CN105818146B - Circular cylindrical coordinate industry mechanical arm with circuit control system - Google Patents

Circular cylindrical coordinate industry mechanical arm with circuit control system Download PDF

Info

Publication number
CN105818146B
CN105818146B CN201610308949.7A CN201610308949A CN105818146B CN 105818146 B CN105818146 B CN 105818146B CN 201610308949 A CN201610308949 A CN 201610308949A CN 105818146 B CN105818146 B CN 105818146B
Authority
CN
China
Prior art keywords
arm
wrist
arranged
lifting
cylinder
Prior art date
Application number
CN201610308949.7A
Other languages
Chinese (zh)
Other versions
CN105818146A (en
Inventor
谷志阳
Original Assignee
温州职业技术学院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 温州职业技术学院 filed Critical 温州职业技术学院
Priority to CN201610308949.7A priority Critical patent/CN105818146B/en
Publication of CN105818146A publication Critical patent/CN105818146A/en
Application granted granted Critical
Publication of CN105818146B publication Critical patent/CN105818146B/en

Links

Abstract

The present invention relates to a kind of circular cylindrical coordinate industry mechanical arm with circuit control system, it includes lifting the fuselage lowering or hoisting gear of setting along Z-direction, is arranged on the arm slewing equipment of fuselage lowering or hoisting gear upper end, the arm link for being arranged on arm slewing equipment upper end and the flexible rear support of the arm being fixedly installed on the left of arm link along W to revolution;The present invention realizes the control of the various compulsory exercises of manipulator, is conducive to simplifying circuit, saves cost, raise labour efficiency, improves productivity ratio.

Description

Circular cylindrical coordinate industry mechanical arm with circuit control system

Technical field

The present invention relates to a kind of circular cylindrical coordinate industry mechanical arm with circuit control system.

Background technology

Manipulator is a kind of high-tech automated production equipment that recent decades grow up.Its feature is can be by compiling Journey completes various expected job tasks, has people and the respective advantage of machine concurrently on construction and performance, especially embodies people Intelligence and adaptability.The ability fulfiled assignment in the accuracy of mechanical manual task and various environment, in all fields of national economy There is vast potential for future development.

Industry mechanical arm has the advantages that many mankind are incomparable, and the need for meeting the big production of socialization, its is main Advantage is as follows:

1. people can be replaced to be engaged in dangerous, harmful operation.As long as rationally being designed according to working environment, select suitably Material and structure, manipulator just can under abnormal high temperature or low temperature, abnormal pressure and pernicious gas, dust, radioactive ray effect, And it is competent in the hazardous environment such as punching press, fire extinguishing.Work post more than industrial accident, such as punching press, die casting, heat treatment, forging, spray Paint and have in the operations such as the arc welding of intense UV rays irradiation, industry mechanical arm or robot should be promoted.

2. can work long hours, be not afraid of fatigue, people can be freed from heavy dull work, and can expand and Extend the function of people.People always feels fatigue or is weary of after continuously work a few houres, and manipulator is only it is noted that maintenance, inspection Repair, the prolonged dull duplication of labour can be competent at.

3. action is accurate, therefore can stabilize and increase the quality of product, while can avoid artificial operating mistake again.

4. the manipulator particularly versatility of universal industrial manipulator, flexibility is good, product variety can be preferably adapted to It is continually changing, the need for meeting flexible production.

5. manipulator significantly can raise labour productivity and reduce cost.

Due to manipulator industrial automation and it is information-based in played more than huge effect, countries in the world all take much count of The application and development of industry mechanical arm, the applying to cross at me of manipulator still belong to the starting stage, and just show many can not The advantage of replacement, presents wide application prospect.In recent ten years, the exploitation of manipulator not only increasingly optimizes, Er Qiehan Many fields are covered, the category of application is very wide.

The content of the invention

The technical problems to be solved by the invention are to provide a kind of circular cylindrical coordinate industrial machinery with circuit control system Hand.

To solve the above problems, the technical solution used in the present invention is:

A kind of circular cylindrical coordinate industry mechanical arm with circuit control system, including the fuselage lifting set is lifted along Z-direction Device, the arm slewing equipment for being arranged on fuselage lowering or hoisting gear upper end to revolution along W, the hand for being arranged on arm slewing equipment upper end Arm link, the arm being fixedly installed on the left of arm link stretch rear support, be fixedly installed in the middle part of arm link Bearing before bearing, the arm being fixedly installed on the right side of arm link are flexible during arm is flexible, connect along X to the flexible arm that is arranged on The arm retractor device on frame is connect, the wrist slewing equipment of arm retractor device right-hand member is arranged on along U to revolution, is arranged on wrist Grip finger device, hydraulic control system and the circuit control system of slewing equipment right-hand member, arm retractor device are installed on hand Arm stretches on the flexible middle flexible preceding bearing of bearing and arm of rear support, arm;Fuselage lowering or hoisting gear includes arm fixed mount, set The adpting flange in the middle part of arm fixed mount lower end is put, arm fixed mount lower surface is separately positioned on and positioned at adpting flange side Location screw rod fore-stock and location screw rod after-poppet, be arranged on arm fixed mount lower surface and positioned at adpting flange side, The arm location screw rod guide pin bushing that is installed on along Z-direction in location screw rod fore-stock and location screw rod after-poppet, along Z-direction it is installed on arm Arm location screw rod in location screw rod guide pin bushing and the arm location fixed mount for being arranged on wrist slewing equipment lower end;Arm is stretched The lower end difference fixing arm fixed mount of bearing before the lower end of bearing and arm are flexible during the lower end of contracting rear support, arm are flexible On, arm location potentiometer is sleeved on arm location screw rod, and right-hand member and the arm location fixed mount of arm location screw rod are fixed Connection;It is flexible that arm retractor device is installed on arm of the flexible rear support of arm with arm in flexible in bearing respectively including two ends Cylinder sleeve, along X to be arranged on arm stretch arm telescopic piston rod in cylinder sleeve, be arranged on the stretch arm of cylinder sleeve right-hand member of arm and stretch Contracting oil cylinder bonnet, it is arranged on arm telescopic oil cylinder bonnet right side wall and the arm corresponding with arm telescopic piston rod left end is stretched Dashpot, the arm telescopic piston being sleeved in arm telescopic piston rod after contracting, it is arranged on arm and stretches the cylinder body of cylinder sleeve right-hand member Drive end bearing bracket, be arranged on cylinder body drive end bearing bracket left side wall and the arm corresponding with arm telescopic piston rod right-hand member it is flexible before buffer Groove, the pilot bushing being arranged between cylinder body drive end bearing bracket and arm telescopic piston rod, the hand being sleeved in arm telescopic piston rod Arm stretch outside framework oil seal, be arranged on arm and stretch outside framework oil seal right-hand member and the flexible bushing of the arm that be connected with cylinder body drive end bearing bracket right-hand member Cap, the flexible connection journal stirrup of arm for being arranged on arm telescopic piston rod right-hand member, it is fixedly installed on cylinder body drive end bearing bracket right-hand member male half coupling On arm retractable support set, be arranged on arm it is flexible in bearing and arm it is flexible before arm on the bearing cylinder body that stretches be oriented to Set, along X to be movably arranged on the arm that arm stretches in cylinder body guide sleeve endoporus stretch cylinder shell, be fixedly installed on arm and stretch Arm cylinder body adapter sleeve in contracting cylinder shell, the wrist oil circuit oil-feed tail-hood for being fixedly installed on arm cylinder body adapter sleeve left end, The rotary cylinder bonnet for being fixedly installed on the flexible cylinder shell right-hand member of arm, the logical oil of revolution positioning for being arranged on rotary cylinder bonnet right-hand member Inner stopper, the wrist oil path in oil cylinder being arranged between the logical oily inner stopper of revolution positioning and wrist oil circuit oil-feed tail-hood, it is arranged on hand Arm before arm is flexible on bearing stretch front support bushing, be arranged on that arm stretches front support bushing and arm retractable support is put Telescopic oil cylinder slide and drive inner sleeve, be arranged on telescopic oil cylinder and slide and drive the telescopic slide in inner sleeve to drive overcoat and inserting The flexible alignment pin of arm between the flexible connection journal stirrup of arm and rotary cylinder bonnet is arranged on, the flexible outside framework oil seal of arm, which is located at, leads On the right side of to bushing, arm stretches outside framework oil seal in inner stopper on the right side of cylinder body drive end bearing bracket, and arm retractable support is set on hand During arm is flexible on bearing, arm location fixed mount is fixedly installed on rotary cylinder bonnet lower end;Wrist slewing equipment is set including left end Put the wrist rotary piston bar in the logical oily inner stopper of revolution positioning, left end and wrist revolution is fixedly connected with rotary cylinder bonnet right-hand member Fixed seat after cylinder, the wrist rotary cylinder fixed shell for being fixedly installed on fixed seat right-hand member after wrist rotary cylinder, with wrist rotary cylinder The wrist that fixed shell right side is fixedly connected rotates right aling cap, is separately positioned on wrist rotary cylinder fixed shell and wrist revolution Wrist revolution between piston rod be oriented to the fixed arc block of arc block and wrist revolution, be arranged on the fixed arc block of wrist revolution with Wrist rotary sealing pad between wrist rotary cylinder fixed shell, it is arranged on wrist revolution and is oriented to arc block and wrist rotary piston Wrist between bar turns round connecting key, is arranged on adpting flange seat before the wrist of wrist rotation right aling cap right-hand member, is arranged on wrist The wrist front support end cap of preceding adpting flange seat right-hand member and be arranged on before wrist adpting flange seat and wrist front support end cap it Between wrist intermediate supports set, fixed seat, wrist rotary cylinder fixed shell and wrist rotation right aling cap lead to after wrist rotary cylinder Cross bolt connection and finger setting is positioned by wrist support, the left end of the fixed arc block of wrist revolution after wrist rotary cylinder with fixing Seat is bolted and by positioning finger setting, and the right-hand member of wrist rotary piston bar is provided with grip finger dashpot, The pipeline of connection grip finger dashpot and wrist oil path in oil cylinder is provided with wrist rotary piston bar, in wrist rotary piston bar With being provided with deep groove ball bearing between fixed seat after wrist rotary cylinder, between wrist rotary piston bar and wrist rotation right aling cap Deep groove ball bearing is provided with, the locking nut for carrying on the back tight deep groove ball bearing is provided with wrist rotary piston bar, wrist is returned Transduce drives wrist rotary piston bar to rotate setting to arc block, is oriented in wrist revolution on arc block and is provided with the logical oil of arc Groove;Grip finger device include left end be arranged in wrist rotary piston bar inner stopper grip finger piston rod, be arranged on hand Refer to clamping piston bar left end wrist telescopic piston set, be sleeved on grip finger piston rod finger back-moving spring, be sleeved on On grip finger piston rod and be arranged on wrist front support end cap grip finger outside framework oil seal, be arranged on wrist front support end The clamping support plate of lid right-hand member, the grip finger push pedal for being arranged on grip finger piston rod right-hand member and being slided on support plate is clamped, two It is individual be symmetrical arranged and left end be respectively hinged at rear finger in grip finger push pedal, by hinging pin shaft with it is corresponding after finger right-hand member The preceding finger that is hinged, be arranged on it is corresponding before in the middle part of finger and clamp the fulcrum straight pin between support plate right-hand member and be arranged on phase On the preceding finger right-hand member answered and for clamping the finger fingertip of block;Finger back-moving spring is arranged on wrist telescopic piston set and hand Before wrist between adpting flange seat, arm slewing equipment includes the arm revolution upper flange that upper end is bolted with adpting flange Seat, the arm rotary cylinder shell and arm rotary cylinder shell lower end that are fixedly connected with arm revolution upper flange seat lower end are fixed and connected The arm rotary cylinder adapter sleeve that connects, the arm rotary cylinder lower cover being fixedly connected with arm rotary cylinder adapter sleeve lower end, along Z-direction successively The fuselage liter of upper flange seat, arm rotary cylinder shell, arm rotary cylinder adapter sleeve and arm rotary cylinder lower cover is turned round through arm Drop piston rod, be arranged on the sealing ring of fuselage lifting piston rod and arm rotary cylinder lower cover, be arranged on fuselage lifting piston rod and Taper roll bearing between arm rotary cylinder adapter sleeve, the lifting stop nut for being arranged on fuselage lifting piston rod upper end, point The arm revolution guide pad not being arranged between fuselage lifting piston rod and arm rotary cylinder shell is fixed catch with arm, set The arm turned round in arm between guide pad and fuselage lifting piston rod turns round feather key, is arranged on arm fixation catch and arm The abrasive rubber pad of rotary cylinder shell;Fixed in arm between catch and arm rotary cylinder shell and be provided with sealing gasket, arm Fixed catch is bolted with arm rotary cylinder shell and by positioning finger setting, and arm revolution guide pad is lifted with fuselage Piston rod turns round feather key by arm and connected, and the lifting that arm link includes being arranged on fuselage lifting piston rod side is fixed Seat, along Z-direction activity set lifting location bar, be sleeved on lift location bar on lifting position detector, be sleeved on fuselage liter The lifting housing cylinder body on piston rod is dropped, the lift cylinders upper connecting base of lifting housing cylinder body upper end is arranged on, is arranged on lift cylinders Lifting cylinder top head, the lift cylinders skeleton being arranged between lift cylinders upper connecting base and fuselage lifting piston rod of upper connecting base upper end Oil sealing, the piston bush being arranged on fuselage lifting piston rod, it is arranged on along Z-direction liter in fuselage lifting piston rod lower end in blind hole Drop is oriented to splined shaft, the lifting guide sleeve being arranged between lifting guiding splined shaft and fuselage lifting piston rod, is arranged on lifting The lift cylinders lower flange seat of housing cylinder body lower end, the lifting lower skeleton being arranged between lift cylinders lower flange seat and lifting guide sleeve Oil sealing, the bottom adpting flange seat for being arranged on lift cylinders lower flanges seat lower end, it is sleeved on lifting guide sleeve lower end and is arranged on down Locking locknut and the split pin being arranged on down on locking locknut under the adpting flange seat lower end of bottom, lifting location bar pass through second Locking nut is connected with lifting fixed seat, and lifting guide sleeve is fixedly connected with fuselage lifting piston rod, in lift cylinders lower flange seat Oil-through-hole is provided with, the circuit control system includes arm and rotates forward switch SB1, arm reversal switch SB2, arm rising switch SB3, arm down switch SB4, arm stretch out switch SB5, arm retraction switch SB6, wrist and rotate forward switch SB7, wrist reversion Switch SB8, grip finger switch SB9, finger trip switch SB10, arm revolution buffer switch SB11, arm lifting buffering are opened Close SB12, arm stretch buffer switch SB13, wrist revolution buffer switch SB14, starting switch SB15, Aligning control switch SB16, Continuous switch SB17, point position control switch SB18, shutdown switch SB19, arm rotate forward spacing ST1, arm and invert spacing ST2, hand Arm lifting position-limit ST3, arm descending spacing ST4, the spacing ST5 of arm stretching, the spacing ST6 of arm retraction, wrist rotate forward spacing ST7, wrist invert spacing ST8,

