CN213532632U - Mechanical, electric and hydraulic integrated manipulator - Google Patents
Mechanical, electric and hydraulic integrated manipulator Download PDFInfo
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- CN213532632U CN213532632U CN202022329414.2U CN202022329414U CN213532632U CN 213532632 U CN213532632 U CN 213532632U CN 202022329414 U CN202022329414 U CN 202022329414U CN 213532632 U CN213532632 U CN 213532632U
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Abstract
The utility model discloses a mechanical, electricity, liquid integration manipulator, include: the hydraulic manipulator comprises a chassis, a support column, a first mechanical arm, a first hydraulic oil cylinder, a second mechanical arm, a second hydraulic oil cylinder and a paw assembly; a plurality of control valves, its structure includes: the steering engine shaft head is driven to rotate by the rotation of the steering engine shaft head; the pipelines of the oil inlet pipe and the oil outlet pipe of the first hydraulic oil cylinder and the second hydraulic oil cylinder are respectively provided with a control valve; the first sensor and the second sensor are respectively arranged on the first hydraulic oil cylinder and the second hydraulic oil cylinder; and the controller is electrically connected with the first sensor, the second sensor and all the steering engines respectively. The utility model discloses a hydraulic cylinder and the hybrid drive of motor can exert hydraulic pressure and exert oneself big advantage, can reduce the volume and the load of claw again, and control is nimble and the precision is high.
Description
Technical Field
The utility model relates to a coal-winning machine hand technical field especially relates to a machine, electricity, liquid integration manipulator.
Background
The existing underground coal mining mainly depends on manual operation of coal miners, the efficiency is low, the labor intensity is high, and the coal miners work in a humid and dust-filled severe environment for a long time and work under high load, so that the health of the coal miners is seriously influenced, and even the coal miners are in danger of life.
SUMMERY OF THE UTILITY MODEL
An embodiment of the utility model provides a mechanical, electricity, liquid integration manipulator to solve present coal mining in the pit and mainly rely on the workman manual operation, inefficiency, intensity of labour is big, dangerous high problem.
The utility model provides a mechanical, electricity, liquid integration manipulator which characterized in that includes: the hydraulic manipulator comprises a chassis, a support column, a first mechanical arm, a first hydraulic oil cylinder, a second mechanical arm, a second hydraulic oil cylinder and a paw assembly, wherein one end of the support column is rotatably arranged on the chassis; one end of the first mechanical arm is connected with the other end of the support column through a first pin shaft, the cylinder end of the first hydraulic oil cylinder is connected with the side wall of the support column through a shaft, the piston rod end of the first hydraulic oil cylinder is connected with the first mechanical arm, and the first hydraulic oil cylinder drives the first mechanical arm to rotate around the first pin shaft; one end of the second mechanical arm is connected with the other end of the first mechanical arm through a second pin shaft, the cylinder end of the second hydraulic cylinder is connected with the first mechanical arm through a shaft, the piston rod end of the second hydraulic cylinder is connected with one end of the second mechanical arm, and the second hydraulic cylinder drives the second mechanical arm to rotate around the second pin shaft; the paw components are arranged at two ends of the connecting rod, and the other end of the second mechanical arm is rotatably connected with the middle part of the connecting rod; a plurality of control valves, its structure includes: the steering engine shaft head is driven to rotate by the rotation of the steering engine shaft head; the pipelines of the oil inlet pipe and the oil outlet pipe of the first hydraulic oil cylinder and the second hydraulic oil cylinder are respectively provided with a control valve; the first sensor and the second sensor are respectively arranged on the first hydraulic oil cylinder and the second hydraulic oil cylinder; and the controller is electrically connected with the first sensor, the second sensor and all the steering engines respectively.
Further, still include: a hydraulic motor, a first gear and a second gear; the first gear and the second gear are positioned on the chassis, the first gear is sleeved on the output end of the hydraulic motor and meshed with the second gear, and one end of the supporting column is arranged on the second gear; the pipelines of the oil inlet pipe and the oil outlet pipe of the hydraulic motor are respectively provided with a control valve; the third gear is positioned on the chassis and meshed with the second gear, and the encoder is arranged on the third gear; the encoder is electrically connected with the controller.
