Electro-hydraulic hybrid heavy load manipulator
Patent Information
- Application Number
- CN202521862761.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-31
- Publication Date
- 2026-11-03
- Estimated Expiration
- 2035-08-31
AI Technical Summary
In existing forging production, six-axis robots cannot operate directly in high-temperature environments, resulting in low material handling efficiency, high maintenance costs, complex equipment, difficult maintenance, and high operating costs.
Design an electro-hydraulic hybrid heavy-duty manipulator, using a telescopic arm assembly made of heat-resistant steel, combined with a hydraulic cylinder and chain to achieve large-stroke extension and retraction, equipped with a rotary locking disc and hydraulic locking clamp, to achieve multi-axis motion and automated operation in high-temperature environments.
It enables automated billet loading and unloading in high-temperature environments, improving production efficiency and safety while reducing equipment complexity and maintenance costs.
Smart Images
Figure CN224927995U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of forging and pressing automation technology, specifically relating to an electro-hydraulic hybrid heavy-duty manipulator. Background Technology
[0002] Forging, as a core process in metal plastic forming, relies heavily on the loading and transfer of billets during production, which are crucial for efficiency, precision, and safety. In traditional forging production, loading and unloading operations are mostly done manually. Operators must frequently handle high-temperature billets in environments with temperatures often exceeding 800°C. This not only results in high labor intensity and low work efficiency but also poses a significant risk of burns and injuries. Furthermore, the lack of consistency in manual operations leads to a persistently high scrap rate for forgings.
[0003] With the advancement of industrial automation, various forging robots are gradually replacing manual operations, becoming an important direction for industry upgrading. Among them, six-axis robots, as a common forging robot solution, have achieved automation of billet transfer to a certain extent and can work in conjunction with forging equipment to complete loading and unloading operations. However, significant limitations still exist in practical applications: 1. Although automated transfer and loading / unloading of forging equipment are achieved, the six-axis robot body uses precision servo motors and reducers, which cannot withstand high temperatures. The temperature near the furnace opening can reach 300-500℃, and the six-axis robot gripper cannot directly enter the furnace to complete billet loading and unloading. Additional high-temperature resistant auxiliary devices, such as telescopic push rods and heat insulation baffles, must be used for loading and unloading. This not only increases the complexity of the system but may also lead to a decrease in material handling efficiency due to device connection errors. 2. Six-axis robots have poor maintainability. Their core components, such as reducers and cables at the joints, are extremely sensitive to dust and vibration. Metal shavings and high-frequency vibrations in forging workshops can accelerate component wear. Once a malfunction occurs, the entire module often needs to be replaced rather than individual parts, resulting in high maintenance costs and long downtime. For continuous forging production lines, a single malfunction can cause tens of thousands of yuan in lost production capacity. 3. Under heavy-duty handling conditions, the rated load of a six-axis robot must simultaneously cover the weight of the billet and the gripper. However, high-load six-axis robots are expensive, resulting in extremely high operating costs.
[0004] In conclusion, the forging industry urgently needs a forging robot that combines heavy load capacity, high temperature resistance, and fast response to achieve high efficiency and safety in automated production lines. Utility Model Content
[0005] The purpose of this invention is to provide an electro-hydraulic hybrid heavy-duty manipulator to solve the problems existing in the prior art.
[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: An electro-hydraulic hybrid heavy-duty manipulator includes a spindle assembly and a telescopic arm assembly, with the telescopic arm assembly passing through the middle of the spindle assembly. The spindle assembly includes: a spindle base plate, spindle columns, lifting cylinders, lifting guide rails, a spindle top plate, and spindle side plates. The spindle base plate is installed at the bottom of the spindle assembly. Four spindle columns are installed above the spindle base plate. The spindle top plate is installed on the top of the four spindle columns. The spindle side plates are installed between each pair of spindle columns. Two lifting guide rails are installed on each of the front and rear sides of the spindle columns. A lifting cylinder is installed on each side. The lifting cylinders are double-rod cylinders. One end of the piston rod of the lifting cylinder is installed on the spindle base plate, and the other end is installed on the spindle top plate. A camera is installed at the front end of the top plate.
[0007] The telescopic boom assembly includes: a clamp holding assembly, a clamp rotation assembly, a clamp telescopic assembly, a clamp pitch assembly, a valve group, an oil supply reel, a lubrication distributor I, lifting guide wheels, lifting cylinder connecting seats, an oil supply reel guide, a lubrication distributor II, an automatic lubrication pump, and a lifting guide wheel adjusting seat. The clamp telescopic assembly is installed inside the middle of the clamp pitch assembly, and the clamp holding assembly and the clamp rotation assembly are installed inside the middle of the clamp telescopic assembly. A set of lifting guide wheels and a set of lifting guide wheel adjusting seats are installed at the front and rear ends of each side of the clamp pitch assembly. The telescopic boom assembly is guided by the lifting guide wheels in contact with the lifting guide rails on the main spindle assembly. A set of lifting cylinder connecting seats is installed at the middle of each side of the clamp pitch assembly. The telescopic boom assembly is connected to the lifting cylinders on the main spindle assembly through the lifting cylinder connecting seats. A valve group and an oil supply reel are sequentially installed at the upper rear end of the clamp telescopic assembly. An oil supply reel guide is installed at the rear end of the clamp telescopic assembly. Lubrication distributor I, lubrication distributor II, and an automatic lubrication pump are respectively installed at the rear ends of each side of the clamp telescopic assembly.
