Six degree of freedom hydraulic handling robot

Abstract

The utility model provides a six degree of freedom hydraulic carrying robot, its characterized in that: including base: base is connected with waist component swing through first joint, waist component: waist component is connected with arm component swing through second joint, arm component: arm component is connected with big arm swing through third joint, big arm: big arm is connected with small arm rotation through fourth joint, small arm: small arm is connected with wrist component swing through fifth joint, wrist component: wrist component is connected with end effector rotation through sixth joint, end effector: end effector includes bottom plate, base plate, connecting rod, swing lever, gear pair and clamping plate, base plate is perpendicularly established on bottom plate, and connecting rod, swing lever and clamping plate all are provided with two, and gear pair is provided on base plate, and this robot swing arm adopts pure hydraulic drive, and end effector adopts gear connecting rod synchronous end effector, has solved the problem that poor synchronism, complex structure, easy to cause object deflection.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to a six-degree-of-freedom hydraulic handling robot. Background Technology

[0002] Material handling robots are a high-tech innovation in the field of modern automatic control. They involve disciplines such as mechanics, mechanical engineering, electrical, hydraulic and pneumatic technology, automatic control technology, sensor technology, microcontroller technology and computer technology. They have become an important component of modern mechanical manufacturing production systems. Their advantage is that they can complete various expected tasks through programming. They combine the advantages of both humans and machines in their structure and performance, especially demonstrating artificial intelligence and adaptability.

[0003] Existing handling robots are generally driven by motors, and the end effector is driven by cylinders. They have poor synchronization, complex structure, and are prone to object deflection. Utility Model Content

[0004] In view of this, the problem to be solved by this utility model is to provide a six-degree-of-freedom hydraulic handling robot. The robot's swing arm is driven by pure hydraulic force, and the end effector is a gear-linkage synchronous end effector, which solves the problems of poor synchronization, complex structure, and easy object deflection.

[0005] This utility model solves the above-mentioned technical problems through the following technical means: This utility model provides a six-degree-of-freedom hydraulic handling robot, including,

[0006] Base: The base is rotatably connected to the waist component via a first joint;

[0007] Waist component: The waist component is swayingly connected to the arm component via a second joint;

[0008] Arm component: The arm component is connected to the upper arm swinging mechanism via a third joint;

[0009] Upper arm: The upper arm is rotatably connected to the forearm via a fourth joint;

[0010] Forearm: The forearm is pivotally connected to the wrist component via a fifth joint;

[0011] Wrist component: The wrist component is rotatably connected to the end effector via a sixth joint;

[0012] End effector: The end effector includes a base plate, a base plate, a connecting rod, a swing arm, a gear pair, and a clamping plate. The base plate is rotatably connected to the wrist component via a sixth joint. The base plate is vertically mounted on the base plate. There are two connecting rods, two swing arms, and two clamping plates, and the two connecting rods, swing arms, and clamping plates are symmetrically arranged with respect to the center line of the base plate. A gear pair is provided on the base plate. The gear pair includes a meshing driving gear and a driven gear. The driving gear and the driven gear are identical and are symmetrically arranged with respect to the center line of the base plate. One end of the swing arm is hinged to the base plate and the other end is hinged to the clamping plate. One end of the connecting rod is hinged to one end of the clamping plate. The other end of one connecting rod is fixed to the driving gear, and the other end of the other connecting rod is fixed to the driven gear.

[0013] Furthermore, the clamping plate includes a connecting block and a clamping block. One end of the connecting block is inclinedly disposed on the clamping block, and hinge holes are respectively provided at both ends of the connecting block. The end of the connecting block near the clamping block is hinged to the swing rod through the hinge hole, and the hinge hole at the other end of the connecting block is hinged to the connecting rod.

[0014] Furthermore, the first joint includes a first slewing bearing, a first hydraulic motor for driving the first slewing bearing to rotate, and a first gear pair. The outer ring of the first slewing bearing is fixed on the base, and the inner ring is fixed on the waist component. The first hydraulic motor is disposed on the waist component. The second joint includes a second slewing bearing, a second hydraulic motor for driving the second slewing bearing to rotate, and a second gear pair. The third joint includes a third slewing bearing, a third hydraulic motor for driving the third slewing bearing to rotate, and a third gear pair. The fourth joint includes a fourth slewing bearing, a fourth hydraulic motor for driving the fourth slewing bearing to rotate, and a fourth gear pair. The fifth joint includes a fifth slewing bearing, a fifth hydraulic motor for driving the fifth slewing bearing to rotate, and a fifth gear pair. The sixth joint includes a sixth slewing bearing, a sixth hydraulic motor for driving the sixth slewing bearing to rotate, and a sixth gear pair.

[0015] Furthermore, a seventh hydraulic motor for driving the rotation of the drive gear is provided on the base plate. The driven gear and the drive gear are exactly the same size, and the two connecting rods have the same angle on the driven gear and the drive gear, so that the two connecting rods can swing symmetrically when the gear pair rotates.

[0016] Furthermore, multiple chassis supports are evenly arranged on the base, and the chassis supports are provided with mounting holes.

[0017] Furthermore, the waist component includes a disc and a connecting body, the connecting body is fixedly mounted on the disc, the disc is rotatably connected to the base, and the arm component is rotatably mounted on the connecting body.

[0018] Furthermore, the arm component is configured as a long strip, with rotating holes at both ends of the long strip.

[0019] Furthermore, the boom includes a first part and a second part that are perpendicularly connected to each other. The first part and the second part are respectively provided with a rotating hole, and the two rotating holes are arranged perpendicularly.

[0020] Furthermore, the wrist component includes a ball column and a cylinder, which are vertically connected. The ball column is provided with a rotation hole, through which it is rotatably connected to the forearm. The ball column is rotatably connected to the flange on the end effector via a bearing.

[0021] As can be seen from the above technical solution, the beneficial effects of this utility model are as follows: This utility model provides a six-degree-of-freedom hydraulic handling robot, including: a base: the base is rotatably connected to a waist component through a first joint; a waist component: the waist component is swingably connected to an arm component through a second joint;

[0022] Arm component: The arm component is oscillatingly connected to the upper arm via a third joint; Upper arm: The upper arm is rotatably connected to the forearm via a fourth joint; Forearm: The forearm is oscillatingly connected to the wrist component via a fifth joint; Wrist component: The wrist component is rotatably connected to the end effector via a sixth joint; End effector: The end effector includes a base plate, a base plate, a connecting rod, a swing rod, a gear pair, and a clamping plate. The base plate is rotatably connected to the wrist component via a sixth joint. The base plate is vertically mounted on the base plate. Two connecting rods, swing rods, and clamping plates are provided, and the two connecting rods, swing rods, and clamping plates are symmetrically arranged with respect to the center line of the base plate. A gear pair is provided on the base plate. The gear pair includes a meshing driving gear and a driven gear. The driving gear and the driven gear are identical and symmetrically arranged with respect to the center line of the base plate. One end of the swing rod is hinged to the base plate, and the other end is hinged to the clamping plate. One end of the connecting rod is hinged to one end of the clamping plate. The other end of one connecting rod is fixed to the driving gear, and the other end of the other connecting rod is fixed to the driven gear. The robot's swing arm is driven by pure hydraulics, and the end effector is a gear-linkage synchronous end effector, which solves the problems of poor synchronization, complex structure, and easy object deflection. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0024] Figure 1 A three-dimensional structural diagram of the six-degree-of-freedom hydraulic handling robot provided by this utility model;

[0025] Figure 2 The front view of the six-degree-of-freedom hydraulic handling robot provided by this utility model;

[0026] Figure 3 This is a partially enlarged view of the end effector of the six-degree-of-freedom hydraulic handling robot provided by this utility model;

[0027] Figure 4 A simplified structural diagram of the six-degree-of-freedom hydraulic handling robot provided by this utility model;

[0028] Figure label:

[0029] 1-Base; 2-Waist component; 3-Arm component; 4-Upper arm; 5-Forearm; 6-Wrist component; 7-End effector; 11-Chassis; 21-Disc; 22-Connector; 41-First part; 42-Second part; 61-Spherical column; 62-Cylinder; 71-Base plate; 72-Base plate; 73-Connecting rod; 74-Swing rod; 75-Driving gear; 76-Driven gear; 77-Clamping plate; 771-Connecting block; 772-Clamping block. Detailed Implementation

[0030] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0031] Please see Figures 1-4 This utility model provides a six-degree-of-freedom hydraulic handling robot, including,

[0032] Base: The base is rotatably connected to the waist component via a first joint; multiple chassis supports are evenly arranged on the base, and each chassis support has mounting holes; the first joint includes a first slewing bearing, a first hydraulic motor for driving the first slewing bearing to rotate, and a first gear pair. The outer ring of the first slewing bearing is fixed to the base, and the inner ring is fixed to the waist component. The first hydraulic motor is mounted on the waist component. The base is made of magnesium-aluminum alloy. Multiple chassis supports are evenly arranged on the base, and each chassis support has mounting holes. Four chassis supports are added around the base. Each chassis support is 319.2mm long and 211mm high, with a 20mm through hole in the middle. The through holes are spaced 109.8mm apart to match the through holes of the robot base. The base is 610mm long and 206mm wide. This width allows the base to have better stability and strengthens the base.

[0033] Waist component: The waist component is oscillatingly connected to the arm component via a second joint; the second joint includes a second slewing bearing, a second hydraulic motor for driving the rotation of the second slewing bearing, and a second gear pair. The waist component is a part connecting the arm and the base and has a slewing function. It mainly consists of a disc with a diameter of 610mm and a height of 40mm and a connecting body. This connecting body is 340mm wide and 220mm high, and connects to the arm to form the second joint. The side of the connecting body is designed with a connection position for the hydraulic motor. There is a 210mm diameter hole below the waist for connecting to the base. There is also a position for placing the hydraulic motor on the side.

[0034] Arm Component: The arm component is connected to the upper arm via a third joint; the third joint includes a third slewing bearing, a third hydraulic motor driving the third slewing bearing, and a third gear pair. The arm component is a long strip with slewing holes at both ends. The arm mainly connects the waist and the upper arm and is the main swinging part of the robotic arm. Since the robot needs a large working space during transport, the arm needs to be designed to be relatively large. Therefore, the arm is approximately 1315mm long, with a diameter of 200mm at the connection point to the waist and 200mm at the connection point to the upper arm, and a thickness of approximately 230mm.

[0035] Upper Arm: The upper arm is rotatably connected to the forearm via a fourth joint. The fourth joint includes a fourth slewing bearing, a fourth hydraulic motor for driving the rotation of the fourth slewing bearing, and a fourth gear pair. The upper arm includes a first part and a second part that are perpendicularly connected to each other. The first and second parts are respectively provided with slewing holes, and the two slewing holes are vertically arranged. The upper arm connects the arm and the forearm, and is a component that cooperates with the arm's pitching movement and the forearm's rotational movement. It mainly consists of two parts: the connection to the arm and the connection to the forearm. The diameter of the part connecting to the arm is 310mm, matching the diameter of the arm, while the diameter of the part connecting to the forearm is 350mm. The connection between the upper arm and the arm also has through holes to facilitate the connection and formation of joints. The entire upper arm participates in the rotation of the robotic arm, with a total length of approximately 700mm. The connection to the forearm has a 5mm shell to reduce the weight of the upper arm and facilitate its free swing.

[0036] Forearm: The forearm is oscillatingly connected to the wrist component via a fifth joint; the fifth joint includes a fifth slewing bearing, a fifth hydraulic motor for driving the rotation of the fifth slewing bearing, and a fifth gear pair. The forearm is the component connecting the upper arm and the wrist. It connects to the wrist via protrusions on both sides and is the rotating component at the robot's end. Rotational movement is achieved through connection with the upper arm and hydraulic motor. The forearm is fixed by a circular protrusion at its end, which is connected to the upper arm. The circular protrusion has a diameter of 220mm, a bottom diameter of 350mm, and a connection diameter of 80mm with the wrist.

[0037] Wrist assembly: The wrist assembly is rotatably connected to the end effector via a sixth joint; the sixth joint includes a sixth slewing bearing, a sixth hydraulic motor for driving the rotation of the sixth slewing bearing, and a sixth gear; the wrist assembly includes a ball column and a cylinder, which are vertically connected, and the ball column is provided with a slewing hole through which it is rotatably connected to the forearm, and the ball column is rotatably connected to the flange on the end effector via a bearing.

[0038] The waist component includes a disc and a connecting body. The connecting body is fixedly mounted on the disc, which is rotatably connected to the base. The arm component is rotatably mounted on the connecting body, and the wrist component is connected to the hand and forearm to control the swinging motion of the hand. The waist component is generally a sphere with an outer cylinder. The spherical part is the connection part with the forearm. On both sides of the spherical part, there are countersunk holes with a diameter of approximately 80mm, which match the cylindrical protrusions of the forearm. There is also a 40mm countersunk hole on the cylindrical part at the bottom of the wrist. A 20mm through hole is drilled in the countersunk hole, and a bolt is driven into the through hole to connect to the hand. The entire wrist is extended by 5mm.

[0039] End effector: The end effector includes a base plate, a base plate, connecting rods, a rocker arm, a gear pair, and a clamping plate. The base plate is rotatably connected to the wrist component via a sixth joint. A flange is provided on the base plate, which connects to the base plate for easy disassembly and replacement of the actuator components. The base plate is vertically mounted on the base plate. Two connecting rods, rocker arms, and clamping plates are provided, and the two connecting rods, rocker arms, and clamping plates are symmetrically arranged with respect to the center line of the base plate. A gear pair is provided on the base plate, and the gear pair includes a meshing driving gear and a driven gear. The driving gear and driven gear are identical and symmetrically arranged with respect to the center line of the base plate. One end of the rocker arm is hinged to the base plate, and the other end is hinged to the clamping plate. One end of the connecting rod is hinged to one end of the clamping plate. The other end of one connecting rod is fixed to the driving gear, and the other end of the other connecting rod is fixed to the driven gear. The center line of the connecting rod passes through the axis of the gear.

[0040] The end effector is the component of the six-DOF hydraulic handling robot that directly contacts the object; here, a gripping device is used for handling. It consists of a two-jaw mechanism. A hydraulic motor is designed to be mounted on the side of the end effector. Above the end effector is the connection between the base plate and the wrist, with a 15mm countersunk hole. In the middle of the base plate is the location for the gear. The gear parameters are a module of 3.9mm, 20 teeth, a gear width of 5mm, and a pressure angle of 20°. The gear is connected to a linkage. The robot's main gripping device is the two side grippers. The opening and closing of the grippers is controlled by the rotation of the externally meshing gears. The left side has a driving gear that drives the right side's driven gear. To ensure stable gripping of the object, both grippers should open and close simultaneously; therefore, the left and right grippers are the same size. This achieves the requirement of object handling. Here, the size of the object to be handled is defined as a square object on a container, with dimensions of 300mm × 300mm × 300mm. The initial position of the end effector is 308mm wide. The simplified structural diagram is shown in the figure. The rotation of the driving gear drives the connecting rod to swing, with an angular velocity of w, a pitch circle radius of r, a connecting rod length of d1, a clamping plate length of d2, and a connecting rod length of d3. The angles between the clamping plate and the connecting rod are θ1 and θ2, respectively. The connecting rod is fixed to the claw base plate, and the gear and connecting rod are fixed to the right side of the claw base plate. The opening and closing of the clamping plate is achieved by rotating the gear. The robot arm is driven by pure hydraulic pressure, and the end effector is a gear-connecting rod synchronous end effector, which solves the problems of poor synchronization, complex structure, and easy object deflection.

[0041] As a further improvement to the above technical solution, the clamping plate includes a connecting block and a clamping block. One end of the connecting block is inclinedly disposed on the clamping block, and hinge holes are respectively provided at both ends of the connecting block. The end of the connecting block near the clamping block is hinged to the swing rod through the hinge hole, and the hinge hole at the other end of the connecting block is hinged to the connecting rod.

[0042] As a further improvement to the above technical solution, a seventh hydraulic motor for driving the rotation of the driving gear is provided on the substrate. The driven gear and the driving gear are exactly the same size, and the two connecting rods have the same angle on the driven gear and the driving gear, so that the two connecting rods can swing symmetrically when the gear pair rotates.

[0043] The robot's various parts are directly assembled using threaded nuts. The connection structure between the robot's joints is shown in the figure, illustrating the joint structure of each arm of the six-DOF hydraulic industrial robot. This joint structure is used at the connection points of each arm to facilitate manufacturing. Furthermore, the joints are easy to install and disassemble, and internal parts are easy to replace, greatly improving the robot's assembly efficiency. The ball bearing, positioning sleeve, and locking nut are installed sequentially on the joint output shaft. The installed joint output shaft is then gently tapped into the pre-drilled position on the robot arm. Next, the joint bearing end cap is installed on the robot arm body, and the other robot arm is connected to the joint output shaft using bolts.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered within the scope of the claims and specification of this utility model.

Claims

1. A six degrees of freedom hydraulic transport robot, characterized by: include, Base: The base is rotatably connected to the waist component via a first joint; Waist component: The waist component is swayingly connected to the arm component via a second joint; Arm component: The arm component is connected to the upper arm swinging mechanism via a third joint; Upper arm: The upper arm is rotatably connected to the forearm via a fourth joint; Forearm: The forearm is pivotally connected to the wrist component via a fifth joint; Wrist component: The wrist component is rotatably connected to the end effector via a sixth joint; End effector: The end effector includes a base plate, a base plate, a connecting rod, a swing arm, a gear pair, and a clamping plate. The base plate is rotatably connected to the wrist component via a sixth joint. The base plate is vertically mounted on the base plate. There are two connecting rods, two swing arms, and two clamping plates, and the two connecting rods, swing arms, and clamping plates are symmetrically arranged with respect to the center line of the base plate. A gear pair is provided on the base plate. The gear pair includes a driving gear and a driven gear that mesh with each other. The driving gear and the driven gear are identical and are symmetrically arranged with respect to the center line of the base plate. One end of the swing arm is hinged to the base plate and the other end is hinged to the clamping plate. One end of the connecting rod is hinged to one end of the clamping plate. The other end of one connecting rod is fixed to the driving gear, and the other end of the other connecting rod is fixed to the driven gear.

2. The six-degree-of-freedom hydraulic handling robot according to claim 1, characterized in that: The clamping plate includes a connecting block and a clamping block. One end of the connecting block is inclinedly disposed on the clamping block. Hinge holes are respectively provided at both ends of the connecting block. The end of the connecting block near the clamping block is hinged to the swing rod through the hinge hole, and the hinge hole at the other end of the connecting block is hinged to the connecting rod.

3. The six-degree-of-freedom hydraulic handling robot according to claim 2, characterized in that: The first joint includes a first slewing bearing, a first hydraulic motor for driving the first slewing bearing to rotate, and a first gear pair. The outer ring of the first slewing bearing is fixed to the base, and the inner ring is fixed to the waist component. The first hydraulic motor is disposed on the waist component. The second joint includes a second slewing bearing, a second hydraulic motor for driving the second slewing bearing to rotate, and a second gear pair. The third joint includes a third slewing bearing, a third hydraulic motor for driving the third slewing bearing to rotate, and a third gear pair. The fourth joint includes a fourth slewing bearing, a fourth hydraulic motor for driving the fourth slewing bearing to rotate, and a fourth gear pair. The fifth joint includes a fifth slewing bearing, a fifth hydraulic motor for driving the fifth slewing bearing to rotate, and a fifth gear pair. The sixth joint includes a sixth slewing bearing, a sixth hydraulic motor for driving the sixth slewing bearing to rotate, and a sixth gear pair.

4. The six-degree-of-freedom hydraulic handling robot according to claim 3, characterized in that: The base plate is provided with a seventh hydraulic motor for driving the rotation of the drive gear, and the two connecting rods are at the same angle on the driven gear and the drive gear, so that the two connecting rods can swing symmetrically when the gear pair rotates.

5. The six-degree-of-freedom hydraulic handling robot according to claim 4, characterized in that: Multiple chassis supports are evenly arranged on the base, and the chassis supports are provided with mounting holes.

6. The six-degree-of-freedom hydraulic handling robot according to claim 5, characterized in that: The waist component includes a disc and a connecting body. The connecting body is fixedly mounted on the disc. The disc is rotatably connected to the base. The arm component is rotatably mounted on the connecting body.

7. The six-degree-of-freedom hydraulic handling robot according to claim 6, characterized in that: The arm component is configured as a long strip, and a rotating hole is provided at each end of the long strip.

8. The six-degree-of-freedom hydraulic handling robot according to claim 7, characterized in that: The boom includes a first part and a second part that are perpendicularly connected to each other. The first part and the second part are respectively provided with a rotating hole, and the two rotating holes are arranged perpendicularly.

9. The six-degree-of-freedom hydraulic handling robot according to claim 8, characterized in that: The wrist component includes a ball column and a cylinder, which are vertically connected. The ball column is provided with a rotation hole, through which it is rotatably connected to the forearm. The ball column is rotatably connected to the flange on the end effector via a bearing.

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