CN105856211B

CN105856211B - Circular cylindrical coordinate industry mechanical arm with hydraulic control system and circuit control system

Info

Publication number: CN105856211B
Application number: CN201610310667.0A
Authority: CN
Inventors: 谷志阳
Original assignee: Wenzhou Polytechnic
Current assignee: Zhejiang Shuntian Transmission Technology Co ltd
Priority date: 2016-05-10
Filing date: 2016-05-10
Publication date: 2017-11-17
Anticipated expiration: 2036-05-10
Also published as: CN105856211A

Abstract

The present invention relates to a kind of circular cylindrical coordinate industry mechanical arm with hydraulic control system and circuit control system, and it includes fuselage lowering or hoisting gear along Z-direction lifting setting, 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 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 advantageous to simplify circuit, saves cost, raise labour efficiency, improves productivity ratio.

Description

Circular cylindrical coordinate industry mechanical arm with hydraulic control system and circuit control system

Technical field

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

Background technology

Manipulator is a kind of high-tech automated production equipment that recent decades grow up.Its feature is can to pass through volume Journey completes various expected job tasks, have people and machine concurrently each on construction and performance the advantages of, especially embodies people Intelligence and adaptability.The ability to be 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 of many mankind are incomparable, meets the needs of the big production of socialization, and its is main Advantage is as follows：

1. people can be replaced to be engaged in dangerous, harmful operation.As long as being rationally designed according to working environment, it is appropriate to select Material and structure, manipulator can abnormal high temperature or low temperature, abnormal pressure and pernicious gas, dust, radioactive ray effect under, It is and 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 safeguard, 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 Constantly change, to meet the needs of 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 advantages of replacement, present 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 circle with hydraulic control system and circuit control system Cylindrical coordinates industry mechanical arm.