Signal lamp HL, off-load 2/2-way solenoid valve control coil 1YA, flexible oil return 2/2-way electromagnetic valve coil 2YA, Lift fuel-displaced 2/2-way electromagnetic valve coil 3YA, the fuel-displaced 2/2-way electromagnetic valve coil 4YA of arm revolution, wrist and turn round fuel-displaced 2/2-way electromagnetic valve coil 5YA, flexible three position four-way electromagnetic valve left coil 6YA, the right coil of flexible three position four-way electromagnetic valve 7YA, lifting three position four-way electromagnetic valve left coil 8YA, the right coil 9YA of lifting three position four-way electromagnetic valve, arm revolution 3-position 4-way Magnetic valve left coil 10YA, the right coil 11YA of arm revolution three position four-way electromagnetic valve, the wrist revolution left line of three position four-way electromagnetic valve Enclose 12YA, the wrist revolution right coil 13YA of three position four-way electromagnetic valve and clamp two-bit triplet electromagnetic valve coil 14YA.

It is using the beneficial effect produced by above-mentioned technical proposal:

The present invention uses circular cylindrical coordinate formula, can complete the functions such as feeding, upset.It is of the invention main by finger, wrist, arm Constituted with the part such as fuselage, turn round 4 frees degree with wrist revolution, flexible arm, arm lifting and arm, disclosure satisfy that one As industrial requirements.The manipulator is positioned by potentiometer, carries out point position control, and control system uses PLC PLC technologies, had Good versatility and flexibility.The manipulator is hydraulic-driven, and the clamping of 4 frees degree and finger is all hydraulically operated, this The control of the various compulsory exercises of manipulator is realized in invention, is conducive to simplifying circuit, is saved cost, raise labour efficiency, improves life Yield, while combining the basis of machine-building in the arrangement of oil circuit and planning, constantly makes oil circuit meet the feasibility of manufacture, and And oil circuit is arranged to space structure, make the structure of manipulator more succinct and compact.

Brief description of the drawings

Fig. 1 is the structural representation of the present invention.

Fig. 2 is the structural representation of arm link of the present invention.

Fig. 3 is Fig. 2 left view structural representation.

Fig. 4 is Fig. 2 cross section structure diagram.

Fig. 5 is the structural representation of arm retractor device of the present invention.

Fig. 6 is the structural representation of grip finger device of the present invention.

Fig. 7 is Fig. 6 A-A to cross section structure diagram.

Fig. 8 is the structural representation of finger before the present invention.

Fig. 9 is the structural representation of finger fingertip of the present invention.

Figure 10 is the structural representation of arm slewing equipment of the present invention.

Figure 11 is Figure 10 C-C to structural representation.

Figure 12 is the structural representation of fuselage lowering or hoisting gear of the present invention.

Figure 13 is the hydraulic schematic of the present invention.

Figure 14 is the circuit structure block diagram of the present invention.

Figure 15 is the electromagnet action schematic diagram of the present invention.

Embodiment

As shown in figures 1-15, the present invention includes lifting the fuselage lowering or hoisting gear 1 of setting along Z-direction, is arranged on machine along W to revolution The arm slewing equipment 2 of the upper end of body lowering or hoisting gear 1, the arm link 3 for being arranged on the upper end of arm slewing equipment 2, it is fixedly installed The left side of arm link 3 arm stretch rear support 4, be fixedly installed on the arm at the middle part of arm link 3 it is flexible in bearing 5th, the flexible preceding bearing 6 of arm, the hand being arranged on along X to stretching on arm link 3 on the right side of arm link 3 are fixedly installed on Arm retractor device 7, along U to revolution be arranged on the wrist slewing equipment 8 of the right-hand member of arm retractor device 7, be arranged on wrist revolution dress Grip finger device 9, hydraulic control system and the circuit control system of 8 right-hand members are put, arm retractor device 7 is installed on arm and stretched Before bearing 5 and arm are flexible during contracting rear support 4, arm are flexible on bearing 6;

Fuselage lowering or hoisting gear 1 include arm fixed mount 17, be arranged in the middle part of the lower end of arm fixed mount 17 adpting flange 16, It is separately positioned on the lower surface of arm fixed mount 17 and location screw rod fore-stock 13 and location screw rod positioned at the side of adpting flange 16 After-poppet 14, be arranged on the lower surface of arm fixed mount 17 and positioned at the side of adpting flange 16, be installed on before location screw rod along Z-direction Arm location screw rod guide pin bushing 15 in support 13 and location screw rod after-poppet 14, arm location screw rod guide pin bushing 15 is installed on along Z-direction Interior arm location screw rod 11 and the arm location fixed mount 10 for being arranged on the lower end of wrist slewing equipment 8;

