CN104972458A - Novel multifunctional electro-hydraulic robot - Google Patents

Abstract

The invention discloses a novel multifunctional electro-hydraulic robot. Outer portal frames are mounted on positioning pile head points A and B at the two sides of a beam H of a chassis girder counterweight axle (1) respectively; a lifting trolley control platform (2) is mounted on a portal frame type lifting suspension bracket; a rotary tank body (3) of a multi-section rotary telescopic boom mechanical hand is fixedly connected with a bearing on a lifting trolley bracket; a rotary telescopic boom outer tank body (3) or a fork mechanical hand (4) or a clamping mechanical hand (5) is mutually connected; the telescopic boom is firstly inserted into the tank body and then is clamped with slide wheels (3-1-4) on the four corners; a telescopic hydraulic cylinder (3-1-2) mounted in the telescopic boom is connected with a lug ring at the front lower end outside the telescopic boom to realize a telescopic function; and a rotary holding mechanical hand (6) or a fire extinguisher (7) is internally mounted in a telescopic tank of the mechanical hand (5). According to the novel robot disclosed by the invention, each section of the telescopic boom mechanical hand is different in function of grabbing goods, and therefore, the novel multifunctional electro-hydraulic robot is the most advanced robot in the present world.

Description

Multifunction electric hydaulic machine people

Technical field

The present invention relates to a kind of electric hydaulic machine people, specifically a kind of Multifunction electric hydaulic handling robot device.

Background technology

The overall structure sub-assembly of robot connects to form with welding for steel structure component and hydraulic cylinder.It is compared with existing robot handling facilities with traditional, there is changes of function many, contain the advantages such as industry is wide, there is integral rigidity structure strong, center of gravity is low, mobile time good, the multi-jointed mechanical telescopic arm that security reliability is strong of stability of equilibrium and the feature such as the change function of manipulator is many, the very strong driving force of existing machine and load force, there is again the maneuverability of people, structure is simple, environmental protection and energy saving, be easy to advantages such as making, cost is low.

Summary of the invention

The novel hydraulic machine people technical issues that need to address of the present invention are, according to claim 1; Electric hydraulic robot have employed the overall structure design of (1) or (2) or (3) or (4) or (5) or (6) or (7) its feature technology; The advantages such as collection change function is many, applied widely, the not handling of still storage, storehouse, logistics, carrying, Palletizing robot, loading onto numerical control software simultaneously can also for the production of the manipulation robot of a line, compensate for the deficiency of the manipulator simple function of same machines people equipment, robot integrates that center of gravity is low, vertical lift, horizontally rotate and horizontal extension multi-jointed mechanical hand, it is characterized in that told (3) or (4) or (5) or (6) each joint telescopic machine mechanical arm has the manipulator of different action function.

The concrete technical scheme of Multifunction electric hydaulic machine people of the present invention is, has a vertical lift, horizontally rotates, the multi-stage telescopic arms manipulator of horizontal extension, it is characterized in that the H crossbeam both sides of told chassis ridgepole balance weight vehicle bridge (1) have and be connected with outer mast (1-1) A located, B pile crown, with outer mast (1-1) rigid solder, be connected with inner upright mounting (1-2) slide rail and hydraulic cylinder (1-2-1), form vertical lift frame, balance weight framework (1-3) is carried out (1-3-3) bolt with crossbeam balance weight vehicle bridge (1) and lifting hydraulic cylinder (1-2-1) outer mast (1-1) and is connected, play the reinforcement effect of outer mast (1-1), a landing leg stretching hole C is had at crossbeam balance weight vehicle bridge dual-side, supporting leg (1-4) is installed, crossbeam vehicle bridge front end has the groove (1-6) installing front wheel driving wheel shaft and hydraulic steering cylinder, crossbeam balance weight vehicle bridge is latter half of has the screw D that four connect grooved balance weight framework (1-3), crossbeam balance weight vehicle bridge rear end has the groove (1-5) installing live axle and bearing block, under the effect of two balance weight, there is the support of telescopic outrigger (1-4) or (1-4-1) again, just more ensure that its center of gravity is low, rigid structure is strong, the lifting rotation Telescopic requirement that stability of equilibrium is good, Multifunctional rotary telescopic magic hand its stability of equilibrium when carrying out the 180 ° of rotary extension operations in left and right connected to form in (2) or (3) or (4) or (5) or (6) also can ensure to turn on one's side.

The concrete technical scheme of the more piece rotary extension arm manipulator of Multifunction electric hydaulic machine people of the present invention is; Outer mast (1-1) is connected with inner upright mounting (1-2) slide rail pulley, inner upright mounting (1-2) is carried out guide rail be connected with pulley, the slide plate (2-1) hanging double H-type outrigger bracket lift cart parametric controller (2), the hydraulic cylinder (1-2-3) of a lifting truck parametric controller (2) is installed at lower connecting cross beam (1-2-2) center of inner upright mounting, lifting hydraulic cylinder (1-2-3) is carried out chain lifting with lift cart parametric controller (2) and is connected, and material is thus formed a complete jacking system.

