CN104690710B - A kind of movable mechanical arm of electric-hydraulic combined driving - Google Patents

Abstract

The invention discloses a kind of movable mechanical arm of electric-hydraulic combined driving, include bottom car body, bottom car body have by pivoting support, pivoting support top braces has base platform, movable platform is had above base platform, in base platform, hydraulic cylinder piston rod is articulated and connected in movable platform bottom centre, in base platform, on three motor output shafts, movable platform drives rope bitter end to be connected to bottom movable platform, movable platform is provided with top mechanism arm, base platform corresponds to top mechanism arm rear end lower position and be also provided with three groups of drive motors, the output shaft of one of them drive motors is wound with hoisting rope, hoisting rope extends backward sagging along top mechanism arm top, hoisting rope bitter end is connected with end effector, on second drive motors, mechanical arm extends and drives rope, on 3rd drive motors, mechanical arm shortens driving rope driving top mechanism arm elongation shortening.

Description

A movable mechanical arm driven by electro-hydraulic compound

technical field

The invention relates to the field of mechanical arms, in particular to a movable mechanical arm driven by an electro-hydraulic compound.

Background technique

With the acceleration of the industrial automation process, the mechanical arm has gradually become an important part of the modern mechanical manufacturing production system, which puts forward higher indicators for its structural innovation and optimal design. For working devices that can realize functions such as grasping and transporting heavy objects, it is common to use rigid linkage mechanisms. Taking the articulated robotic arm as an example, it has the advantages of multi-degree-of-freedom, flexible movement, and small footprint. However, since the drive motor of the joint needs to occupy the space of the joint, the drive motor and the transmission mechanism itself will become the load during the transmission; therefore, the articulated manipulator has the disadvantages of large weight, large inertia, low transmission efficiency, and accumulation of joint errors. Moreover, these traditional lifting devices are often installed on a fixed frame, the base of which cannot be moved during operation, and the working space is limited.

Contents of the invention

The purpose of the present invention is to provide a movable mechanical arm driven by electro-hydraulic combination, so as to solve the problems of heavy arm weight and large inertia caused by the driving motor inside the joint of the prior art mechanical arm.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A movable mechanical arm driven by an electro-hydraulic compound is characterized in that it includes a bottom car body, a slewing bearing driven by a slewing bearing driving motor is vertically arranged on the bottom car body, and a base platform is supported on the top of the slewing bearing. A movable platform is arranged horizontally above the base platform, and a hydraulic cylinder is vertically arranged in the center of the base platform, and the piston rod of the hydraulic cylinder is hinged vertically upward to the center of the bottom of the movable platform. The motor of the hydraulic cylinder is surrounded by a font, and the output shaft of each motor is respectively wound with a movable platform driving rope. The cable ends of the three groups of movable platform driving ropes are connected obliquely upward to the bottom of the movable platform, and the connection position is surrounded by a character. At the center of the bottom of the movable platform, the top mechanical boom is installed on the movable platform. The top mechanical boom consists of a boom fixed on the movable platform, an intermediate arm slidingly installed in the boom and protruding from the front end of the boom, a sliding The small arm installed in the middle arm and protruding from the front end of the middle arm is composed of pulleys for shortening that are rotated on two symmetrical sides of the outer end surface of the rear end of the middle arm. One end is connected to the corresponding position of the inner end surface of the front end of the big arm, and the other end of the rope on the pulley for shortening passes through the rear end of the middle arm respectively and is connected to the corresponding position of the rear end of the small arm. The pulley base is rotatably equipped with pulleys for extension, and three sets of drive motors are arranged on the base platform corresponding to the position below the rear end of the top mechanical boom, and the output shaft of one of the drive motors is wound with a hoisting rope for lifting. The rope extends upwards to the top mechanical boom, then extends along the top of the top mechanical boom, and then hangs vertically downward at the front end of the top mechanical boom, and the end of the lifting rope is connected to the end effector, and the output shaft of the second drive motor The extension driving rope of the mechanical arm is wound on the upper arm, and after the extension driving rope of the mechanical arm passes through the forearm and bypasses the pulley for extension, the end of the extension driving rope of the mechanical arm is fixed on the rear end surface of the forearm, and the third The output shaft of the driving motor is wound with a mechanical arm shortening drive rope, and the mechanical arm shortens the driving rope and penetrates into the boom and the cable end is fixed at the center of one of the shortening pulleys.