The lower end of bearing 6 before the lower end of bearing 5 and arm are flexible during the lower end of the flexible rear support 4 of arm, arm are flexible Respectively on fixing arm fixed mount 17, arm location potentiometer 12 is sleeved on arm location screw rod 11, arm location screw rod 11 Right-hand member be fixedly connected with arm location fixed mount 10;

Arm retractor device 7 includes two ends and is installed on the hand that arm stretches in rear support 4 and the flexible middle bearing 5 of arm respectively Arm stretch cylinder sleeve 20, along X to be arranged on arm stretch cylinder sleeve 20 in arm telescopic piston rod 18, be arranged on arm stretch cylinder sleeve The arm telescopic oil cylinder bonnet 28 of 20 right-hand members, be arranged on the right side wall of arm telescopic oil cylinder bonnet 28 and with arm telescopic piston rod Dashpot 26, the arm telescopic piston 19 being sleeved in arm telescopic piston rod 18 after the corresponding arm of 18 left ends is flexible, set Put arm stretch cylinder sleeve 20 right-hand member cylinder body drive end bearing bracket 21, be arranged on the left side wall of cylinder body drive end bearing bracket 21 and with arm is flexible lives Dashpot 27 before the corresponding arm of the right-hand member of stopper rod 18 is flexible, it is arranged between cylinder body drive end bearing bracket 21 and arm telescopic piston rod 18 Pilot bushing 22, the arm that is sleeved in arm telescopic piston rod 18 stretch outside framework oil seal 23, be arranged on arm and stretch skeleton The right-hand member of oil sealing 23 and the arm that is connected with the right-hand member of cylinder body drive end bearing bracket 21 stretch liner cap 24, to be arranged on arm telescopic piston rod 18 right The flexible connection journal stirrup 29 of the arm at end,

The arm retractable support set 25 that is fixedly installed on the right-hand member male half coupling of cylinder body drive end bearing bracket 21, be arranged on arm it is flexible in Arm before bearing 5 and arm are flexible on bearing 6 stretch cylinder body guide sleeve 31, stretch cylinder body along X to being movably arranged on arm Arm in the endoporus of guide sleeve 31 stretch cylinder shell 32, be fixedly installed on the arm cylinder body that arm stretches in cylinder shell 32 and connect Female connector 33, the wrist oil circuit oil-feed tail-hood 34 for being fixedly installed on the left end of arm cylinder body adapter sleeve 33, be fixedly installed on arm stretch The rotary cylinder bonnet 39 of the right-hand member of cylinder shell 32, the logical oily inner stopper 40 of revolution positioning for being arranged on the right-hand member of rotary cylinder bonnet 39, set The wrist oil path in oil cylinder 37 between the logical oily inner stopper 40 of revolution positioning and wrist oil circuit oil-feed tail-hood 34 is put, arm is arranged on and stretches Arm before contracting on bearing 6 stretch front support bushing 30, be arranged on arm and stretch front support bushing 30 and arm retractable support set Telescopic oil cylinder on 25, which is slided, drives inner sleeve 36, the telescopic slide being arranged in telescopic oil cylinder slip drive inner sleeve 36 to drive overcoat 35 and the arm that is arranged between the flexible connection journal stirrup 29 of arm and rotary cylinder bonnet 39 of inserting stretch alignment pin 38,

Arm stretches outside framework oil seal 23 positioned at the right side of pilot bushing 22, and arm stretches outside framework oil seal 23 positioned at cylinder body drive end bearing bracket In 21 right side inner stoppers, arm retractable support set 25 is arranged on the flexible middle bearing 5 of arm, and arm location fixed mount 10 is fixed and set Put in the lower end of rotary cylinder bonnet 39;

Wrist slewing equipment 8 include the wrist rotary piston bar 48 that left end is arranged in the logical oily inner stopper 40 of revolution positioning, Left end is fixedly connected with fixed seat 41 after wrist rotary cylinder with the right-hand member of rotary cylinder bonnet 39, is fixedly installed on after wrist rotary cylinder and fixes The wrist rotary cylinder fixed shell 42 of 41 right-hand members of seat, the wrist rotation being fixedly connected with the right side of wrist rotary cylinder fixed shell 42 Right aling cap 43, the wrist being separately positioned between wrist rotary cylinder fixed shell 42 and wrist rotary piston bar 48 revolution are oriented to arc Shape block 44 fixes arc block 46 with wrist revolution, is arranged on the fixed arc block 46 of wrist revolution and wrist rotary cylinder fixed shell 42 Between wrist rotary sealing pad 65, be arranged on the wrist that wrist revolution is oriented between arc block 44 and wrist rotary piston bar 48 Connecting key 45 is turned round, adpting flange seat 53 before the wrist of the wrist rotation right-hand member of right aling cap 43 is arranged on, is arranged on connection before wrist The wrist front support end cap 55 of the right-hand member of flange seat 53 and it is arranged on before wrist adpting flange seat 53 and wrist front support end cap 55 Between wrist intermediate supports set 54,

Fixed seat 41, wrist rotary cylinder fixed shell 42 and wrist rotation right aling cap 43 pass through bolt after wrist rotary cylinder Connect and positioned by wrist support alignment pin 47, the left end and fixed seat after wrist rotary cylinder of the fixed arc block 46 of wrist revolution 41 are bolted and by positioning finger setting, and the right-hand member of wrist rotary piston bar 48 is provided with grip finger dashpot 52, the pipeline of connection grip finger dashpot 52 and wrist oil path in oil cylinder 37 is provided with wrist rotary piston bar 48, in hand Be provided with deep groove ball bearing between fixed seat 41 after wrist rotary piston bar 48 and wrist rotary cylinder, wrist rotary piston bar 48 with Deep groove ball bearing is provided between wrist rotation right aling cap 43, is provided with wrist rotary piston bar 48 for carrying on the back tight deep-groove ball The locking nut of bearing, wrist revolution is oriented to arc block 44 and drives wrist rotary piston bar 48 to rotate setting, is led in wrist revolution Arc is provided with to arc block 44 and leads to oil groove;

Grip finger device 9 includes the grip finger piston rod that left end is arranged in the inner stopper of wrist rotary piston bar 48 50th, wrist telescopic piston set 51, the hand being sleeved on grip finger piston rod 50 of the left end of grip finger piston rod 50 are arranged on The grip finger skeleton for refer to back-moving spring 49, being sleeved on grip finger piston rod 50 and being arranged on wrist front support end cap 55 Oil sealing 56, the clamping support plate 64 for being arranged on the right-hand member of wrist front support end cap 55, be arranged on the right-hand member of grip finger piston rod 50 and Clamp the grip finger push pedal 63 slided on support plate 64, two be symmetrical arranged and left end is respectively hinged in grip finger push pedal 63 Rear finger 62, by hinging pin shaft 60 with it is corresponding after the right-hand member of finger 62 be hinged preceding finger 61, be arranged on corresponding preceding finger 61 middle parts are clamping the fulcrum straight pin 59 between the right-hand member of support plate 64 and being arranged on the corresponding preceding right-hand member of finger 61 and be used for Clamp the finger fingertip 58 of block 57;

Finger back-moving spring 49 is arranged on before wrist telescopic piston set 51 and wrist between adpting flange seat 53,

Arm slewing equipment 2 include the arm revolution upper flange seat 71 that upper end and adpting flange 16 be bolted, with The arm rotary cylinder shell 70 and the lower end of arm rotary cylinder shell 70 that 71 lower ends of arm revolution upper flange seat are fixedly connected are fixed and connected The arm rotary cylinder adapter sleeve 69 that connects, the arm rotary cylinder lower cover 68 being fixedly connected with the lower end of arm rotary cylinder adapter sleeve 69, along Z Upper flange seat 71, arm rotary cylinder shell 70, arm rotary cylinder adapter sleeve 69 and arm rotary cylinder are turned round to arm is sequentially passed through The fuselage lifting piston rod 90 of lower cover 68, the sealing ring for being arranged on fuselage lifting piston rod 90 and arm rotary cylinder lower cover 68, set Put the taper roll bearing 67 between fuselage lifting piston rod 90 and arm rotary cylinder adapter sleeve 69, be arranged on fuselage lifting work The lifting stop nut 66 of the upper end of stopper rod 90, it is separately positioned between fuselage lifting piston rod 90 and arm rotary cylinder shell 70 Arm turns round guide pad 75 and arm is fixed catch 73, is arranged between arm revolution guide pad 75 and fuselage lifting piston rod 90 Arm revolution feather key 72 and be arranged on the abrasive rubber pad 74 that arm fixes catch 73 and arm rotary cylinder shell 70;

Fixed in arm and sealing gasket is provided between catch 73 and arm rotary cylinder shell 70, arm fixes catch 73 and hand Revolution of arm cylinder shell 70 is bolted and by positioning finger setting, arm revolution guide pad 75 and fuselage lifting piston rod 90 Feather key 72 is turned round by arm to connect,

Arm link 3 includes being arranged on the lifting fixed seat 77 of the side of fuselage lifting piston rod 90, set along Z-direction activity Lifting location bar 82, be sleeved on lifting location bar 82 lifting position detector 81, be sleeved on fuselage lifting piston rod 90 On lifting housing cylinder body 91, be arranged on the lift cylinders upper connecting base 79 of the upper end of lifting housing cylinder body 91, be arranged in lift cylinders The lifting cylinder top head 78 of the upper end of connecting seat 79, the lifting being arranged between lift cylinders upper connecting base 79 and fuselage lifting piston rod 90 Cylinder outside framework oil seal 80, the piston bush being arranged on fuselage lifting piston rod 90, the lower end of fuselage lifting piston rod 90 is arranged on along Z-direction Lifting in interior blind hole is oriented to splined shaft 88, is arranged on the lifting that lifting is oriented between splined shaft 88 and fuselage lifting piston rod 90 Guide sleeve 89, the lift cylinders lower flange seat 87 for being arranged on the lower end of lifting housing cylinder body 91, be arranged on lift cylinders lower flange seat 87 with Lift the lifting lower skeleton oil sealing 86 between guide sleeve 89, be arranged on the bottom adpting flange seat of 87 lower ends of lift cylinders lower flange seat 85th, it is sleeved on the lifting lower end of guide sleeve 89 and is arranged under 85 lower ends of adpting flange seat of bottom and locking locknut 84 and is arranged on Under split pin 83 on locking locknut 84,

Lifting location bar 82 is connected by the second locking nut 76 with lifting fixed seat 77, lifting guide sleeve 89 and fuselage liter Drop piston rod 90 is fixedly connected, and lift cylinders lower flange seat 87 is provided with oil-through-hole.

