CN103331752A - Hydraulic drive mechanical arm - Google Patents
Hydraulic drive mechanical arm Download PDFInfo
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- CN103331752A CN103331752A CN2013102793431A CN201310279343A CN103331752A CN 103331752 A CN103331752 A CN 103331752A CN 2013102793431 A CN2013102793431 A CN 2013102793431A CN 201310279343 A CN201310279343 A CN 201310279343A CN 103331752 A CN103331752 A CN 103331752A
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- rotating shaft
- side plate
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Abstract
The invention provides a hydraulic drive mechanical arm. The hydraulic drive mechanical arm comprises a first fixed base, a first rotating shaft, a second fixed base, a second rotating shaft, a large arm, a small arm, a gripping device, a first hydraulic motor and a second hydraulic motor. The first rotating shaft is arranged on the first fixed base in a rotating mode, the second rotating shaft is arranged on the second fixed base in a rotating mode, the two ends of the large arm are connected with the first rotating shaft and the second fixed base respectively, one end of the small arm is connected to the second rotating shaft, the gripping device is arranged at the other end of the small arm, the first hydraulic motor is used for driving the first rotating shaft, and the second hydraulic motor is used for driving the second rotating shaft. The mechanical arm provided with the hydraulic motors can reduce the total cost and acquire large output torque.
Description
Technical field
The present invention relates to manipulator, relate in particular to one by hydraulically powered manipulator.
Background technology
Often need to be equipped with the requirement that various manipulators satisfy material grasping, move material, blowing in the general machinery.According to the difference of concrete service condition and the scheme diversity of design idea itself, the 26S Proteasome Structure and Function characteristics of manipulator also vary.But existing mechanical hand ubiquity, and cost of manufacture height, output torque scope little, the gripping article are little, each several part is difficult to realize the problem of control separately.
Summary of the invention
The invention reside in and solve the technical problem that manipulator cost of manufacture height, the output torque scope little, the gripping article that exists in the prior art is little, each several part is difficult to realize independent control.
The invention provides a kind of hydraulic driving mechanical, comprise one first holder; One first rotating shaft is rotatably mounted in this first holder; One second holder; One second rotating shaft is rotatably mounted in this second holder; One big arm, its two ends connect this first rotating shaft and this second holder respectively; One forearm, one end are connected in this second rotating shaft; One grabbing device is arranged at this forearm other end; Be used for driving first hydraulic motor of this first rotating shaft; With second hydraulic motor that is used for driving this second rotating shaft.This manipulator uses hydraulic motor can reduce whole cost, and can obtain bigger output torque.And because forearm and big arm have separately independently pivot and hydraulic motor, so can control forearm and the motion of arm greatly separately, make the operation of this manipulator more flexible.
In one embodiment, this first rotating shaft is parallel with the axis of this second rotating shaft, and this big arm is along the radially extension of this first rotating shaft, and this forearm is along the radially extension of this second rotating shaft.
In one embodiment, the dividing plate that this forearm comprises first side plate, second side plate parallel and spaced apart with this first side plate, the base plate that is connected in this first side plate and this second side plate lower end is connected in this first side plate and this second side plate and this base plate, be arranged at symmetrical upper rail and the symmetrical lower guide channel of this first side plate and this second side plate opposite side.
In one embodiment, this grabbing device comprises: hydraulic cylinder, and a hydraulic cylinder is arranged in the groove that is formed by this first side plate, this second side plate and this base plate by this dividing plate; One short tong arm is arranged in this symmetry upper rail and is connected in the piston rod of this hydraulic cylinder, and this weak point tong arm comprises one first straight-bar portion; One alligator pliers arm comprises one second straight-bar portion and a bend, and this second straight-bar portion is arranged in this symmetry lower guide channel, and this bend is opening meniscus shaped up, and this second straight-bar portion is parallel to this first straight-bar portion; One upper rack is arranged at this first straight-bar subordinate side of this weak point tong arm; Tooth bar once is arranged at this second straight-bar portion upside of this alligator pliers arm; One gear, be arranged at rotationally between this first side plate and this second side plate, and be arranged between this upper rack and this time tooth bar that is parallel to each other, and all mesh with this upper rack and this time tooth bar, it makes that upper and lower tooth bar can carry out oppositely, synchronization action, so this manipulator can be felt relieved, gripping article on a large scale.
In one embodiment, the free end opposite side of the free end of this weak point tong arm and this alligator pliers arm respectively is provided with the jaw that a cross section is V-arrangement, in order to clamping tubing.
Description of drawings
Fig. 1 is the schematic perspective view of a hydraulic driving mechanical provided by the invention.
Fig. 2 looks cross-sectional schematic for the master of a hydraulic driving mechanical provided by the invention.