The bearing block (2-1-3) hanging double H-type outrigger bracket lift cart parametric controller (2) with horizontally rotate mechanical-stretching arm outer case (3) rotating shaft (3-1) and be connected, the right bracket of outrigger of outrigger bracket lift cart parametric controller (2) is installed with hydraulic pressure rack cylinder (2-1-4) and pinion (2-1-5), hydraulic pressure rack cylinder (2-1-4) is meshing with pinion (2-1-5), pinion (2-1-5) is connected with the transmission gear wheel (3-1-2) above the rotating shaft (3-1) horizontally rotating multi-jointed mechanical telescopic arm outer case (3) is meshing, under the reciprocating effect of rack cylinder (2-1-4), drive pinion (2-1-5) to rotate, pinion drives the gear wheel (3-1-2) above outer case to rotate, so just formed and horizontally rotate function.

A draw-in groove is had in the middle of the master bridge of operation hoistable platform (2-3) both sides, the front beam of operation hoistable platform (2-3) has two slots, draw-in groove and lift cart slide plate connecting cross beam carry out rigidity clamping, the upper outrigger bracket of lift cart outrigger bracket (2-1-2) carries out rigidity grafting with two slots on the front beam of operation hoistable platform (2-3), firm and steady to ensure that hoistable platform is connected with lift cart outrigger bracket (2-1-2).

In order to ensure that hydraulic oil pipe does not affect by the reciprocating uncertain factor of lifting when lift cart parametric controller (2) lifting running, ensure the cylinder device energy normal fuel injection running of Multifunctional telescopic arm manipulator, the battery (2-2) and the hydraulic cylinder of hydraulic pressure bag (2-2-1) to telescopic arm manipulator (4) or (5) or (6) manipulator that are installed on hoistable platform (2-3) afterbody carry out independent fuel feeding, so just carry out with the battery (2-2) be arranged in balance weight (1-5) square frame of chassis ridgepole balance weight vehicle bridge (1) afterbody or hydraulic pressure bag (2-2-1) and separate fuel feeding, to ensure its security, (2-3-2) be instrument board, (2-3-1) be that integrated electric control system button is installed concentratedly on steering wheel, contribute to operating personnel easy to operate.

Be arranged on that the battery (2-2) in balance weight (1-5) square frame of chassis ridgepole balance weight vehicle bridge (1) afterbody, hydraulic pressure bag (2-2-1) only carry out independent fuel feeding to door frame lifting hydraulic cylinder (1-2-1) and dolly lifting hydraulic cylinder (1-2-3), such hydraulic oil pipe that just greatly reducing is connected long, dangerous and dangerous in elevating movement, avoid the deficiency that oil circuit pipeline is long.

Horizontally rotate the telescopic hydraulic cylinder (3-1-2) installed in multi-jointed mechanical telescopic arm outer case (3), pulley (3-1-4) is connected with the telescopic arm of first segment telescopic arm folding fork manipulator (4) and the earrings (4-5) of telescopic arm front lower place, (5-1) flange rotary axle, (3-1-1) gear wheel is meshing with the pinion of outrigger bracket lift cart, (3-1-2) telescopic hydraulic cylinder is connected with the earrings (4-5) below the sub-manipulator front end of first segment telescopic forklift, under the effect of hydraulic cylinder, telescopic arm and pulley (3-1-4) friction rolling are to realize Telescopic, (3-1-3) reinforcement is the intensity strengthening outer case.Form the Telescopic of first segment telescopic arm folding fork manipulator (4), (4-1) fork machinery hand cradle and (4-1-2) fork is fastened on (4-1-3) fork and moves on folding axle, fork moving slider 4-1-4) be connected with (4-4) fork mobile hydraulic cylinder, fork moving slider 4-1-4) groove be stuck on fork (4-1-2), under the effect of hydraulic cylinder, hydraulic stem, slide block and fork synchronizing moving, to reach the distance regulating fork, fork folding hydraulic cylinder (4-2) is connected with the earrings of fork machinery hand cradle (4-1), be connected with folding rocking arm (4-2-1) again, folding rocking arm (4-2-1) is connected on fork shifting axle (4-1-3), under the effect of fork folding hydraulic cylinder (4-2), folding rocking arm (4-2-1) rotates, fork shifting axle (4-1-3) and fork is driven to rotate, upwards folding is hiding to realize fork, holding hand (4-1-2) has two locating holes (4-3-4) being set with other different in nature manipulators fast, the telescopic arm that pulley (4-3) embraces clamping manipulator with the folding of second section telescopic arm is connected, the earrings (5-4) that clamping manipulator is embraced in telescopic hydraulic cylinder (4-3-1) and the folding of second section telescopic arm is connected, under the effect of first segment hydraulic cylinder in telescopic arm (4-3-1), realize the folding of second section telescopic arm embrace the flexible of clamping manipulator.

