CN104690710A - Electro-hydraulic combination driven movable mechanical arm - Google Patents
Electro-hydraulic combination driven movable mechanical arm Download PDFInfo
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- CN104690710A CN104690710A CN201510100054.XA CN201510100054A CN104690710A CN 104690710 A CN104690710 A CN 104690710A CN 201510100054 A CN201510100054 A CN 201510100054A CN 104690710 A CN104690710 A CN 104690710A
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Abstract
The invention discloses an electro-hydraulic combination driven movable mechanical arm. The electro-hydraulic combination driven movable mechanical arm comprises a base trolley body, wherein a slewing bearing is arranged on the base trolley body; a pedestal platform is supported by the top of the slewing bearing; a movable platform is arranged above the pedestal platform; a hydraulic cylinder piston rod on the pedestal platform is hinged to the center at the bottom of the movable platform; driving rope ends on three motor output shafts of the pedestal platform are connected with the bottom of the movable platform; a top mechanical suspension arm is mounted on the movable platform; three sets of driving motors are arranged at the positions, corresponding to the lower part of the rear end of the top mechanical suspension arm, of the pedestal platform; an output shaft of one of the driving motors is twisted with a lifting rope; the lifting rope extends along the top of the top mechanical suspension arm and then droops downwards; the end of the lifting rope is connected with an end executor; a mechanical arm on the second driving motor extends the driving rope, and a mechanical arm on the third driving motor shortens the driving rope to drive the top mechanical suspension arm to be extended or retracted.
Description
Technical field
The present invention relates to mechanical arm field, the movable mechanical arm of specifically a kind of electric-hydraulic combined driving.
Background technology
along with the acceleration of industrial automation process, mechanical arm becomes an important component part in modern mechanical manufacturing production system gradually, and this proposes higher index to the innovation of its structure and optimal design.Can realize the equipment of the functions such as weight crawl and weight carrying, the linkage of application rigidity is comparatively general.For articulated manipulator, its have can realize multiple degrees of freedom, action comparatively flexibly, take up room little advantage.But because the drive motors in joint need take joint space, during transmission, drive motors and transmission mechanism self all will become load; Therefore articulated manipulator exists, and weight is large, inertia is large, transmission efficiency is low, the drawback of joint error accumulation.And these traditional hoisting apparatus are often arranged in fixing frame, and when operation, its base cannot move, and working space is limited.
summary of the inventionthe object of this invention is to provide a kind of movable mechanical arm of electric-hydraulic combined driving, be positioned to solve prior art mechanical arm because of drive motors the problem that arm weight is large, inertia is large that intra articular brings.
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of movable mechanical arm of electric-hydraulic combined driving, it is characterized in that: include bottom car body, bottom car body is vertically provided with the pivoting support driven by pivoting support drive motors, pivoting support top braces has base platform, base platform upper horizontal is provided with movable platform, in base platform, center is vertically provided with hydraulic cylinder, hydraulic cylinder piston rod is articulated and connected in movable platform bottom centre straight up, base platform being also provided with three is the motor of isosceles triangle around hydraulic cylinder, the output shaft of each motor is wound with respectively movable platform and drives rope, three groups of movable platforms drive the bitter end of rope to be connected to obliquely respectively bottom movable platform, and link position is, and isosceles triangle is around movable platform bottom centre, movable platform is provided with top mechanism arm, top mechanism arm is by the large arm be fixed on movable platform, be slidably mounted on the intermediate arm stretched out in large arm and from large arm front end, be slidably mounted on the forearm stretched out in intermediate arm and from intermediate arm front end to form, symmetrical side, outer face two, described intermediate arm rear end is rotatablely equipped with shortening pulley, shortening pulley is wound with rope respectively, and rope one end is connected on the inner face correspondence position of large arm front end on shortening pulley, on shortening pulley, the rope other end is each passed through intermediate arm rear end and is connected on the correspondence position of forearm rear end, intermediate arm rear end inner face is rotatablely equipped with elongation pulley by the pulley pedestal stretched in forearm, described 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 upwardly to top mechanism arm, sagging straight down in top mechanism arm front end after extending along top mechanism arm top again, and hoisting rope bitter end is connected with end effector, the output shaft of second drive motors is wound with mechanical arm and extends driving rope, and mechanical arm extends and drives rope to penetrate in forearm and after walking around elongation pulley, mechanical arm extends and drives rope bitter end to be fixed on forearm rear end face, the output shaft of the 3rd drive motors is wound with mechanical arm and shortens driving rope, mechanical arm shortens and drives rope to penetrate in large arm and bitter end is fixed therein a shortening pulley center place.
