Explosion-proof type six-degree-of-freedom hydraulic mechanical arm structure

Abstract

The utility model relates to an explosion-proof type six-degree-of-freedom hydraulic mechanical arm structure, which belongs to the technical field of mechanical arms and comprises a base, a rotating cylinder and a stabilizing frame are fixed at the top of the base, a bearing block is rotatably connected to the top of the rotating cylinder, and a driving shaft is rotatably connected to the front side of the bearing block. A driving oil cylinder is fixed to the outer side of the driven shaft, a movable oil cylinder is fixed to the top of the bearing block, a frame body is fixed to the back face of the driving shaft, and a structure body is arranged on the frame body. According to the anti-explosion type six-degree-of-freedom hydraulic mechanical arm structure, rotation of the whole structure is achieved through the arrangement of the hydraulic swing cylinder, multi-joint adjusting swing of the whole structure is achieved through the arrangement of the hydraulic motor and the multiple oil cylinders, flexibility improvement is facilitated, and the anti-explosion capacity of the whole structure is improved through the anti-explosion arrangement of the structure in the control module; and through the arrangement of the replacement assembly, replacement of the operation tool is facilitated, the overall structure is good in flexibility, and the anti-explosion performance is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, in particular to an explosion-proof six-degree-of-freedom hydraulic robotic arm structure. Background Technique

[0002] A robotic arm is a production device with very wide applications. A robotic arm refers to a complex system with high precision, multiple inputs and outputs, high nonlinearity and strong coupling. Due to its unique operation flexibility, it has been widely used in industrial assembly and other fields.

[0003] For example, in a Chinese patent (publication number: CN208713980U) for a six-degree-of-freedom hydraulic robotic arm, a rotating device is arranged on the base of the robotic arm, and a first rotating hydraulic cylinder drives the rotating device to rotate. The first robotic arm is fixed on the rotating device, and the first robotic arm, the second robotic arm, the third robotic arm and the second rotating hydraulic cylinder are hinged in sequence. The fifth robotic arm is connected to the second rotating hydraulic cylinder. The first telescopic hydraulic cylinder drives the first robotic arm and the second robotic arm to rotate around the hinge axis, the second telescopic hydraulic cylinder drives the second robotic arm and the third robotic arm to rotate around the hinge axis, the third telescopic hydraulic cylinder drives the third robotic arm and the fourth robotic arm to rotate around the hinge axis, and the third rotating hydraulic cylinder drives the second telescopic hydraulic cylinder to rotate. This utility model has a small volume and strong load-bearing capacity, and is suitable for heavy-duty operations such as heavy production lines, palletizing, and loading.

[0004] This patent realizes the flexible use of the robotic arm through the cooperation of four robotic arms and three telescopic hydraulic cylinders. However, by driving the relative rotation between the robotic arms through the telescopic hydraulic cylinders, the rotation range of the robotic arm is limited by the telescopic range of the telescopic hydraulic cylinders, the rotation angle between the robotic arms is affected, and its working moving position is restricted, with poor use flexibility. Therefore, an explosion-proof six-degree-of-freedom hydraulic robotic arm structure is proposed to solve the above-mentioned problems. Content of the Utility Model

[0005] In view of the deficiencies of the prior art, the utility model provides an explosion-proof six-degree-of-freedom hydraulic robotic arm structure, which has the advantages of good flexibility and solves the problem of poor adjustment performance.

[0006] To achieve the above object, the utility model provides the following technical solution: An explosion-proof six-degree-of-freedom hydraulic robotic arm structure includes a base. A rotating cylinder and a stabilizing frame are fixed on the top of the base. The stabilizing frame is fixed to the left side of the rotating cylinder. A receiving block is rotatably connected to the top of the rotating cylinder. A driving shaft extending to its back is rotatably connected to the front of the receiving block. A driven shaft is fixed to the front of the receiving block. A driving oil cylinder is fixed to the outside of the driven shaft. A movable oil cylinder is fixed to the top of the receiving block. A frame body is fixed to the back of the driving shaft. A structural main body is arranged on the frame body.