Embracing folder lifting hydraulic cylinder (5-1-1) is fixedly installed on the crossbeam of (5-1) slide rail crane (5-1), embrace folder lifting hydraulic cylinder (5-1-1) to take turns chain (5-1-2) with elevator chain and be connected, chain presss from both sides sliding rail frame (5-3) and is connected with embracing, clamping hydraulic cylinder (5-3-1) is installed on the centre of embracing folder sliding rail frame (5-3) up and down, be fixedly connected on sliding rail frame, holding hand folding motor (5-3-3) is fixed on the column support of holding hand (5-3-2), motor gear is connected with the gear mesh on holding hand rotating shaft, the earrings (5-4) of telescopic arm is connected with the telescopic hydraulic cylinder (4-3-1) of first segment telescopic arm, the lower and upper cross-member of slide rail crane (5-1) and telescopic arm clamping, be connected and fixed with telescopic arm earrings (5-5) again, holding hand (5-3-2) has two locating holes (5-3-4) being set with other different in nature manipulators fast, section three, telescopic arm rotates luffing and grabs and be installed on the folding of second section telescopic arm embrace in the telescopic arm of clamping manipulator by manipulator (6) and fire extinguisher (7) are built-in respectively.

(6-1) slide rail is provided with flexible slide block (6-1-1) and arm slide block (6-2), manipulator luffing hydraulic cylinder (6-2-2) is built in arm slide block (6-2), mechanical wrist (6-3) is built-in is provided with manipulator electric rotating machine (6-3-1), the axle sleeve hole that the hydraulic stem of manipulator clamping hydraulic cylinder (6-3-2) rotates supporting plate (6-3-4) through manipulator is connected with mechanical wrist (6-3) and manipulator, the gear (6-3-3) that manipulator rotates on supporting plate (6-34) axle sleeve is connected with the gear mesh on electric rotating machine (6-3-1), screw mandrel (6-4) is built in slide rail (6-1) centre bore, lead screw motor (6-4-1) is connected with screw mandrel slide block (6-4-2) and screw mandrel, motor (6-4-1) rotarily drives screw mandrel (6-4) rotation forces screw mandrel slide block (6-4-2) and arm slide block (6-2), manipulator luffing hydraulic cylinder (6-2-2) is built-in to be installed in arm slide block (6-2), mechanical wrist (6-3) is built-in is provided with manipulator electric rotating machine (6-3-1), manipulator clamping hydraulic cylinder (6-3-2), or manipulator rotates supporting plate (6-34) or manipulator (6-3-5) moves simultaneously, form Telescopic, holding hand (6-3-5) has two locating holes (6-3-6) being set with other different in nature manipulators fast, luffing hydraulic cylinder (6-2-2) is connected with the earrings below mechanical wrist (6-3), under the effect of luffing hydraulic cylinder (6-2-2), manipulator shape downward luffing in 90 ° rotates, be convenient to pick up ground object.

(7-1) high-voltaghe compartment, (7-1-1) nozzle connection.(7-2) connected positioning plate, (7-2-1) adjustable pipe, (7-2-2) adjusting angle steel wire, (7-2-3) adjusting angle spring, (7-2-4) flexible pipe, (7-3) electromagnetic switch.

In the telescopic arm of first segment telescopic arm folding fork manipulator (4), telescopic hydraulic cylinder (4-3-1), pulley (4-3) are installed in empty van body, the earrings (5-9) of telescopic arm and telescopic arm front lower place that clamping manipulator (5) is embraced in telescopic hydraulic cylinder (4-3-1) and pulley (4-3) and the folding of second section telescopic arm is connected, fork manipulator (4-1-2) has the locating holes (5-3-4) of two quick other different in nature manipulators of suit, manipulator (6) and fire extinguisher (7) is built-in is installed in second section telescopic arm (5) casing.Not only material is thus formed one complete have multi-stage telescopic arms manipulator and but also have more piece and the Multifunctional rotary telescopic arm manipulator of fire fighting function.

According to claim 1; It is characterized in that told first segment telescopic arm folding fork manipulator (4), clamping manipulator (5) is embraced in the folding of second section telescopic arm, Section of three telescopic arm rotate the manipulator that luffing each manipulator of grabbing by manipulator (6) can be set with other difformity functions fast, because each mechanical finger nurse has 2 the connection positioning lock tieholen (4-1-5) of other special-shaped manipulators of suit or (5-3-4) or (6-3-6) fast.

