Patent ID: 11926049
Assignee: UNIVERSITY OF SOUTH CHINA
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 2:
3. The multifunctional operation robot according to claim 2, wherein the mechanical arm comprises an arm A, a rotating shaft A, a first rotating mechanism, an arm B, a rotating shaft B, a second rotating mechanism, and an end connecting mechanism, wherein
the arm A is rotatably mounted in the mounting gap B of the mounting seat B at a rear end of the rotating shaft A, and a strip-shaped slot is provided on the arm A, wherein the strip-shaped slot extends from a front end of the arm A to a rear end of the arm A;
the first rotating mechanism comprises a sliding block A, a hydraulic cylinder A and a hydraulic cylinder B, wherein the sliding block A is movably mounted in a sliding rail at the bottom of the mounting gap B; a cylinder body of the hydraulic cylinder A is fixedly mounted in the mounting gap B of the mounting seat B; a piston rod of hydraulic cylinder A is connected to the sliding block A, wherein the piston rod of hydraulic cylinder A expands and contracts to drive the sliding block A to do reciprocating movement along the sliding rail; a cylinder body of hydraulic cylinder B is hinged with sliding block A; a piston rod of the hydraulic cylinder B is hinged to the arm A; the piston rod of the hydraulic cylinder B expands and contracts to drive arm A to rotate around the rotating shaft A;
the arm B is rotatably mounted in the strip-shaped slot of the front end of the arm A at a rear end of the rotating shaft B;
the second rotating mechanism comprises a hydraulic cylinder C and a four-connecting-rod mechanism, wherein the four-connecting-rod mechanism comprises two diamond-shaped frameworks and one connecting rod, wherein each of the diamond-shaped frameworks comprises a first rod, a second rod and a third rod; a lower end of the first rod and a lower end of the second rod are respectively hinged to two distal ends of the third rod; the two diamond-shaped frameworks are symmetrically arranged in the strip-shaped slot of the front end of the arm A; the upper ends of the second rods of the two diamond-shaped frameworks are hinged to two distal ends of the rotating shaft B respectively; the upper ends of the first rods of the two diamond-shaped frameworks are hinged to both sides of the arm B; two ends of the connecting rod are respectively hinged to the hinge joints of the first rods and the third rods of two diamond-shaped frameworks; a cylinder body of the hydraulic cylinder C and the arm A are hinged and located in the strip-shaped slot of the arm A; a piston rod of hydraulic cylinder C is hinged to the connecting rod; the piston rod of hydraulic cylinder C expands and contracts to drive the arm B to rotate around the rotating shaft B;
the end connecting mechanism comprises a connecting frame and a hydraulic cylinder D; the connecting frame is provided with a first hinge part, a second hinge part, and a third hinge part; the connecting frame is hinged to the front end of the arm B through the first hinge part; a cylinder body of the hydraulic cylinder D is hinged to the front end of the arm B; a piston rod of the hydraulic cylinder D is hinged to the second hinge part of the connecting frame; the piston rod of the hydraulic cylinder D expands and contracts to drive the connecting frame to rotate around the first hinge part, so that the third hinge part of the connecting frame moves along an arc-shaped track.