Wherein, description of reference numerals is as follows:
10 first rotating shafts 11 of first holder
First hydraulic motor 12
20 second rotating shafts 21 of second holder
Second hydraulic motor 22
Forearm 40 grooves 41
First side plate, 42 second side plates 43
54 times tooth bars 55 of alligator pliers arm
Gear 56 jaws 57
The specific embodiment
The invention provides a kind of hydraulic driving mechanical, comprising: first holder 10, first rotating shaft 11 that is rotatably mounted in first holder 10, second holder 20, be rotatably mounted in second holder 20 second rotating shaft 21, connect the big arm 30 between first rotating shaft 11 and second holder 20, the forearm 40 that an end is connected in second rotating shaft 21, the grabbing device 50 that is arranged at forearm 40 other ends, be used for driving first rotating shaft 11 first hydraulic motor 12, be used for driving second hydraulic motor 22 of second rotating shaft 21.First rotating shaft 11 is parallel with the axis of second rotating shaft 21, and big arm 30 is along the radially extension of first rotating shaft 11, and forearm 40 is along the radially extension of second rotating shaft 21.
The groove 41 that forearm 40 comprises first side plate 42, second side plate 43 parallel and spaced apart with first side plate 42, is connected in the base plate (not shown) of first side plate 42 and second side plate, 43 lower ends, surrounded by first side plate 42 and second side plate 43 and base plate, be arranged in groove 41 and be connected in first side plate 42 and the dividing plate 44 of second side plate 43 and base plate, be arranged at symmetrical upper rail 45 and the symmetrical lower guide channel 46 of first side plate 42 and second side plate, 43 opposite sides.
In the course of work of this hydraulic driving mechanical, when hydraulic cylinder 51 piston rods of grabbing device 50 stretch out, short tong arm 52 drives upper rack 53 and protracts, make down tooth bar 55 drive alligator pliers arm 54 retreats synchronously via the engagement of gear 56, then short tong arm 52 dwindles with the free end spacing of alligator pliers arm 54, in order to the gripping article.When the piston rod of hydraulic cylinder 51 retreated, short tong arm 52 drove upper rack 53 and retreats, and made down tooth bar 55 drive alligator pliers arm 54 advanced in unison via the engagement of gear 56, and then short tong arm 52 increases with the free end spacing of alligator pliers arm 54, in order to unclamp article.Because upper rack 53 and following tooth bar 55 are synchronization-moving round about, the Clamping Center A of midpoint immobilizes between the free end of feasible short tong arm 52 and alligator pliers arm 54.In addition, big arm 30 can revolve three-sixth turn with first rotating shaft 11 under first hydraulic motor 12 drives, thereby drives second holder 20 around the axis rotation of first rotating shaft 11.Forearm 40 can revolve three-sixth turn with second rotating shaft 21 under second hydraulic motor 22 drives, thereby drives grabbing device 50 around the axis rotation of second rotating shaft 21.Suppose that the axis spacing of first rotating shaft 11 and second rotating shaft 21 is L1, the spacing of the axis of second rotating shaft 21 and Clamping Center A is L2, because Clamping Center A immobilizes, then L2 is constant.Under the situation of not considering the frame for movement factor, the overlayable zone of Clamping Center A of this hydraulic driving mechanical is: line centered by the axis of first rotating shaft 11 is circumference and the inside thereof of radius with L1+L2.
This shows that hydraulic driving mechanical provided by the invention can feel relieved, gripping article on a large scale; Because forearm and big arm have separately independently rotation centerline and hydraulic motor, so can control forearm and the motion of arm greatly separately, make the operation of this manipulator more flexible; Use hydraulic motor can reduce whole cost, and can obtain bigger output torque.
In sum; though the present invention discloses as above with preferred embodiment; so it is not in order to limit the present invention; those skilled in the art should recognize change and the retouching of doing under the situation that does not break away from the scope and spirit of the present invention that the appended claim of the present invention discloses, all belong within the protection domain of claim of the present invention.
Claims (5)
1. hydraulic driving mechanical is characterized in that: comprising:
One first holder;
One first rotating shaft is rotatably mounted in this first holder;
One second holder;
One second rotating shaft is rotatably mounted in this second holder;
One big arm, its two ends connect this first rotating shaft and this second holder respectively; One forearm, one end are connected in this second rotating shaft;
One grabbing device is arranged at this forearm other end;
Be used for driving first hydraulic motor of this first rotating shaft; With
Be used for driving second hydraulic motor of this second rotating shaft.
2. hydraulic driving mechanical as claimed in claim 1, wherein, this first rotating shaft is parallel with the axis of this second rotating shaft, and this big arm is along the radially extension of this first rotating shaft, and this forearm is along the radially extension of this second rotating shaft.
3. hydraulic driving mechanical as claimed in claim 1, wherein, the dividing plate that this forearm comprises first side plate, second side plate parallel and spaced apart with this first side plate, the base plate that is connected in this first side plate and this second side plate lower end is connected in this first side plate and this second side plate and this base plate, be arranged at symmetrical upper rail and the symmetrical lower guide channel of this first side plate and this second side plate opposite side.
