Grabbing mechanical arm

Abstract

The utility model discloses a grabbing mechanical arm, which belongs to the technical field of engineering machinery and comprises a swing mechanism, a rotary table, an inner arm, an outer arm, a grabbing mechanism, a first connecting rod mechanism, a first driving cylinder, a second connecting rod mechanism, a second driving cylinder, a third connecting rod mechanism, a third driving cylinder, a fourth driving cylinder and a controller. The first driving cylinder pushes the first connecting rod mechanism to change the angle of the inner arm, the second driving cylinder pushes the second connecting rod mechanism to change the angle of the outer arm, and the third driving cylinder pushes the third connecting rod mechanism to change the angle of the mounting frame, so that the working range of the gripping apparatus is greatly adjusted; small-amplitude and multi-angle adjustment and grabbing of the grabbing working range are achieved, the grabbing tool can open and close the fire valve at multiple angles, and high flexibility is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of grabbing manipulator, belong to engineering machinery technical field. BACKGROUND

[0002] Mechanical arm refers to high-precision, multiple-input multiple-output, highly nonlinear, strong coupling complex system. Because of its unique operation flexibility, it has been widely used in industrial assembly, safety explosion-proof and other fields.

[0003] At present, the types of mechanical arm applied in engineering machinery field are less, and the mechanical arm capable of satisfying the functions of article grabbing and valve opening and closing is even rarer. The existing mechanical arm with grabber is relatively large in shape, occupies large space, is not flexible enough, and is only suitable for article grabbing and cannot be applied to some complex precision operations, such as valve opening and closing. UTILITY MODEL CONTENT

[0004] The utility model aims at overcoming the deficiencies in the prior art, and provides a kind of grabbing manipulator, grabber can be multi-angle grabbed, with higher flexibility, and can be opened and closed to fire valve in extreme case while satisfying the grabbing of object.

[0005] To achieve the above-mentioned purpose / To solve the above-mentioned technical problems, the utility model is implemented by using the following technical solutions:

[0006] A kind of grabbing manipulator, comprising:

[0007] Rotary mechanism, which is connected to an external power source through a transmission mechanism or directly connected to an external power source;

[0008] Rotary table, which is connected to the rotary mechanism;

[0009] Inner arm, which is movably connected to the rotary table;

[0010] Outer arm, which is movably connected to the inner arm;

[0011] Grabbing mechanism, comprising a mounting bracket movably arranged at one end of the outer arm away from the inner arm and a grabber arranged on the mounting bracket;

[0012] First connecting rod mechanism, one end of which is movably connected to the rotary table, and the other end is movably connected to the inner arm;

[0013] First drive cylinder, which is movably arranged on the rotary table, and the power output end of which is connected to the first connecting rod mechanism to change the angle of the inner arm by pushing the first connecting rod mechanism;

[0014] Second connecting rod mechanism, one end of which is movably connected to the inner arm, and the other end is movably connected to the outer arm;

[0015] The second driving cylinder is movably arranged on the inner arm, and the power output end is connected with the second connecting rod mechanism to change the angle of the outer arm by pushing the second connecting rod mechanism.

[0016] The third connecting rod mechanism is movably arranged on the outer arm at one end and movably connected with the mounting frame at the other end.

[0017] The third driving cylinder is fixedly arranged on the outer arm, and the power output end is movably connected with the third connecting rod mechanism to change the angle of the mounting frame by pushing the third connecting rod mechanism.

[0018] The fourth driving cylinder is fixedly arranged on the mounting frame, and the power output end is connected with the grabber to swing the grabber.

[0019] The first driving cylinder, the second driving cylinder, the third driving cylinder, the fourth driving cylinder and the grabber are connected with an external or vehicle-mounted driving circuit.

[0020] The controller is electrically connected with the external or vehicle-mounted driving circuit.

[0021] Optionally, the first angle sensor arranged on the rotary table, the second angle sensor arranged on the inner arm, the third angle sensor arranged on the mounting frame, the fourth angle sensor arranged on the grabber and the angle length sensor arranged on the outer arm are further included; and the controller is electrically connected with the first angle sensor, the second angle sensor, the third angle sensor, the fourth angle sensor and the fifth angle sensor respectively.

[0022] Optionally, the mounting frame is further provided with a video acquisition device for monitoring the working condition of the grabber.

[0023] Optionally, the outer arm comprises a basic arm and a telescopic arm sleeved on the basic arm.

[0024] The basic arm is provided with a fifth driving cylinder, and the power output end of the fifth driving cylinder is fixedly connected with the telescopic arm to push the telescopic arm to move along the length direction of the basic arm; and the fifth driving cylinder is connected with the external or vehicle-mounted driving circuit.

[0025] Optionally, the angle change range of the outer arm is 0°~+180°.

[0026] Optionally, the driving circuit is a hydraulic driving circuit or an electrical driving circuit; the power source of the hydraulic driving circuit is a hydraulic pump, and the power source of the electrical driving circuit is an electric motor.

[0027] Optionally, the first connecting rod mechanism comprises a rod group A and a supporting rod A symmetrically arranged on both sides of the rotary table.