[0008] Furthermore, the clamping assembly includes a clamp, a clamp connecting pin, a clamp slewing connecting sleeve, a clamp cylinder, a clamp cylinder mounting plate, a clamp cylinder rear lug pin, and a clamp push-pull transition rod; the clamp tail extension shaft is connected to the clamp push-pull transition rod via the clamp connecting pin, the tail of the clamp push-pull transition rod is connected to one end of the clamp slewing connecting sleeve, the other end of the clamp slewing connecting sleeve is connected to the clamp cylinder piston rod, and the clamp cylinder tail is provided with a lug and is connected to the clamp cylinder mounting plate via the clamp cylinder rear lug pin.
[0009] Furthermore, the clamp rotation assembly includes a clamp rotation gear, a drive gear bearing, a drive gear, a transmission spline shaft, a transmission spline sleeve, a rotation motor mounting plate, a rotation motor, and a bearing in the middle of the spline sleeve. The rotation motor mounting plate is located at the tail of the clamp rotation assembly, and the rotation motor is mounted on the rotation motor mounting plate. The output shaft of the rotation motor is connected to one end of the transmission spline sleeve, and the transmission spline shaft passes through the other end of the transmission spline sleeve. A bearing in the middle of the transmission spline sleeve is installed. The clamp rotation gear and the drive gear bearing are mounted on the clamp tail plate. The protruding end of the transmission spline shaft passes through the drive gear bearing, and a drive gear is mounted on the protruding end of the transmission spline shaft. The drive gear meshes with the clamp rotation gear for transmission.
[0010] Furthermore, the clamp telescopic assembly includes a primary cylinder, a secondary cylinder, and a tertiary cylinder. The primary cylinder is the outermost outer cylinder. The secondary cylinder extends into the primary cylinder, and the tertiary cylinder extends into the secondary cylinder. A telescopic cylinder hinge seat is installed at the upper center of the primary cylinder, and a telescopic cylinder is mounted on the hinge seat. A head sprocket seat is installed above the front end of the secondary cylinder. The end lip of the telescopic cylinder piston rod is connected to the head sprocket seat. A tail sprocket seat is installed above the rear end of the secondary cylinder. A bidirectional chain fixing seat is installed above the rear end of the tertiary cylinder. The head sprocket seat contains the head cylinder. The sprocket has a tail sprocket mounted in the tail sprocket seat. A head chain tensioning block and a tail chain tensioning block are mounted above the front end of the first-stage cylinder. The clamp telescopic assembly also includes a head chain and a tail chain. One end of the head chain is connected to the head chain tensioning block, passes through the head sprocket, and the other end is connected to the bidirectional chain fixing seat. One end of the tail chain is connected to the tail chain tensioning block, passes through the tail sprocket, and the other end is connected to the bidirectional chain fixing seat. A pitch and rotation shaft is mounted on each side of the front of the first-stage cylinder. A rotary motor mounting plate is mounted at the tail of the second-stage cylinder.
[0011] Furthermore, a pitch main frame is provided on the outermost side of the clamp pitch assembly, a pitch connecting groove block is installed in the middle part of the lower part of the first stage cylinder in the clamp telescopic assembly, a pitch cylinder is installed at the lower rear end inside the pitch main frame, and a top pin of the pitch cylinder is installed at the end of the piston rod of the pitch cylinder.
[0012] Furthermore, the electro-hydraulic hybrid heavy-duty manipulator also includes a ground rail assembly and a moving plate assembly. The moving plate assembly is located at the bottom of the main spindle assembly, and the ground rail assembly is located below the moving plate assembly. At the bottom of the ground rail assembly, there is a ground rail base. Linear guide rails are symmetrically installed on the upper sides of the ground rail base. A rack is installed slightly above the center of the ground rail base. Buffers are installed at both ends of the linear guide rails. Guide rail covers are installed above the linear guide rails. Cable drag chain guards are installed on both sides of the ground rail base.
[0013] The movable plate assembly is equipped with a movable base plate. Linear guide sliders are installed at each of the four corners of the movable base plate, and these sliders are connected to linear guides on the ground rail assembly. A slewing bearing is installed above the center of the movable base plate. The main spindle assembly is connected to the slewing bearing of the movable plate assembly via the main spindle base plate. A slewing motor assembly is installed at the front end of the movable base plate, and its internal gear meshes with the outer ring gear of the slewing bearing. A travel motor assembly is installed at the rear end of the movable base plate, and its bottom gear meshes with a rack installed in the middle of the ground rail assembly. A slewing lubrication assembly is installed above the movable base plate, meshing with the outer ring gear of the slewing bearing. A slewing joint bracket is installed at the center of the movable base plate and the center of the slewing bearing, and a slewing joint is installed above the bracket. A slewing locking disc is installed at the bottom of the outer ring gear of the slewing bearing, and two sets of slewing hydraulic locking clamps are installed on the movable base plate, with the outer circumference of the slewing locking disc passing through the jaws of the slewing hydraulic locking clamps.
[0014] Furthermore, the electro-hydraulic hybrid heavy-duty manipulator also includes a fixed circular base assembly, which is located at the bottom of the main spindle assembly. The bottom of the fixed circular base assembly has a circular base plate, and a second slewing bearing is installed above the center of the circular base plate. The main spindle assembly is connected to the second slewing bearing on the fixed circular base assembly via the main spindle base plate. A second slewing motor assembly is installed at the front end of the circular base plate. The internal gears of the second slewing motor assembly mesh with the outer ring gear of the second slewing bearing. A second slewing lubrication assembly is installed above the circular base plate, meshing with the outer ring gear of the second slewing bearing. A second slewing joint bracket is installed at the center of the circular base plate and the center of the second slewing bearing, and a second slewing joint is installed above the second slewing joint bracket. A second slewing locking disc is installed at the bottom of the outer ring gear of the second slewing bearing. Two sets of second slewing hydraulic locking clamps are installed on the circular base plate, with the outer circumference of the second slewing locking disc passing through the jaws of the second slewing hydraulic locking clamps.