As shown in figure 13, hydraulic control system of the invention includes fuel tank 92, filter 93, oil pump 94, motor 95, first The bypass of main road 96, second 97, main road check valve 98, the second main road 99, arm telescopic hydraulic control module 100, arm revolution liquid Press control module 101, raise-lower hydraulic control module 102, wrist revolution hydraulic control module 103, grip finger hydraulic control mould Block 104, safety valve 105, pressure gauge branch road 106, pressure meter switch 107, pressure indicator 108, off-load branch road 109 and off-load 2/2-way magnetic valve 110;

Fuel tank 92 is connected by filter 93 with oil pump 94, and motor 95 drives oil pump 94 to rotate;

Point two-way after the first main road 96 of oil pump 94, is connected with main road check valve 98 all the way;Another road is by by second The tunnels of 97 Hou Fen of road tri-, the first via returns to fuel tank 92 by safety valve 105, and the second tunnel is opened through pressure gauge branch road 106 by pressure gauge Close 107 to connect with pressure indicator 108, the 3rd tunnel passes through off-load branch road 109 and the oil inlet of off-load 2/2-way magnetic valve 110 Connection, the oil-out of off-load 2/2-way magnetic valve 110 is connected with fuel tank 92;

Main road check valve 98 is by the tunnels of 99 Hou Fen of the second main road five, respectively with arm telescopic hydraulic control module 100, arm Turn round hydraulic control module 101, raise-lower hydraulic control module 102, wrist revolution hydraulic control module 103 and grip finger liquid Pressure control module 104 is connected;

Arm telescopic hydraulic control module 100 includes arm retractor device 7, flexible oil-feed branch road 111, flexible meter in Valve 112, flexible three position four-way electromagnetic valve 113, flexible tie point 114, flexible buffer cell 115, sequence valve 116, buffering are single To valve 117, flexible first branch 118, flexible second branch 119, flexible oil return branch road 120, flexible meter out valve 121 and Flexible oil return 2/2-way magnetic valve 122;

Second main road 99 is connected with flexible oil-feed branch road 111, stretch oil-feed branch road 111 through flexible meter in valve 112 with The first import a1 connections of flexible three position four-way electromagnetic valve 113, the first outlet a2 for the three position four-way electromagnetic valve 113 that stretches is by stretching Contracting tie point 114 and the inlet communication of flexible buffer cell 115, the outlet for the buffer cell 115 that stretches is by stretching first point Road 118 is connected with the oil cylinder rodless cavity of arm retractor device 7, the cylinder rod chamber of arm retractor device 7 and flexible second branch 119 connections, flexible second branch 119 is connected with the second outlet a4 of flexible three position four-way electromagnetic valve 113, and stretch 3-position 4-way electricity Second import a3 of magnet valve 113 is connected with flexible oil return branch road 120, and stretch oil return 120 points of two-way of branch road, and a-road-through hyperextension is retracted Oily choke valve 121 returns to fuel tank 92, and another road returns to fuel tank 92 by flexible oil return 2/2-way magnetic valve 122;

The flexible Median Function of three position four-way electromagnetic valve 113 is O-shaped;

Flexible buffer cell 115 includes the sequence valve 116 being arranged in parallel and dashpot check valve 117, the oil-feed of sequence valve 116 Mouth is connected with flexible first branch 118, and the oil-out of sequence valve 116 is connected with flexible tie point 114, dashpot check valve 117 Oil inlet connected with flexible tie point 114, the oil-out of dashpot check valve 117 is connected with flexible first branch 118;

Arm revolution hydraulic control module 101 includes arm slewing equipment 2, arm revolution oil-feed branch road 123, arm revolution Meter in valve 124, arm revolution three position four-way electromagnetic valve 125, arm turn round the first branch 126, arm and turn round the second branch 127th, arm turns round fuel-displaced branch road 128, arm and turns round fuel-displaced choke valve 129 and the fuel-displaced 2/2-way magnetic valve of arm revolution 130;

Second main road 99 is connected with arm revolution oil-feed branch road 123, and arm revolution oil-feed branch road 123 handles revolution of arm oil-feed The first import b1 that choke valve 124 turns round three position four-way electromagnetic valve 125 with arm is connected, arm revolution three position four-way electromagnetic valve 125 first outlet b2 turns round the first branch 126 with arm and connected, the first branch of arm revolution 126 and arm slewing equipment 2 One oil cylinder cavity is connected, and another oil cylinder cavity and the arm of arm slewing equipment 2 turn round the second branch 127 and connected, arm revolution The second outlet b4 that second branch 127 turns round three position four-way electromagnetic valve 125 with arm is connected, arm revolution three position four-way electromagnetic valve 125 the second import b3 turns round fuel-displaced branch road 128 with arm and connected, and arm turns round fuel-displaced 128 points of two-way of branch road, respectively through hand The fuel-displaced choke valve 129 of revolution of arm and arm turn round fuel-displaced 2/2-way magnetic valve 130 and return to fuel tank 92;

Arm revolution three position four-way electromagnetic valve 125 Median Function is O-shaped;

Raise-lower hydraulic control module 102 includes fuselage lowering or hoisting gear 1, lifting oil-feed branch road 131, lifting meter in valve 132nd, lifting three position four-way electromagnetic valve 133, lifting tie point 134, lifting buffer cell 135, the first branch 136 of lifting, liter The second branch 137 is dropped, fuel-displaced branch road 138 is lifted, lift fuel-displaced choke valve 139 and lifts fuel-displaced 2/2-way magnetic valve 140; It is O-shaped to lift the Median Function of three position four-way electromagnetic valve 133;

Second main road 99 is connected with lifting oil-feed branch road 131, and lifting oil-feed branch road 131 is by lifting meter in valve 132 Connected with the first import c1 for lifting three position four-way electromagnetic valve 133, the first outlet c2 of lifting three position four-way electromagnetic valve 133 passes through Tie point 134 and the inlet communication of lifting buffer cell 135 are lifted, first point of the outlet and lifting of buffer cell 135 is lifted Road 136 is connected, and the first branch 136 of lifting is connected with the oil cylinder rodless cavity of fuselage lowering or hoisting gear 1, the oil cylinder of fuselage lowering or hoisting gear 1 Rod chamber is connected with the second branch 137 of lifting, the second branch of lifting 137 and the second outlet of lifting three position four-way electromagnetic valve 133 C4 is connected, and the second import c3 for lifting three position four-way electromagnetic valve 133 is connected with lifting fuel-displaced branch road 138, lifts fuel-displaced branch road 138 Divide two-way, return to fuel tank 92 by lifting fuel-displaced choke valve 139 and lifting fuel-displaced 2/2-way magnetic valve 140 respectively;

Lift buffer cell 135 identical with the flexible structure of buffer cell 115;

Wrist revolution hydraulic control module 103 includes wrist slewing equipment 8, wrist revolution oil-feed branch road 141, wrist revolution Meter in valve 142, wrist revolution three position four-way electromagnetic valve 143, wrist turn round the first branch 144, wrist and turn round the second branch 145th, wrist turns round fuel-displaced branch road 146, wrist and turns round fuel-displaced choke valve 147 and the fuel-displaced 2/2-way magnetic valve of wrist revolution 148;

Second main road 99 is connected with wrist revolution oil-feed branch road 141, and wrist revolution oil-feed branch road 141 turns round oil-feed through wrist The first import d1 that choke valve 142 turns round three position four-way electromagnetic valve 143 with wrist is connected, wrist revolution three position four-way electromagnetic valve 143 first outlet d2 turns round the first branch 144 with wrist and connected, the first branch of wrist revolution 144 and wrist slewing equipment 8 One oil cylinder cavity is connected, and another oil cylinder cavity and the wrist of wrist slewing equipment 8 are turned round the second branch 145 and connected, wrist revolution The second outlet d4 that second branch 145 turns round three position four-way electromagnetic valve 143 with wrist is connected, wrist revolution three position four-way electromagnetic valve 143 the second import d3 turns round fuel-displaced branch road 146 with wrist and connected, and wrist turns round fuel-displaced 146 points of two-way of branch road, passes through hand respectively Wrist turns round fuel-displaced choke valve 147 and wrist turns round fuel-displaced 2/2-way magnetic valve 148 and returns to fuel tank 92;

Wrist revolution three position four-way electromagnetic valve 143 Median Function is O-shaped;

Grip finger hydraulic control module 104 includes grip finger device 9, pressure-reducing valve 149, clamps tie point 150, folder Tight choke valve 151, clamping two-bit triplet magnetic valve 152, the second branch road 153 of clamping, clamping check valve 154, the 3rd branch road of clamping 155th, pressure switch 156 and feedback oil circuit 157;

Second main road 99 and the inlet communication of pressure-reducing valve 149, the outlet of pressure-reducing valve 149 are connected with clamping tie point 150, are pressed from both sides Tight tie point 150 is connected by clamping choke valve 151 with clamping the import A of two-bit triplet magnetic valve 152 first, clamps two three Three-way electromagnetic valve 152 exports P and connected with clamping the second branch road 153, clamps import of second branch road 153 with clamping check valve 154 and connects Logical, the outlet for clamping check valve 154 is connected with clamping the 3rd branch road 155,155 points of two-way of the 3rd branch road is clamped, respectively with pressure The oil cylinder rodless cavity connection of relay 156 and grip finger device 9;Set between pressure-reducing valve 149 and clamping check valve 154 There is feedback oil circuit 157.

