends thereof, and an inclinometer 23 or a three-axis acceleration sensor is arranged axially in the center thereof;

[0035] The two-axis drive module 22 includes

[0036] Installation housing 221, which is composed of two steel pipes intersecting at a right angle;

[0037] Two rotary hydraulic cylinders 222 and 223 are respectively arranged in the two steel pipes of the installation housing 221, the cylinder bodies thereof are fixed to the steel pipes, and connecting flanges are provided at the output ends thereof; the connecting flange at the output end of one of the rotary hydraulic cylinders 222 is connected to the flange at one end of the body 1;

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

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

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

[0041] The rotation detection device 8 includes:

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

[0043] The driven gear 82 is movably arranged on the upper end surface of the base 1 through a rotating shaft and meshes with the driving gear 81;

[0044] The rotary encoder 9 is coaxially arranged on the upper end surface of the driven gear 82;

[0045] A controller, to which the rotary hydraulic cylinders, the inclinometers and the rotary encoders on the first to third working arms are all connected.

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

[0047] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection required by the present invention is defined by the appended claims and their equivalents.

Claims

1. A hydraulically driven large-load manipulator, characterized in that, Including: A base, which is a steel structure platform, and an installation hole is opened at the center of its upper end surface; A first working arm, a second working arm, and a third working arm are sequentially connected through a first adapter and a second adapter, and the first and second adapters are respectively composed of two steel pipes intersecting at a right angle; The first to third working arms respectively include A body, which is provided with flanges at both ends, and an inclinometer or a three-axis acceleration sensor is axially arranged at the center thereof; A two-axis drive module, including An installation housing, which is composed of two steel pipes intersecting at a right angle; Two rotary hydraulic cylinders are respectively arranged in the two steel pipes of the installation housing, the cylinder bodies thereof are fixed to the steel pipes, and connecting flanges are arranged at the output ends thereof; the connecting flange at the output end of one of the rotary hydraulic cylinders is connected to the flange at one end of the body; The connecting flange at the output end of the other rotary hydraulic cylinder of the two-axis drive module of the first working arm is connected to the installation hole at the center of the upper surface of the base; the flange at the other end of the body of the first working arm is connected to one pipe end of the first adapter; The connecting flange at the output end of one of the rotary hydraulic cylinders of the two-axis drive module of the second working arm is connected to the other pipe end of the first adapter; the flange at the other end of the body of the second working arm is connected to one pipe end of the second adapter; The connecting flange at the output end of one of the rotary hydraulic cylinders of the two-axis drive module of the third working arm is connected to the other pipe end of the second adapter; The flange at the other end of the body of the third working arm is connected to the end effector; A rotation detection device, including: A transmission gear coaxially sleeved on one steel pipe side of the installation housing of the two-axis drive module of the first working arm; A driven gear is movably arranged on the upper end surface of the base through a rotating shaft and meshes with the transmission gear; A rotary encoder is coaxially arranged on the upper end surface of the driven gear; a controller, and each rotary hydraulic cylinder, inclinometer and rotary encoder on the first to third working arms are connected to the controller.

2. The large-load manipulator according to claim 1, characterized in that, The inclinometer is a two-axis inclinometer.

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