According to claim 1; It is characterized in that tell (4) or (5) or (6), often saving manipulator can the different job task of complete independently, there is again the function of the different work task that cooperatively interacted simultaneously, it is characterized in that tell (4) and (5) or (6) when cooperatively interacting, (5) or (6) can become the manipulator of angle of rake push-and-pull object, it is characterized in that when telling (6) fire-fighting fire extinguishing job mix with (7), (6) fire hydrant that can clamp (7) carries out multi-angle rotary extinguishing operation.

According to claim 1; It is characterized in that told invention Multifunction mechanical arm and manipulator tool have the following advantages;

1) Multifunction electric hydaulic machine people of the present invention, the function of each joint telescopic arm gripper of manipulator picking thing is not identical, and Multifunction electric hydaulic machine of the present invention enters single-piece and the pallet handling of the various Bale Cargos that just can meet industry-by-industry when assisting without any need for manpower, carrying, stacking operation needs, not only can be agriculture by hand, and can also be used for national defense and military, government enforces the law, and removes mines for clearance, anti-terrorism is enforced the law, explosive explosion-proof, environmental monitoring, the disaster relief is removed obstacles, poisonous and harmful industry, the dangerous operation of to build roads and bridges etc., and meet when without any need for when manpower for handling, carrying, stacking operation can also improve the utilization rate in place and space while requiring to require with productive temp, reduce the cost reducing pallet and shelf, and saving the human resources of about 80% and the expenditure of artificial labour cost, Multifunction electric hydaulic machine people of the present invention is that function is most advanced at most in the world at present, practicality is the strongest, contain industry face the widest, there is again the novel hydraulic machine people of fire fighting function.

2) multifunctional mechanical arm hand can realize vertical lift, left and right sides to the anglec of rotation can reach 180 °, can arbitrarily angled crawl object in 180 °, multi-stage telescopic arms can capture and unload goods putting thing at a distance.Rising can enter in floor door and window workshop remote fast entrucking on freight handling to ground, which offers a saving a large amount of manpower handcart to be transported goods by elevator the link of entrucking, save the expenditure of a large amount of time and manpower service charge, turn improve operating efficiency simultaneously.

3) particularly can carry out transport operation equally not by the restriction of environmental factor in long and narrow passage to the tubulose goods reaching 6-10 rice, mechanical arm side direction half-twist just can get long steel pipe transporting and transhipment operation at the passage fork of 2 meters.

3) when not needing to change the outfit any other handling accessory, just can carry out size goods, soft hard packaging single object vanning, entrucking and unload and concentrate on the stacking operation of pallet carrying, single good,

4) harbour will be comprised to raising further, station, harbour, airport, storage, goods yard, factory floor, storehouse, logistics center, home-delivery center, considerable operating efficiency and economic benefit are brought in large-scale sales fields etc., and the radius of turn of this novel robot is little, mechanical arm has again the function of side direction swing fork picking thing, do not need pallet just can carry out high-altitude pile entrucking to single good to unload, so very high to the utilization rate in storage place and space, because the manipulator of this novel robot (4) or (5) or (6) can realize single-piece handling size goods being gone out to warehouse-in, carry in pallet, the operations such as high-altitude pile, and cabin can be entered, handling goods in container, this novel robot just can with embracing clamping manipulator (5), or with grab by manipulator (6) single good and Soft Roll goods clamping concentrate be put on pallet, then manipulator (5) or (6) are folded in mechanical arm, the fork of the pallet fork manipulator (4) be folded in crotch is put down, pitch and get pallet, realize fast removal operation in pallet, so not only eliminate other handling facilities must manpower and hanging device deficiency cargo transfer to pallet just being carried out transport operation.

5) this novel hydraulic machine people has fire fighting function device, for industry-by-industry provides safety guarantee in process of production, occur if any fire alarm, just can carry out fire fighting and rescue fast timely to reduce the loss, particularly fire-fighting guarantee be provided to the safety in production of logistic storage and workshop and storehouse.

Can also be engaged under remote pilot and comprise; The clearance removal of mines, anti-terrorism law enforcement, explosive anti-riot, the disaster relief are got rid of the danger and are removed obstacles, build roads and bridges and the dangerous operation task of the industry such as poisonous and harmful.

This electric hydraulic pressure transfer robot not only overcomes the deficiency of other handling facilities simple functions, while increase function, again reduce cost, simplify the structure, be easy to manufacture, safe and reliable, energy-conserving and environment-protective, convenient operation.

Accompanying drawing explanation;

Accompanying drawing 1-1 is chassis ridgepole balance weight axle structure schematic diagram of the present invention

Accompanying drawing 1-2 is chassis ridgepole balance weight vehicle bridge crane structure of the present invention combination schematic diagram

Accompanying drawing 1-3 is grooved balance weight block schematic illustration of the present invention

Accompanying drawing 2-1 is that the present invention hangs outrigger bracket lift cart parametric controller textural association schematic diagram.