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

A kind of circular cylindrical coordinate industry mechanical arm with hydraulic control system and circuit control system, including lifted along Z-direction The fuselage lowering or hoisting gear of setting, along W to revolution be arranged on the arm slewing equipment of fuselage lowering or hoisting gear upper end, be arranged on arm return The flexible rear support of the arm link of rotary device upper end, the arm being fixedly installed on the left of arm link, it is fixedly installed on hand Bearing before bearing, the arm being fixedly installed on the right side of arm link are flexible during arm in the middle part of arm link is flexible, along X to stretching Contract be arranged on arm link arm retractor device, along U to revolution be arranged on arm retractor device right-hand member wrist revolution Device, grip finger device, hydraulic control system and the circuit control system for being arranged on wrist slewing equipment right-hand member, arm are stretched Compression apparatus is installed on arm and stretched on the flexible middle bearing of rear support, arm and the flexible preceding bearing of arm；Fuselage lowering or hoisting gear bag Include arm fixed mount, the adpting flange being arranged in the middle part of arm fixed mount lower end, be separately positioned on arm fixed mount lower surface and Location screw rod fore-stock and location screw rod after-poppet positioned at adpting flange side, it is arranged on arm fixed mount lower surface and is located at Adpting flange side, be installed on along Z-direction location screw rod fore-stock with the arm location screw rod guide pin bushing in location screw rod after-poppet, The arm location screw rod that is installed on along Z-direction in arm location screw rod guide pin bushing and it is arranged on the arm of wrist slewing equipment lower end and surveys Position fixed mount；The lower end of bearing is divided before the lower end of bearing and arm are flexible during the lower end of the flexible rear support of arm, arm are flexible On other fixing arm fixed mount, arm location potentiometer is sleeved on arm location screw rod, the right-hand member and hand of arm location screw rod Arm location fixed mount is fixedly connected；Arm retractor device including both ends be installed on respectively arm stretch rear support and arm it is flexible in Arm in bearing stretch cylinder sleeve, along X to be arranged on arm stretch arm telescopic piston rod in cylinder sleeve, be arranged on arm and stretch The arm telescopic oil cylinder bonnet of cylinder sleeve right-hand member, it is arranged on arm telescopic oil cylinder bonnet right side wall and left with arm telescopic piston rod Dashpot, the arm telescopic piston being sleeved in arm telescopic piston rod after holding corresponding arm flexible, it is arranged on arm and stretches The cylinder body drive end bearing bracket of contracting cylinder sleeve right-hand member, be arranged on it is on cylinder body drive end bearing bracket left side wall and corresponding with arm telescopic piston rod right-hand member Dashpot, the pilot bushing being arranged between cylinder body drive end bearing bracket and arm telescopic piston rod before arm is flexible, it is sleeved on arm and stretches Arm on contracting piston rod stretch outside framework oil seal, be arranged on arm and stretch and outside framework oil seal right-hand member and be connected with cylinder body drive end bearing bracket right-hand member Arm stretch liner cap, be arranged on arm telescopic piston rod right-hand member arm stretch connecting lugs, be fixedly installed on cylinder body before Arm retractable support set on end cap right-hand member male half coupling, be arranged on arm it is flexible in bearing and arm it is flexible before hand on bearing Arm stretch cylinder body guide sleeve, stretch cylinder shell, solid along X to being movably arranged on the arm that arm stretches in cylinder body guide sleeve endoporus Surely the arm cylinder body adapter sleeve that is arranged in arm telescoping cylinder body shell body, the wrist for being fixedly installed on arm cylinder body adapter sleeve left end Oil circuit oil-feed tail-hood, the rotary cylinder bonnet for being fixedly installed on the flexible cylinder shell right-hand member of arm, it is arranged on rotary cylinder bonnet right-hand member Revolution positioning lead to oily inner stopper, be arranged on the logical wrist oil cylinder between oily inner stopper and wrist oil circuit oil-feed tail-hood of revolution positioning Oil circuit, the flexible front support bushing of arm being arranged on the flexible preceding bearing of arm, it is arranged on the flexible front support bushing of arm and hand The telescopic oil cylinder that arm retractable support is put slides the telescopic slide band for driving inner sleeve, being arranged in telescopic oil cylinder slip drive inner sleeve Dynamic overcoat and inserting are arranged on the flexible alignment pin of the flexible arm between connecting lugs and rotary cylinder bonnet of arm, and arm stretches Outside framework oil seal is located on the right side of pilot bushing, and the flexible outside framework oil seal of arm is located on the right side of cylinder body drive end bearing bracket in inner stopper, and arm stretches Support is set on the flexible middle bearing of arm, and arm location fixed mount is fixedly installed on rotary cylinder bonnet lower end；Wrist is turned round Device includes wrist rotary piston bar, left end and the rotary cylinder bonnet right-hand member that left end is arranged in the logical oily inner stopper of revolution positioning and consolidated Surely connect fixed seat after wrist rotary cylinder, be fixedly installed on the wrist rotary cylinder set casing of fixed seat right-hand member after wrist rotary cylinder Body, the wrist being fixedly connected with wrist rotary cylinder fixed shell right side rotation right aling cap, it is separately positioned on wrist rotary cylinder and consolidates Wrist revolution between fixed shell and wrist rotary piston bar is oriented to arc block arc block