[0028] The rod group A includes a driving rod A and a driven rod A, one end of the driving rod A is hinged with the inner arm, the other end is hinged with the driven rod A, and one end of the driven rod A away from the driving rod A is hinged with the rotating table; the connection of the driving rod A and the driven rod A of the rod group A on both sides is movably arranged at the two ends of the supporting rod A, and the power output end of the first driving cylinder is hinged with the driving rod A.

[0029] Optionally, the angle change range of the inner arm is 0°~+70°.

[0030] Optionally, the second connecting rod mechanism includes driving rods B and supporting rods B symmetrically arranged on both sides of the inner arm.

[0031] The supporting rod B is hinged with the outer arm, the driving rods B on both sides of the inner arm are respectively hinged with the two ends of the supporting rod B, one end of the driving rod B away from the supporting rod B is hinged with the inner arm, and the power output end of the second driving cylinder is hinged with the supporting rod B.

[0032] Optionally, the grabber swings in the transverse direction of the mounting frame, and the angle change range of the grabber is-60°~+60°.

[0033] Compared with the prior art, the utility model has the beneficial effects that:

[0034] 1、 the utility model discloses through the first driving cylinder promotes the first connecting rod mechanism to change the inner arm angle, the second driving cylinder promotes the second connecting rod mechanism to change the outer arm angle and the third driving cylinder promotes the third connecting rod mechanism to change the mounting frame angle, has realized the substantial adjustment of the working range of grabber, through the fourth driving cylinder swing grabber, has realized the small, multi-angle adjustment and the grabbing of the working range of grabbing, and the grabber can also be under multi-angle to the opening and closing operation of fire valve, has higher flexibility.

[0035] 2、 the utility model discloses through the fifth driving cylinder promotes telescopic arm to move along the length direction of basic arm, realizes the extension of the length of outer arm, has enlarged the working range of grabber, improved the applicability. ACCURATE DRAWINGS

[0036] Figure 1 It is a kind of whole structure schematic diagram of grabbing mechanical arm (outer arm is not unfolded) provided by the utility model embodiment;

[0037] Figure 2 It is a kind of whole structure schematic diagram of grabbing mechanical arm (outer arm is unfolded, shows rotary distributor and rotary speed reducer) provided by the utility model embodiment;

[0038] Figure 3 It is a kind of outer arm structure schematic diagram of grabbing mechanical arm provided by the utility model embodiment;

[0039] Figure 4It is the whole structure schematic diagram of the grasping mechanical arm (fifth drive cylinder is not shown) provided by the embodiment of the utility model.

[0040] Figure 5 It is the structure schematic diagram of the basic arm and telescopic arm of the grasping mechanical arm (fifth drive cylinder is shown) provided by the embodiment 2 of the utility model.

[0041] Figure 6 It is the whole structure schematic diagram of the grasping mechanical arm (outer arm is unfolded, and brush and rotary speed reducer are shown) provided by the embodiment of the utility model.

[0042] In the figure: 1, rotary mechanism;101, rotary distributor;102, rotary speed reducer;103, brush;2, rotary table;3, inner arm;4, outer arm;401, basic arm;402, telescopic arm;5, grasping mechanism;501, mounting frame;502, grapple;6, controller;7, first angle sensor;8, first connecting rod mechanism;801, support rod A;802, driving rod A;803, driven rod A;9, second connecting rod mechanism;901, driving rod B;902, support rod B;10, third connecting rod mechanism;1001, support rod C;1002, driving rod C;1003, driven rod C;11, first drive cylinder;12, second angle sensor;13, second drive cylinder;14, angle length sensor;15, third drive cylinder;16, third angle sensor;17, fourth drive cylinder;18, fourth angle sensor;19, video acquisition device;20, fifth drive cylinder. DETAILED DESCRIPTION

[0043] The utility model will be further described below in combination with the drawings. The following embodiments are only used for more clearly explaining the technical scheme of the utility model, and cannot limit the protection scope of the utility model. EMBODIMENT

[0044] As Figure 1 And Figure 2 Shown, a kind of grasping mechanical arm, comprising: rotary mechanism 1, rotary table 2, inner arm 3, outer arm 4, grasping mechanism 5 and controller 6;In the present embodiment, rotary mechanism 1 includes rotary distributor 101 and rotary speed reducer 102, rotary speed reducer 102 and rotary distributor 101 are installed on rotary table 2, rotary speed reducer 102 is used for the continuous rotation of rotary table 2, and rotary distributor 101 can distribute the pipeline of hydraulic drive circuit (not shown);Rotary distributor 101 is connected with external power source by transmission mechanism (not shown) or directly connected with external power source;

[0045] Rotary table 2 is also provided with first angle sensor 7, and first angle sensor 7 is electrically connected with controller 6, to detect the change of rotary angle of rotary table 2.