Accompanying drawing 2-2 is that the present invention hangs outrigger bracket lift cart textural association schematic diagram

Accompanying drawing 3 is that the present invention horizontally rotates multi-jointed mechanical telescopic arm outer case textural association schematic diagram

Accompanying drawing 4 is first segment telescopic arm folding fork robot manipulator structure of the present invention combination schematic diagrames

Accompanying drawing 5 is that clamping manipulator textural association schematic diagram is embraced in second section telescopic arm of the present invention folding

Accompanying drawing 6-1 is that the present invention's Section of three telescopic arm rotation luffing is grabbed by robot manipulator structure combination schematic diagram

Accompanying drawing 6-2 manipulator stretches schematic diagram

Accompanying drawing 7 is this novel robot fire extinguisher schematic diagrames

Accompanying drawing 8-1 is this Multifunction electric hydaulic machine people general assembly front view

Accompanying drawing 8-2 is general assembly three-view diagram

Accompanying drawing 9-1 is flexible schematic perspective view

Accompanying drawing 9-2 is flexible front view

Accompanying drawing 9-3 is flexible top view

Accompanying drawing 9-4 is dilatation schematic diagram

Note; Accompanying drawing 9-2 is flexible front view

(1) crossbeam balance weight vehicle bridge, (2) hang outrigger bracket lift cart parametric controller, (3) horizontally rotate multi-jointed mechanical telescopic arm outer case, (4) first segment telescopic arm folding fork manipulator, clamping manipulator is embraced in the folding of (5) second section telescopic arm, (6) the 3rd sections telescopic arms rotation luffings are grabbed by manipulator, (1-3) grooved balance weight framework, (1-4) telescopic outrigger, (2-2) battery, (2-2-1) hydraulic pressure bag.

Note; A front view, B top view, C left view, D stereogram

Detailed description of the invention;

Below in conjunction with accompanying drawing, the invention will be further described.Embodiment all makes of steel.

Embodiment 1, see Fig. 1-1, Fig. 1-1 of this example is the structural representation of chassis ridgepole balance weight vehicle bridge (1), H crossbeam both sides have and are connected with outer mast (1-1) A located, B pile crown, a landing leg stretching hole C is had at crossbeam balance weight vehicle bridge dual-side, supporting leg (1-4) is installed, crossbeam vehicle bridge front end has the groove (1-6) installing front wheel driving wheel shaft and hydraulic steering cylinder, crossbeam balance weight vehicle bridge is latter half of has the screw D that four connect grooved balance weight framework (1-3), crossbeam balance weight vehicle bridge rear end has the groove (1-5) installing live axle and bearing block.

Embodiment 2, Fig. 1-2,1-3 are the combination assumption diagrams of chassis ridgepole balance weight vehicle bridge crane,

Figure, (1-3) be grooved balance weight framework, (1-3-3) be earrings that grooved balance weight framework is connected with outer mast, grooved balance weight framework (1-3) bottom has four screws to be connected with crossbeam balance weight vehicle bridge screw D, material is thus formed a underslung pair of balance weight protection, ensure that telescopic machine mechanical arm hand to the left and right rotary operation time can not turn on one's side, (1-2-1) inner upright mounting lifting hydraulic cylinder is arranged in the groove before balance weight framework, be connected with inner upright mounting napex crossbeam, under inner upright mounting, connecting cross beam (1-2-2) installs outrigger bracket lift cart lifting hydraulic cylinder (1-2-3) above, (1-4 is connected with a legs and feet hydraulic cylinder (1-4-1) telescopic outrigger, landing leg stretching completes flexible by the Driven by Hydraulic Cylinder that landing leg stretching arm is built-in, or also can realize Telescopic with screw mandrel and motor.

Embodiment 3, Fig. 2-1, Fig. 2-2, be hang double H-type outrigger bracket lift cart parametric controller combination assumption diagram,

Figure; (2-1) lifter slide is connected with outrigger bracket (2-1-2), bearing block (2-1-3), hydraulic pressure rack cylinder (2-1-4), pinion (2-1-5), (2-2) battery and (2-2-1) hydraulic pressure bag be installed on parametric controller afterbody, to ensure the balance and stability of outrigger bracket (2-3) elevating control platform and multi-stage telescopic arms, (2-3-2) be instrument board, (2-3-1) be that integrated electric control system button is installed concentratedly on steering wheel, contribute to operating personnel easy to operate.

Embodiment 4, Fig. 3; Horizontally rotate multi-jointed mechanical telescopic arm outer case combination assumption diagram,

Figure; (3-1) flange rotary axle, (3-1-1) gear wheel are that, (3-1-2) telescopic hydraulic cylinder meshing with the pinion of outrigger bracket lift cart is connected, under the effect of hydraulic cylinder with the earrings (4-5) below the sub-manipulator front end of first segment telescopic forklift, telescopic arm and pulley (3-1-4) friction rolling are to realize Telescopic, and (3-1-3) reinforcement is the intensity strengthening outer case.