As shown in figure 14, circuit control system of the invention includes programmable processor PLC, arm rotating forward switch SB1, hand Arm reversal switch SB2, arm rising switch SB3, arm down switch SB4, arm stretch out switch SB5, arm retraction switch SB6, wrist rotate forward switch SB7, wrist reversal switch SB8, grip finger switch SB9, finger trip switch SB10, arm revolution Buffer switch SB11, arm lifting buffer switch SB12, arm stretch buffer switch SB13, wrist revolution buffer switch SB14, Starting switch SB15, Aligning control switch SB16, continuously switch SB17, point position control switch SB18, shutdown switch SB19,

Arm rotates forward spacing ST1, arm and inverts spacing ST2, arm lifting position-limit ST3, arm descending spacing ST4, arm Stretch out spacing ST5, arm retract spacing ST6, wrist rotate forward spacing ST7, wrist invert spacing ST8,

Signal lamp HL, off-load 2/2-way solenoid valve control coil 1YA, flexible oil return 2/2-way electromagnetic valve coil 2YA, Lift fuel-displaced 2/2-way electromagnetic valve coil 3YA, the fuel-displaced 2/2-way electromagnetic valve coil 4YA of arm revolution, wrist and turn round fuel-displaced 2/2-way electromagnetic valve coil 5YA, flexible three position four-way electromagnetic valve left coil 6YA, the right coil of flexible three position four-way electromagnetic valve 7YA, lifting three position four-way electromagnetic valve left coil 8YA, the right coil 9YA of lifting three position four-way electromagnetic valve, arm revolution 3-position 4-way Magnetic valve left coil 10YA, the right coil 11YA of arm revolution three position four-way electromagnetic valve, the wrist revolution left line of three position four-way electromagnetic valve Enclose 12YA, the wrist revolution right coil 13YA of three position four-way electromagnetic valve and clamp two-bit triplet electromagnetic valve coil 14YA;

Arm rotates forward spacing ST1 and is connected between programmable processor PLC COM ends and programmable processor PLC X0 ends,

Arm inverts spacing ST2 and is connected between programmable processor PLC COM ends and programmable processor PLC X1 ends,

Arm lifting position-limit ST3 is connected between programmable processor PLC COM ends and programmable processor PLC X2 ends,

Arm descending spacing ST4 is connected between programmable processor PLC COM ends and programmable processor PLC X3 ends,

Arm stretches out spacing ST5 and is connected between programmable processor PLC COM ends and programmable processor PLC X4 ends,

The spacing ST6 of arm retraction is connected between programmable processor PLC COM ends and programmable processor PLC X5 ends,

Wrist rotates forward spacing ST7 and is connected between programmable processor PLC COM ends and programmable processor PLC X6 ends,

Wrist inverts spacing ST8 and is connected between programmable processor PLC COM ends and programmable processor PLC X7 ends;

Arm rotate forward switch SB1 be connected on programmable processor PLC COM ends and programmable processor PLC X10 ends it Between,

Arm reversal switch SB2 be connected on programmable processor PLC COM ends and programmable processor PLC X11 ends it Between,

Arm rising switch SB3 be connected on programmable processor PLC COM ends and programmable processor PLC X12 ends it Between,

Arm down switch SB4 be connected on programmable processor PLC COM ends and programmable processor PLC X13 ends it Between,

Arm stretch out switch SB5 be connected on programmable processor PLC COM ends and programmable processor PLC X14 ends it Between,

Arm retract switch SB6 be connected on programmable processor PLC COM ends and programmable processor PLC X15 ends it Between,

Wrist rotate forward switch SB7 be connected on programmable processor PLC COM ends and programmable processor PLC X16 ends it Between,

Wrist reversal switch SB8 be connected on programmable processor PLC COM ends and programmable processor PLC X17 ends it Between,

Grip finger switch SB9 be connected on programmable processor PLC COM ends and programmable processor PLC X20 ends it Between,

Finger trip switch SB10 be connected on programmable processor PLC COM ends and programmable processor PLC X21 ends it Between,

Arm revolution buffer switch SB11 is connected on programmable processor PLC COM ends and programmable processor PLC X22 Between end,

Arm lifting buffer switch SB12 is connected on programmable processor PLC COM ends and programmable processor PLC X23 Between end,

The flexible buffer switch SB13 of arm is connected on programmable processor PLC COM ends and programmable processor PLC X24 Between end,

Wrist revolution buffer switch SB14 is connected on programmable processor PLC COM ends and programmable processor PLC X25 Between end,

Starting switch SB15 is connected between programmable processor PLC COM ends and programmable processor PLC X26 ends,

Aligning control switch SB16 is connected between programmable processor PLC COM ends and programmable processor PLC X27 ends,

Continuous switch SB17 is connected between programmable processor PLC COM ends and programmable processor PLC X30 ends,

Point position control switch SB18 be connected on programmable processor PLC COM ends and programmable processor PLC X31 ends it Between,

Shutdown switch SB19 is connected between programmable processor PLC COM ends and programmable processor PLC X32 ends;

Programmable processor PLC exchange fire-wire power end L termination 220V AC power zero lines, programmable processor PLC exchange zero line power end N-terminal connects 220V AC power zero line sides;

Programmable processor PLC the first common port COM1 ends connect 220V AC powers respectively with the second public COM2 ends Zero line,

Off-load 2/2-way solenoid valve control coil 1YA is connected on programmable processor PLC Y0 ends and 220V AC powers Between zero line side,

Flexible oil return 2/2-way electromagnetic valve coil 2YA is connected on programmable processor PLC Y1 ends and 220V AC powers Between zero line side,

Lift Y2 ends and 220V AC powers that fuel-displaced 2/2-way electromagnetic valve coil 3YA is connected on programmable processor PLC Between zero line side,

The Y3 ends that the fuel-displaced 2/2-way electromagnetic valve coil 4YA of arm revolution is connected on programmable processor PLC are exchanged with 220V Between zero-power line end,

The Y4 ends that the fuel-displaced 2/2-way electromagnetic valve coil 5YA of wrist revolution is connected on programmable processor PLC are exchanged with 220V Between zero-power line end,

Flexible three position four-way electromagnetic valve left coil 6YA is connected on programmable processor PLC Y5 ends and 220V AC powers zero Between line end,

The flexible right coil 7YA of three position four-way electromagnetic valve is connected on programmable processor PLC Y6 ends and 220V AC powers zero Between line end,

Lifting three position four-way electromagnetic valve left coil 8YA is connected on programmable processor PLC Y7 ends and 220V AC powers zero Between line end,

The lifting right coil 9YA of three position four-way electromagnetic valve is connected on programmable processor PLC Y10 ends and 220V AC powers zero Between line end,

The Y11 ends that arm revolution three position four-way electromagnetic valve left coil 10YA is connected on programmable processor PLC are exchanged with 220V Between zero-power line end,

The Y12 ends that the arm revolution right coil 11YA of three position four-way electromagnetic valve is connected on programmable processor PLC are exchanged with 220V Between zero-power line end,

The Y13 ends that wrist revolution three position four-way electromagnetic valve left coil 12YA is connected on programmable processor PLC are exchanged with 220V Between zero-power line end,

The Y14 ends that the wrist revolution right coil 13YA of three position four-way electromagnetic valve is connected on programmable processor PLC are exchanged with 220V Between zero-power line end,

Clamp Y15 ends and 220V AC powers zero that two-bit triplet electromagnetic valve coil 14YA is connected on programmable processor PLC Between line end,

Signal lamp HL is connected between programmable processor PLC Y16 ends and 220V AC power zero line sides.

Wherein programmable processor PLC is preferably FX2N-64 types.

The present invention is made up of executing agency, drive system and control system.The present invention uses circular cylindrical coordinate formula, energy Complete the functions such as feeding, upset.Of the invention is mainly grip finger device 9 by finger part, and wrist is wrist revolution dress 8 are put, arm segment includes arm retractor device 7, fuselage includes fuselage lowering or hoisting gear 1 and constituted with the grade of arm slewing equipment 2 part, 4 frees degree are turned round with wrist revolution, flexible arm, arm lifting and arm, general industrial requirements are disclosure satisfy that.This hair It is bright by potentiometer be arm location potentiometer 12 and lifting position detector 81, and be respectively cooperating with arm location screw rod 11 with lifting Location bar 8 is positioned, and carries out point position control, and control system uses programmable controller PLC, with good versatility and flexibly Property.The present invention is hydraulic-driven, and the clamping of 4 frees degree and finger is all hydraulically operated, and the various rule of manipulator are realized in the design Surely the control acted, is conducive to simplifying circuit, saves cost, raise labour efficiency, productivity ratio is improved, while in the arrangement of oil circuit With the basis for combining machine-building in planning, oil circuit is constantly set to meet the feasibility of manufacture, and oil circuit is arranged into space knot Structure, makes the structure of manipulator more succinct and compact.

Finger part is used for directly clamping workpiece, and wrist is the part for connecting hand and arm, and can be used to adjust Grabbed the orientation of object(That is posture);Arm segment is the important component that thing, hand, wrist are grabbed in supporting.The effect of hand is Drive finger to go to capture object, and moved by pre-provisioning request to predetermined position.Arm is stretched before and after having four frees degree, arm Be condensed to X to, wrist rotate to be U to, arm oscilaltion be Z-direction, arm revolution for W to.

Rectangular co-ordinate takes up space greatly, and working range is small, and inertia is big, and its advantage is that simple in construction, rigidity is high, the free degree compared with Used when few.Spherical coordinates formula and it is articulated occupy little space, working range is big, and inertia is small, and required power is small, can capture bottom surface Object, multi-joint can select approach with obstacle thing, but articulated complicated, so being also of little use.The present invention is used Circular cylindrical coordinate to be that arm slewing equipment 2 takes up space smaller, working range is larger, but inertia is also big, and can not capture bottom surface thing Body.

Hand part be for the workpiece that directly captures or hold with a firm grip, due to be held the shape of workpiece, size, weight, The difference of material property, surface appearance etc..