The movable mechanical arm driven by electro-hydraulic compound is characterized in that: the top of the piston rod of the hydraulic cylinder and the center of the bottom of the movable platform are respectively connected with Hooke hinges, and the two Hooke hinges are connected to each other through cross nails to realize The hinge between the top end of the piston rod of the hydraulic cylinder and the bottom center of the movable platform.

The above-mentioned movable mechanical arm driven by electro-hydraulic compound is characterized in that: a counterweight is also arranged on the base platform.

The mobile mechanical arm driven by electro-hydraulic compound is characterized in that: the top of the top mechanical arm is provided with a plurality of limit seats, and each limit seat is respectively opened with a through hole, and the lifting rope Pass through holes in each limit seat.

The present invention has the advantage that:

1. The mechanism is modular and each module has a simple structure and is easy to disassemble. The top mechanical boom is completely controlled by ropes, which avoids the problem of excessive arm weight caused by the use of hydraulic cylinders in traditional mechanical telescopic booms. In addition, the reversing mechanism (such as a pulley) that flexibly utilizes force in the device transfers the actuator to the base platform, which reduces the mass of the moving part of the device, thus improving the dynamic performance of the entire device. The bottom is designed as a freely movable car body, which can realize operations in a large working space.

2. The power mode is electro-hydraulic compound drive, which not only has the advantages of high working efficiency, low cost and convenient control of electric drive, but also has the advantages of stable operation, fast response, small impact, good safety and strong load capacity of hydraulic drive.

3. Three parallel cables control the movable platform to do two-degree-of-freedom space movement, which has a series of advantages such as flexible trajectory, small inertia, small cumulative error, and payload much higher than its own weight.

Description of drawings

Figure 1 is an isometric view of a compound drive movable robotic arm.

Fig. 2 is a front view of the composite drive movable mechanical arm.

Figure 3 is a schematic diagram of the connection between the bottom vehicle body and the movable platform.

Fig. 4 is a schematic diagram of the connection between the hydraulic cylinder and the movable platform.

Fig. 5 is a simplified schematic diagram of the internal structure of the top mechanical boom.

detailed description

As shown in Figures 1-5, a movable mechanical arm driven by electro-hydraulic compound includes a bottom car body 7, on which a slewing bearing 15 driven by a slewing bearing drive motor 16 is vertically arranged, The top of the slewing support 15 is supported by a base platform 6, a movable platform 13 is horizontally arranged above the base platform 6, and a hydraulic cylinder 11 is vertically arranged at the center of the base platform 6, and the piston rod of the hydraulic cylinder 11 is vertically upwardly hinged on the At the center of the bottom of the movable platform 13, three motors 5 that surround the hydraulic cylinder in the shape of a character are arranged on the base platform 6. The output shafts of each motor 5 are respectively wound with movable platform driving ropes 4, and the three groups of movable platform drive The cable ends of the ropes 4 are connected obliquely upwards to the bottom of the movable platform 13 respectively, and the connection positions are in the shape of a character and surround the center of the bottom of the movable platform 13. The movable platform 13 is equipped with a top mechanical boom 14, and the top mechanical boom 14 is fixed by The big arm 14.1 on the movable platform 13, the middle arm 14.2 that is slidably installed in the big arm 14.1 and stretches out from the front end of the big arm 14.1, the small arm 14.3 that is slidably installed in the middle arm 14.2 and stretches out from the front end of the middle arm 14.2 Composition, the outer end surface of the rear end of the middle arm 14.2 is rotated on two symmetrical sides with a pulley 14.7 for shortening, and a rope 14.6 is wound on the pulley 14.7 for shortening, and one end of the rope 14.6 on the pulley 14.7 for shortening is connected to the corresponding position on the inner end surface of the front end of the big arm 14.1 14.7 on the shortening pulley, the other end of the rope 14.6 passes through the rear end of the intermediate arm 14.2 and is connected to the corresponding position at the rear end of the small arm 14.3, and the inner end surface of the rear end of the intermediate arm 14.2 passes through the pulley base 14.5 extending into the small arm 14.3 Pulley 14.4 for extension is installed in rotation, and three groups of driving motors are also arranged on the base platform 6 corresponding to the position below the rear end of the top mechanical boom 14, wherein the output shaft of one of the driving motors is wound with hoisting rope 1, hoisting rope 1 extends upwards to the top mechanical boom 14, then extends along the top of the top mechanical boom 14 and then hangs down vertically at the front end of the top mechanical boom 14, and the end of the lifting rope 1 is connected with the end effector 2, the second The output shaft of the drive motor is wound with a mechanical arm extension driving rope 9, and the mechanical arm extension driving rope 9 penetrates the small arm 14.3 and walks around the extension pulley 14.4, and the mechanical arm extension driving rope 9 cable ends are fixed On the rear end face of the forearm 14.3, the output shaft of the third drive motor is wound with a mechanical arm shortening drive rope 10, and the mechanical arm shortens the driving rope 10 through the boom 14.1 and the cable end is fixed at the center of one of the shortening pulleys 14.7 place.