Embodiment 5, Fig. 4; First segment telescopic arm folding fork manipulator combination assumption diagram,

Figure: (4-1) fork machinery hand cradle and (4-1-2) fork is fastened on that (4-1-3) fork moves on folding axle, fork moving slider 4-1-4) be connected with (4-4) fork mobile hydraulic cylinder.Fork moving slider 4-1-4) groove be stuck on fork (4-1-2), under the effect of hydraulic cylinder, hydraulic stem, slide block and fork synchronizing moving, to reach the distance regulating fork, fork folding hydraulic cylinder (4-2) is connected with the earrings of fork machinery hand cradle (4-1), be connected with folding rocking arm (4-2-1) again, folding rocking arm (4-2-1) is connected on fork shifting axle (4-1-3), under the effect of fork folding hydraulic cylinder (4-2), folding rocking arm (4-2-1) rotates, fork shifting axle (4-1-3) and fork is driven to rotate, upwards folding is hiding to realize fork, holding hand (4-1-2) has two locating holes (4-3-4) being set with other different in nature manipulators fast, the telescopic arm that pulley (4-3) embraces clamping manipulator with the folding of second section telescopic arm is connected, the earrings (5-4) that clamping manipulator is embraced in telescopic hydraulic cylinder (4-3-1) and the folding of second section telescopic arm is connected, under the effect of first segment hydraulic cylinder in telescopic arm (4-3-1), realize the folding of second section telescopic arm embrace the flexible of clamping manipulator.

Embodiment 6, Fig. 5; Clamping manipulator combination assumption diagram is embraced in the folding of second section telescopic arm,

Figure, embracing folder lifting hydraulic cylinder (5-1-1) is fixedly installed on the crossbeam of (5-1) slide rail crane (5-1), embrace folder lifting hydraulic cylinder (5-1-1) to take turns chain (5-1-2) with elevator chain and be connected, chain presss from both sides sliding rail frame (5-3) and is connected with embracing, clamping hydraulic cylinder (5-3-1) is installed on the centre of embracing folder sliding rail frame (5-3) up and down, be fixedly connected on sliding rail frame, holding hand folding motor (5-3-3) is fixed on the column support of holding hand (5-3-2), motor gear is connected with the gear mesh on holding hand rotating shaft, the earrings (5-4) of telescopic arm is connected with the telescopic hydraulic cylinder (4-3-1) of first segment telescopic arm, the lower and upper cross-member of slide rail crane (5-1) and telescopic arm clamping, be connected and fixed with telescopic arm earrings (5-5) again, holding hand (5-3-2) has two locating holes (5-3-4) being set with other different in nature manipulators fast, section three, telescopic arm rotates luffing and grabs and be installed on the folding of second section telescopic arm embrace in the telescopic arm of clamping manipulator by manipulator (6) and fire extinguisher (7) are built-in respectively.

Embodiment 7, Fig. 6; Section three, telescopic arm rotates luffing and grabs by manipulator combination assumption diagram,

Figure, (6-1) slide rail is provided with flexible slide block (6-1-1) and arm slide block (6-2), manipulator luffing hydraulic cylinder (6-2-2) is built in arm slide block (6-2), mechanical wrist (6-3) is built-in is provided with manipulator electric rotating machine (6-3-1), the axle sleeve hole that the hydraulic stem of manipulator clamping hydraulic cylinder (6-3-2) rotates supporting plate (6-3-4) through manipulator is connected with mechanical wrist (6-3) and manipulator, the gear (6-3-3) that manipulator rotates on supporting plate (6-3-4) axle sleeve is connected with the gear mesh on electric rotating machine (6-3-1), screw mandrel (6-4) is built in slide rail (6-1) centre bore, lead screw motor (6-4-1) is connected with screw mandrel slide block (6-4-2) and screw mandrel, motor (6-4-1) rotarily drives screw mandrel (6-4) rotation forces screw mandrel slide block (6-4-2) and arm slide block (6-2), manipulator luffing hydraulic cylinder (6-2-2) is built-in to be installed in arm slide block (6-2), mechanical wrist (6-3) is built-in is provided with manipulator electric rotating machine (6-3-1), manipulator clamping hydraulic cylinder (6-3-2), or manipulator rotates supporting plate (6-3-4) or manipulator (6-3-5) moves simultaneously, form Telescopic, holding hand (6-3-5) has two locating holes (6-3-6) being set with other different in nature manipulators fast, luffing hydraulic cylinder (6-2-2) is connected with the earrings below mechanical wrist (6-3), under the effect of luffing hydraulic cylinder (6-2-2), manipulator shape downward luffing in 90 ° rotates, be convenient to pick up ground object.