Clamp-type hand is made up of finger, transmission mechanism and the part of drive device three, and it is variously-shaped to capturing Workpiece has larger adaptability, widely used, can be with the blocks such as grip axes, disk or set 57.When pressure oil is on the right of hydraulic cylinder During oil pipe oil-feed, piston rod is moved to the left, and promotes finger closure;When pressure oil is from the oil-feed of the hydraulic cylinder left side, finger is pulled Open.

During using the present invention, fuselage lowering or hoisting gear 1 is fixed on precalculated position, stretched by arm slewing equipment 2, arm Device 7, wrist slewing equipment 8 work, and are particularly suitable for the manipulator worked in high-temperature operation and Korrosionsmedium.

Arm link 3, arm stretch rear support 4, arm it is flexible in bearing 5 and arm it is flexible before bearing 6 support to connect Arm retractor device 7 is taken over, arm location potentiometer 12, location screw rod fore-stock 13, location screw rod after-poppet 14 and arm are surveyed Position screw rod guide pin bushing 15 can support protection arm location screw rod 11, the preferred brass of pilot bushing 22 or phosphor bronze, be stretched by arm Dashpot 27 can play buffer protection function before dashpot 26, arm are flexible after contracting, and the flexible front support bushing 30 of arm is preferred Brass or phosphor bronze;The flexible cylinder shell 32 of arm telescopic slide in the flexible cylinder body guide sleeve 31 of arm, so as to share arm The moment of flexure and moment of torsion of telescopic piston rod 18, improve its service life, and play proofing dust and protecting effect, and arm telescopic piston rod 18 is led to Crossing the arm alignment pin 38 that stretches drives arm cylinder body adapter sleeve 33 to stretch, rotary cylinder bonnet 39, the logical oily inner stopper 40 of revolution positioning, Fixed seat 41, the wrist of wrist rotary cylinder fixed shell 42 rotation right aling cap 43, wrist revolution are oriented to arc block after wrist rotary cylinder 44th, wrist revolution connecting key 45, the fixed arc block 46 of wrist revolution, wrist rotary sealing pad 65, wrist support alignment pin 47 with And the composition angling cylinder housing of wrist rotary piston bar 48;Realized and resetted by finger back-moving spring 49;Lived by grip finger Stopper rod 50, wrist telescopic piston set 51, grip finger dashpot 52, adpting flange seat 53 before wrist, wrist intermediate supports set 54, Wrist front support end cap 55, grip finger outside framework oil seal 56, finger fingertip 58, fulcrum straight pin 59, hinging pin shaft 60, preceding finger 61st, rear finger 62, grip finger push pedal 63 and clamp support plate 64 and realize that linkage is clamped or unclamped, taper roll bearing 67 can be with Axial force is born, arm rotary cylinder lower cover 68, arm rotary cylinder adapter sleeve 69, arm rotary cylinder shell 70, arm return roll up method Blue seat 71, arm revolution feather key 72, arm fix catch 73, abrasive rubber pad 74, arm revolution guide pad 75 and machine Body lifting piston rod 90 realizes the action of angling cylinder, passes through fuselage lifting piston rod 90, lifting fixed seat 77, lifting cylinder top head 78th, lift cylinders upper connecting base 79, lift cylinders outside framework oil seal 80, lifting position detector 81, lifting location bar 82, split pin 83, Under locking locknut 84, bottom adpting flange seat 85, lifting lower skeleton oil sealing 86, lift cylinders lower flange seat 87, lifting be oriented to spline Axle 88, lifting guide sleeve 89 and lifting housing cylinder body 91 realize upgrade actions, and splined shaft 88 and fuselage liter are oriented to by lifting The suit design of piston rod 90 is dropped, support, fixed and guide effect is played, it is reasonable in design.Feedback oil circuit 157 is realized to check valve Control so that fluid return fuel tank in.

Wrist part is arranged between hand and arm, and its effect further changes on the basis of being mainly arm movement again Become or adjustment hand is in the orientation in space, to expand the actuating range of manipulator, and manipulator is become dexterousr, adaptability is more By force, compact conformation, lightweight, it is rationally distributed,

Wrist part undertakes connection and supporting role as the executing agency of manipulator, except guarantee power and wanting for moving Ask and with enough intensity, rigidity outside, should also consider, rational deployment,

The limiting value of the angle of revolution of wrist part revolution and the angle of revolution of arm allows revolution between moving plate, stator Angle is determined(Generally less than 270 °)°.

The grip finger action of the present invention is, by single-action hydraulic cylinder, only to need an oil pipe, optimizes structure, leads to hand drive The oil pipe of hydrodynamic cylinder pressure is passed through from revolution casing wall, then surrounds hand clamping cylinder by a groove structure, when wrist is turned round, No matter which orientation oil circuit can still ensure unimpeded at, this arrangement can make oil pipe neither exposed, and not reversed.Wrist be used for and Arm is connected, three oil pipes(One supplies hand oil pipe, and two supply wrist rotating hydraulic cylinder)Returned in arm by and through wrist Turn casing wall and respectively enter rotating hydraulic cylinder and hand driving hydraulic cylinder, optimize pipeline, reasonable in design, compact conformation, pipeline is used Long lifespan, not easy oil leakage.

Arm part is the primary grip part of manipulator.Its effect is supporting wrist and hand(Including workpiece or work Tool), and drive them to make spatial movement.

Improved as structure, the seal combined from rubber with fluorinated plastic, with reducing friction resistance, improve hydraulic cylinder Life-span;Because the movement inertia of manipulator arm is larger, buffering and arrestment mechanism or locking device are added before anchor point.For example Fluted realize is set to buffer by valve group or on cylinder body.Safety guard is added, is prevented because of collision overload damage machine Tool structure.The present invention obtains preferable automaticity and economic benefit from solenoid directional control valve loop.General use of the invention Single pump or double pump fuel feeding, the mechanism such as arm is flexible, arm pitching, arm rotation so can effectively be reduced using fuel feeding in parallel and be The charge oil pressure of system, reversal valve is preferred to use middle position " O " type reversal valve, it is ensured that the system of multi-cylinder motion is not interfere with each other, and realizes same Step or asynchronous motion.

Whole hydraulic system only can be worked with single pump or double pump, and the flow needed for each hydraulic cylinder differs larger, each hydraulic pressure Cylinder all can not meet design requirement with the full flow work of hydraulic pump.In spite of hydraulic cylinder be single speed operation, but It is also required to carry out throttle grverning, the even running to ensure hydraulic cylinder.In-line or oil return line throttle grverning may be selected in each cylinder, Because system is middle low-pressure system, choke valve speed governing is typically suitably selected.

Flow needed for arm rotary cylinder, wrist rotary cylinder and clamping cylinder is closer to, and the flow of arm telescoping cylinder is larger, Flow difference needed for this two groups of cylinders is larger, can so select single oil pump feed system, double pump oil supply system also may be selected, as It is preferred that, the single oil pump feed of present invention selection.Single oil pump feed will be to need the flow to select pump of maximum flow in all hydraulic cylinder, its Advantage is that system is relatively simple, and required element is less, good economy performance.

Universal industrial manipulator requires route-variable, and buffering is required for during the starting and stopping of hydraulic cylinder.Such as Using a two-position two-way electromagnetic directional valve and a choke valve formation buffer loop shown in Figure 13.When hydraulic cylinder to hope During point, main frame is signaled to by position detecting device, then host computer control solenoid valves cut off the path of bi-bit bi-pass, hydraulic pressure The loop of cylinder slows down hydraulic cylinder speed, prevents impact from reaching buffering diverted via choke valve oil return box, the resistance of the oil return line of increase Purpose, this loop is also applied for oscillating cylinder.

Increase auxiliary oil way:Oil pump long-time load operation is avoided using off-load oil circuit, so as to reduce energy consumption, raising is used In the life-span, pressure gauge is protected by pressure measurement oil circuit and inspection system working condition, and by pressure meter switch, extends it and uses the longevity Life, electric signal is changed into by pressure switch by the fuel injection pressure signal for clamping oil circuit, so as to realize the accurate control of electricity feedback.

Complete electromagnet action sequence list is as follows:Electromagnet action order chart as shown in figure 15.

Electrical control of the present invention is stable, programmed method is easy to learn, function is strong, and the ratio of performance to price is high, hardware is supporting Complete, user is easy to use, strong adaptability, contactless face distribution, and reliability is high, strong antijamming capability, the design of system, peace Dress, debugging work load are few, maintenance load is small, and easy to maintenance, small volume, energy consumption is low.

The distribution of travel switch of the present invention is as shown in figure 14,

1st, the rotating hydraulic cylinder of arm revolution is promoted:

Arm rotates forward spacing:The reversion of ST1 arms is spacing:ST2

2nd, the direct acting hydraulic cylinder of arm lifting is promoted

Arm lifting position-limit:ST3 arm descending spacings:ST4

3rd, the flexible direct acting hydraulic cylinder of arm is promoted

Arm stretches out spacing:ST5 arms are retracted spacing:ST6

4th, the rotating hydraulic cylinder of wrist revolution is promoted

Wrist rotates forward spacing:The reversion of ST7 wrists is spacing:ST8

5th, the direct acting hydraulic cylinder of grip finger is promoted

The clamping cylinder of finger pine opens spacing by structure, therefore does not need limit switch

The distribution of hand push button of the present invention

1st, arm revolution control

Arm is rotated forward:SB1 arms are inverted:SB2 arms revolution buffering:SB11

2nd, arm elevating control

Arm rises:SB3 arms decline:SB4 arms lifting buffering:SB12

3rd, arm extension and contraction control

Arm stretches out:SB5 arms are retracted:The flexible buffering of SB6 arms:SB13

4th, wrist revolution control

Wrist is rotated forward:SB7 wrists are inverted:SB8 wrists revolution buffering:SB14

5th, grip finger is controlled

Grip finger:SB9 fingers unclamp:SB10

6th, other

Start:SB15 Aligning controls:SB16 is continuous:SB17

Point position control:SB18 stops:SB19

The distribution of the input and output relay of the present invention

1st, input and output element number is represented with octal number, above-mentioned each travel switch and hand push button corresponding one Individual input relay, then input contact and be allocated as follows:

ST1-ST8:X0-X7 (is corresponded) in order.