[0046] One end of the inner arm 3 is movably connected to the rotary table 2, and the other end is movably connected to the outer arm 4. The end of the outer arm 4 away from the inner arm 3 is connected to the grabbing mechanism 5. The rotary table 2 is provided with a first connecting rod mechanism 8 between the rotary table 2 and the inner arm 3. The inner arm 3 is provided with a second connecting rod mechanism 9 between the inner arm 3 and the outer arm 4. The outer arm 4 is provided with a third connecting rod mechanism 10 between the outer arm 4 and the grabbing mechanism 5. Specifically:

[0047] The rotary table 2 is provided with a first driving cylinder 11. In this example, the first driving cylinder 11 is a hydraulic cylinder. The first driving cylinder 11 is connected to an external hydraulic power source or a vehicle-mounted hydraulic power source through a hydraulic drive circuit. A hydraulic valve is installed in the hydraulic drive circuit. The controller 6 is electrically connected to the hydraulic valve in the hydraulic drive circuit. The controller 6 controls the on-off of the hydraulic valve to realize the extension and retraction of the first driving cylinder 11.

[0048] The first connecting rod mechanism 8 includes a rod group A and a support rod A801 symmetrically arranged on both sides of the rotary table 2.

[0049] The rod group A includes a driving rod A802 and a driven rod A803. One end of the driving rod A802 is hingedly connected to the inner arm 3, and the other end is hingedly connected to the driven rod A803. The end of the driven rod A803 away from the driving rod A802 is hingedly connected to the rotary table 2. The connecting parts of the driving rod A802 and the driven rod A803 of the rod group A on both sides are movably connected to the two ends of the support rod A801. The power output end of the first driving cylinder 11 is hingedly connected to the driving rod A802, and the shell of the first driving cylinder 11 is hingedly connected to the rotary table 2.

[0050] The support rod A801 is pushed by the first driving cylinder 11, and the inner arm 3 changes the longitudinal angle on the rotary table 2 under the action of the driving rod A802 and the driven rod A803. The angle change range of the inner arm 3 is 0°~+70°.

[0051] A second angle sensor 12 is also installed on the side of the inner arm 3. The second angle sensor 12 is electrically connected to the controller 6 and is used to detect the angle change of the inner arm 3.

[0052] The inner arm 3 is provided with a second driving cylinder 13. In this example, the second driving cylinder 13 is a hydraulic cylinder. The second driving cylinder 13 is connected to an external hydraulic power source or a vehicle-mounted hydraulic power source through a hydraulic drive circuit. A hydraulic valve is installed in the hydraulic drive circuit. The controller 6 is electrically connected to the hydraulic valve in the hydraulic drive circuit. The controller 6 controls the on-off of the hydraulic valve to realize the extension and retraction of the second driving cylinder 13.

[0053] The second connecting rod mechanism 9 includes a driving rod B901 and a support rod B902 symmetrically arranged on both sides of the inner arm 3.

[0054] The support rod B902 is hinged to the outer arm 4, the driving rods B901 on both sides of the inner arm 3 are respectively hinged to both ends of the support rod B902, the end of the driving rod B901 away from the support rod B902 is hinged to the inner arm 3, the power output end of the second driving cylinder 13 is hinged to the support rod B902, and the shell of the second driving cylinder 13 is hinged to the inner arm 3;

[0055] The support rod B902 is pushed by the second driving cylinder 13, so that the outer arm 4 changes the longitudinal angle on the inner arm 3 under the action of the driving rod B901, and the angle change range of the outer arm 4 is 0°~+180°;

[0056] As shown in Figure 3 The side surface of the outer arm 4 is also provided with an angle length sensor 14, and the angle length sensor 14 is electrically connected with the controller 6.

[0057] The grabbing mechanism 5 comprises a mounting frame 501 and a grabber 502, the grabber 502 can rotate and open and close, in the embodiment, the grabber 502 is connected with an external hydraulic power source or a vehicle-mounted hydraulic power source through a hydraulic drive circuit, the controller 6 is electrically connected with a hydraulic valve in the hydraulic drive circuit, the rotation and opening and closing of the grabber 502 are realized by controlling the on-off of the hydraulic valve in the hydraulic drive circuit connected with the grabber 502 through the controller 6, wherein the mounting frame 501 is hinged to the end of the outer arm 4 away from the inner arm 3, and the grabber 502 is mounted on the mounting frame 501.

[0058] The outer arm 4 is provided with a third driving cylinder 15, in the embodiment, the third driving cylinder 15 is a hydraulic cylinder, the third driving cylinder 15 is connected with an external hydraulic power source or a vehicle-mounted hydraulic power source through a hydraulic drive circuit, a hydraulic valve is mounted in the hydraulic drive circuit, the controller 6 is electrically connected with the hydraulic valve in the hydraulic drive circuit, and the extension and retraction of the third driving cylinder 15 are realized by controlling the on-off of the hydraulic valve through the controller 6.

[0059] The third connecting rod mechanism 10 comprises rod groups C and a support rod C1001 symmetrically arranged on both sides of the outer arm 4.

[0060] The rod group C comprises a driving rod C1002 and a driven rod C1003, one end of the driving rod C1002 is hinged to the mounting frame 501, the other end is hinged to the driven rod C1003, and the end of the driven rod C1003 away from the driving rod C1002 is hinged to the outer arm 4; the connection positions of the driving rod C1002 and the driven rod C1003 of the rod group C on both sides are movably arranged at both ends of the support rod C1001, the power output end of the third driving cylinder 15 is hinged to the driving rod C1002, and the shell of the third driving cylinder 15 is fixedly connected with the outer arm 4.