fixed with wrist revolution, is arranged on wrist Turn round the wrist rotary sealing pad fixed between arc block and wrist rotary cylinder fixed shell, be arranged on wrist revolution guiding arc Wrist between block and wrist rotary piston bar turns round connecting key, is arranged on connection method before the wrist of wrist rotation right aling cap right-hand member Blue seat, it is arranged on the wrist front support end cap of adpting flange seat right-hand member before wrist and is arranged on adpting flange seat and hand before wrist Wrist intermediate supports set between wrist front support end cap, fixed seat, wrist rotary cylinder fixed shell and hand after wrist rotary cylinder Wrist rotation right aling cap is bolted and positions finger setting, the left end and hand of the fixed arc block of wrist revolution by wrist support Fixed seat is bolted and by positioning finger setting after wrist rotary cylinder, and the right-hand member of wrist rotary piston bar is provided with finger Dashpot is clamped, the pipeline of connection grip finger dashpot and wrist oil path in oil cylinder is provided with wrist rotary piston bar, Deep groove ball bearing is provided between fixed seat after wrist rotary piston bar and wrist rotary cylinder, in wrist rotary piston bar and wrist Deep groove ball bearing is provided between rotation right aling cap, the lock for carrying on the back tight deep groove ball bearing is provided with wrist rotary piston bar Tight nut, wrist revolution guiding arc block drive wrist rotary piston bar to rotate and set, turn round on guiding arc block and set in wrist It is equipped with arc and leads to oil groove；Grip finger device includes the grip finger piston that left end is arranged in wrist rotary piston bar inner stopper Bar, the wrist telescopic piston set for being arranged on grip finger piston rod left end, the finger reset being sleeved on grip finger piston rod Spring, the grip finger outside framework oil seal for being sleeved on grip finger piston rod and being arranged on wrist front support end cap, it is arranged on The clamping support plate of wrist front support end cap right-hand member, it is arranged on grip finger piston rod right-hand member and the finger slided on support plate is clamped Clamp push pedal, two be symmetrical arranged and left end is respectively hinged at rear finger in grip finger push pedal, by hinging pin shaft and phase Answer the be hinged preceding finger of rear finger right-hand member, the fulcrum straight pin being arranged between corresponding preceding finger middle part and clamping support plate right-hand member And it is arranged on corresponding preceding finger right-hand member and is used for the finger fingertip for clamping block；Finger back-moving spring is arranged on wrist and stretched Before contracting piston bush and wrist between adpting flange seat, arm slewing equipment includes the hand that upper end is bolted with adpting flange Outside revolution of arm upper flange seat, the arm rotary cylinder shell and arm rotary cylinder that are fixedly connected with arm revolution upper flange seat lower end Under arm rotary cylinder adapter sleeve that shell lower end is fixedly connected, the arm rotary cylinder being fixedly connected with arm rotary cylinder adapter sleeve lower end Lid, arm revolution upper flange seat, arm rotary cylinder shell, arm rotary cylinder adapter sleeve and arm rotary cylinder are sequentially passed through along Z-direction The fuselage lifting piston rod of lower cover, the sealing ring for being arranged on fuselage lifting piston rod and arm rotary cylinder lower cover, it is arranged on fuselage Taper roll bearing between lifting piston rod and arm rotary cylinder adapter sleeve, the lifting for being arranged on fuselage lifting piston rod upper end Stop nut, the arm being separately positioned between fuselage lifting piston rod and arm rotary cylinder shell revolution guide pad and arm are consolidated The arm revolution feather key that determine catch, is arranged between arm revolution guide pad and fuselage lifting piston rod, it is arranged on arm and consolidates Determine the abrasive rubber pad of catch and arm rotary cylinder shell；Fix between catch and arm rotary cylinder shell and be provided with arm Sealing gasket, arm are fixed catch and are bolted with arm rotary cylinder shell and by positioning finger setting, and arm revolution is oriented to Block is turned round by arm with fuselage lifting piston rod and is oriented to key connection, and arm link includes being arranged on fuselage lifting piston rod one The lifting fixed seat of side, along Z-direction activity set lifting location bar, be sleeved on lift location bar on lifting position detector, The lifting housing cylinder body that is sleeved on fuselage lifting piston rod, the lift cylinders upper connecting base for being arranged on lifting housing cylinder body upper end, It is arranged on the lifting cylinder top head of lift cylinders upper connecting base upper end, is arranged between lift cylinders upper connecting base and fuselage lifting piston rod Lift cylinders outside framework oil seal, be arranged on fuselage lifting piston rod piston bush, fuselage lifting piston rod lower end is arranged on along Z-direction Lifting in interior blind hole is oriented to splined shaft, is arranged on the lifting guiding that lifting is oriented between splined shaft and fuselage lifting piston rod Cover, be arranged on the lift cylinders lower flange seat of lifting housing cylinder body lower end, be arranged on lift cylinders lower flange seat and lifting guide sleeve it Between lifting lower skeleton oil sealing, be arranged on the bottom adpting flange seat of lift cylinders lower flange seat lower end, be sleeved on lifting guide sleeve Lower end and it is arranged on locking locknut and the split pin being arranged on down on locking locknut, lifting under the adpting flange seat lower end of bottom Location bar is connected by the second locking nut with lifting fixed seat, and lifting guide sleeve is fixedly connected with fuselage lifting piston rod, Lift cylinders lower flange seat is provided with oil-through-hole；