4. hydraulic driving mechanical as claimed in claim 3, wherein, this grabbing device comprises:
One hydraulic cylinder is arranged in the groove that is formed by this first side plate, this second side plate and this base plate by this dividing plate;
One short tong arm is arranged in this symmetry upper rail and is connected in the piston rod of this hydraulic cylinder, and this weak point tong arm comprises one first straight-bar portion;
One alligator pliers arm comprises one second straight-bar portion and a bend, and this second straight-bar portion is arranged in this symmetry lower guide channel, and this bend is opening meniscus shaped up, and this second straight-bar portion is parallel to this first straight-bar portion;
One upper rack is arranged at this first straight-bar subordinate side of this weak point tong arm;
Tooth bar once is arranged at this second straight-bar portion upside of this alligator pliers arm;
One gear is arranged between this first side plate and this second side plate rotationally, and is arranged between this upper rack and this time tooth bar that is parallel to each other, and all meshes with this upper rack and this time tooth bar.
5. hydraulic driving mechanical as claimed in claim 4, wherein, the free end opposite side of the free end of this weak point tong arm and this alligator pliers arm respectively is provided with the jaw that a cross section is V-arrangement, in order to clamping tubing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102793431A CN103331752A (en) | 2013-07-04 | 2013-07-04 | Hydraulic drive mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102793431A CN103331752A (en) | 2013-07-04 | 2013-07-04 | Hydraulic drive mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103331752A true CN103331752A (en) | 2013-10-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013102793431A Pending CN103331752A (en) | 2013-07-04 | 2013-07-04 | Hydraulic drive mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103331752A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385040A (en) * | 2014-10-24 | 2015-03-04 | 沈阳建筑大学 | Hydraulic five-degree-of-freedom machine tool feeding and discharging manipulator |
| CN104400543A (en) * | 2014-10-24 | 2015-03-11 | 沈阳建筑大学 | Feeding and discharging mechanical arm for electric machine tool |
| CN104444347A (en) * | 2014-08-28 | 2015-03-25 | 太原重工股份有限公司 | Clamp base plate, clamp and mechanical arm |
| CN104875195A (en) * | 2015-06-09 | 2015-09-02 | 北华航天工业学院 | Manipulator |
| CN105299167A (en) * | 2015-10-28 | 2016-02-03 | 冯超 | Two-time slewing mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6458487A (en) * | 1987-08-26 | 1989-03-06 | Shikoku Elec Power | Power transmission mechanism of robot arm |
| CN101602076A (en) * | 2009-07-24 | 2009-12-16 | 太原重工股份有限公司 | A kind of catching robot of punching extruder reaming head |
| CN201998169U (en) * | 2010-04-23 | 2011-10-05 | 北京航空航天大学 | Mechanical arm system for nuclear detecting and emergency processing robot |
| CN202200307U (en) * | 2011-07-28 | 2012-04-25 | 成都慧拓自动控制技术有限公司 | Automatic lifting mechanical arm |
| CN102554921A (en) * | 2012-02-06 | 2012-07-11 | 北京联合大学 | Numerical-control manipulator with five degrees of freedom |
| JP2012161868A (en) * | 2011-02-04 | 2012-08-30 | Yaskawa Electric Corp | Robot |
-
2013
- 2013-07-04 CN CN2013102793431A patent/CN103331752A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6458487A (en) * | 1987-08-26 | 1989-03-06 | Shikoku Elec Power | Power transmission mechanism of robot arm |
| CN101602076A (en) * | 2009-07-24 | 2009-12-16 | 太原重工股份有限公司 | A kind of catching robot of punching extruder reaming head |
| CN201998169U (en) * | 2010-04-23 | 2011-10-05 | 北京航空航天大学 | Mechanical arm system for nuclear detecting and emergency processing robot |
| JP2012161868A (en) * | 2011-02-04 | 2012-08-30 | Yaskawa Electric Corp | Robot |
| CN202200307U (en) * | 2011-07-28 | 2012-04-25 | 成都慧拓自动控制技术有限公司 | Automatic lifting mechanical arm |
| CN102554921A (en) * | 2012-02-06 | 2012-07-11 | 北京联合大学 | Numerical-control manipulator with five degrees of freedom |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104444347A (en) * | 2014-08-28 | 2015-03-25 | 太原重工股份有限公司 | Clamp base plate, clamp and mechanical arm |
| CN104385040A (en) * | 2014-10-24 | 2015-03-04 | 沈阳建筑大学 | Hydraulic five-degree-of-freedom machine tool feeding and discharging manipulator |
| CN104400543A (en) * | 2014-10-24 | 2015-03-11 | 沈阳建筑大学 | Feeding and discharging mechanical arm for electric machine tool |
| CN104400543B (en) * | 2014-10-24 | 2018-07-03 | 沈阳建筑大学 | A kind of electric machine-tool loading and unloading manipulator |
| CN104875195A (en) * | 2015-06-09 | 2015-09-02 | 北华航天工业学院 | Manipulator |
| CN105299167A (en) * | 2015-10-28 | 2016-02-03 | 冯超 | Two-time slewing mechanism |
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| PB01 | Publication | ||
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20131002 |