[0015] Preferably, the rotary lubrication assembly contains a felt gear, which meshes with the outer ring gear of the slewing bearing.
[0016] Preferably, the second rotary lubrication assembly contains a felt gear, which meshes with the outer ring gear of the second rotary bearing.
[0017] Preferably, the telescopic boom assembly is made of heat-resistant steel.
[0018] The beneficial effects of this utility model are as follows: The mobile heavy-duty manipulator of this invention has seven motion axes: ground rail translation, spindle rotation, clamp lifting, clamp holding, clamp rotation, clamp extension and retraction, and clamp pitch. The fixed heavy-duty manipulator of this invention has six motion axes: spindle rotation, clamp lifting, clamp holding, clamp rotation, clamp extension and retraction, and clamp pitch. It can realize remote control, on-site manual operation, and can be programmed to realize fully automatic operation.
[0019] The clamp telescopic assembly of this utility model uses a hydraulic cylinder and chain to achieve a large-stroke telescopic function, and the drive component can be placed at the rear; the telescopic arm assembly is made of heat-resistant steel, and there are no drive components such as motors, hydraulic cylinders, etc. at the front end of the telescopic arm and the clamp, so the front end can enter the heating furnace to work.
[0020] The rotary locking disc and rotary hydraulic locking clamp in this utility model enable the rotary locking disc to actively close its jaws and lock the rotary locking disc floating inside the jaws after the spindle cylinder assembly rotates to the designated position during the forging alignment operation. This achieves the rotation locking function of the spindle cylinder assembly and greatly improves the alignment accuracy of the equipment.
[0021] Therefore, this utility model can meet the automated transfer, centering and positioning and loading and unloading requirements of various forging production lines, and greatly improve the working efficiency and safety of the production line. Attached Figure Description
[0022] Figure 1 This is a schematic diagram of the overall structure of the mobile heavy-duty robotic arm of this utility model.
[0023] Figure 2 This is a schematic diagram of the ground rail assembly structure of this utility model.
[0024] Figure 3 This is a schematic diagram of the movable plate assembly structure of this utility model.
[0025] Figure 4 This is a schematic diagram of the main shaft cylinder assembly of this utility model.
[0026] Figure 5 This is a schematic diagram of the telescopic arm assembly structure of this utility model.
[0027] Figure 6 This is a schematic diagram of the telescopic arm assembly of this utility model from another angle.
[0028] Figure 7 This is a schematic diagram of the clamping assembly structure of this utility model.
[0029] Figure 8 This is a schematic diagram of the clamp rotation assembly of this utility model.
[0030] Figure 9This is a schematic diagram of the clamp telescopic assembly structure of this utility model.
[0031] Figure 10 This is a schematic diagram of the clamp telescopic assembly of this utility model from another angle.
[0032] Figure 11 This is a schematic diagram of the clamp pitch assembly structure of this utility model.
[0033] Figure 12 This is a schematic diagram of the overall structure of the fixed heavy-duty manipulator of this utility model.
[0034] Figure 13 This is a schematic diagram of the fixed circular base assembly of this utility model.
[0035] Figure 1 In the middle: 1. Ground rail assembly; 2. Moving plate assembly; 3. Main spindle cylinder assembly; 4. Telescopic arm assembly; Figure 2 In the middle section: 11. Ground rail base; 12. Linear guide rail; 13. Rack; 14. Buffer; 15. Guide rail cover; 16. Cable chain guard plate; Figure 3 In the middle section: 21. Moving base plate; 22. Rotary motor assembly; 23. Rotary bearing; 24. Rotary joint; 25. Travel motor assembly; 26. Rotary lubrication assembly; 27. Rotary joint bracket; 28. Rotary locking disc; 29. Rotary hydraulic locking clamp; 210. Linear guide slider; Figure 4 In the middle: 31. Main spindle bottom plate; 32. Main spindle column; 33. Lifting cylinder; 34. Lifting guide rail; 35. Main spindle top plate; 36. Camera; 37. Main spindle side plate; Figure 5 , Figure 6 41. Clamping assembly; 42. Clamping rotation assembly; 43. Clamping telescopic assembly; 44. Clamping pitch assembly; 45. Valve assembly; 46. Oil supply reel; 47. Lubrication distributor one; 48. Lifting guide wheel; 49. Lifting cylinder connecting seat; 410. Oil supply reel guide pipe; 411. Lubrication distributor two; 412. Automatic lubrication pump; 413. Lifting guide wheel adjusting seat; Figure 7 418. Clamp; 419. Clamp connecting pin; 4131. Clamp slewing connecting sleeve; 414. Clamp cylinder; 415. Clamp cylinder mounting plate; 416. Clamp cylinder rear lug pin; 417. Clamp push-pull transition rod; Figure 8In the middle section: 421. Clamp slewing gear; 422. Drive gear bearing; 423. Drive gear; 424. Transmission spline shaft; 425. Transmission spline sleeve; 426. Slewing motor mounting plate; 427. Slewing motor; 428. Spline sleeve center bearing; Figure 9 , Figure 10 In the middle section: 431. Head sprocket; 432. Head sprocket seat; 433. Head chain; 434. Head chain tension block; 435. Tail chain tension block; 436. Telescopic cylinder; 437. Telescopic cylinder hinge seat; 438. Tail chain; 439. Tail sprocket; 4310. Tail sprocket seat; 4311. Bidirectional chain fixing seat; 4312. First stage cylinder; 4313. Second stage cylinder; 4314. Third stage cylinder; 4315. Pitch and slewing shaft; Figure 11 In the middle: 441. Pitch main frame; 442. Pitch connecting slot block; 443. Top pin of pitch cylinder; 444. Pitch cylinder; Figure 12 Middle: 5. Fix the circular base assembly; Figure 13 51. Round base plate; 52. Second rotary motor assembly; 53. Second rotary bearing; 54. Second rotary joint; 55. Second rotary lubrication assembly; 56. Second rotary joint bracket; 57. Second rotary hydraulic locking clamp; 58. Second rotary locking disc. Detailed Implementation
[0036] To make the technical objectives, technical solutions and technical effects of this utility model easier to understand, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.