The hydraulic control system is unidirectional including fuel tank, filter, oil pump, motor, the first main road, the second bypass, main road Valve, the second main road, arm telescopic hydraulic control module, arm revolution hydraulic control module, raise-lower hydraulic control module, wrist are returned Turn hydraulic control module, grip finger hydraulic control module, safety valve, pressure gauge branch road, pressure meter switch, pressure indicator, Off-load branch road and off-load 2/2-way magnetic valve；Fuel tank is connected by filter with oil pump, and motor driven oil pump rotates；Oil pump Divide two-way after the first main road, connected all the way with main road check valve；Another way is led to by the second bypass Hou Fen tri- tunnels, the first via Cross safety valve and return to fuel tank, the second tunnel is connected through pressure gauge branch road by pressure meter switch with pressure indicator, and the 3rd tunnel passes through Off-load branch road connects with the oil inlet of off-load 2/2-way magnetic valve, and oil-out and the fuel tank of off-load 2/2-way magnetic valve connect It is logical；Main road check valve turns round hydraulic control with arm telescopic hydraulic control module, arm respectively by the tunnels of the second main road Hou Fen five Module, raise-lower hydraulic control module, wrist revolution hydraulic control module and the connection of grip finger hydraulic control module；Arm is stretched Contracting hydraulic control module includes arm retractor device, flexible oil-feed branch road, flexible meter in valve, flexible 3-position 4-way electromagnetism It is valve, flexible tie point, flexible buffer cell, sequence valve, dashpot check valve, flexible first branch, flexible second branch, flexible Oil return branch road, flexible meter out valve and flexible oil return 2/2-way magnetic valve；Second main road connects with flexible oil-feed branch road, Flexible oil-feed branch road connects through flexible meter in valve with the first import a1 of flexible three position four-way electromagnetic valve, and stretch 3-position 4-way The first outlet a2 of magnetic valve passes through tie point and the inlet communication of flexible buffer cell of stretching, the outlet for the buffer cell that stretches Connected by flexible first branch with the oil cylinder rodless cavity of arm retractor device, the cylinder rod chamber of arm retractor device is with stretching Second branch connects, and flexible second branch connects with the second outlet a4 of flexible three position four-way electromagnetic valve, and stretch 3-position 4-way electricity Second import a3 of magnet valve connects with flexible oil return branch road, and flexible oil return branch road divides two-way, the oily choke valve of a-road-through hyperextension retraction Fuel tank is returned to, another way returns to fuel tank by flexible oil return 2/2-way magnetic valve；Flexible three position four-way electromagnetic valve Median Function To be O-shaped；Flexible buffer cell includes the sequence valve and dashpot check valve being arranged in parallel, and the oil inlet of sequence valve is with stretching first point Road connects, and the oil-out of sequence valve connects with flexible tie point, and the oil inlet of dashpot check valve connects with flexible tie point, The oil-out of dashpot check valve connects with flexible first branch；Arm revolution hydraulic control module includes arm slewing equipment, hand Revolution of arm oil-feed branch road, arm revolution meter in valve, arm revolution three position four-way electromagnetic valve, arm turn round the first branch, hand The branch of revolution of arm second, arm turn round fuel-displaced branch road, arm turns round fuel-displaced choke valve and arm and turns round fuel-displaced 2/2-way electricity Magnet valve；