SB1-SB17:X10-X32 (is corresponded) in order.

2nd, output contact is allocated as follows:

Each magnetic valve corresponds to an output relay, then 1YA-14YA:Y0-Y16 (is corresponded) in order.

Control panel design

This panel provides the interface that a personal-machine is interacted, and will be used when the manipulator needs to debug and repairs It.Certainly, when production line has pause, it is also desirable to artificial stopping and starting.All hand push buttons will be set in On control panel.

The manipulator need to complete within each cycle feeding, into next station, overturn workpiece, return to 4 masters of origin Want step,

It is used as effective important technological parameters of the present invention

1. grab weight:250N

2. the free degree:4

3. coordinate form:Circular cylindrical coordinate

4. arm motion parameter

Move title Symbol Stroke range Speed It is flexible X 500mm Less than 300mm/s Lifting Z 330mm Less than 80mm/s Revolution ψ 0°~210° Less than 70 (°)/s

5. wrist parameter

Move title Symbol Stroke range Speed Revolution ω 0°~180° Less than 90 (°)/s

6. fingerhold scope:Bar, 65 ~ 85mm of diameter.

7. positioning method:Point position control

8. type of drive:Hydraulic pressure(Medium low pressure system)

9. positioning precision:±3mm

10. control mode:PLC is controlled

Finally it should be noted that:The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations;Although The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that:It still may be used To be modified to the technical scheme described in previous embodiment, or equivalent substitution is carried out to which part technical characteristic;Make It is obvious that multiple technical schemes of the present invention, which are combined, for those skilled in the art.And these are changed or replaced Change, the essence of appropriate technical solution is departed from the spirit and scope of technical scheme of the embodiment of the present invention.

Claims (1)

1. a kind of circular cylindrical coordinate industry mechanical arm with circuit control system, it is characterised in that:Including lifting what is set along Z-direction Fuselage lowering or hoisting gear (1), along W to revolution it is arranged on the arm slewing equipment (2) of fuselage lowering or hoisting gear (1) upper end, is arranged on hand The arm link (3) of revolution of arm device (2) upper end, the arm being fixedly installed on the left of arm link (3) stretch rear support (4), it is fixedly installed on the flexible middle bearing (5) of the arm in the middle part of arm link (3), is fixedly installed on arm link (3) right side Bearing (6) before the arm of side is flexible, along X to the flexible arm retractor device (7) being arranged on arm link (3), along U to returning Turn be arranged on the wrist slewing equipment (8) of arm retractor device (7) right-hand member, be arranged on the finger of wrist slewing equipment (8) right-hand member Clamping device (9) and circuit control system, arm retractor device (7) be installed on arm stretch rear support (4), arm it is flexible in Before bearing (5) and arm are flexible on bearing (6);
Fuselage lowering or hoisting gear (1) includes arm fixed mount (17), the adpting flange being arranged in the middle part of arm fixed mount (17) lower end (16), it is separately positioned on arm fixed mount (17) lower surface and positioned at the location screw rod fore-stock (13) of adpting flange (16) side With location screw rod after-poppet (14), be arranged on arm fixed mount (17) lower surface and positioned at adpting flange (16) side, along Z-direction Location screw rod fore-stock (13) is installed on to wear with the arm location screw rod guide pin bushing (15) in location screw rod after-poppet (14), along Z-direction Arm location screw rod (11) in arm location screw rod guide pin bushing (15) and the hand for being arranged on wrist slewing equipment (8) lower end Arm location fixed mount (10);
Arm stretch the lower ends of rear support (4), arm it is flexible in bearing (5) lower end and arm it is flexible before under bearing (6) End is respectively on fixing arm fixed mount (17), and arm location potentiometer (12) is sleeved on arm location screw rod (11), and arm is surveyed The right-hand member of position screw rod (11) is fixedly connected with arm location fixed mount (10);
Arm retractor device (7) is installed on arm including two ends and stretched in rear support (4) and the flexible middle bearing (5) of arm respectively Arm stretch cylinder sleeve (20), along X to be arranged on arm stretch cylinder sleeve (20) in arm telescopic piston rod (18), be arranged on arm The arm telescopic oil cylinder bonnet (28) of flexible cylinder sleeve (20) right-hand member, be arranged on arm telescopic oil cylinder bonnet (28) right side wall and with Dashpot (26) after the corresponding arm of arm telescopic piston rod (18) left end is flexible, it is sleeved in arm telescopic piston rod (18) Arm telescopic piston (19), be arranged on arm stretch cylinder sleeve (20) right-hand member cylinder body drive end bearing bracket (21), be arranged on cylinder body front end On lid (21) left side wall and the arm corresponding with arm telescopic piston rod (18) right-hand member it is flexible before dashpot (27), be arranged on cylinder Pilot bushing (22) between body drive end bearing bracket (21) and arm telescopic piston rod (18), it is sleeved in arm telescopic piston rod (18) Arm stretch outside framework oil seal (23), be arranged on arm stretch outside framework oil seal (23) right-hand member and with cylinder body drive end bearing bracket (21) right-hand member connect The arm that connects stretch liner cap (24), be arranged on arm telescopic piston rod (18) right-hand member the flexible connection journal stirrup (29) of arm,
The arm retractable support set (25) that is fixedly installed on cylinder body drive end bearing bracket (21) right-hand member male half coupling, be arranged on arm it is flexible in Arm before bearing (5) and arm are flexible on bearing (6) stretch cylinder body guide sleeve (31), stretch along X to arm is movably arranged on Arm in contracting cylinder body guide sleeve (31) endoporus stretch cylinder shell (32), be fixedly installed on arm and stretch in cylinder shell (32) Arm cylinder body adapter sleeve (33), be fixedly installed on arm cylinder body adapter sleeve (33) left end wrist oil circuit oil-feed tail-hood (34), It is fixedly installed on the rotary cylinder bonnet (39) of flexible cylinder shell (32) right-hand member of arm, is arranged on rotary cylinder bonnet (39) right-hand member Revolution positioning is led to oily inner stopper (40), is arranged between the logical oil inner stopper (40) of revolution positioning and wrist oil circuit oil-feed tail-hood (34) Wrist oil path in oil cylinder (37), be arranged on arm it is flexible before arm on bearing (6) stretch front support bushing (30), be arranged on hand The flexible front support bushing (30) of arm is slided with the telescopic oil cylinder on arm retractable support set (25) to be driven inner sleeve (36), is arranged on and stretches Contracting oil cylinder, which is slided, drives the telescopic slide in inner sleeve (36) to drive overcoat (35) and inserting to be arranged on the flexible connection journal stirrup of arm (29) the flexible alignment pin (38) of the arm between rotary cylinder bonnet (39),
Arm stretches outside framework oil seal (23) on the right side of pilot bushing (22), and arm stretches outside framework oil seal (23) positioned at cylinder body front end Cover on the right side of (21) in inner stopper, arm retractable support set (25) is arranged on the flexible middle bearing (5) of arm, arm location fixed mount (10) it is fixedly installed on rotary cylinder bonnet (39) lower end;
Wrist slewing equipment (8) includes the wrist rotary piston bar that left end is arranged in the logical oily inner stopper (40) of revolution positioning (48), left end is fixedly connected with fixed seat (41) after wrist rotary cylinder with rotary cylinder bonnet (39) right-hand member, is fixedly installed on wrist time Turn the wrist rotary cylinder fixed shell (42), solid with wrist rotary cylinder fixed shell (42) right side of fixed seat after cylinder (41) right-hand member Surely the wrist connected rotates right aling cap (43), is separately positioned on wrist rotary cylinder fixed shell (42) and wrist rotary piston bar (48) the wrist revolution between is oriented to arc block (44) and fixes arc block (46) with wrist revolution, is arranged on the fixed arc of wrist revolution Wrist rotary sealing pad (65) between shape block (46) and wrist rotary cylinder fixed shell (42), it is arranged on wrist revolution and is oriented to arc Wrist between shape block (44) and wrist rotary piston bar (48) turns round connecting key (45), is arranged on wrist rotation right aling cap (43) Adpting flange seat (53) before the wrist of right-hand member, the wrist front support end cap (55) for being arranged on seat (53) right-hand member of adpting flange before wrist And it is arranged on the wrist intermediate supports set (54) between the seat of adpting flange before wrist (53) and wrist front support end cap (55),
Fixed seat (41), wrist rotary cylinder fixed shell (42) and wrist rotation right aling cap (43) pass through spiral shell after wrist rotary cylinder Tether and connect and positioned by wrist support alignment pin (47), after the left end and wrist rotary cylinder of the fixed arc block (46) of wrist revolution Fixed seat (41) is bolted and by positioning finger setting, and the right-hand member of wrist rotary piston bar (48) is provided with finger clamp Locking buffering groove (52), is provided with connection grip finger dashpot (52) and wrist oil path in oil cylinder on wrist rotary piston bar (48) (37) pipeline, deep groove ball bearing is provided with after wrist rotary piston bar (48) and wrist rotary cylinder between fixed seat (41), Deep groove ball bearing is provided between wrist rotary piston bar (48) and wrist rotation right aling cap (43), in wrist rotary piston bar (48) locking nut for carrying on the back tight deep groove ball bearing is provided with, wrist revolution is oriented to arc block (44) and drives wrist revolution to live Stopper rod (48), which is rotated, to be set, and is oriented in wrist revolution on arc block (44) and is provided with the logical oil groove of arc;
Grip finger device (9) includes the grip finger piston rod that left end is arranged in wrist rotary piston bar (48) inner stopper (50), it is arranged on the wrist telescopic piston set (51) of grip finger piston rod (50) left end, is sleeved on grip finger piston rod (50) finger back-moving spring (49) on, it is sleeved on grip finger piston rod (50) and is arranged on wrist front support end cap (55) On grip finger outside framework oil seal (56), be arranged on the clamping support plate (64) of wrist front support end cap (55) right-hand member, be arranged on hand The grip finger push pedal (63) that refers to clamping piston bar (50) right-hand member and slided on support plate (64) are clamped, two be symmetrical arranged and left Hold the rear finger (62) being respectively hinged in grip finger push pedal (63), by hinging pin shaft (60) and corresponding rear finger (62) right side The preceding finger (61) being hinged is held, be arranged in the middle part of corresponding preceding finger (61) and clamps the fulcrum cylinder between support plate (64) right-hand member Sell (59) and be arranged on corresponding preceding finger (61) right-hand member and the finger fingertip (58) for clamping block (57);
Finger back-moving spring (49) is arranged on before wrist telescopic piston set (51) and wrist between adpting flange seat (53),
Arm slewing equipment (2) include the arm revolution upper flange seat (71) that upper end and adpting flange (16) be bolted, Turned round with arm under arm rotary cylinder shell (70) and arm rotary cylinder shell (70) that upper flange seat (71) lower end is fixedly connected Hold the arm rotary cylinder adapter sleeve (69) being fixedly connected, the arm being fixedly connected with arm rotary cylinder adapter sleeve (69) lower end revolution Cylinder lower cover (68), sequentially pass through along Z-direction arm revolution upper flange seat (71), arm rotary cylinder shell (70), arm rotary cylinder and connect The fuselage lifting piston rod (90) of female connector (69) and arm rotary cylinder lower cover (68), it is arranged on fuselage lifting piston rod (90) and hand The sealing ring of revolution of arm cylinder lower cover (68), it is arranged between fuselage lifting piston rod (90) and arm rotary cylinder adapter sleeve (69) Taper roll bearing (67), the lifting stop nut (66) for being arranged on fuselage lifting piston rod (90) upper end, it is separately positioned on machine Arm revolution guide pad (75) between body lifting piston rod (90) and arm rotary cylinder shell (70) fixes catch with arm (73), be arranged on arm revolution guide pad (75) with fuselage lifting piston rod (90) between arm turn round feather key (72) and It is arranged on the abrasive rubber pad (74) that arm fixes catch (73) and arm rotary cylinder shell (70);
Fixed in arm between catch (73) and arm rotary cylinder shell (70) and be provided with sealing gasket, arm fix catch (73) and Arm rotary cylinder shell (70) is bolted and by positioning finger setting, and arm revolution guide pad (75) is lifted with fuselage and lived Stopper rod (90) turns round feather key (72) by arm and connected,
Arm link (3) includes being arranged on the lifting fixed seat (77) of fuselage lifting piston rod (90) side, set along Z-direction activity The lifting location bar (82) put, the lifting position detector (81) being sleeved on lifting location bar (82), it is sleeved on fuselage lifting Lifting housing cylinder body (91) on piston rod (90), the lift cylinders upper connecting base for being arranged on lifting housing cylinder body (91) upper end (79), be arranged on the lifting cylinder top head (78) of lift cylinders upper connecting base (79) upper end, be arranged on lift cylinders upper connecting base (79) with Lift cylinders outside framework oil seal (80) between fuselage lifting piston rod (90), the piston being arranged on fuselage lifting piston rod (90) Set, the lifting being arranged on along Z-direction in fuselage lifting piston rod (90) lower end in blind hole, which be oriented to splined shaft (88), is arranged on lifting leads To the lifting guide sleeve (89) between splined shaft (88) and fuselage lifting piston rod (90), it is arranged under lifting housing cylinder body (91) The lift cylinders lower flange seat (87) at end, the lifting sending down the fishbone being arranged between lift cylinders lower flange seat (87) and lifting guide sleeve (89) Frame oil sealing (86), the bottom adpting flange seat (85) for being arranged on lift cylinders lower flanges seat (87) lower end, it is sleeved on lifting guide sleeve (89) lower end and it is arranged under adpting flange seat (85) lower end of bottom and locking locknut (84) and is arranged on down locking locknut (84) split pin (83) on,
Lifting location bar (82) is connected by the second locking nut (76) with lifting fixed seat (77), lifting guide sleeve (89) and machine Body lifting piston rod (90) is fixedly connected, and lift cylinders lower flange seat (87) is provided with oil-through-hole;
The circuit control system includes programmable processor PLC, arm and rotates forward switch SB1, arm reversal switch SB2, arm Rising switch SB3, arm down switch SB4, arm stretch out switch SB5, arm retract switch SB6, wrist rotate forward switch SB7, Wrist reversal switch SB8, grip finger switch SB9, finger trip switch SB10, arm revolution buffer switch SB11, arm liter The flexible buffer switch SB13 of buffer switch SB12, arm, wrist revolution buffer switch SB14, starting switch SB15, Aligning control drop Switch SB16, continuously switch SB17, point position control switch SB18, shutdown switch SB19,
Arm rotates forward spacing ST1, arm and inverts spacing ST2, arm lifting position-limit ST3, arm descending spacing ST4, arm stretching Spacing ST5, arm retract spacing ST6, wrist rotate forward spacing ST7, wrist invert spacing ST8,
Signal lamp HL, off-load 2/2-way solenoid valve control coil 1YA, flexible oil return 2/2-way electromagnetic valve coil 2YA, lifting Fuel-displaced 2/2-way electromagnetic valve coil 3YA, arm turn round fuel-displaced two of fuel-displaced 2/2-way electromagnetic valve coil 4YA, wrist revolution Two three-way electromagnetic valve coil 5YA, flexible three position four-way electromagnetic valve left coil 6YA, the right coil 7YA of flexible three position four-way electromagnetic valve, liter Three position four-way electromagnetic valve left coil 8YA, the right coil 9YA of lifting three position four-way electromagnetic valve, arm revolution three position four-way electromagnetic valve drop Left coil 10YA, arm revolution three position four-way electromagnetic valve right coil 11YA, wrist revolution three position four-way electromagnetic valve left coil 12YA, Wrist turns round the right coil 13YA of three position four-way electromagnetic valve and clamps two-bit triplet electromagnetic valve coil 14YA.
CN201610308949.7A 2016-05-10 2016-05-10 Circular cylindrical coordinate industry mechanical arm with circuit control system CN105818146B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610308949.7A CN105818146B (en) 2016-05-10 2016-05-10 Circular cylindrical coordinate industry mechanical arm with circuit control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610308949.7A CN105818146B (en) 2016-05-10 2016-05-10 Circular cylindrical coordinate industry mechanical arm with circuit control system