The top of the piston rod of the hydraulic cylinder 11 and the center of the bottom of the movable platform 13 are respectively connected with a Hooke hinge 12, and the two Hooke hinges 12 are connected to each other through cross nails 12.1 to realize the hinge between the top of the piston rod of the hydraulic cylinder 11 and the center of the bottom of the movable platform 13 .

A counterweight 8 is also arranged on the base platform 6 .

The top mechanical boom 14 top is provided with a plurality of position-limiting seats 17, and through holes are respectively opened in each space-limiting seat 17, and the hoisting rope 1 passes through the through-holes in each space-limiting seat 17.

As shown in FIG. 1 and FIG. 2 , in the present invention, the base platform 6 is installed on the bottom vehicle body 7 . The three motors 5 installed on the base platform 6 drive the movable platform 13 to perform two-degree-of-freedom spatial movement through three movable platform driving ropes 4 . The hydraulic cylinder 11 is installed on the base platform 6, and its upper end is installed on the movable platform 13 through the Hooke hinge 12, so as to drive the lifting/lowering of the movable platform 13. In addition, two motors 5 installed on the base platform 6 drive the expansion/contraction of the top mechanical boom 14 through the mechanical arm extension driving rope 9 and the mechanical arm shortening driving rope 10 respectively. The remaining driving motor 5 drives the end effector 2 through the rope 1 to lift/lower the weight 3; and the counterweight 8 placed on the base platform 6 plays a balancing role for the whole device.

FIG. 3 is a schematic diagram of the connection between the bottom vehicle body 7 and the base platform 6 . The slewing bearing 15 is installed on the bottom vehicle body 7 , and the slewing bearing driving motor 16 drives the base platform 6 to perform slewing motion through the slewing bearing 15 .

Fig. 4 is a schematic diagram of the connection between the hydraulic cylinder and the movable platform. Two Hooke hinges 12 are respectively installed on the hydraulic cylinder 11 and the movable platform 13, and the two are connected by a cross nail 12.1.

Fig. 5 is a simplified schematic diagram of the internal structure of the top mechanical boom. Mechanical arm elongation driving rope 9 drives small arm 14.3 through pulley 11.4, thereby drives intermediate arm 14.2; Mechanical arm shortens driving rope 10 and directly drives intermediate arm 14.2, thereby drives small arm 14.3.