Second main road and arm revolution oil-feed branch road connects, arm revolution oil-feed branch road handle revolution of arm meter in valve and The first import b1 connections of arm revolution three position four-way electromagnetic valve, arm turn round the first outlet b2 and hand of three position four-way electromagnetic valve The branch of revolution of arm first connects, and arm turns round the first branch and connected with an oil cylinder cavity of arm slewing equipment, arm revolution dress Another oil cylinder cavity put turns round the second branch with arm and connected, and arm turns round the second branch and arm revolution 3-position 4-way electromagnetism The second outlet b4 connections of valve, the second import b3 of arm revolution three position four-way electromagnetic valve turn round fuel-displaced branch road with arm and connected, Arm turns round fuel-displaced branch road and divides two-way, turns round fuel-displaced choke valve and arm by arm respectively and turns round fuel-displaced 2/2-way electromagnetism Valve returns to fuel tank；

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

Raise-lower hydraulic control module includes fuselage lowering or hoisting gear, lifting oil-feed branch road, lifting meter in valve, lifting three Four way solenoid valve, lifting tie point, lifting buffer cell, the first branch of lifting, the second branch of lifting, the fuel-displaced branch road of lifting, Lift fuel-displaced choke valve and the fuel-displaced 2/2-way magnetic valve of lifting；It is O-shaped to lift three position four-way electromagnetic valve Median Function；

Second main road connects with lifting oil-feed branch road, and lifting oil-feed branch road is by lifting meter in valve and lifting three four The first import c1 connections of three-way electromagnetic valve, the first outlet c2 of three position four-way electromagnetic valve is lifted by lifting tie point and lifting The inlet communication of buffer cell, the outlet for lifting buffer cell connect with the first branch of lifting, the first branch of lifting and fuselage liter The oil cylinder rodless cavity connection of falling unit, the cylinder rod chamber of fuselage lowering or hoisting gear connect with the second branch of lifting, lift second point Road connects with lifting the second outlet c4 of three position four-way electromagnetic valve, lifts the second import c3 of three position four-way electromagnetic valve with lifting out Oily branch road connection, lifts fuel-displaced branch road and divides two-way, respectively by lifting fuel-displaced choke valve and the fuel-displaced 2/2-way electromagnetism of lifting Valve returns to fuel tank；It is identical with flexible buffer cell structure to lift buffer cell；Wrist is turned round hydraulic control module and returned including wrist Rotary device, wrist revolution oil-feed branch road, wrist revolution meter in valve, wrist revolution three position four-way electromagnetic valve, wrist revolution the One branch, wrist turn round the second branch, wrist turns round fuel-displaced branch road, wrist turns round fuel-displaced choke valve and wrist revolution fuel-displaced two Two three-way electromagnetic valves of position；Second main road connects with wrist revolution oil-feed branch road, and wrist turns round oil-feed branch road and turns round oil-feed section through wrist Stream valve connects with the first import d1 of wrist revolution three position four-way electromagnetic valve, and wrist turns round the first outlet of three position four-way electromagnetic valve D2 turns round the first branch with wrist and connected, and wrist is turned round the first branch and connected with an oil cylinder cavity of wrist slewing equipment, wrist Another oil cylinder cavity of slewing equipment turns round the second branch with wrist and connected, and wrist turns round the second branch and turns round three four with wrist The second outlet d4 connections of three-way electromagnetic valve, the second import d3 of wrist revolution three position four-way electromagnetic valve turn round fuel-displaced branch road with wrist Connection, wrist turn round fuel-displaced branch road and divide two-way, turn round fuel-displaced choke valve by wrist respectively and wrist turns round fuel-displaced two two Three-way electromagnetic valve returns to fuel tank；Wrist revolution three position four-way electromagnetic valve Median Function is O-shaped；Grip finger hydraulic control module includes Grip finger device, pressure-reducing valve, clamp tie point, clamp choke valve, clamp two-bit triplet magnetic valve, clamp the second branch road, Clamp check valve, clamp the 3rd branch road, pressure switch and feedback oil circuit；Second main road and pressure-reducing valve inlet communication, decompression The outlet of valve connects with clamping tie point, clamps tie point by clamping choke valve with clamping two-bit triplet magnetic valve first Import A is connected, and is clamped two-bit triplet electromagnetic valve outlet P and is connected with clamping the second branch road, clamps the second branch road with clamping check valve Inlet communication, clamp the outlet of check valve and connect with clamping the 3rd branch road, the 3rd branch road of clamping divides two-way, respectively with pressure after The oil cylinder rodless cavity of electrical equipment and grip finger device connects；Feedback oil circuit is provided between pressure-reducing valve and clamping check valve；