Further, the gripper assembly comprises: the third hydraulic oil cylinder, the transmission rack, the two fourth gears, the two third rotating shafts and the two claw parts; the piston rod end of the third hydraulic oil cylinder is connected with one end of the transmission rack, two opposite side faces of the transmission rack are respectively provided with a tooth part, two fourth gears are symmetrically arranged on two sides of the transmission rack, each fourth gear is meshed with the tooth part on one corresponding side of the transmission rack, each third rotating shaft penetrates through each fourth gear, two ends of each third rotating shaft are connected with two side walls of one end of each claw part, and the two claw parts are oppositely arranged; the pipelines of the oil inlet pipe and the oil outlet pipe of the third hydraulic oil cylinder are respectively provided with a control valve and a pressure sensor, and the two pressure sensors are respectively electrically connected with the controller.
The mechanical, electrical and hydraulic integrated manipulator provided by the embodiment of the utility model has the advantages that the components can rotate in multiple dimensions, so that the state of the device can be adjusted according to actual needs, and pipe fittings can be carried more efficiently; and because the hybrid power drive of hydraulic cylinder and motor is adopted, the rotation of chassis and arm is driven through hydraulic motor and hydraulic cylinder, the action of claw portion is driven through the motor, the advantage that hydraulic pressure is exerted greatly can be exerted, the volume and the load of claw portion can be reduced, and the control is flexible and the precision is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of a mechanical, electrical and hydraulic integrated manipulator according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a control valve according to a preferred embodiment of the present invention;
fig. 3 is a schematic view of a connection structure of a chassis and a support column of the mechanical, electrical, hydraulic integrated manipulator according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a gripper assembly of a mechanical, electrical, hydraulic integrated manipulator according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The embodiment of the utility model discloses machinery, electricity, liquid integration manipulator. As shown in fig. 1 and 2, the mechanical, electrical, and hydraulic integrated robot includes: the hydraulic control system comprises a chassis 1, a support column 2, a first mechanical arm 3, a first hydraulic oil cylinder 4, a second mechanical arm 5, a second hydraulic oil cylinder 6, a gripper assembly 7, a plurality of control valves 9, a first sensor, a second sensor and a controller.
One end of the support column 2 is rotatably provided on the base plate 1 so that the support column 2 can rotate about the central axis of the support column 2. It should be understood that the central axis of the support column 2 is an axis extending along the length of the support column 2.
One end of the first mechanical arm 3 is connected with the other end of the support column 2 through a first pin shaft. The cylinder end of the first hydraulic cylinder 4 is connected with the side wall of the support column 2 by a shaft. The piston rod end of the first hydraulic oil cylinder 4 is connected with the first mechanical arm 3. It should be understood that the connection position of the rod end of the first hydraulic cylinder 4 and the first robot arm 3 may be set according to a desired rotation angle range of the first robot arm 3, a selection of types of the first robot arm 3, and the like. In a preferred embodiment of the present invention, the first arm 3 is a polygonal line, and the rod end of the first hydraulic cylinder 4 is connected to the middle of the first arm 3. The first hydraulic oil cylinder 4 drives the first mechanical arm 3 to rotate around the first pin shaft.
One end of the second mechanical arm 5 is connected with the other end of the first mechanical arm 3 through a second pin shaft. The cylinder end of the second hydraulic cylinder 6 is coupled to the first arm 3. It should be understood that the connection position of the cylinder end of the second hydraulic cylinder 6 to the first robot arm 3 may be set according to the desired rotation angle range of the second robot arm 5, the type of the first robot arm 3, and the like. In a preferred embodiment of the present invention, the first arm 3 is a polygonal line, and the cylinder end of the second hydraulic cylinder 6 is connected to the middle portion of the first arm 3. The piston rod end of the second hydraulic cylinder 6 is connected with one end of the second mechanical arm 5. And the second hydraulic oil cylinder 6 drives the second mechanical arm 5 to rotate around a second pin shaft. The paw assembly 7 is arranged at two ends of the connecting rod 8, and the other end of the second mechanical arm 5 is rotatably connected with the middle of the connecting rod 8. The gripper assemblies 7 are used for gripping an object, and preferably, the number of the gripper assemblies 7 is two. The rotational connection of the connecting rod 8 to the second robot arm 5 in the embodiment is prior art.