[0061] The support rod C1001 is pushed by the third driving cylinder 15, and then the mounting frame 501 changes the longitudinal angle on the outer arm 4 under the action of the driving rod C1002 and the driven rod C1003, and the angle changing range of the mounting frame 501 is-90°~+90°;

[0062] As shown in Figure 3 The mounting frame 501 is provided with a third angle sensor 16, and the third angle sensor 16 is electrically connected with the controller 6.

[0063] The mounting frame 501 is further provided with a fourth driving cylinder 17, and the fourth driving cylinder 17 is a hydraulic cylinder in the embodiment, and the fourth driving cylinder 17 is connected with an external hydraulic power source or a vehicle-mounted hydraulic power source through a hydraulic driving circuit, and a hydraulic valve is installed in the hydraulic driving circuit, and the controller 6 is electrically connected with the hydraulic valve in the hydraulic driving circuit, and the controller 6 controls the on-off of the hydraulic valve to realize the extension and retraction of the fourth driving cylinder 17.

[0064] The shell of the fourth driving cylinder 17 is fixedly connected with the mounting frame 501, and the power output end of the fourth driving cylinder 17 is fixedly connected with the shell of the grabber 502, and the fourth driving cylinder 17 drives the grabber 502 to swing, and the grabber 502 is provided with a fourth angle sensor 18, and the fourth angle sensor 18 is electrically connected with the controller 6, and the angle changing range of the grabber 502 is-60°~+60°.

[0065] The mounting frame 501 is further provided with a video acquisition device 19 for monitoring the working condition of the grabber 502. Embodiment

[0066] As shown in Figure 2 and Figure 4 A grabbing mechanical arm, comprising: a rotating mechanism 1, a rotating table 2, an inner arm 3, an outer arm 4, a grabbing mechanism 5 and a controller 6; in the embodiment, the rotating mechanism 1 comprises a rotating distributor 101 and a rotating speed reducer 102, and the rotating speed reducer 102 and the rotating distributor 101 are both installed on the rotating table 2, the rotating speed reducer 102 is used for continuous rotation of the rotating table 2, and the rotating distributor 101 can distribute the pipeline of a hydraulic driving circuit (not shown); the rotating distributor 101 is connected with an external power source through a transmission mechanism (not shown) or directly connected with the external power source.

[0067] The rotating table 2 is further provided with a first angle sensor 7, and the first angle sensor 7 is electrically connected with the controller 6 and used for detecting the change of the rotation angle of the rotating table 2.

[0068] One end of the inner arm 3 is movably connected to the rotary table 2, and the other end is movably connected to the outer arm 4. The end of the outer arm 4 away from the inner arm 3 is connected to the grabbing mechanism 5. The rotary table 2 is provided with a first connecting rod mechanism 8 between the rotary table 2 and the inner arm 3. The inner arm 3 is provided with a second connecting rod mechanism 9 between the inner arm 3 and the outer arm 4. The outer arm 4 is provided with a third connecting rod mechanism 10 between the outer arm 4 and the grabbing mechanism 5. Specifically:

[0069] The rotary table 2 is provided with a first driving cylinder 11. In this example, the first driving cylinder 11 is a hydraulic cylinder. The first driving cylinder 11 is connected to an external hydraulic power source or a vehicle-mounted hydraulic power source through a hydraulic drive circuit. A hydraulic valve is installed in the hydraulic drive circuit. The controller 6 is electrically connected to the hydraulic valve in the hydraulic drive circuit. The controller 6 controls the on-off of the hydraulic valve to realize the extension and retraction of the first driving cylinder 11.

[0070] The first connecting rod mechanism 8 includes a rod group A and a support rod A801 symmetrically arranged on both sides of the rotary table 2.

[0071] The rod group A includes a driving rod A802 and a driven rod A803. One end of the driving rod A802 is hingedly connected to the inner arm 3, and the other end is hingedly connected to the driven rod A803. The end of the driven rod A803 away from the driving rod A802 is hingedly connected to the rotary table 2. The connecting parts of the driving rod A802 and the driven rod A803 of the rod group A on both sides are movably connected to the two ends of the support rod A801. The power output end of the first driving cylinder 11 is hingedly connected to the driving rod A802, and the shell of the first driving cylinder 11 is hingedly connected to the rotary table 2.

[0072] The first driving cylinder 11 pushes the support rod A801, and then the inner arm 3 changes the longitudinal angle on the rotary table 2 under the action of the driving rod A802 and the driven rod A803. The angle change range of the inner arm 3 is 0°~+70°.

[0073] A second angle sensor 12 is also installed on the side of the inner arm 3. The second angle sensor 12 is electrically connected to the controller 6 and is used to detect the angle change of the inner arm 3.

[0074] The inner arm 3 is provided with a second driving cylinder 13. In this example, the second driving cylinder 13 is a hydraulic cylinder. The second driving cylinder 13 is connected to an external hydraulic power source or a vehicle-mounted hydraulic power source through a hydraulic drive circuit. A hydraulic valve is installed in the hydraulic drive circuit. The controller 6 is electrically connected to the hydraulic valve in the hydraulic drive circuit. The controller 6 controls the on-off of the hydraulic valve to realize the extension and retraction of the second driving cylinder 13.

[0075] The second connecting rod mechanism 9 includes a driving rod B901 and a support rod B902 symmetrically arranged on both sides of the inner arm 3.

[0076] As Figure 5As shown, the outer arm 4 comprises a basic arm 401 and a telescopic arm 402 sleeved on the basic arm 401, wherein the basic arm 401 is hinged to the inner arm 3, and the telescopic arm 402 is hinged to the mounting frame 501; the basic arm 401 is provided with a fifth driving cylinder 20, which is a hydraulic cylinder in this example, and the fifth driving cylinder 20 is connected to an external hydraulic power source or a vehicle-mounted hydraulic power source through a hydraulic driving circuit, a hydraulic valve is installed in the hydraulic driving circuit, and the controller 6 is electrically connected to the hydraulic valve in the hydraulic driving circuit, so that the controller 6 controls the on-off of the hydraulic valve to realize the extension and retraction of the fifth driving cylinder 20;

[0077] The housing of the fifth driving cylinder 20 is fixedly connected to the basic arm 401, the power output end of the fifth driving cylinder 20 is fixedly connected to the telescopic arm 402, and the telescopic arm 402 is slidably connected to the basic arm 401; under the action of the fifth driving cylinder 20, the telescopic arm 402 is pushed to move along the length direction of the basic arm 401;

[0078] The support rod B902 is hinged to the basic arm 401, the two ends of the support rod B902 are respectively hinged to the two ends of the driving rod B901 located on the two sides of the inner arm 3, the end of the driving rod B901 away from the support rod B902 is hinged to the inner arm 3, the power output end of the second driving cylinder 13 is hinged to the support rod B902, and the housing of the second driving cylinder 13 is hinged to the inner arm 3;

[0079] The support rod B902 is pushed by the second driving cylinder 13, so that the outer arm 4 changes the longitudinal angle on the inner arm 3 under the action of the driving rod B901, and the angle change range of the outer arm 4 is 0°~+180°;

[0080] An angle length sensor 14 is also installed on the side surface of the basic arm 401, and the angle length sensor 14 is electrically connected to the controller 6 and used for detecting the angle change of the outer arm 4.

[0081] The grabbing mechanism 5 comprises a mounting frame 501 and a grabber 502, the grabber 502 can rotate and open and close, the grabber 502 is connected to an external hydraulic power source or a vehicle-mounted hydraulic power source through a hydraulic driving circuit, the controller 6 is electrically connected to a hydraulic valve in the hydraulic driving circuit, and the controller 6 controls the on-off of the hydraulic valve in the hydraulic driving circuit connected to the grabber 502 to realize the rotation and opening and closing of the grabber 502, wherein the mounting frame 501 is hinged to the end of the outer arm 4 away from the inner arm 3, and the grabber 502 is installed on the mounting frame 501;

[0082] A third driving cylinder 15 is arranged on the outer arm 4, which is a hydraulic cylinder in this example, and the third driving cylinder 15 is connected to an external hydraulic power source or a vehicle-mounted hydraulic power source through a hydraulic driving circuit, a hydraulic valve is installed in the hydraulic driving circuit, and the controller 6 is electrically connected to the hydraulic valve in the hydraulic driving circuit, so that the controller 6 controls the on-off of the hydraulic valve to realize the extension and retraction of the third driving cylinder 15;

[0083] The third linkage mechanism 10 comprises a rod set C and a support rod C1001 symmetrically arranged on both sides of the outer arm 4;

[0084] The rod set C comprises a driving rod C1002 and a driven rod C1003, one end of the driving rod C1002 is hingedly connected with the mounting frame 501, the other end is hingedly connected with the driven rod C1003, and one end of the driven rod C1003 away from the driving rod C1002 is hingedly connected with the telescopic arm 402; the connection portions of the driving rod C1002 and the driven rod C1003 of the rod set C on both sides are movably arranged at both ends of the support rod C1001, the power output end of the third driving cylinder 15 is hingedly connected with the driving rod C1002, and the shell of the third driving cylinder 15 is fixedly connected with the telescopic arm 402;

[0085] The support rod C1001 is pushed by the third driving cylinder 15, so that the mounting frame 501 changes the longitudinal angle on the outer arm 4 under the action of the driving rod C1002 and the driven rod C1003, and the angle changing range of the mounting frame 501 is-90°~+90°;

[0086] The third angle sensor 16 is arranged on the mounting frame 501, and the third angle sensor 16 is electrically connected with the controller 6.

[0087] The fourth driving cylinder 17 is arranged on the mounting frame 501, in the embodiment, the fourth driving cylinder 17 is a hydraulic cylinder, the fourth driving cylinder 17 is connected with an external hydraulic power source or a vehicle-mounted hydraulic power source through a hydraulic driving circuit, a hydraulic valve is arranged in the hydraulic driving circuit, the controller 6 is electrically connected with the hydraulic valve in the hydraulic driving circuit, and the opening and closing of the hydraulic valve is controlled through the controller 6, so that the extension and retraction of the fourth driving cylinder 17 is realized;

[0088] The shell of the fourth driving cylinder 17 is fixedly connected with the mounting frame 501, the power output end of the fourth driving cylinder 17 is fixedly connected with the shell of the gripper 502, the fourth driving cylinder 17 drives the gripper 502 to swing, the fourth angle sensor 18 is arranged on the gripper 502, and the fourth angle sensor 18 is electrically connected with the controller 6; the angle changing range of the gripper 502 is-60°~+60°;

[0089] The video acquisition device 19 is arranged on the mounting frame 501, and is used for monitoring the working condition of the gripper 502. Embodiment

[0090] As Figure 4 and Figure 6As shown, a grabbing manipulator comprises a slewing mechanism 1, a turntable 2, an inner arm 3, an outer arm 4, a grabbing mechanism 5 and a controller 6; in the embodiment, the slewing mechanism 1 comprises a slewing reducer 102 and a brush 103, both of which are installed on the turntable, the brush 103 is connected with an external power source or a vehicle-mounted power source, and the brush 103 can distribute the lines of an electric drive circuit (not shown).

[0091] A first angle sensor 7 is also installed on the turntable 2 and electrically connected with the controller 6, for detecting the change of the slewing angle of the turntable 2.

[0092] One end of the inner arm 3 is movably connected to the turntable 2, the other end is movably connected with the outer arm 4, the end of the outer arm 4 away from the inner arm 3 is connected with the grabbing mechanism 5, the first connecting rod mechanism 8 is arranged between the turntable 2 and the inner arm 3, the second connecting rod mechanism 9 is arranged between the inner arm 3 and the outer arm 4, and the third connecting rod mechanism 10 is arranged between the outer arm 4 and the grabbing mechanism 5.

[0093] The turntable 2 is provided with a first drive cylinder 11, in the embodiment, the first drive cylinder 11 is an electric cylinder, the first drive cylinder 11 is connected with an external power source or a vehicle-mounted power source through an electric drive circuit, the power source of the electric drive circuit is an electric motor, the controller 6 is electrically connected with the electric motor, and the start and stop of the electric motor is controlled through the controller 6, so as to realize the extension and retraction of the first drive cylinder 11.

[0094] The first connecting rod mechanism 8 comprises a rod group A and a supporting rod A801 symmetrically arranged on both sides of the turntable 2.

[0095] The rod group A comprises a driving rod A802 and a driven rod A803, one end of the driving rod A802 is hinged with the inner arm 3, the other end is hinged with the driven rod A803, one end of the driven rod A803 away from the driving rod A802 is hinged with the turntable 2, the connecting parts of the driving rod A802 and the driven rod A803 of the rod group A on both sides are movably connected with both ends of the supporting rod A801, the power output end of the first drive cylinder 11 is hinged with the driving rod A802, and the shell of the first drive cylinder 11 is hinged with the turntable 2.

[0096] The supporting rod A801 is pushed by the first drive cylinder 11, so as to change the longitudinal angle of the inner arm 3 on the turntable 2 under the action of the driving rod A802 and the driven rod A803, and the angle change range of the inner arm 3 is 0°~+70°.

[0097] A second angle sensor 12 is also installed on the side of the inner arm 3 and electrically connected with the controller 6, for detecting the angle change of the inner arm 3.

[0098] The inner arm 3 is provided with a second driving cylinder 13. In the example, the second driving cylinder 13 is an electric cylinder. The first driving cylinder 13 is connected to an external power source or a vehicle-mounted power source through an electric driving circuit. The power source of the electric driving circuit is an electric motor. The controller 6 is electrically connected to the electric motor. The controller 6 controls the start and stop of the electric motor, thereby realizing the extension and retraction of the second driving cylinder 13.

[0099] The second connecting rod mechanism 9 includes a driving rod B901 and a supporting rod B902 which are symmetrically arranged on both sides of the inner arm 3.

[0100] As shown in Figure 5 The outer arm 4 includes a basic arm 401 and a telescopic arm 402 sleeved on the basic arm 401. The basic arm 401 is hinged to the inner arm 3, and the telescopic arm 402 is hinged to the mounting frame 501. The basic arm 401 is provided with a fifth driving cylinder 20. In the example, the fifth driving cylinder 20 is an electric cylinder. The fifth driving cylinder 20 is connected to an external power source or a vehicle-mounted power source through an electric driving circuit. The power source of the electric driving circuit is an electric motor. The controller 6 is electrically connected to the electric motor. The controller 6 controls the start and stop of the electric motor, thereby realizing the extension and retraction of the fifth driving cylinder 20.

[0101] The housing of the fifth driving cylinder 20 is fixedly connected to the basic arm 401. The power output end of the fifth driving cylinder 20 is fixedly connected to the telescopic arm 402. The telescopic arm 402 is slidably connected to the basic arm 401. Under the action of the fifth driving cylinder 20, the telescopic arm 402 is pushed to move along the length direction of the basic arm 401.

[0102] The supporting rod B902 is hinged to the basic arm 401. The driving rods B901 located on both sides of the inner arm 3 are respectively hinged to the two ends of the supporting rod B902. The end of the driving rod B901 away from the supporting rod B902 is hinged to the inner arm 3. The power output end of the second driving cylinder 13 is hinged to the supporting rod B902. The housing of the second driving cylinder 13 is hinged to the inner arm 3.