Working principle: when grabbing the heavy object 3, the vehicle body at the bottom first roughly moves to the vicinity; the slewing bearing drive motor 16 drives the base platform 6 to make a rotary motion through the slewing bearing 15, so that the top mechanical boom 14 rotates to the approximate angle of the heavy object 3 Above; the hydraulic cylinder 11 is used as a power source to drive the movable platform 13 to rise/lower to the approximate height of the weight 3, and at the same time, the three motors 5 are respectively driven by the three movable platform driving ropes 4 to keep the ropes stretched straight and mutually balance; after the lifting/lowering action of the hydraulic cylinder 11 is completed, one of the motors 5 is converted into an active drive, and the other two motors 5 are still driven, so as to drive the movable platform 13 to do two-degree-of-freedom space movement; After that, the drive motor drives the extension/contraction action of the top mechanical arm 14 through the mechanical arm to extend the drive rope 9 and the mechanical arm to shorten the drive rope 10 to fine-tune the position; finally, the remaining drive motor passes the hoisting rope 1 The end effector 2 is driven to grab the weight 3 . After the heavy object 3 is grasped, the heavy object 3 can also be approached to the ground and the center of gravity of the device through the above-mentioned movement, so as to reduce the overturning moment and make the subsequent movement of the bottom vehicle body 7 more stable. Afterwards, the bottom vehicle body 7 moves to carry the heavy object 3 to the target position, and the work is completed.

Claims (4)

1. A mobile mechanical arm driven by electro-hydraulic compound, characterized in that: it includes a bottom car body, the bottom car body is vertically provided with a slewing bearing driven by a slewing bearing drive motor, and the top of the slewing bearing is supported by a base Platform, a movable platform is arranged horizontally above the base platform, and a hydraulic cylinder is vertically arranged in the center of the base platform, and the piston rod of the hydraulic cylinder is vertically upward and hingedly connected to the center of the bottom of the movable platform. There are also three The motor surrounding the hydraulic cylinder is in the shape of a character. The output shaft of each motor is respectively wound with a movable platform driving rope. The cable ends of the three groups of movable platform driving ropes are respectively connected to the bottom of the movable platform obliquely, and the connection position is in the shape of a product. The glyph surrounds the center of the bottom of the movable platform. The top mechanical boom is installed on the movable platform. The top mechanical boom consists of a boom fixed on the movable platform, an intermediate arm slidingly installed in the boom and protruding from the front end of the boom. 1. It is composed of a small arm that is slidably installed in the middle arm and protrudes from the front end of the middle arm. Pulleys for shortening are installed on two symmetrical sides of the outer end surface of the rear end of the middle arm, and ropes are wound on the pulleys for shortening, and the pulleys for shortening One end of the upper rope is connected to the corresponding position on the inner end surface of the front end of the big arm. The inner pulley base is rotatably installed with pulleys for extension. On the base platform, there are three sets of drive motors corresponding to the position below the rear end of the top mechanical boom. The output shaft of one of the drive motors is wound with a hoisting rope. The lifting rope extends upwards to the top mechanical boom, then extends along the top of the top mechanical boom and then hangs vertically downwards at the front end of the top mechanical boom, and the end of the lifting rope is connected to the end effector, and the second driving motor The output shaft is wound with a mechanical arm extension driving rope, and after the mechanical arm extension driving rope passes through the forearm and bypasses the extension pulley, the end of the mechanical arm extension driving rope is fixed on the rear end surface of the forearm. The output shafts of the three drive motors are wound with manipulator shortening drive ropes, the manipulator shortens the drive ropes and passes through the boom and the cable ends are fixed at the center of one of the shortening pulleys. 2. The movable mechanical arm driven by electro-hydraulic compound according to claim 1, characterized in that: the top of the piston rod of the hydraulic cylinder and the center of the bottom of the movable platform are respectively connected with Hooke hinges, and the two Hooke hinges pass through The cross nails are connected to each other to realize the hinge joint between the top end of the piston rod of the hydraulic cylinder and the bottom center of the movable platform. 3. The movable mechanical arm driven by electro-hydraulic compound according to claim 1, characterized in that: the base platform is also provided with a counterweight. 4. The movable mechanical arm driven by electro-hydraulic compound according to claim 1, characterized in that: the top of the top mechanical arm is provided with a plurality of limit seats, and each limit seat is respectively opened with a Through holes, the hoisting ropes pass through the through holes in each limit seat.