Embodiment 8, Fig. 7 are this novel robot fire extinguisher schematic diagrames,

Figure (7-1) high-voltaghe compartment, (7-1-1) nozzle connection, (7-2) connected positioning plate, (7-2-1) adjustable pipe, (7-2-2) adjusting angle steel wire, (7-2-3) adjusting angle spring, (7-2-4) flexible pipe, (7-3) electromagnetic switch, this novel robot fire extinguisher opens valve with solenoid control, utilizes and regulate steel wire to regulate the angle of nozzle to expand fire extinguishing scope.

Claims (9)

1. a Multifunction electric hydaulic machine people, its feature comprises; Crossbeam balance weight vehicle bridge (1), hang outrigger bracket lift cart parametric controller (2), horizontally rotate multi-jointed mechanical telescopic arm outer case (3), first segment telescopic arm folding fork manipulator (4), clamping manipulator (5) is embraced in the folding of second section telescopic arm, section three, telescopic arm rotates luffing and grabs by manipulator (6), fire extinguisher (7), the utility model multifunctional motor-driven hydraulic robot be integrated.

2. according to claim 1, Multifunction electric hydaulic machine people, to it is characterized in that, what tell that crossbeam balance weight vehicle bridge (1) adopts is balance weight square steel and welded steel plate, outer mast (1-1) or inner upright mounting (1-2) are arranged on location, the H crossbeam both sides pile crown A of crossbeam balance weight vehicle bridge (1) respectively, on B point, what outer mast (1-1) and inner upright mounting (1-2) all adopted is U-steel structure, outer mast (1-1) has upper web beam, below with location pile crown A, B point rigid solder, inner upright mounting (1-2) has upper and lower web beam, the lower web beam (1-2-2) of inner upright mounting (1-2) is provided with the lifting hydraulic cylinder (1-2-3) promoting lift cart parametric controller (2), at the H crossbeam pile crown A of crossbeam balance weight vehicle bridge (1), a landing leg stretching hole C is had below B point, and a grooved balance weight framework (1-3) is installed on crossbeam balance weight vehicle bridge (1) is latter half of, have the locating hole D connecting balance weight framework (1-3), balance weight framework (1-3) is strengthened being fixedly connected with bolt with outer mast (1-1) with crossbeam balance weight vehicle bridge (1), a groove is had in balance weight framework (1-3) and outer mast junction, groove is used for placing inner upright mounting lifting hydraulic cylinder (1-2-1), balance weight framework (1-3) is built-in is provided with power source battery (1-3-1), hydraulic pressure bag (1-3-2), at the H crossbeam pile crown A of crossbeam balance weight vehicle bridge (1), built-in being provided with of the landing leg stretching hole C of B point strengthens balance telescopic outrigger (1-4), the legs and feet hydraulic cylinder (1-4-1) be connected with telescopic outrigger (1-4), the bearing groove (1-5) being connected and installed live axle is had in the rear end of crossbeam balance weight vehicle bridge (1), closed by pedestal base (1-5-1), front end has the groove (1-6) installing steering wheel shaft and hydraulic steering cylinder, oval recess (1-7), it is characterized in that (1) or (1-1) or (1-2), (1-2-1) or (1-3), (1-3-1), (1-3-2), or (1-4), (1-4-1) or (1-5), (1-5-1) or (1-6) or (1-7) be interconnected to Multifunction hydraulic robot chassis ridgepole balance weight vehicle bridge crane (1) be integrated.

3. according to claim 1, Multifunction electric hydaulic machine people, to it is characterized in that, institute tells and hangs outrigger bracket lift cart parametric controller (2), by the lifter slide (2-1) of pulley and double H-type outrigger bracket (2-1-2) operation control platform (2-1-3) rigid solder are housed, , parametric controller (2-1-3) is rectangular frame structure, , a slot is had in the middle part of parametric controller (2-1-3) floor, during outrigger bracket lift cart parametric controller (2) lifting, lifting door frame (1-2) or (1-3) from then on hole is passed and is not interfered, parametric controller (2-3) rear end is provided with power source battery (2-2), hydraulic pressure bag (2-2-1), battery (2-2), hydraulic pressure bag (2-2-1) is arranged on afterbody and plays balance weight, so just form a bridge-type balance weight mechanism, to keep the balance of cantilever bracket dolly operating platform (2), parametric controller (2-3) front end is provided with hydraulic shock-absorption seat, hand brake lever, service brake pedal, travelling control bar, electrodeless variable-speed pedal, integrated electric control system push-button dish (2-3-1), the center H crossbeam of the upper and lower bracket of double H-type outrigger (2-1-2) is respectively provided with the bearing block (2-1-3) that a connection horizontally rotates mechanical-stretching arm outer case (3) flange rotary axle (3-1), a hydraulic pressure rack cylinder (2-1-4) is installed with below the upper right outrigger of H type outrigger bracket (2-1-2), rotary pinion (2-1-5), hydraulic pressure rack cylinder (2-1-4) is connected with rotary pinion (2-1-5) is meshing, suspension outrigger bracket lift cart parametric controller (2) becoming to be integrated.