The structure of the control valve 9 includes: the steering engine comprises a steering engine 91, a valve 92 and a connecting piece 93, wherein two ends of the connecting piece 93 are fixedly connected with a steering engine shaft head and a valve swivel respectively, and the rotation of the steering engine shaft head drives the rotation of the valve swivel; the pipelines of the oil inlet pipe and the oil outlet pipe of the first hydraulic oil cylinder 4 and the second hydraulic oil cylinder 6 are respectively provided with a control valve 9, in particular a valve 92 connected on the pipelines. The structure of the connecting member 93 is similar to a shaft coupling.
The first sensor and the second sensor are respectively arranged on the first hydraulic oil cylinder 4 and the second hydraulic oil cylinder 6; the controller is electrically connected to the first sensor, the second sensor, and all the steering engines 91, respectively. The first sensor and the second sensor are preferably pull wire sensors.
In the above embodiment, the first sensor detects the extending and retracting stroke of the piston rod of the first hydraulic oil cylinder 4, so as to determine the lifting and falling positions of the first mechanical arm 3, data detected by the first sensor is transmitted to the controller, the controller sends control instructions to the two control valves 9 on the oil inlet pipe and the oil outlet pipe of the first hydraulic oil cylinder 4, the opening degree of a valve connected with the steering engine is controlled by controlling the rotation of the steering engine, the extending and retracting positions and speeds of the piston rod of the first hydraulic oil cylinder 4 are controlled, and the lifting and falling positions and speeds of the first mechanical arm 3 are controlled. Similarly, the stroke that the piston rod of the second hydraulic cylinder 6 stretches out and withdraws is detected by the second sensor, so that the lifting and falling positions of the second mechanical arm 5 are determined, data detected by the second sensor are transmitted to the controller, the controller sends control instructions to the two control valves 9 on the oil inlet pipe and the oil outlet pipe of the second hydraulic cylinder 6, the opening degree of a valve connected with the steering engine is controlled by controlling the rotation of the steering engine, the stretching and withdrawing positions and speeds of the piston rod of the second hydraulic cylinder 6 are controlled, and the lifting and falling positions and speeds of the second mechanical arm 5 are controlled. The transmission of data and the transmission of commands between the controller and the first sensor, the second sensor and all the steering engines 91 are prior art.
Preferably, as shown in fig. 3, the mechanical, electrical, and hydraulic integrated robot further includes: a hydraulic motor 10, a first gear 11, a second gear 12, and a third gear 13, and an encoder 14. The first gear 11 and the second gear 12 are positioned on the chassis 1; a first gear 11 is sleeved on the output end of the hydraulic motor 10; the first gear 11 is meshed with the second gear 12; the pipelines of the oil inlet pipe and the oil outlet pipe of the hydraulic motor 10 are respectively provided with a control valve 9. The third gear 13 is located on the chassis 1, and in particular, is coupled to the upper surface of the chassis 1. The third gear 13 is meshed with the second gear 12; an encoder 14 is arranged on the third gear 13; the encoder 14 is electrically connected to the controller.
Functionally, the first gear 11 is a driving wheel, and the second gear 12 is a driven wheel. One end of the support column 2 is disposed on the second gear 12. In a preferred embodiment of the present invention, the hydraulic motor 10 can be used in conjunction with a speed reducer, so that a large torque can be obtained with a small profile.
The hydraulic motor 10 is started to drive the first gear 11 to rotate, the first gear 11 drives the second gear 12 to rotate, and the second gear 12 drives the support post 2 to rotate. Preferably, the hydraulic motor 10 allows the support column 2 to rotate in forward and reverse directions by 180 degrees.