[0037] Example 1 like Figure 1-6As shown, an electro-hydraulic hybrid heavy-duty manipulator is a mobile heavy-duty manipulator, including a ground rail assembly 1, a moving plate assembly 2, a spindle cylinder assembly 3, and a telescopic arm assembly 4. The ground rail assembly 1 is located at the bottom of the mobile heavy-duty manipulator. A linear guide slider 210 is mounted on the bottom of the moving plate assembly 2, and the linear guide slider 210 is mounted on a linear guide rail 12 on the ground rail assembly 1. A travel motor assembly 25 is mounted on the moving plate assembly 2, and the bottom gear of the travel motor assembly 25 meshes with a rack 13 mounted in the middle of the ground rail assembly 1 for transmission. A slewing bearing 23 is mounted on the moving plate assembly, and a spindle cylinder base plate 31 is mounted on the bottom of the spindle cylinder assembly 3. Component 3 is connected to the slewing bearing 23 on the moving plate assembly 2 via the spindle bottom plate 31; a lifting cylinder 33 is installed on each side of the spindle assembly 3, and a set of lifting cylinder connecting seats 49 is installed on each side of the telescopic arm assembly 4. The telescopic arm assembly 4 passes through the middle of the spindle assembly 3 and is connected to the lifting cylinder 33 on the spindle assembly 3 via the lifting cylinder connecting seats 49; lifting guide rails 34 are installed on the front and rear sides of the spindle column 32 in the spindle assembly 3, and two sets of lifting guide wheels 48 are installed on each side of the telescopic arm assembly 4. The telescopic arm assembly 4 is guided by the lifting guide wheels 48 in contact with the lifting guide rails 34 on the spindle assembly 3.
[0038] like Figure 2 As shown, a ground rail base 11 is installed at the bottom of the ground rail assembly 1. Linear guide rails 12 are symmetrically installed on the upper sides of the ground rail base 11. A rack 13 is installed slightly above the middle of the ground rail base 11. A buffer 14 is installed at each end of the linear guide rail 12. A guide rail cover is installed above the linear guide rail 12. A drag chain guard plate 16 is installed on both sides of the ground rail base 11.
[0039] like Figure 3 As shown, linear guide sliders 210 are installed at the four corners of the movable base plate 21 in the movable plate assembly 2. A slewing bearing 23 is installed above the center of the movable base plate 21. A slewing motor assembly 22 is installed at the front end of the movable base plate 21. The gear inside the slewing motor assembly 22 meshes with the outer ring gear of the slewing bearing 23. A travel motor assembly 25 is installed at the rear end of the movable base plate 21. A slewing lubrication assembly 26 is installed above the movable base plate 21. The felt gear inside the slewing lubrication assembly 26 meshes with the outer ring gear of the slewing bearing 23. A slewing joint bracket 27 is installed at the center of the movable base plate 21 and the center of the slewing bearing 23. A slewing joint 24 is installed above the slewing joint bracket 27. A slewing locking disc 28 is installed at the bottom of the outer ring gear of the slewing bearing 23. Two sets of slewing hydraulic locking clamps 29 are installed on the movable base plate 21. The outer circle of the slewing locking disc 28 passes through the jaws of the slewing hydraulic locking clamps 29.
[0040] like Figure 4As shown, a spindle base plate 31 is installed at the bottom of the spindle assembly 3. Four spindle columns 32 are installed above the spindle base plate 31. A spindle top plate 35 is installed on the top of the four spindle columns 32. Spindle side plates 37 are installed between each pair of spindle columns 32. Two lifting guide rails 34 are installed on each of the front and rear sides of the spindle columns 32. A lifting cylinder 33 is installed on each side. The lifting cylinder 33 is a double-rod cylinder. One end of the piston rod is installed on the spindle base plate 31, and the other end is installed on the spindle top plate 35. A camera 36 is installed at the front end of the spindle top plate 35.
[0041] like Figure 5 , Figure 6 As shown, the telescopic arm assembly 4 includes a clamp pitch assembly 44. A clamp telescopic assembly 43 is installed inside the clamp pitch assembly 44. A clamp holding assembly 41 and a clamp rotation assembly 42 are installed inside the clamp telescopic assembly 43. A set of lifting guide wheels 48 are installed at the front and rear ends of both sides of the clamp pitch assembly 44. A set of lifting guide wheel adjusting seats 413 is installed at the rear of each of the rear lifting guide wheels 48 on both sides of the clamp pitch assembly 44. A set of lifting cylinder connecting seats is installed at the middle of both sides of the clamp pitch assembly 44. 49. A valve group 45 and an oil supply reel 46 are sequentially installed at the upper rear end of the clamp telescopic assembly 43. An oil supply reel guide 410 is installed at the rear end of the clamp telescopic assembly 43. Lubrication distributor 1 47, lubrication distributor 2 411, and automatic lubrication pump 412 are respectively installed at the rear ends of both sides of the clamp telescopic assembly 43. The telescopic arm assembly 4 is made of heat-resistant steel, and there are no driving components such as motors, cylinders, etc. at the front end of the telescopic arm and the clamp. It has high-temperature working characteristics and the front end can enter the heating furnace for operation.