The circuit control system include programmable processor PLC, arm rotate forward switch SB1, arm reversal switch SB2, Arm rising switch SB3, arm down switch SB4, arm, which stretch out switch SB5, arm is retracted switchs SB6, wrist rotates forward switch SB7, wrist reversal switch SB8, grip finger switch SB9, finger trip switch SB10, arm revolution buffer switch SB11, hand Arm lifting buffer switch SB12, the flexible buffer switch SB13 of arm, wrist are turned round buffer switch SB14, starting switch SB15, returned Origin switch SB16, continuously switch SB17, point position control switch SB18, shutdown switch SB19, the spacing ST1 of arm rotating forward, arm Invert spacing ST2, arm lifting position-limit ST3, arm descending spacing ST4, arm stretch out spacing ST5, arm retract spacing ST6, Wrist rotates forward spacing ST7, wrist inverts 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, arm turns round fuel-displaced 2/2-way electromagnetic valve coil 4YA, wrist revolution is 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 right coil 13YA of wrist revolution three position four-way electromagnetic valve and clamp two-bit triplet electromagnetic valve coil 14YA；Arm is just Turn spacing ST1 to be connected between programmable processor PLC COM ends and programmable processor PLC X0 ends, arm reversion is spacing ST2 is connected between programmable processor PLC COM ends and programmable processor PLC X1 ends, and arm lifting position-limit ST3 is connected on Between programmable processor PLC COM ends and programmable processor PLC X2 ends, arm descending spacing ST4 is connected on programmable place Manage between device PLC COM ends and programmable processor PLC X3 ends, arm stretches out spacing ST5 and is connected on programmable processor PLC COM ends and programmable processor PLC X4 ends between, retract spacing ST6 of arm is connected on programmable processor PLC COM ends Between programmable processor PLC X5 ends, wrist rotates forward spacing ST7 and is connected on programmable processor PLC COM ends with may be programmed Between processor PLC X6 ends, wrist inverts COM ends and the programmable processor that spacing ST8 is connected on programmable processor PLC Between PLC X7 ends；Arm rotates forward switch SB1 and is connected on programmable processor PLC COM ends and programmable processor PLC X10 Between end, arm reversal switch SB2 is connected between programmable processor PLC COM ends and programmable processor PLC X11 ends, Arm rising switch SB3 is connected between programmable processor PLC COM ends and programmable processor PLC X12 ends, under arm Drop switch SB4 is connected between programmable processor PLC COM ends and programmable processor PLC X13 ends, and arm stretches out switch SB5 is connected between programmable processor PLC COM ends and programmable processor PLC X14 ends, and arm retraction switch SB6 is connected on Between programmable processor PLC COM ends and programmable processor PLC X15 ends, wrist rotating forward switch SB7 is connected on programmable Between processor PLC COM ends and programmable processor PLC X16 ends, wrist reversal switch SB8 is connected on programmable processor Between PLC COM ends and programmable processor PLC X17 ends, grip finger switch SB9 is connected on programmable processor PLC's Between COM ends and programmable processor PLC X20 ends, finger trip switch SB10 is connected on programmable processor PLC COM ends Between programmable processor PLC X21 ends, arm revolution buffer switch SB11 be connected on programmable processor PLC COM ends with Between programmable processor PLC X22 ends, arm lifting buffer switch SB12 be connected on programmable processor PLC COM ends with can Between programmed process device PLC X23 ends, the flexible buffer switch SB13 of arm is connected on programmable processor PLC COM ends with that can compile Between thread processor PLC X24 ends, wrist revolution buffer switch SB14 is connected on programmable processor PLC COM ends with may be programmed Between processor PLC X25 ends, starting switch SB15 is connected on programmable processor PLC COM ends and programmable processor PLC X26 ends between, Aligning control switch SB16 be connected on programmable processor PLC COM ends and programmable processor PLC X27 ends Between, the continuous SB17 that switchs is connected between programmable processor PLC COM ends and programmable processor PLC X30 ends, puts position Controlling switch SB18 is connected between programmable processor PLC COM ends and programmable processor PLC X31 ends, shutdown switch SB19 is connected between programmable processor PLC COM ends and programmable processor PLC X32 ends；Programmable processor PLC's Fire-wire power end L termination 220V AC power zero lines are exchanged, 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 respectively with the second public COM2 ends 220V AC power zero lines, off-load 2/2-way solenoid valve control coil 1YA be connected on programmable processor PLC Y0 ends with Between 220V AC power zero line sides, flexible oil return 2/2-way electromagnetic valve coil 2YA is connected on programmable processor PLC Y1 ends Between 220V AC power zero line sides, the Y2 that fuel-displaced 2/2-way electromagnetic valve coil 3YA is connected on programmable processor PLC is lifted Between end and 220V AC power zero line sides, arm turns round fuel-displaced 2/2-way electromagnetic valve coil 4YA and is connected on programmable processor Between PLC Y3 ends and 220V AC power zero line sides, the fuel-displaced 2/2-way electromagnetic valve coil 5YA of wrist revolution is connected on programmable Between processor PLC Y4 ends and 220V AC power zero line sides, flexible three position four-way electromagnetic valve left coil 6YA is connected on programmable Between processor PLC Y5 ends and 220V AC power zero line sides, the flexible right coil 7YA of three position four-way electromagnetic valve is connected on programmable Between processor PLC Y6 ends and 220V AC power zero line sides, lifting three position four-way electromagnetic valve left coil 8YA is connected on programmable Between processor PLC Y7 ends and 220V AC power zero line sides, the lifting right coil 9YA of three position four-way electromagnetic valve is connected on programmable Between processor PLC Y10 ends and 220V AC power zero line sides, arm revolution three position four-way electromagnetic valve left coil 10YA is connected on Between programmable processor PLC Y11 ends and 220V AC power zero line sides, the arm revolution right coil of three position four-way electromagnetic valve 11YA is connected between programmable processor PLC Y12 ends and 220V AC power zero line sides, wrist revolution three position four-way electromagnetic valve Left coil 12YA is connected between programmable processor PLC Y13 ends and 220V AC power zero line sides, wrist revolution 3-position 4-way The right coil 13YA of magnetic valve is connected between programmable processor PLC Y14 ends and 220V AC power zero line sides, clamps two three Three-way electromagnetic valve coil 14YA is connected between programmable processor PLC Y15 ends and 220V AC power zero line sides, and signal lamp HL connects Between programmable processor PLC Y16 ends and 220V AC power zero line sides.