Through the structural design, when the second gear 12 rotates, the third gear 13 can be driven to rotate, and the encoder 14 on the third gear 13 can acquire the rotating angle and direction of the third gear 13 so as to obtain the rotating angle and direction of the second gear 12, so that the rotating angle and direction of the supporting column 2 can be accurately obtained, the rotating speed and direction of the hydraulic motor 10 can be controlled, the rotating angle and direction of the supporting column 2 can be controlled finally, and the position of the gripper assembly 7 can be adjusted more accurately.
In the above embodiment, the encoder 14 detects the left-turn angle and the right-turn angle of the hydraulic motor 10 to determine the position of the chassis 1, the data detected by the encoder 14 is transmitted to the controller, the controller sends control instructions to the two control valves 9 on the oil inlet pipe and the oil outlet pipe of the hydraulic motor, and the opening of the valve connected with the steering engine is controlled by controlling the rotation of the steering engine, so that the left-turn position and the right-turn position and the speed of the hydraulic motor are controlled, and the left-turn position and the right-turn position and the speed of the hydraulic motor are controlled.
Preferably, as shown in fig. 4, the gripper assembly 7 comprises: a third hydraulic cylinder 71, a transmission rack 72, two fourth gears 73, two third rotating shafts and two claw parts 74. The rod end of the third hydraulic cylinder 71 is connected to one end of a drive rack 72. An opposite side of the drive rack 72 has teeth. The two fourth gears 73 are symmetrically disposed on two sides of the driving rack 72, and each fourth gear 73 is engaged with the tooth portion on the corresponding side of the driving rack 72. Each third rotating shaft passes through each fourth gear 73, and both ends of each third rotating shaft are connected to both sidewalls of one end of each claw portion 74. The two claw portions 74 are disposed opposite to each other. The pipelines of the oil inlet pipe and the oil outlet pipe of the third hydraulic oil cylinder 71 are respectively provided with a control valve 9 and a pressure sensor, and the two pressure sensors are respectively electrically connected with the controller.
In the above embodiment, the third hydraulic cylinder 71 is started, the third hydraulic cylinder 71 pushes the transmission rack 72 to move, the transmission rack 72 drives the two fourth gears 73 to synchronously rotate, the two fourth gears 73 respectively drive the two third rotating shafts to synchronously rotate, and the two third rotating shafts respectively drive the two claw parts 74 to open or close, so as to complete coal mining. Specifically, with reference to the orientation of FIG. 4, as the drive rack 72 moves downward, the two claw portions 74 open; when the drive rack 72 is moved upward, the two claw portions 74 are closed.
In the above embodiment, two pressure sensors detect the pressure of the oil inlet and outlet pipe of the third hydraulic cylinder 71, thereby determining the contact condition between the claw part 74 and the gripped member, the data detected by the pressure sensors is transmitted to the controller, the controller sends out control instructions to the two control valves 9 on the oil inlet pipe and the oil outlet pipe of the third hydraulic cylinder 71, the control of the opening degree of the valve connected with the steering engine is realized by controlling the rotation of the steering engine, thereby controlling the position and the speed of clamping and loosening of the claw part 74, realizing the position and the speed control of clamping and loosening of the claw part 74, so as to realize the gripping of gripped members with different sizes and different materials, and the surface of the gripped members cannot be damaged.