[0103] The supporting rod B902 is pushed by the second driving cylinder 13, thereby changing the longitudinal angle of the outer arm 4 on the inner arm 3 under the action of the driving rod B901. The angle change range of the outer arm 4 is 0°~+180°.

[0104] The side surface of the basic arm 401 is also provided with an angle length sensor 14. The angle length sensor 14 is electrically connected to the controller 6, and is used for detecting the angle change of the outer arm 4.

[0105] The grabbing mechanism 5 comprises a mounting frame 501 and a grabber 502, the grabber 502 can rotate and open and close, in the example, the grabber 502 is connected with an external power source or a vehicle-mounted power source through an electrical driving circuit, the power source of the electrical driving circuit is an electric motor, the controller 6 is electrically connected with the electric motor in the electrical driving circuit, the rotation and opening and closing of the grabber 502 are realized by controlling the start and stop of the electric motor in the electrical driving circuit connected with the grabber 502, wherein: the mounting frame 501 is hinged to the end of the outer arm 4 away from the inner arm 3, and the grabber 502 is mounted on the mounting frame 501.

[0106] The outer arm 4 is provided with a third driving cylinder 15, in the example, the third driving cylinder 15 is an electric cylinder, the third driving cylinder 15 is connected with an external power source or a vehicle-mounted power source through an electrical driving circuit, the power source of the electrical driving circuit is an electric motor, the controller 6 is electrically connected with the electric motor, the extension and retraction of the third driving cylinder 15 are realized by controlling the start and stop of the electric motor through the controller 6.

[0107] The third connecting rod mechanism 10 comprises a rod group C and a supporting rod C1001 symmetrically arranged on both sides of the outer arm 4.

[0108] The rod group C comprises a driving rod C1002 and a driven rod C1003, one end of the driving rod C1002 is hinged to the mounting frame 501, the other end is hinged to the driven rod C1003, the end of the driven rod C1003 away from the driving rod C1002 is hinged to the telescopic arm 402, the connecting parts of the driving rod C1002 and the driven rod C1003 of the rod group C on both sides are movably arranged at both ends of the supporting rod C1001, the power output end of the third driving cylinder 15 is hinged to the driving rod C1002, and the shell of the third driving cylinder 15 is fixedly connected with the telescopic arm 402.

[0109] The supporting rod C1001 is pushed by the third driving cylinder 15, so that the mounting frame 501 changes the longitudinal angle on the outer arm 4 under the action of the driving rod C1002 and the driven rod C1003, and the angle change range of the mounting frame 501 is-90°~+90°.

[0110] A third angle sensor 16 is mounted on the mounting frame 501, and the third angle sensor 16 is electrically connected with the controller 6.

[0111] The mounting frame 501 is also provided with a fourth driving cylinder 17, in the example, the fourth driving cylinder 17 is an electric cylinder, the fourth driving cylinder 17 is connected with an external power source or a vehicle-mounted power source through an electrical driving circuit, the power source of the electrical driving circuit is an electric motor, the controller 6 is electrically connected with the electric motor, the extension and retraction of the fourth driving cylinder 17 are realized by controlling the on-off of the electric motor through the controller 6.

[0112] The shell of the fourth driving cylinder 17 is fixedly connected with the mounting frame 501, the power output end of the fourth driving cylinder 17 is fixedly connected with the shell of the grabber 502, the grabber 502 is driven to swing through the fourth driving cylinder 17; the fourth angle sensor 18 is installed on the grabber 502, the fourth angle sensor 18 is electrically connected with the controller 6, and the angle conversion range of the grabber 502 is -60°~+60°.

[0113] The video acquisition device 19 is also installed on the mounting frame 501 and is used for monitoring the working condition of the grabber 502.

[0114] Working principle

[0115] The first driving cylinder 11 is started to push the support rod A801, and then the inner arm 3 changes the longitudinal angle on the rotary table 2 under the action of the driving rod A802 and the driven rod A803; the second driving cylinder 13 is started to push the support rod B902, and then the outer arm 4 changes the longitudinal angle on the inner arm 3 under the action of the driving rod B901; the third driving cylinder 15 is started to push the support rod C1001, and then the mounting frame 501 changes the longitudinal angle on the outer arm 4 under the action of the driving rod C1002 and the driven rod C1003; the fourth driving cylinder 17 is started to drive the grabber 502 to swing, and then the grabber 502 changes the angle by swinging in the transverse direction; if the grabber 502 is still away from the target working area, the fifth driving cylinder 20 is started to push the telescopic arm 402 to move along the length direction of the basic arm 401, so that the grabber 502 reaches the target working area.

[0116] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, a particular orientation and operation, therefore, it cannot be understood as a limitation on the utility model. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" and the like can be explicitly or implicitly included one or more features. In the description of the utility model, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0117] In the description of the utility model, it is necessary to explain, unless another explicit provision and limitation, term "installation", "link", "connection" should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through intermediate medium, can be two elements inside the communication.For ordinary skilled person in the art, the specific meaning of the above-mentioned terms in the utility model can be understood through specific circumstances.