The movable mechanical arm of described a kind of electric-hydraulic combined driving, it is characterized in that: hydraulic cylinder piston rod top, movable platform bottom centre are connected to hook hinge, and two hook hinge are interconnected by phillips driver, realize the hinged of hydraulic cylinder piston rod top and movable platform bottom centre.
The movable mechanical arm of described a kind of electric-hydraulic combined driving, is characterized in that: described base platform is also provided with balancing weight.
The movable mechanical arm of described a kind of electric-hydraulic combined driving, is characterized in that: described top mechanism arm top is provided with multiple limit base, has through hole in each limit base, and hoisting rope through hole from each limit base passes.
The invention has the advantages that:
1. simple, the easy accessibility of mechanism module and each modular structure.Top mechanism arm is controlled by rope completely, avoids traditional mechanical telescopic arm and adopts hydraulic cylinder and cause the heavy excessive problem of arm.In addition, in device, executive component is transferred to base platform by the changement (as pulley) of flexible utilization power, reduces the quality of device motion parts, so improve the dynamic performance of whole device.Bottom design is the car body that can move freely, and can realize the operation in larger working space.
2. dynamic mode is electric-hydraulic combined driving, has both had that driven by power operating efficiency is high, cost is low, control advantage easily, have again hydraulic-driven stable working, reaction speed fast, impact little, that security good, load capacity is strong advantage.
3. three ropes in parallel control the spatial movement that movable platform does two-freedom, have that track is flexible and changeable, inertia is little, accumulated error is little and payload far above a series of advantages such as deadweights.
Accompanying drawing explanation
Fig. 1 is the isometric view of composite flooding movable mechanical arm.
Fig. 2 is the front view of composite flooding movable mechanical arm.
The connection diagram of car body and movable platform bottom Fig. 3.
Fig. 4 is the connection diagram of hydraulic cylinder and movable platform.
Fig. 5 is top mechanism arm internal structure rough schematic view.
Detailed description of the invention
As Figure 1-Figure 5, a kind of movable mechanical arm of electric-hydraulic combined driving, include bottom car body 7, bottom car body 7 is vertically provided with the pivoting support 15 driven by pivoting support drive motors 16, pivoting support 15 top braces has base platform 6, base platform 6 upper horizontal is provided with movable platform 13, in base platform 6, center is vertically provided with hydraulic cylinder 11, hydraulic cylinder 11 piston rod is articulated and connected in movable platform 13 bottom centre straight up, base platform 6 being also provided with three is the motor 5 of isosceles triangle around hydraulic cylinder, the output shaft of each motor 5 is wound with respectively movable platform and drives rope 4, three groups of movable platforms drive the bitter end of rope 4 to be connected to obliquely respectively bottom movable platform 13, and link position is, and isosceles triangle is around movable platform 13 bottom centre, movable platform 13 is provided with top mechanism arm 14, top mechanism arm 14 is by the large arm 14.1 be fixed on movable platform 13, be slidably mounted on the intermediate arm 14.2 stretched out in large arm 14.1 and from large arm 14.1 front end, be slidably mounted on the forearm 14.3 stretched out in intermediate arm 14.2 and from intermediate arm 14.2 front end to form, symmetrical side, outer face, intermediate arm 14.2 rear end two is rotatablely equipped with shortening pulley 14.7, shortening pulley 14.7 is wound with rope 14.6 respectively, and rope 14.6 one end is connected on the inner face correspondence position of large arm 14.1 front end on shortening pulley 14.7, on shortening pulley, 14.7 rope 14.6 other ends are each passed through intermediate arm 14.2 rear end and are connected on the correspondence position of forearm 14.3 rear end, intermediate arm 14.2 rear end inner face is rotatablely equipped with elongation pulley 14.4 by the pulley pedestal 14.5 stretched in forearm 14.3, base platform 6 corresponds to top mechanism arm 14 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 1, hoisting rope 1 extends upwardly to top mechanism arm 14, sagging straight down in top mechanism arm 14 front end after extending along top mechanism arm 14 top again, and hoisting rope 1 bitter end is connected with end effector 2, the output shaft of second drive motors is wound with mechanical arm and extends driving rope 9, and mechanical arm extends and drives rope 9 to penetrate in forearm 14.3 and after walking around elongation pulley 14.4, mechanical arm extends and drives rope 9 bitter end to be fixed on forearm 14.3 rear end face, the output shaft of the 3rd drive motors is wound with mechanical arm and shortens driving rope 10, mechanical arm shortens and drives rope 10 to penetrate in large arm 14.1 and bitter end is fixed therein shortening pulley 14.7 center.