To sum up, the utility model discloses a machine, electricity, liquid integration manipulator, the digital pulse signal that controllers such as steering wheel can direct reception computer or Programmable Logic Controller (PLC) sent, the steering wheel rotates corresponding valve aperture, two steering wheels control hydraulic motor or hydraulic cylinder respectively advance, go out the oil circuit flow, thereby control hydraulic cylinder, hydraulic motor's motion, simultaneously with information feedback such as speed and position to computer or Programmable Logic Controller (PLC) through various sensors, the speed closed loop and the position closed loop of automatically regulated have been constituted, thereby with the rotational speed and the corner one-to-one of hydraulic cylinder's speed and displacement accuracy and steering wheel. The manual loading and unloading operation can be replaced, and the defects of manual tooling and unloading are overcome; the electric and hydraulic driving hybrid power mechanical device has the advantages that hydraulic force is large, the size and the load of the claw part are reduced, control is flexible, and meanwhile, the electric control liquid is used.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (3)
1. The utility model provides a mechanical, electricity, liquid integration manipulator which characterized in that includes:
the hydraulic manipulator comprises a chassis, a support column, a first mechanical arm, a first hydraulic oil cylinder, a second mechanical arm, a second hydraulic oil cylinder and a paw assembly, wherein one end of the support column is rotatably arranged on the chassis; one end of the first mechanical arm is connected with the other end of the support column through a first pin shaft, the cylinder end of the first hydraulic oil cylinder is connected with the side wall of the support column through a shaft, the piston rod end of the first hydraulic oil cylinder is connected with the first mechanical arm, and the first hydraulic oil cylinder drives the first mechanical arm to rotate around the first pin shaft; one end of the second mechanical arm is connected with the other end of the first mechanical arm through a second pin shaft, the cylinder end of the second hydraulic cylinder is connected with the first mechanical arm through a shaft, the piston rod end of the second hydraulic cylinder is connected with one end of the second mechanical arm, and the second hydraulic cylinder drives the second mechanical arm to rotate around the second pin shaft; the paw components are arranged at two ends of the connecting rod, and the other end of the second mechanical arm is rotatably connected with the middle part of the connecting rod;
a plurality of control valves, its structure includes: the steering engine shaft head is driven to rotate by the rotation of the steering engine shaft head; the pipelines of the oil inlet pipe and the oil outlet pipe of the first hydraulic oil cylinder and the second hydraulic oil cylinder are respectively provided with a control valve;
the first sensor and the second sensor are respectively arranged on the first hydraulic oil cylinder and the second hydraulic oil cylinder;
and the controller is electrically connected with the first sensor, the second sensor and all the steering engines respectively.
2. The mechanical, electrical and hydraulic integrated manipulator according to claim 1, further comprising:
a hydraulic motor, a first gear and a second gear; the first gear and the second gear are positioned on the chassis, the first gear is sleeved on the output end of the hydraulic motor and meshed with the second gear, and one end of the supporting column is arranged on the second gear; the pipelines of the oil inlet pipe and the oil outlet pipe of the hydraulic motor are respectively provided with a control valve;
the third gear is positioned on the chassis and meshed with the second gear, and the encoder is arranged on the third gear; the encoder is electrically connected with the controller.
3. The mechanical, electrical and hydraulic integrated manipulator according to claim 1, wherein the gripper assembly comprises:
the third hydraulic oil cylinder, the transmission rack, the two fourth gears, the two third rotating shafts and the two claw parts; the piston rod end of the third hydraulic oil cylinder is connected with one end of the transmission rack, two opposite side faces of the transmission rack are respectively provided with a tooth part, two fourth gears are symmetrically arranged on two sides of the transmission rack, each fourth gear is meshed with the tooth part on one corresponding side of the transmission rack, each third rotating shaft penetrates through each fourth gear, two ends of each third rotating shaft are connected with two side walls of one end of each claw part, and the two claw parts are oppositely arranged;
the pipelines of the oil inlet pipe and the oil outlet pipe of the third hydraulic oil cylinder are respectively provided with a control valve and a pressure sensor, and the two pressure sensors are respectively electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022329414.2U CN213532632U (en) | 2020-10-19 | 2020-10-19 | Mechanical, electric and hydraulic integrated manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022329414.2U CN213532632U (en) | 2020-10-19 | 2020-10-19 | Mechanical, electric and hydraulic integrated manipulator |
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| CN213532632U true CN213532632U (en) | 2021-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022329414.2U Active CN213532632U (en) | 2020-10-19 | 2020-10-19 | Mechanical, electric and hydraulic integrated manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113492407A (en) * | 2021-07-22 | 2021-10-12 | 中广核研究院有限公司 | Control system, control method, computer device, and storage medium |
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2020
- 2020-10-19 CN CN202022329414.2U patent/CN213532632U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113492407A (en) * | 2021-07-22 | 2021-10-12 | 中广核研究院有限公司 | Control system, control method, computer device, and storage medium |
| CN113492407B (en) * | 2021-07-22 | 2023-01-24 | 中广核研究院有限公司 | Control system, control method, computer device, and storage medium |
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