[0007] The structure body includes a control module fixed to the front of the frame. A regulating shaft is rotatably connected to the top of the frame. A swinging block is fixed to the top of the regulating shaft. A swinging cylinder is fixed to the top of the swinging block. A movable column is rotatably connected to the right side of the swinging cylinder. A rotating shaft is rotatably connected to the right side of the movable column. A swinging column is fixed to the right side of the rotating shaft. A rotating column is rotatably connected to the right side of the swinging column. A replacement assembly is provided on the right side of the rotating column. An oil circuit interface is fixed to the replacement assembly.

[0008] Further, a hydraulic swing cylinder is fixed to the bottom of the inner cavity of the rotating cylinder. The output shaft of the hydraulic swing cylinder is fixed to the bottom of the receiving block.

[0009] Further, a hydraulic motor is fixed to the inner cavity wall on the left side of the swinging cylinder. The output shaft of the hydraulic motor is fixed to the left side of the movable column.

[0010] Further, linear oil cylinders are fixed to the inner cavity walls on the left sides of the movable column and the swinging column respectively. The output shafts of the linear oil cylinders are fixed to the left sides of the rotating shaft and the rotating column respectively.

[0011] Further, an explosion-proof hydraulic station and an explosion-proof encoder are fixed in the control module. A plurality of sensors are installed on both the rotating cylinder and the structure body.

[0012] Further, the replacement assembly includes a housing fixed to the right side of the rotating column. A plugging block and a socket block are fixed to the inner cavity wall of the bottom of the housing. A threaded column is threadedly connected to the top of the housing. An extrusion block is fixed to the bottom of the threaded column. An acting assembly is provided between the plugging block and the socket block.

[0013] Further, the acting assembly includes a connecting seat fixed between the plugging block and the socket block. An acting block is movably connected to the top of the connecting seat. Sliding blocks movably connected to the connecting seat are fixed to both the front and rear sides of the acting block. A locking column is fixed to the side of the acting block away from the connecting seat.

[0014] Further, a sliding through opening is formed in the top of the connecting seat. A sliding channel communicating with the sliding through opening is formed in the top of the connecting seat. The acting block is slidably connected to the connecting seat through the sliding through opening. The sliding block is slidably connected to the connecting seat through the sliding channel.

[0015] Compared with the prior art, the technical solution of the present application has the following beneficial effects:

[0016] The explosion-proof six-degree-of-freedom hydraulic manipulator structure realizes the rotation of the whole structure through the setting of the hydraulic swing cylinder. Through the setting of the hydraulic motor and multiple oil cylinders, the multi-joint adjustment swing of the whole structure is realized, which is beneficial to the improvement of flexibility. Through the explosion-proof setting of the structure in the control module, the explosion-proof ability of the whole structure is improved. Through the setting of the replacement components, it is beneficial to replace the operation tools. The whole structure is convenient to use, has good flexibility and high explosion-proof performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural view of the present utility model;

[0018] Figure 2 It is a schematic structural view of the replacement components of the present utility model;

[0019] Figure 3 It is a three-dimensional view of the acting components of the present utility model.

[0020] In the figure: 1 base, 2 rotating cylinder, 3 stabilizing frame, 4 receiving block, 5 driving shaft, 6 driven shaft, 7 driving oil cylinder, 8 movable oil cylinder, 9 frame body, 10 control module, 11 adjusting shaft, 12 swinging block, 13 swinging cylinder, 14 movable column, 15 rotating shaft, 16 swinging column, 17 rotating column, 18 replacement components, 1801 housing, 1802 plug-in block, 1803 socket block, 1804 threaded column, 1805 extrusion block, 1806 acting components, 18061 connecting seat, 18062 acting block, 18063 sliding block, 18064 locking column, 19 oil circuit interface. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0022] Please refer to Figure 1 , a kind of explosion-proof six-degree-of-freedom hydraulic manipulator structure in this embodiment, including a base 1, a rotating cylinder 2 and a stabilizing frame 3 are fixed on the top of the base 1, and a plurality of sensors are installed on both the rotating cylinder 2 and the structural main body.