Hydraulic cylinder 11 piston rod top, movable platform 13 bottom centre are connected to hook hinge 12.1, and two hook hinge 12.1 are interconnected by phillips driver 12.2, realize the hinged of hydraulic cylinder 11 piston rod top and movable platform 13 bottom centre.
Base platform 6 is also provided with balancing weight 8.
Top mechanism arm 14 top is provided with multiple limit base 17, has through hole in each limit base 17, and hoisting rope 1 through hole from each limit base 17 passes.
As shown in Figure 1 and Figure 2, in the present invention, base platform 6 is arranged on the car body 7 of bottom.Three motors 5 be arranged in base platform 6 drive rope 4 to drive movable platform 13 to do the spatial movement of two-freedom by three movable platforms.Hydraulic cylinder 11 is arranged in base platform 6, and its upper end is arranged on movable platform 13 by hook hinge 12, so drives the lifting/lowering of movable platform 13.Separately having two motors 5 be arranged in base platform 6 to extend respectively by mechanical arm drives rope 9 and mechanical arm to shorten the stretch/shrink driving rope 10 to drive top mechanism arm 14.A remaining drive motors 5 drives end effector 2 pairs of weights 3 to lift by crane/put down action by rope 1; And the balancing weight 8 be placed in base platform 6 plays balanced action to whole device.
Fig. 3 is the connection diagram of bottom car body 7 and base platform 6.Pivoting support 15 is arranged on the car body 7 of bottom, and pivoting support drive motors 16 drives base platform 6 to do gyration by pivoting support 15.
Fig. 4 is the connection diagram of hydraulic cylinder and movable platform.Two Hooke's hinge side chains 12.1 are arranged on hydraulic cylinder 11 and movable platform 13 respectively, and both are connected by a phillips driver 12.2.
Fig. 5 is top mechanism arm internal structure rough schematic view.Mechanical arm extends and drives rope 9 to drive forearm 14.3 by pulley 11.4, thus drives intermediate arm 14.2; Mechanical arm shortens driving rope 10 Direct driver intermediate arm 14.2, thus drives forearm 14.3.
Operation principle: when capturing weight 3, near bottom car body first moves to roughly; Pivoting support drive motors 16 drives base platform 6 to do gyration by pivoting support 15, makes top mechanism arm 14 turn to weight 3 roughly in angle; Hydraulic cylinder 11 drives movable platform 13 lifting/lowering to weight 3 general height position as power source, and three motors 5 drive rope 4 to do driven driving respectively by three movable platforms simultaneously, keep rope exceptionally straight all the time and mutually balance; After the action of hydraulic cylinder 11 lifting/lowering completes, wherein a certain motor 5 changes active drive into, and all the other two motors 5 are still driven driving, so drive movable platform 13 to do the spatial movement of two-freedom; After this, drive motors extends to drive rope 9 and mechanical arm to shorten to drive rope 10 to cooperatively interact by mechanical arm and drives the stretch/shrink action of top mechanism arm 14 to carry out the fine setting of position; Finally, a remaining drive motors drives end effector 2 to capture weight 3 by hoisting rope 1.After weight 3 is captured, also by above-mentioned motion, weight 3 is close respectively to the center of gravity of ground and device, to reduce tilting moment, make the subsequent movement of bottom car body 7 more steady.Afterwards, bottom car body 7 moves and weight 3 is carried to target location, and operation completes.