[0042] like Figure 7 As shown, the clamping assembly 41 includes a clamp 418. The tail extension shaft of the clamp 418 is connected to the clamp push-pull transition rod 417 via a clamp connecting pin 419. The tail of the clamp push-pull transition rod 417 is connected to one end of the clamp rotary connecting sleeve 4131. The other end of the clamp rotary connecting sleeve 4131 is connected to the piston rod of the clamp cylinder 414. The tail lug of the clamp cylinder 414 is connected to the clamp cylinder mounting plate 415 via a clamp cylinder rear lug pin 416.
[0043] like Figure 8As shown, the clamp rotation assembly 42 has a clamp rotation gear 421 mounted on the tail plate of the clamp 418. A rotation motor 427 is located at the tail of the clamp rotation assembly 42, and is mounted on a rotation motor mounting plate 426. The rotation motor mounting plate 426 is mounted on the tail of the secondary cylinder 4313 in the clamp telescopic assembly 43. The output shaft of the rotation motor 427 is connected to one end of a transmission spline sleeve 425. A transmission spline shaft 424 passes through the other end of the transmission spline sleeve 425. A spline sleeve central bearing 428 is mounted in the middle of the transmission spline sleeve 425. A drive gear bearing 422 is mounted on the tail plate of the clamp 418. The protruding end of the transmission spline shaft 424 passes into the drive gear bearing 422. A drive gear 423 is mounted on the protruding end of the transmission spline shaft 424. The drive gear 423 meshes with the clamp rotation gear 421 for transmission. This mechanism simultaneously has telescopic and rotational transmission functions.
[0044] like Figure 9 , Figure 10 As shown, the outermost sleeve of the clamp telescopic assembly 43 is a primary cylinder 4312. A secondary cylinder 4313 is inserted into the primary cylinder 4312, and a tertiary cylinder 4314 is inserted into the secondary cylinder 4313. A telescopic cylinder hinge seat 437 is installed at the upper center of the primary cylinder 4312, and a telescopic cylinder 436 is installed on the telescopic cylinder hinge seat 437. A head sprocket seat 432 is installed above the front end of the secondary cylinder 4313. The end lug of the piston rod of the telescopic cylinder 436 is connected to the head sprocket seat 432. A tail sprocket seat 4310 is installed above the rear end of the secondary cylinder 4313. A bidirectional chain fixing seat 4311 is installed above the rear end of the tertiary cylinder 4314. A [missing information - likely a chain fixing seat] is installed in the head sprocket seat 432. A head sprocket 431 and a tail sprocket seat 4310 are equipped with a tail sprocket 439. A head chain tensioning block 434 and a tail chain tensioning block 435 are installed above the front end of the first-stage cylinder 4312. One end of the head chain 433 is connected to the head chain tensioning block 434, passes through the head sprocket 431, and the other end is connected to the bidirectional chain fixing seat 4311. One end of the tail chain 438 is connected to the tail chain tensioning block 435, passes through the tail sprocket 439, and the other end is connected to the bidirectional chain fixing seat 4311. A pitch and rotation shaft 4315 is installed on each side of the front of the first-stage cylinder 4312. A large stroke extension function can be achieved by using a hydraulic cylinder and a chain, and the drive component can be placed at the rear.
[0045] like Figure 11 As shown, the outermost part of the clamp pitch assembly 44 is the pitch main frame 441. The lower middle part of the first stage cylinder 4312 in the clamp telescopic assembly 43 is equipped with a pitch connecting groove block 442. The pitch cylinder 444 is installed at the lower rear end inside the pitch main frame 441. The top pin 443 of the pitch cylinder is installed at the end of the piston rod of the pitch cylinder 444. The pitch function of the entire telescopic arm assembly can be realized.
[0046] The workflow is as follows: This utility model of a mobile electro-hydraulic hybrid heavy-duty manipulator has seven motion axes: ground rail translation, spindle rotation, clamp lifting, clamp holding, clamp rotation, clamp extension and retraction, and clamp pitch. The movements of each degree of freedom are described in detail below.
[0047] Ground rail translation: The linear guide slider 210 in the moving plate assembly 2 moves on the linear guide 12 in the ground rail assembly 1 as a guide. The internal walking gear of the walking motor assembly 25 in the moving plate assembly 2 meshes with the rack 13 in the ground rail assembly 1. The rotation of the gear drives the device to translate.
[0048] Spindle cylinder rotation: The internal gear of the rotary motor assembly 22 in the moving plate assembly 2 meshes with the outer ring gear of the rotary bearing 23. The rotation of the gear drives the outer ring gear of the rotary bearing 23 to rotate, and the rotary bearing 23 drives the upper spindle cylinder assembly 3 to rotate together. When performing forging centering operation, after the spindle cylinder assembly 3 rotates to the designated position, the jaws of the rotary hydraulic locking clamp 29 actively close, locking the floating rotary locking disc 28 inside the jaws, realizing the rotary locking function of the spindle cylinder assembly 3.
[0049] Clamp lifting: The lifting cylinders 33 in the main spindle assembly 3 lift and move, driving the lifting cylinder connecting seat 49 in the telescopic arm assembly 4 to lift and move the entire telescopic arm assembly 4; the telescopic arm assembly 4 is guided by the lifting guide wheel 48 to contact the lifting guide rail 34 on the main spindle assembly 3.
[0050] Clamping: When the clamping cylinder 414 in the clamping assembly 41 extends or retracts, it drives the clamping push-pull transition rod 417 to move back and forth, thereby driving the extension shaft of the tail of the clamp 418 to extend or retract, so as to realize the opening and closing action of the clamp 418.
[0051] Clamp rotation: The output shaft of the rotary motor 427 in the clamp rotation assembly 42 rotates, driving the transmission spline sleeve 425 to rotate, thereby driving the transmission spline shaft 424 to rotate, which in turn drives the drive gear 423 to rotate. The drive gear 423 meshes with the clamp rotation gear 421, thereby driving the clamp 418 to rotate. The transmission spline shaft 424 can extend and retract within the transmission spline sleeve 425, thereby realizing the function of extension and rotation transmission of the mechanism.
[0052] Clamp extension / retraction: When the extension cylinder 436 in the clamp extension / retraction assembly 43 extends, the lug at the front end of the extension cylinder 436 pushes the head sprocket seat 432 forward, thereby driving the secondary cylinder 4313 forward. At this time, since one end of the head chain 433 is connected to the head chain tensioning block 434, which is fixed on the primary cylinder 4312, and the other end is connected to the bidirectional chain fixing seat 4311, which is fixed on the tertiary cylinder 4314, when the head sprocket seat 432 moves forward, the middle of the head chain 433 is stressed. The movable end of the head chain 433 connected to the tertiary cylinder 4314 will move forward at twice the speed at which the head sprocket seat 432 moves forward, thereby realizing the extension movement of the tertiary cylinder 4314; extension cylinder 43 6. When retracting, the front ear of the telescopic cylinder 436 pulls the head sprocket seat 432 to move backward, thereby driving the secondary cylinder 4313 to move backward. The secondary cylinder 4313 then drives the tail sprocket seat 4310 to move backward. At this time, since one end of the tail chain 438 is connected to the tail chain tensioning block 435, which is fixed on the primary cylinder 4312, and the other end is connected to the bidirectional chain fixing seat 4311, which is fixed on the tertiary cylinder 4314, when the tail sprocket seat 4310 moves backward, the tail chain 438 is subjected to force in the middle. The movable end of the tail chain 438 connected to the tertiary cylinder 4314 will move backward at twice the speed at which the tail sprocket seat 4310 moves backward, thereby realizing the retraction movement of the tertiary cylinder 4314.
[0053] Pitch of the clamp: When the pitch cylinder 444 in the pitch assembly 44 extends, the top pin 443 at the piston rod end of the pitch cylinder 444 pushes the pitch connecting groove 442 and slides in the groove of the pitch connecting groove 442, thereby realizing the rotational movement with the pitch rotation shaft 4315 in the clamp telescopic assembly 43 as the rotation center, thus realizing the pitch function of the entire telescopic arm assembly 3.
[0054] Camera assistance: A camera 36 is installed on the top of the spindle cylinder assembly 3, which can be used to assist in image acquisition during operation.
[0055] Example 2 like Figure 4-6 and Figure 12-13As shown, an electro-hydraulic hybrid heavy-duty manipulator is a fixed heavy-duty manipulator, including a spindle cylinder assembly 3, a telescopic arm assembly 4, and a fixed circular base assembly 5. The fixed circular base assembly 5 is located at the bottom of the fixed heavy-duty manipulator. A second slewing bearing 53 is mounted on the fixed circular base assembly 5. A spindle cylinder base plate 31 is mounted on the bottom of the spindle cylinder assembly 3, and the spindle cylinder assembly 3 is connected to the second slewing bearing 53 on the fixed circular base assembly 5 via the spindle cylinder base plate 31. A lifting hydraulic cylinder is installed on each side of the spindle cylinder assembly 3. The telescopic arm assembly 4 has a set of lifting cylinder connecting seats 49 installed on each side of the cylinder 33. The telescopic arm assembly 4 passes through the middle of the main spindle assembly 3 and is connected to the lifting cylinder 33 on the main spindle assembly 3 through the lifting cylinder connecting seats 49. The main spindle column 32 in the main spindle assembly 3 has lifting guide rails 34 installed on the front and rear sides. The telescopic arm assembly 4 has two sets of lifting guide wheels 48 installed on each side. The telescopic arm assembly 4 is guided by the lifting guide wheels 48 in contact with the lifting guide rails 34 on the main spindle assembly 3.
[0056] like Figure 4-11 As shown, the spindle cylinder assembly 3 and telescopic arm assembly 4 of the fixed heavy-duty robot are the same as those in Embodiment 1.
[0057] like Figure 13 As shown, in the fixed circular base assembly 5, the circular base plate 51 is located at the bottom. A second slewing bearing 53 is installed above the center of the circular base plate 51. A second slewing motor assembly 52 is installed at the front end of the circular base plate 51. The internal gear of the second slewing motor assembly 52 meshes with the outer ring gear of the second slewing bearing 53 for transmission. A second slewing lubrication assembly 55 is installed above the circular base plate 51. The felt gear inside the second slewing lubrication assembly 55 meshes with the outer ring gear of the second slewing bearing 53. A second slewing joint bracket 56 is installed at the center of the circular base plate 51 and the center of the second slewing bearing 53. A second slewing joint 54 is installed above the second slewing joint bracket 56. A second slewing locking disc 58 is installed at the bottom of the outer ring gear of the second slewing bearing 53. Two sets of second slewing hydraulic locking clamps 57 are installed on the circular base plate 51. The outer circle of the second slewing locking disc 58 passes through the jaws of the second slewing hydraulic locking clamps 57.
[0058] Workflow: The fixed electro-hydraulic hybrid heavy-duty manipulator of this utility model has six motion axes: spindle rotation, clamp lifting, clamp holding, clamp rotation, clamp extension and retraction, and clamp pitch. Among them, the five-axis movements of clamp lifting, clamp holding, clamp rotation, clamp extension and retraction, and clamp pitch are the same as those of the mobile electro-hydraulic hybrid heavy-duty manipulator of Embodiment 1. The spindle rotation movement of the fixed heavy-duty manipulator is described in detail below.
[0059] Spindle cylinder rotation: The internal gear of the second rotary motor assembly 52 in the fixed circular base assembly 5 meshes with the outer ring gear of the second rotary bearing 53. The rotation of the gear drives the outer ring gear of the second rotary bearing 53 to rotate, and the second rotary bearing 53 drives the upper spindle cylinder assembly 3 to rotate together. When performing forging centering operation, after the spindle cylinder assembly 3 rotates to the designated position, the jaws of the second rotary hydraulic locking clamp 57 actively close, locking the second rotary locking disc 58 floating inside the jaws, realizing the rotation locking function of the spindle cylinder assembly 3.
Claims
1. A heavy-duty robotic arm powered by electro-hydraulic hybrid technology, characterized in that, include: The main spindle assembly (3) and the telescopic arm assembly (4) pass through the middle of the main spindle assembly (3); The spindle cylinder assembly (3) includes: a spindle cylinder base plate (31), spindle cylinder columns (32), a lifting cylinder (33), a lifting guide rail (34), a spindle cylinder top plate (35), and a spindle cylinder side plate (37); the spindle cylinder base plate (31) is installed at the bottom of the spindle cylinder assembly (3), four spindle cylinder columns (32) are installed above the spindle cylinder base plate (31), and the spindle cylinder top plate (35) is installed on top of the four spindle cylinder columns (32). The shaft cylinder side plate (37) is installed between the two main shaft cylinder columns (32). Two lifting guide rails (34) are installed on the front and rear sides of the main shaft cylinder column (32), and a lifting cylinder (33) is installed on each side. The lifting cylinder (33) is a double rod cylinder. One end of the piston rod of the lifting cylinder (33) is installed on the bottom plate (31) of the main shaft cylinder, and the other end is installed on the top plate (35) of the main shaft cylinder. A camera (36) is installed at the front end above the top plate (35) of the main shaft cylinder. The telescopic boom assembly (4) includes: a clamp holding assembly (41), a clamp rotation assembly (42), a clamp telescopic assembly (43), a clamp pitch assembly (44), a valve group (45), an oil supply reel (46), a lubrication distributor I (47), lifting guide wheels (48), a lifting cylinder connecting seat (49), an oil supply reel guide tube (410), a lubrication distributor II (411), an automatic lubrication pump (412), and a lifting guide wheel adjusting seat (413). The clamp telescopic assembly (43) is installed in the middle of the clamp pitch assembly (44), the clamp holding assembly (41) and the clamp rotation assembly (42) are installed in the middle of the clamp telescopic assembly (43), and a set of lifting guide wheels (48) is installed on each of the front and rear ends of the clamp pitch assembly (44). A set of lifting guide wheel adjustment seats (413) is provided. The telescopic arm assembly (4) is guided to roll by contacting the lifting guide rail (34) on the main shaft cylinder assembly (3) through the lifting guide wheel (48). A set of lifting cylinder connecting seats (49) is installed on the middle of each side of the clamp pitch assembly (44). The telescopic arm assembly (4) is connected to the lifting cylinder (33) on the main shaft cylinder assembly (3) through the lifting cylinder connecting seats (49). A valve group (45) and an oil supply reel (46) are installed in sequence at the upper rear end of the clamp telescopic assembly (43). An oil supply reel guide tube (410) is installed at the rear end of the clamp telescopic assembly (43). A lubrication distributor one (47), a lubrication distributor two (411), and an automatic lubrication pump (412) are installed on the rear ends of both sides of the clamp telescopic assembly (43).
2. The electro-hydraulic hybrid heavy-duty manipulator according to claim 1, characterized in that, The clamping assembly (41) includes a clamp (418), a clamp connecting pin (419), a clamp slewing connecting sleeve (4131), a clamp cylinder (414), a clamp cylinder mounting plate (415), a clamp cylinder rear ear ring pin (416), and a clamp push-pull transition rod (417). The tail extension shaft of the clamp (418) is connected to the clamp push-pull transition rod (417) through the clamp connecting pin (419). The tail of the clamp push-pull transition rod (417) is connected to one end of the clamp slewing connecting sleeve (4131), and the other end of the clamp slewing connecting sleeve (4131) is connected to the piston rod of the clamp cylinder (414). The tail of the clamp cylinder (414) is provided with an ear ring, which is connected to the clamp cylinder mounting plate (415) through the clamp cylinder rear ear ring pin (416).
3. The electro-hydraulic hybrid heavy-duty manipulator according to claim 2, characterized in that, The clamp rotation assembly (42) includes a clamp rotation gear (421), a drive gear bearing (422), a drive gear (423), a transmission spline shaft (424), a transmission spline sleeve (425), a rotation motor mounting plate (426), a rotation motor (427), and a spline sleeve center bearing (428). The rotation motor mounting plate (426) is located at the tail of the clamp rotation assembly (42), and the rotation motor (427) is mounted on the rotation motor mounting plate (426). The output shaft of the rotation motor (427) is connected to the transmission spline sleeve (425). The transmission spline shaft (424) is inserted into the other end of the transmission spline sleeve (425). A central bearing (428) is installed in the middle of the transmission spline sleeve (425). The clamp rotary gear (421) and the drive gear bearing (422) are installed on the tail plate of the clamp (418). The extended end of the transmission spline shaft (424) is inserted into the drive gear bearing (422). A drive gear (423) is installed on the extended end of the transmission spline shaft (424). The drive gear (423) meshes with the clamp rotary gear (421) for transmission.