[0023] It can be understood that through the setting of the sensors, it is beneficial to detect the whole structure, beneficial to improve the control of the manipulator adjustment, and thus beneficial to the improvement of the use effect of the whole structure.

[0024] The stabilizer 3 is fixed to the left side of the rotating cylinder 2. A receiving block 4 is rotatably connected to the top of the rotating cylinder 2. A hydraulic swing cylinder is fixed to the bottom of the inner cavity of the rotating cylinder 2. Through the setting of the hydraulic swing cylinder, it is beneficial to provide kinetic energy for the rotation of the receiving block 4, thereby facilitating the realization of the rotation function of the overall structure. The output shaft of the hydraulic swing cylinder is fixed to the bottom of the receiving block 4. A drive shaft 5 extending to its back is rotatably connected to the front of the receiving block 4. A driven shaft 6 is fixed to the front of the receiving block 4.

[0025] It can also be understood that through the setting of the drive shaft 5, it is beneficial for the overall structure to swing up and down around the drive shaft 5, thereby facilitating the stable realization of the structure adjustment function.

[0026] A drive oil cylinder 7 is fixed to the outside of the driven shaft 6. A movable oil cylinder 8 is fixed to the top of the receiving block 4. A frame body 9 is fixed to the back of the drive shaft 5. A structural main body is provided on the frame body 9.

[0027] It is not difficult to see that through the setting of the movable oil cylinder 8, it is beneficial to adjust the swing block 12 and the structures thereon, thereby facilitating the further flexible adjustment of the overall structure and the further improvement of the overall use effect.

[0028] The structural main body includes a control module 10 fixed to the front of the frame body 9. An explosion-proof hydraulic station and an explosion-proof encoder are fixed inside the control module 10.

[0029] It is also not difficult to see that through the structural setting inside the control module 10, it is beneficial to realize the explosion-proof function of the robotic arm structure, thereby facilitating the improvement of the stability of the overall structure during use and the improvement of the use effect.

[0030] An adjustment shaft 11 is rotatably connected to the top of the frame body 9. A swing block 12 is fixed to the top of the adjustment shaft 11. A swing cylinder 13 is fixed to the top of the swing block 12. A movable column 14 is rotatably connected to the right side of the swing cylinder 13. A hydraulic motor is fixed to the inner cavity wall on the left side of the swing cylinder 13. The output shaft of the hydraulic motor is fixed to the left side of the movable column 14.

[0031] It can be found that through the setting of the hydraulic motor, it is beneficial to rotate the movable column 14, thereby facilitating the rotation adjustment of the external working tool and the improvement of the flexibility of the overall device.

[0032] On the right side of the movable column 14, there is a rotatable connection with a rotating shaft 15. On the right side of the rotating shaft 15, a swinging column 16 is fixed. On the right side of the swinging column 16, there is a rotatable connection with a rotating column 17. On the inner cavity walls on the left sides of the movable column 14 and the swinging column 16, linear oil cylinders are fixed. Through the setting of the linear oil cylinders, it is beneficial to provide kinetic energy for the drive of the structure, and thus it is beneficial to realize the flexible adjustment of the overall structure and further improve the overall use effect. The output shafts of the linear oil cylinders are respectively fixed to the left sides of the rotating shaft 15 and the rotating column 17. On the right side of the rotating column 17, there is a replacement component 18, and an oil circuit interface 19 is fixed on the replacement component 18.

[0033] In this embodiment, through the structural setting of the control module 10, the explosion-proof function of the overall structure is improved. Through the setting of multiple power sources, the overall structure can be adjusted in multiple directions and angles, which is beneficial to improving the flexibility of the robotic arm structure and the overall use effect.