4. according to claim 1; Multifunction electric hydaulic machine people, to it is characterized in that; Institute tells and horizontally rotates multi-jointed mechanical telescopic arm outer case (3), be by rotary extension arm outer case (3), flange rotary axle (3-1), rotate that gear wheel (3-1-1) connects to form, the telescopic hydraulic cylinder (3-1-2) of the built-in installation in outer case (3) the interior lower right corner, built-in reinforcement (3-1-3), corner is built-in to be provided with pulley (3-1-4) and to connect to form and horizontally rotate multi-jointed mechanical telescopic arm outer case (3).

5. according to claim 1, Multifunction electric hydaulic machine people, to it is characterized in that, first segment telescopic arm folding fork manipulator (4) of telling, the interior empty van body lower right corner of telescopic arm (4) is built-in is provided with telescopic hydraulic cylinder (4-3-1), corner is built-in is provided with pulley (4-3), there is a telescopic hydraulic cylinder connecting lug (4-5) the front lower end of telescopic arm (4), arm, frame connecting lug (4-6), front end is connected and installed with fork machinery hand cradle (4-1), fork (4-1-2), fork (4-1-2) there are two locating holes (4-1-5) being set with other different in nature manipulators fast, the fork manipulator with folding can be moved, be connected with mobile hydraulic cylinder slide block (4-1-4) by fork mobile hydraulic cylinder (4-4), fork folding hydraulic cylinder (4-2), folding rocking arm (4-2-1) is connected implementation with fork shifting axle (4-1-3) and moves back and forth and folding, composition first segment telescopic arm folding fork manipulator (4).

6. according to claim 1, Multifunction electric hydaulic machine people, to it is characterized in that, clamping manipulator (5) is embraced in second section telescopic arm folding of telling, in the middle of in the interior empty van body of telescopic arm (5), manipulator (6) is installed, two fire extinguishers (7) are arranged on the both sides of manipulator (6), the front end of second section telescopic arm (5) is provided with the sliding-rail sliding crane (5-1) promoting and embrace clamping manipulator frame (5-3), sliding-rail sliding crane (5-1) and the crossbeam of second section telescopic arm (5) casing phase clamping are provided with two to embrace and press from both sides lifting hydraulic cylinder (5-1-1), lifting chain and sprocket wheel (5-1-2), embrace folder clamping slide rail to be connected with the slide block of slide block link (5-3) with crane (5-1), embrace on folder crane and clamping hydraulic cylinder (5-3-1) is installed, holding hand folding motor (5-3-3), holding hand (5-3-2), quick suit hole (5-3-4), holding hand folding motor (5-3-3), telescoping cylinder connecting lug (5-4), arm, frame connecting lug (5-5), clamping manipulator (5) is embraced in the second section telescopic arm folding connecting to form fire fighting function.

7. according to claim 1, Multifunction electric hydaulic machine people, it is characterized in that telling, section three, it is by slide rail (6-1) that telescopic arm rotates the telescopic arm structure that luffing grabs by manipulator (6), slide block (6-1-1) arm slide block (6-2), screw mandrel (6-4), lead screw motor (6-4-1), screw mandrel slide block (6-4-2), mechanical wrist (6-3), manipulator clamping hydraulic cylinder (6-3-2), manipulator electric rotating machine (6-3-1), manipulator angle luffing hydraulic cylinder (6-2-2), manipulator rotates supporting plate (6-3-4), manipulator (6-3-5) connects to form, the hole (6-3-6) of other different in nature manipulators of suit is fast had on manipulator clamping refers to, the folding of second section telescopic arm embraces that clamping manipulator (5) is built-in to be installed in second section telescopic arm casing (5), be formed at flexible, multi-angle luffing rotates, grab by the multifunction manipulator be integrated (6).

8. according to claim 1; Multifunction electric hydaulic machine people; It is characterized in that described 2 and 3 connect to form elevating function, 2 and 3 or 4 connect to form spinfunction, 3 and 4 or 5 or 6 or 7 manipulators connecting to form multi-joint telescoping function.

9. the present invention is collection liftable dolly parametric controller, horizontally rotates hydraulic telescopic arm, horizontal extension hydraulic press mechanical arm, and clamping manipulator embraced by hydraulic pressure folding fork manipulator, hydraulic pressure folding, multi-angle luffing rotating hydraulic is grabbed by manipulator and the Multifunction electric hydaulic machine people having again fire-extinguishing function concurrently device.