Publications (2)

Publication Number Publication Date
CN105818146A CN105818146A (en) 2016-08-03
CN105818146B true CN105818146B (en) 2017-09-05

Family

ID=56529275

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610308949.7A CN105818146B (en) 2016-05-10 2016-05-10 Circular cylindrical coordinate industry mechanical arm with circuit control system

Country Status (1)

Country Link
CN (1) CN105818146B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106643848B (en) * 2016-11-23 2018-05-22 国家电网公司 The multi-faceted clamping of boiler pipe detection sensor and the temporary fastening device of adjustment
CN106482846B (en) * 2016-11-23 2018-09-07 国家电网公司 The two-way adjustment of boiler pipe detection sensor clamps the temporary fastening device that can be adjusted
CN108974916A (en) * 2018-07-20 2018-12-11 北京机科国创轻量化科学研究院有限公司 Fetching device and robot with it

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1975070A (en) * 2006-12-31 2007-06-06 三一重工股份有限公司 Intelligent cantilever crane control device
CN102672713A (en) * 2012-01-04 2012-09-19 河南科技大学 Bionic manipulator
CN203266641U (en) * 2013-06-08 2013-11-06 温州职业技术学院 Full-pneumatic control type material grabbing mechanical arm
CN103802095A (en) * 2014-02-26 2014-05-21 温州职业技术学院 Four-degree-of-freedom servo manipulator

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10107107A1 (en) * 2001-02-14 2002-08-29 Putzmeister Ag A device for actuating a articulated mast of a large manipulator, as well as large manipulator with such a device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1975070A (en) * 2006-12-31 2007-06-06 三一重工股份有限公司 Intelligent cantilever crane control device
CN102672713A (en) * 2012-01-04 2012-09-19 河南科技大学 Bionic manipulator
CN203266641U (en) * 2013-06-08 2013-11-06 温州职业技术学院 Full-pneumatic control type material grabbing mechanical arm
CN103802095A (en) * 2014-02-26 2014-05-21 温州职业技术学院 Four-degree-of-freedom servo manipulator

Also Published As

Publication number Publication date
CN105818146A (en) 2016-08-03

Similar Documents

Publication Publication Date Title
CN100335241C (en) Full pneumatic combined multifunctional industrial manipulator
CN102672713A (en) Bionic manipulator
CN201405355Y (en) Connecting rod-lever type pneumatic manipulator
CN201168905Y (en) Blade two-sided synchronous highly effective grinding and polishing machine tool
CN104084947B (en) One kind of seven function underwater manipulator system
CN102909600A (en) Cantilever servo manipulator
CN1256221C (en) Rotary robot for container lock
CN102615638A (en) Master-slave hydraulic mechanical arm system of high-voltage hot-line operation robot
CN103010764A (en) Parallel rod stacker crane robot
CN104908056B (en) A variable configuration of the three-finger Manipulator
CN204021675U (en) Small automatic goods shelf
CN202399269U (en) Bionic mechanical hand
CN101357514A (en) Pressing device closed-cycle control system
CN104002304B (en) A new pneumatic manipulator
CN204229180U (en) Multi-core control system
CN205272030U (en) High -precision mechanical hand
CN101269781B (en) Industrial production sling safety system and security protection method
CN202880475U (en) Rotatable simple industry mechanical arm
CN201922443U (en) Double-four-bar serial actuating mechanism of mobile robot
CN205497518U (en) Electric industrial manipulator
CN203804561U (en) Robot-assisted full-automatic machining production line
CN201950403U (en) Numerical control automatic surfacing welding machine for coupler knuckle of railway vehicle
CN204308960U (en) Manipulator
CN2720707Y (en) Intelligent servo push-rod
CN204471374U (en) Hydraulic-drive multi-joint industrial robot

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant