A robotic hydraulic wrist

Abstract

The utility model belongs to mechanical equipment technical field, specifically discloses a kind of robot hydraulic wrist, including base, rotating component, swing component and lifting force arm, rotating component is set on the top of base, swing component is set on the top of rotating component, lifting force arm is set on the top of swing component, and small arm is set on the top of lifting force arm;Fixed with other equipment through mounting groove, connection is firm;The cooperation of positioning rod and positioning sleeve in lifting force arm, the stability of lifting process is significantly improved, ensure that the whole device is not prone to shaking when working, improve the security of work;Possess horizontal rotation, left and right rotation and height adjustment and so on multidimensional adjustment function, can flexibly adapt to different work scene and goods position demand, greatly enhance the versatility and practicality of device.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology, specifically to a robotic hydraulic wrist. Background Technology

[0002] A hydraulic wrist uses a hydraulic pump to deliver hydraulic oil to various hydraulic cylinders or hydraulic motors, utilizing the pressure energy of the fluid to drive the movement of the wrist joints. When hydraulic oil enters the cylinder, it pushes the piston, which in turn drives the wrist's linkage mechanism or rotating components to achieve the corresponding action.

[0003] Existing hydraulic wrists have complex structures, so some people assemble them into a hydraulic wrist body by setting up a rotating shaft drive, a main arm, a forearm and a hydraulic rotating shaft, such as the Chinese utility model patent with announcement number CN213412005U, which specifically discloses a hydraulic wrist for industrial robots.

[0004] However, in actual use, it has been found that the hydraulic wrist used in the above-mentioned robots has a fixed lever arm length that cannot be adjusted according to task requirements. This may limit the operating range of the robotic arm, making it impossible to reach specific locations or complete operations at different distances. Utility Model Content

[0005] The purpose of this invention is to provide a robotic hydraulic wrist that solves the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a robotic hydraulic wrist, comprising a base, a rotating assembly, a swinging assembly, and a lifting arm. The rotating assembly is disposed above the base, the swinging assembly is disposed above the rotating assembly, the lifting arm is disposed above the swinging assembly, and a forearm is disposed above the lifting arm. The rotating assembly is used to adjust the horizontal rotation angle of the swinging assembly, the lifting arm, and the forearm; the swinging assembly is used to adjust the left and right rotation angle of the lifting arm and the forearm; the lifting arm is used to adjust the height of the forearm; the forearm can rotate on the lifting arm and is equipped with a clamping device for clamping goods.

[0007] In a preferred embodiment of this invention, the base has several mounting slots that extend through the base. These mounting slots are used to secure the robot's hydraulic wrist to other equipment using bolts.

[0008] In a preferred embodiment of this invention, the rotating assembly includes a support shell, a first drive motor, and a turntable. The support shell is fixed in the middle of the base, the first drive motor is fixed inside the support shell, and the turntable is located above the support shell. The drive shaft of the first drive motor is connected to the center of the turntable, and the swing assembly is positioned in the middle above the turntable. The first drive motor drives the turntable to rotate, which in turn drives the swing assembly, the lifting arm, and the forearm to rotate, thereby adjusting the horizontal rotation angle of the forearm.

[0009] In a preferred embodiment of this invention, the swing assembly includes a connecting seat and a second drive motor fixed to the outside of the connecting seat. The connecting seat is U-shaped and fixed to the turntable. The connecting seat is used to connect to the lifting arm and drives the lifting arm to swing via the second drive motor.

[0010] In a preferred embodiment of this invention, the lifting arm includes a first connecting block, a second connecting block, a hydraulic cylinder, a fixing plate, a positioning rod, and a positioning sleeve. The first connecting block is hinged to the inner side of the connecting seat, allowing the drive motor to be connected to the first connecting block. The hydraulic cylinder is fixed above the first connecting block, and the second connecting block is fixed to the output end of the hydraulic cylinder. The forearm is mounted on the second connecting block. The height of the forearm is adjusted by moving the second connecting block up and down through the hydraulic cylinder.

[0011] In a preferred embodiment of this invention, a positioning sleeve is fixed to the side of the first connecting block, and a fixing plate is fixed to the side of the second connecting block. A positioning rod is fixed below the fixing plate and inserted into the positioning sleeve. When the hydraulic cylinder pushes the second connecting block to move, the second connecting block will drive the positioning rod to move within the positioning sleeve through the fixing plate, thereby improving the stability of lifting.

[0012] Compared with the prior art, the beneficial effects of this utility model are: This utility model is fixed to other equipment through the mounting slot, ensuring a firm connection; the cooperation between the positioning rod and the positioning sleeve in the lifting arm significantly improves the stability of the lifting process, ensuring that the entire device is not prone to shaking during operation and improving work safety; it has multi-dimensional adjustment functions such as horizontal rotation, left and right rotation and height adjustment, which can flexibly adapt to different working scenarios and cargo position requirements, greatly enhancing the versatility and practicality of the device. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ; Figure 3 This is a partial cross-sectional view of the rotating component of this utility model; Figure 4This is a schematic diagram of the lifting arm structure of this utility model.

[0014] In the diagram: 1. Base; 101. Mounting slot; 2. Rotating assembly; 201. Support shell; 202. First drive motor; 203. Turntable; 3. Swing assembly; 301. Connecting seat; 302. Second drive motor; 4. Lifting arm; 401. First connecting block; 4011. Positioning sleeve; 402. Second connecting block; 4021. Fixing plate; 4022. Positioning rod; 403. Hydraulic cylinder; 5. Forearm. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] In the description of this utility model, it should be noted that the terms "vertical", "up", "down", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0017] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0018] Please see Figure 1-4This utility model provides a technical solution: a robot hydraulic wrist, including a base 1, a rotating component 2, a swinging component 3, and a lifting arm 4. The rotating component 2 is disposed above the base 1, the swinging component 3 is disposed above the rotating component 2, the lifting arm 4 is disposed above the swinging component 3, and a forearm 5 is disposed above the lifting arm 4. The rotating component 2 is used to adjust the horizontal rotation angle of the swinging component 3, the lifting arm 4, and the forearm 5. The swinging component 3 is used to adjust the left and right rotation angle of the lifting arm 4 and the forearm 5. The lifting arm 4 is used to adjust the height of the forearm 5. The forearm 5 can rotate on the lifting arm 4 and is equipped with a clamping device to clamp goods. The working principle of the forearm 5 is the same as that of the utility model patent with announcement number CN213412005U, which specifically discloses the forearm principle used in a hydraulic wrist for industrial robots. Therefore, it will not be described in detail here.

[0019] Furthermore, the base 1 is provided with a plurality of mounting slots 101, which extend through the base 1. The mounting slots 101 are provided for use with bolts to fix the robot hydraulic wrist to other equipment.

[0020] Furthermore, the rotating assembly 2 includes a support shell 201, a first drive motor 202, and a turntable 203. The support shell 201 is fixed in the middle of the base 1, the first drive motor 202 is fixed inside the support shell 201, and the turntable 203 is located above the support shell 201. The drive shaft of the first drive motor 202 is connected to the center of the turntable 203, and the swing assembly 3 is positioned in the middle above the turntable 203. The first drive motor 202 drives the turntable 203 to rotate, which in turn drives the swing assembly 3, the lifting arm 4, and the forearm 5 to rotate, thereby adjusting the horizontal rotation angle of the forearm 5.

[0021] Furthermore, the swing assembly 3 includes a connecting seat 301 and a second drive motor 302 fixed to the outside of the connecting seat 301. The connecting seat 301 is U-shaped and fixed to the turntable 203. The connecting seat 301 is used to connect to the lifting arm 4 and drives the lifting arm 4 to swing through the second drive motor 302.

[0022] Furthermore, the lifting arm 4 includes a first connecting block 401, a second connecting block 402, a hydraulic cylinder 403, a fixing plate 4021, a positioning rod 4022, and a positioning sleeve 4011. The first connecting block 401 is hinged to the inner side of the connecting seat 301, allowing the drive motor to be connected to the first connecting block 401. The hydraulic cylinder 403 is fixed above the first connecting block 401, and the second connecting block 402 is fixed to the output end of the hydraulic cylinder 403. The forearm 5 is mounted on the second connecting block 402. The height of the forearm 5 is adjusted by pushing the second connecting block 402 up and down through the hydraulic cylinder 403.

[0023] Furthermore, a positioning sleeve 4011 is fixed to the side of the first connecting block 401, and a fixing plate 4021 is fixed to the side of the second connecting block 402. A positioning rod 4022 is fixed below the fixing plate 4021 and is inserted into the positioning sleeve 4011. When the hydraulic cylinder 403 pushes the second connecting block 402 to move, the second connecting block 402 will drive the positioning rod 4022 to move within the positioning sleeve 4011 through the fixing plate 4021, thereby improving the stability of lifting.

[0024] The robot's hydraulic wrist achieves multi-dimensional motion adjustment through the coordinated operation of its components, thereby completing the cargo clamping operation. First, the base 1 is fixed to other equipment via bolts through the mounting slot 101, providing stable support for the entire device. Based on this, the first drive motor 202 in the rotating assembly 2 operates, driving the turntable 203 to rotate, which in turn causes the swing assembly 3, lifting arm 4, and forearm 5, all positioned above the turntable 203, to rotate synchronously in the horizontal direction, achieving adjustment of the horizontal rotation angle. In the swing assembly 3, the U-shaped connecting seat 301 is fixed to the turntable 203. The second drive motor 302 on the outside of the connecting seat 301 drives the first connecting block 401 to swing. Since the first connecting block 401 of the lifting arm 4 is hinged to the inside of the connecting seat 301, it will drive the lifting arm 4 and the small arm 5 assembly to rotate in the left and right directions, thus completing the adjustment of the left and right rotation angle.

[0025] When the hydraulic cylinder 403 of the lifting arm 4 is working, its output end pushes the second connecting block 402 to move up and down, thereby driving the arm 5 assembly mounted on the second connecting block 402 to achieve height adjustment. At the same time, the positioning sleeve 4011 on the side of the first connecting block 401 and the positioning rod 4022 below the fixing plate 4021 on the side of the second connecting block 402 cooperate with each other. When the second connecting block 402 moves, the positioning rod 4022 moves synchronously within the positioning sleeve 4011, effectively improving the stability of the lifting process. Finally, the forearm 5 rotates on the lifting arm 4, and the clamping device at its end can complete the clamping operation of the goods. The orderly cooperation of each component realizes multi-directional and precise control of the goods clamping.

[0026] It is worth noting that the entire device is controlled by a master control button. Since the device matched with the control button is a common device and belongs to existing mature technology, its electrical connection relationship and specific circuit structure will not be described in detail here.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic hydraulic wrist, characterized in that: It includes a base (1), a rotating component (2), a swing component (3) and a lifting arm (4). The rotating component (2) is located above the base (1), the swing component (3) is located above the rotating component (2), the lifting arm (4) is located above the swing component (3), and a forearm (5) is located above the lifting arm (4).

2. The robotic hydraulic wrist according to claim 1, characterized in that: The base (1) has several mounting slots (101) that pass through the base (1).

3. The robotic hydraulic wrist according to claim 1, characterized in that: The rotating assembly (2) includes a support shell (201), a first drive motor (202) and a turntable (203). The support shell (201) is fixed in the middle of the base (1), the first drive motor (202) is fixed inside the support shell (201), the turntable (203) is located above the support shell (201), the drive shaft of the first drive motor (202) is connected to the center of the turntable (203), and the swing assembly (3) is set in the middle position above the turntable (203).

4. The robotic hydraulic wrist according to claim 1, characterized in that: The swing assembly (3) includes a connecting seat (301) and a second drive motor (302) fixed to the outside of the connecting seat (301). The connecting seat (301) is U-shaped and is fixed to the turntable (203).

5. A robotic hydraulic wrist according to claim 1, characterized in that: The lifting arm (4) includes a first connecting block (401), a second connecting block (402), a hydraulic cylinder (403), a fixing plate (4021), a positioning rod (4022), and a positioning sleeve (4011). The first connecting block (401) is hinged to the inside of the connecting seat (301), and the drive motor is connected to the first connecting block (401). The hydraulic cylinder (403) is fixed above the first connecting block (401), and the second connecting block (402) is fixed at the output end of the hydraulic cylinder (403). The forearm (5) is set on the second connecting block (402).

6. A robotic hydraulic wrist according to claim 1, characterized in that: The first connecting block (401) is fixed with a positioning sleeve (4011) on its side, and the second connecting block (402) is fixed with a fixing plate (4021) on its side. A positioning rod (4022) is fixed below the fixing plate (4021) and is inserted into the positioning sleeve (4011).

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