Claims (4)
1. the movable mechanical arm of an electric-hydraulic combined driving, it is characterized in that: include bottom car body, bottom car body is vertically provided with the pivoting support driven by pivoting support drive motors, pivoting support top braces has base platform, base platform upper horizontal is provided with movable platform, in base platform, center is vertically provided with hydraulic cylinder, hydraulic cylinder piston rod is articulated and connected in movable platform bottom centre straight up, base platform being also provided with three is the motor of isosceles triangle around hydraulic cylinder, the output shaft of each motor is wound with respectively movable platform and drives rope, three groups of movable platforms drive the bitter end of rope to be connected to obliquely respectively bottom movable platform, and link position is, and isosceles triangle is around movable platform bottom centre, movable platform is provided with top mechanism arm, top mechanism arm is by the large arm be fixed on movable platform, be slidably mounted on the intermediate arm stretched out in large arm and from large arm front end, be slidably mounted on the forearm stretched out in intermediate arm and from intermediate arm front end to form, symmetrical side, outer face two, described intermediate arm rear end is rotatablely equipped with shortening pulley, shortening pulley is wound with rope respectively, and rope one end is connected on the inner face correspondence position of large arm front end on shortening pulley, on shortening pulley, the rope other end is each passed through intermediate arm rear end and is connected on the correspondence position of forearm rear end, intermediate arm rear end inner face is rotatablely equipped with elongation pulley by the pulley pedestal stretched in forearm, described 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 upwardly to top mechanism arm, sagging straight down in top mechanism arm front end after extending along top mechanism arm top again, and hoisting rope bitter end is connected with end effector, the output shaft of second drive motors is wound with mechanical arm and extends driving rope, and mechanical arm extends and drives rope to penetrate in forearm and after walking around elongation pulley, mechanical arm extends and drives rope bitter end to be fixed on forearm rear end face, the output shaft of the 3rd drive motors is wound with mechanical arm and shortens driving rope, mechanical arm shortens and drives rope to penetrate in large arm and bitter end is fixed therein a shortening pulley center place.
2. the movable mechanical arm of a kind of electric-hydraulic combined driving according to claim 1, it is characterized in that: hydraulic cylinder piston rod top, movable platform bottom centre are connected to hook hinge, and two hook hinge are interconnected by phillips driver, realize the hinged of hydraulic cylinder piston rod top and movable platform bottom centre.
3. the movable mechanical arm of a kind of electric-hydraulic combined driving according to claim 1, is characterized in that: described base platform is also provided with balancing weight.
4. the movable mechanical arm of a kind of electric-hydraulic combined driving according to claim 1, it is characterized in that: described top mechanism arm top is provided with multiple limit base, have through hole in each limit base, hoisting rope through hole from each limit base passes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510100054.XA CN104690710B (en) | 2015-03-06 | 2015-03-06 | A kind of movable mechanical arm of electric-hydraulic combined driving |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510100054.XA CN104690710B (en) | 2015-03-06 | 2015-03-06 | A kind of movable mechanical arm of electric-hydraulic combined driving |
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| CN104690710A true CN104690710A (en) | 2015-06-10 |