[0034] Please refer to Figure 2 , for improving the use flexibility, the replacement component 18 in this embodiment includes a housing 1801 fixed to the right side of the rotating column 17. On the inner cavity wall at the bottom of the housing 1801, a plug-in block 1802 and a socket block 1803 are fixed. The top of the housing 1801 is threadedly connected with a threaded column 1804, and an extrusion block 1805 is fixed to the bottom of the threaded column 1804. A function component 1806 is provided between the plug-in block 1802 and the socket block 1803.

[0035] In this embodiment, through the setting of the plug-in block 1802 and the socket block 1803, it is beneficial to install the working tool. Through the setting of the function component 1806, the working tool is locked, which is beneficial to further improving the flexibility of the overall structure.

[0036] Please refer to Figure 3 , for the stability of the working tool during use, the function component 1806 in this embodiment includes a connection seat 18061 fixed between the plug-in block 1802 and the socket block 1803. The top of the connection seat 18061 is movably connected with a function block 18062. On the front and rear sides of the function block 18062, sliding blocks 18063 movably connected with the connection seat 18061 are fixed.

[0037] Through the inclined structure setting of the function block 18062, it is beneficial to cooperate with the extrusion block 1805. Through the downward pressure of the extrusion block 1805, the overall function component 1806 is driven to move, which is beneficial to the stable use of the overall component.

[0038] The top of the connecting seat 18061 is provided with a sliding through - opening, and the top of the connecting seat 18061 is provided with a sliding channel communicating with the sliding through - opening. The acting block 18062 is slidably connected to the connecting seat 18061 through the sliding through - opening, and the sliding block 18063 is slidably connected to the connecting seat 18061 through the sliding channel. A locking column 18064 is fixed to the side of the acting block 18062 away from the connecting seat 18061.

[0039] In this embodiment, through the settings of the sliding through - opening and the sliding channel, it is beneficial to provide stability for the sliding of the acting block 18062. By setting springs between the acting blocks 18062, it is beneficial to reset the acting block 18062, thereby further improving the stability of the component during use.

[0040] All electrical components mentioned in the text are electrically connected to the controller and the power supply. The control mode of the present utility model is controlled by the controller. The control circuit of the controller can be realized by simple programming by those skilled in the art. The provision of the power supply also belongs to the common knowledge in the art. And since the present utility model mainly aims to protect mechanical devices, the control mode and circuit connection of the present utility model will not be explained in detail.

[0041] The working principle of the above - mentioned embodiment is as follows:

[0042] Through the rotational action of the rotating cylinder 2 and the receiving block 4, the overall structure is driven to rotate. Through the setting of the driving oil cylinder 7, the overall structure swings around the driving shaft 5, thereby realizing the pitching function of the structural body. Through the setting of the movable oil cylinder 8, the swing block 12 is driven to realize the pitching function of the swing block 12 and the structure on its right side. Through the setting of the hydraulic motor, the rotation of the movable column 14 is realized, thereby realizing the overall rotation of the movable column 14 and the structure on its right side. Through the setting of the linear oil cylinder, the swing of the swing column 16 and the structure on its right side is realized, and the rotation function of the rotating column 17 is realized, thereby realizing the multi - joint adjustment of the overall structure. At the same time, when an external working tool is installed on the replacement component 18, the plug post with holes is inserted into the plug - in block 1802 and the socket block 1803. Subsequently, the threaded column 1804 is rotated, and the threaded column 1804 moves downward, so that the extrusion block 1805 squeezes the acting block 18062 to both sides, thereby realizing the displacement of the locking column 18064 to both sides, so that the locking column 18064 is inserted into the holes of the external plug post, thereby realizing the locking of the working tool. The overall device has good adjustability, can flexibly replace the working tool, and has high flexibility.

[0043] It should be noted that, in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variation thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0044] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention.

Claims

1. An explosion-proof six-degree-of-freedom hydraulic robotic arm structure, comprising a base (1), characterized in that: A rotating cylinder (2) and a stabilizing frame (3) are fixed to the top of the base (1). The stabilizing frame (3) is fixed to the left side of the rotating cylinder (2). A receiving block (4) is rotatably connected to the top of the rotating cylinder (2). A driving shaft (5) extending to its back is rotatably connected to the front of the receiving block (4). A driven shaft (6) is fixed to the front of the receiving block (4). A driving oil cylinder (7) is fixed to the outside of the driven shaft (6). A movable oil cylinder (8) is fixed to the top of the receiving block (4). A frame body (9) is fixed to the back of the driving shaft (5), and a structural main body is provided on the frame body (9). The structural main body includes a control module (10) fixed to the front of the frame body (9). An adjusting shaft (11) is rotatably connected to the top of the frame body (9). A swinging block (12) is fixed to the top of the adjusting shaft (11). A swinging cylinder (13) is fixed to the top of the swinging block (12). A movable column (14) is rotatably connected to the right side of the swinging cylinder (13). A rotating shaft (15) is rotatably connected to the right side of the movable column (14). A swinging column (16) is fixed to the right side of the rotating shaft (15). A rotating column (17) is rotatably connected to the right side of the swinging column (16). A replacement component (18) is provided on the right side of the rotating column (17), and an oil circuit interface (19) is fixed to the replacement component (18).

2. The structure of an explosion-proof six-degree-of-freedom hydraulic manipulator according to claim 1, wherein: A hydraulic swing cylinder is fixed to the bottom of the inner cavity of the rotating cylinder (2), and the output shaft of the hydraulic swing cylinder is fixed to the bottom of the receiving block (4).

3. The structure of an explosion-proof six-degree-of-freedom hydraulic manipulator according to claim 1, wherein: A hydraulic motor is fixed to the inner cavity wall on the left side of the swinging cylinder (13), and the output shaft of the hydraulic motor is fixed to the left side of the movable column (14).

4. An explosion-proof six-degree-of-freedom hydraulic manipulator structure according to claim 1, characterized in that: Linear oil cylinders are fixed to the inner cavity walls on the left sides of the movable column (14) and the swinging column (16), and the output shafts of the linear oil cylinders are respectively fixed to the left sides of the rotating shaft (15) and the rotating column (17).

5. An explosion-proof six-degree-of-freedom hydraulic robotic arm structure according to claim 1, characterized in that: An explosion-proof hydraulic station and an explosion-proof encoder are fixed in the control module (10), and a plurality of sensors are installed on both the rotating cylinder (2) and the structural main body.

6. The explosion-proof six-degree-of-freedom hydraulic robotic arm structure according to claim 1, wherein: The replacement component (18) includes a housing (1801) fixed to the right side of the rotating column (17). A plug-in block (1802) and a socket block (1803) are fixed to the inner cavity wall at the bottom of the housing (1801). A threaded column (1804) is threadedly connected to the top of the housing (1801), and an extrusion block (1805) is fixed to the bottom of the threaded column (1804). An acting component (1806) is provided between the plug-in block (1802) and the socket block (1803).

7. The structure of an explosion-proof six-degree-of-freedom hydraulic robotic arm according to claim 6, wherein: The acting component (1806) includes a connecting seat (18061) fixed between the plug-in block (1802) and the socket block (1803). An acting block (18062) is movably connected to the top of the connecting seat (18061). Sliding blocks (18063) movably connected to the connecting seat (18061) are fixed to both the front and back sides of the acting block (18062). A locking column (18064) is fixed to the side of the acting block (18062) away from the connecting seat (18061).

8. An explosion-proof six-degree-of-freedom hydraulic robotic arm structure according to claim 7, characterized in that: A sliding through - opening is formed at the top of the connecting seat (18061), and a sliding channel communicating with the sliding through - opening is formed at the top of the connecting seat (18061). The acting block (18062) is slidably connected to the connecting seat (18061) through the sliding through - opening, and the sliding block (18063) is slidably connected to the connecting seat (18061) through the sliding channel.

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