[0118] The above is only the preferred embodiment of the utility model, it should be pointed out, for ordinary skilled person in the art, on the premise of not departing from the technical principle of the utility model, can also make several improvements and deformation, these improvements and deformation also should be considered as the protection scope of the utility model.

Claims

1. A gripping robot, characterized in that The utility model relates to a kind of multi-joint robot, including: Rotary mechanism (1) is connected with external power source by transmission mechanism or directly connected with external power source; Rotary table (2) is connected with rotary mechanism (1); Inner arm (3) is movably connected with rotary table (2); Outer arm (4) is movably connected with inner arm (3); Grabbing mechanism (5) includes mounting bracket (501) movably arranged at the end of outer arm (4) away from inner arm (3) and gripper (502) arranged on mounting bracket (501); First connecting rod mechanism (8) is movably connected at one end to rotary table (2), and the other end is movably connected with inner arm (3); First drive cylinder (11) is movably arranged on rotary table (2), and power output end is connected with first connecting rod mechanism (8), which changes the angle of inner arm (3) by pushing first connecting rod mechanism (8); Second connecting rod mechanism (9) is movably connected at one end to inner arm (3), and the other end is movably connected to outer arm (4); Second drive cylinder (13) is movably arranged on inner arm (3), and power output end is connected with second connecting rod mechanism (9), which changes the angle of outer arm (4) by pushing second connecting rod mechanism (9); Third connecting rod mechanism (10) is movably arranged at one end to outer arm (4), and the other end is movably connected with mounting bracket (501); Third drive cylinder (15) is fixedly arranged on outer arm (4), and power output end is movably connected with third connecting rod mechanism (10), which changes the angle of mounting bracket (501) by pushing third connecting rod mechanism (10); Fourth drive cylinder (17) is fixedly arranged on mounting bracket (501), and power output end is connected with gripper (502), which is used for swinging gripper (502); The first drive cylinder (11), second drive cylinder (13), third drive cylinder (15), fourth drive cylinder (17) and gripper (502) are connected with external or vehicle-mounted drive circuit; Controller (6) is electrically connected with external or vehicle-mounted drive circuit.

2. The gripping robot arm of claim 1, wherein, It also includes first angle sensor (7) arranged on rotary table (2), second angle sensor (12) arranged on inner arm (3), third angle sensor (16) arranged on mounting bracket (501), fourth angle sensor (18) arranged on gripper (502) and angle length sensor (14) arranged on outer arm (4);The controller (6) is electrically connected with first angle sensor (7), second angle sensor (12), third angle sensor (16), fourth angle sensor (18) and angle length sensor (14) respectively.

3. The gripping robot arm of claim 1, wherein, Video acquisition device (19) is further arranged on the mounting bracket (501), which is used for monitoring the working condition of the gripper (502).

4. The gripping robot arm of claim 1, wherein, The outer arm (4) includes basic arm (401) and telescopic arm (402) sleeved on the basic arm (401); The basic arm (401) is provided with the fifth drive cylinder (20), and the power output end of the fifth drive cylinder (20) is fixedly connected with the telescopic arm (402), which is used for pushing the telescopic arm (402) to move along the length direction of the basic arm (401), and the fifth drive cylinder (20) is connected with external or vehicle-mounted drive circuit.

5. The gripping robot arm according to claim 1 or 4, characterized in that, The angle change range of the outer arm (4) is 0°~+180°.

6. The gripping robot arm according to claim 1 or 4, characterized in that, The driving circuit is a hydraulic driving circuit or an electrical driving circuit; the power source of the hydraulic driving circuit is a hydraulic pump, and the power source of the electrical driving circuit is an electric motor.

7. The grasping robot arm of claim 1, wherein, The first linkage mechanism (8) comprises a lever group A and a support lever A (801) symmetrically arranged on both sides of the rotary table (2). The lever group A comprises a driving lever A (802) and a driven lever A (803), one end of the driving lever A (802) is hinged to the inner arm (3), the other end is hinged to the driven lever A (803), and the end of the driven lever A (803) away from the driving lever A (802) is hinged to the rotary table (2); the connection parts of the driving lever A (802) and the driven lever A (803) of the lever group A on both sides are movably arranged at the two ends of the support lever A (801), and the power output end of the first driving cylinder (11) is hinged to the driving lever A (802).

8. The grasping robot arm of claim 1, wherein, The angle change range of the inner arm (3) is 0°~+70°.

9. The grasping robot arm of claim 1, wherein, The second linkage mechanism (9) comprises a driving lever B (901) and a support lever B (902) symmetrically arranged on both sides of the inner arm (3). The support lever B (902) is hinged to the outer arm (4), the driving levers B (901) on both sides of the inner arm (3) are respectively hinged to the two ends of the support lever B (902), one end of the driving lever B (901) away from the support lever B (902) is hinged to the inner arm (3), and the power output end of the second driving cylinder (13) is hinged to the support lever B (902).

10. The grasping robot arm of claim 1, wherein, The grabber (502) swings in the transverse direction of the mounting frame (501), and the angle change range of the grabber (502) is -60°~+60°.

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