| CN104690710B CN104690710B (en) | 2016-04-20 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105415354A (en) * | 2015-12-11 | 2016-03-23 | 辰星（天津）自动化设备有限公司 | Lifting manipulator |
| CN105690362A (en) * | 2016-04-14 | 2016-06-22 | 林飞飞 | Multifunctional palletizing robot based on Stewart parallel connection platform |
| CN105690363A (en) * | 2016-04-14 | 2016-06-22 | 林飞飞 | Palletizing robot based on parallel connection mechanism |
| CN106989256A (en) * | 2017-02-15 | 2017-07-28 | 中山市紫科智能科技有限公司 | A kind of self-propelled virtual reality camera shoots stable head |
| CN107856029A (en) * | 2017-11-29 | 2018-03-30 | 长春工业大学 | A kind of electro-hydraulic combination drive industrial machinery arm configuration and control system |
| CN109397331A (en) * | 2018-12-10 | 2019-03-01 | 浙江清华柔性电子技术研究院 | Telescopic mechanism, mechanical arm and robot system |
| CN110142737A (en) * | 2019-06-28 | 2019-08-20 | 北京史河科技有限公司 | Robot |
| CN110252560A (en) * | 2019-07-16 | 2019-09-20 | 合肥工业大学 | A kind of mobile mixed connection spray robot for high-speed rail car body coating |
| CN110640729A (en) * | 2019-10-24 | 2020-01-03 | 山东中衡光电科技有限公司 | Intelligent double-arm hydraulic hoisting robot for mine and control method thereof |
| CN112476441A (en) * | 2020-11-12 | 2021-03-12 | 国网湖南省电力有限公司 | Cable defect X-ray detection intelligent inspection robot |
| CN114619434A (en) * | 2022-04-24 | 2022-06-14 | 上海大学 | Mechanical arm |
| CN115488873A (en) * | 2022-10-19 | 2022-12-20 | 北京航空航天大学 | Rope-driven variable-rigidity seven-degree-of-freedom mechanical arm with less input |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105415354A (en) * | 2015-12-11 | 2016-03-23 | 辰星（天津）自动化设备有限公司 | Lifting manipulator |
| CN105415354B (en) * | 2015-12-11 | 2017-09-26 | 辰星（天津）自动化设备有限公司 | A kind of elevation and subsidence mechanical hand |
| CN105690362A (en) * | 2016-04-14 | 2016-06-22 | 林飞飞 | Multifunctional palletizing robot based on Stewart parallel connection platform |
| CN105690363A (en) * | 2016-04-14 | 2016-06-22 | 林飞飞 | Palletizing robot based on parallel connection mechanism |
| CN106989256A (en) * | 2017-02-15 | 2017-07-28 | 中山市紫科智能科技有限公司 | A kind of self-propelled virtual reality camera shoots stable head |
| CN107856029B (en) * | 2017-11-29 | 2021-08-10 | 长春工业大学 | Electro-hydraulic hybrid driving industrial mechanical arm structure and control system |
| CN107856029A (en) * | 2017-11-29 | 2018-03-30 | 长春工业大学 | A kind of electro-hydraulic combination drive industrial machinery arm configuration and control system |
| CN109397331A (en) * | 2018-12-10 | 2019-03-01 | 浙江清华柔性电子技术研究院 | Telescopic mechanism, mechanical arm and robot system |
| CN109397331B (en) * | 2018-12-10 | 2024-04-16 | 浙江清华柔性电子技术研究院 | Telescopic mechanism, mechanical arm and robot system |
| CN110142737A (en) * | 2019-06-28 | 2019-08-20 | 北京史河科技有限公司 | Robot |
| CN110252560A (en) * | 2019-07-16 | 2019-09-20 | 合肥工业大学 | A kind of mobile mixed connection spray robot for high-speed rail car body coating |
| CN110252560B (en) * | 2019-07-16 | 2021-05-11 | 合肥工业大学 | Movable type series-parallel spraying robot for coating high-speed rail body |
| CN110640729A (en) * | 2019-10-24 | 2020-01-03 | 山东中衡光电科技有限公司 | Intelligent double-arm hydraulic hoisting robot for mine and control method thereof |
| CN112476441A (en) * | 2020-11-12 | 2021-03-12 | 国网湖南省电力有限公司 | Cable defect X-ray detection intelligent inspection robot |
| CN114619434A (en) * | 2022-04-24 | 2022-06-14 | 上海大学 | Mechanical arm |
| CN114619434B (en) * | 2022-04-24 | 2024-05-31 | 上海大学 | Mechanical arm |
| CN115488873A (en) * | 2022-10-19 | 2022-12-20 | 北京航空航天大学 | Rope-driven variable-rigidity seven-degree-of-freedom mechanical arm with less input |
| CN115488873B (en) * | 2022-10-19 | 2024-06-07 | 北京航空航天大学 | Rope-driven rigidity-variable seven-degree-of-freedom mechanical arm with few inputs |
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