4. The electro-hydraulic hybrid heavy-duty manipulator according to claim 3, characterized in that, The clamp telescopic assembly (43) includes a primary cylinder (4312), a secondary cylinder (4313), and a tertiary cylinder (4314). The primary cylinder (4312) is the outermost outer cylinder. The secondary cylinder (4313) is inserted into the primary cylinder (4312), and the tertiary cylinder (4314) is inserted into the secondary cylinder (4313). A telescopic cylinder hinge seat (437) is installed at the upper center of the primary cylinder (4312). 7) A telescopic cylinder (436) is installed on the upper part; a head sprocket seat (432) is installed above the front end of the secondary cylinder (4313), the piston rod end lug of the telescopic cylinder (436) is connected to the head sprocket seat (432), a tail sprocket seat (4310) is installed above the rear end of the secondary cylinder (4313), a bidirectional chain fixing seat (4311) is installed above the rear end of the tertiary cylinder (4314), and the head sprocket seat (432) is in A head sprocket (431) is installed, and a tail sprocket (439) is installed in the tail sprocket seat (4310). A head chain tensioning block (434) and a tail chain tensioning block (435) are installed above the front end of the first-stage cylinder (4312). The clamp telescopic assembly (43) also includes a head chain (433) and a tail chain (438). One end of the head chain (433) is connected to the head chain tensioning block (434) and passes through the head chain. The sprocket (431) is connected at one end to the bidirectional chain fixing seat (4311). One end of the tail chain (438) is connected to the tail chain tensioning block (435), passes through the tail sprocket (439), and the other end is connected to the bidirectional chain fixing seat (4311). A pitching and rotating shaft (4315) is installed on each side of the front of the first-stage cylinder (4312). The rotating motor mounting plate (426) is installed at the tail of the second-stage cylinder (4313).
5. The electro-hydraulic hybrid heavy-duty manipulator according to claim 4, characterized in that, The outermost part of the clamp pitch assembly (44) is provided with a pitch main frame (441). The lower middle part of the first stage cylinder (4312) in the clamp telescopic assembly (43) is provided with a pitch connecting groove block (442). The pitch main frame (441) is provided with a pitch cylinder (444) at the lower rear end. The piston rod end of the pitch cylinder (444) is provided with a pitch cylinder top pin (443).
6. A heavy-duty electro-hydraulic hybrid manipulator according to any one of claims 1-5, characterized in that, It also includes a ground rail assembly (1) and a moving plate assembly (2), wherein the moving plate assembly (2) is disposed at the bottom of the main shaft cylinder assembly (3) and the ground rail assembly (1) is disposed below the moving plate assembly (2); The bottom of the ground rail assembly (1) is provided with a ground rail base (11), and linear guide rails (12) are symmetrically installed on the upper sides of the ground rail base (11). A rack (13) is installed slightly above the middle of the ground rail base (11). A buffer (14) is installed at each end of the linear guide rail (12). A guide rail cover is installed above the linear guide rail (12). Drag chain guards (16) are installed on both sides of the ground rail base (11). The movable plate assembly (2) is provided with a movable base plate (21). A linear guide slider (210) is installed at each of the four corners below the movable base plate (21). The linear guide slider (210) is connected to the linear guide (12) on the ground rail assembly (1). A slewing bearing (23) is installed above the center of the movable base plate (21). The main spindle assembly (3) is connected to the slewing bearing (23) of the movable plate assembly (2) through the main spindle base plate (31). A rotary motor assembly (22) is installed at the front end of the movable base plate (21). The internal gear of the rotary motor assembly (22) meshes with the outer ring gear of the slewing bearing (23) for transmission. A walking motor assembly (25) is installed at the rear end of the movable base plate (21). The bottom gear of the walking motor assembly (25) meshes with the rack (13) installed in the middle of the ground rail assembly (1). A rotary lubrication assembly (26) is installed above the moving base plate (21). The rotary lubrication assembly (26) meshes with the outer ring gear of the rotary bearing (23). A rotary joint bracket (27) is installed at the center of the moving base plate (21) and the center of the rotary bearing (23). A rotary joint (24) is installed above the rotary joint bracket (27). A rotary locking disc (28) is installed at the bottom of the outer ring gear of the rotary bearing (23). Two sets of rotary hydraulic locking clamps (29) are installed on the moving base plate (21). The outer circle of the rotary locking disc (28) passes through the jaws of the rotary hydraulic locking clamps (29).
7. A heavy-duty electro-hydraulic hybrid manipulator according to any one of claims 1-5, characterized in that, It also includes a fixed circular base assembly (5), which is disposed at the bottom of the main spindle assembly (3); the bottom of the fixed circular base assembly (5) is provided with a circular base plate (51), and a second slewing bearing (53) is installed above the center of the circular base plate (51). The main spindle assembly (3) is connected to the second slewing bearing (53) on the fixed circular base assembly (5) through the main spindle base plate (31). A second slewing motor assembly (52) is installed at the front end of the circular base plate (51). The internal gear of the second slewing motor assembly (52) meshes with the outer ring gear of the second slewing bearing (53) for transmission. A second rotary lubrication assembly (55) is installed on the top, and the second rotary lubrication assembly (55) meshes with the outer ring gear of the second rotary bearing (53). A second rotary joint bracket (56) is installed at the center of the top of the round base plate (51) and at the center of the second rotary bearing (53). A second rotary joint (54) is installed on the top of the second rotary joint bracket (56). A second rotary locking disc (58) is installed at the bottom of the outer ring gear of the second rotary bearing (53). Two sets of second rotary hydraulic locking clamps (57) are installed on the round base plate (51). The outer circle of the second rotary locking disc (58) passes through the jaws of the second rotary hydraulic locking clamps (57).
8. The electro-hydraulic hybrid heavy-duty manipulator according to claim 6, characterized in that, The rotary lubrication assembly (26) contains a felt gear, which meshes with the outer ring gear of the rotary bearing (23).
9. A heavy-duty electro-hydraulic hybrid manipulator according to claim 7, characterized in that, The second rotary lubrication assembly (55) has a felt gear inside, which meshes with the outer ring gear of the second rotary bearing (53).
10. A heavy-duty electro-hydraulic hybrid manipulator according to any one of claims 1-5, characterized in that, The telescopic arm assembly (4) is made of heat-resistant steel.