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

The present invention uses circular cylindrical coordinate formula, can complete the functions such as feeding, upset.The present invention is mainly by finger, wrist, arm Formed with parts such as fuselages, there is flexible wrist revolution, arm, arm lifting and arm to turn round 4 frees degree, 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 advantageous to simplify circuit, is saved cost, raise labour efficiency, improves life Yield, while oil circuit is met the feasibility of manufacture with reference to the basis of machine-building in the arrangement of oil circuit and planning, 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, fixed setting The left side of arm link 3 arm stretch rear support 4, be fixedly installed on the middle part of arm link 3 arm it is flexible in bearing 5th, be fixedly installed on the right side of arm link 3 arm it is flexible before bearing 6, along X to the flexible hand being arranged on arm link 3 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 location screw rod along Z-direction before 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 both 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 The flexible rear dashpot 26 of the corresponding arm of 18 left ends, the arm telescopic piston 19 being sleeved in arm telescopic piston rod 18, set Put arm stretch the right-hand member of cylinder sleeve 20 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 The flexible preceding dashpot 27 of the corresponding arm of the right-hand member of stopper rod 18, 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 connecting lugs 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, it is fixedly installed on arm and stretches 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 Put in the logical wrist oil path in oil cylinder 37 between oily inner stopper 40 and wrist oil circuit oil-feed tail-hood 34 of revolution positioning, be arranged on arm and stretch 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 slides, drives inner sleeve 36, the telescopic slide being arranged in telescopic oil cylinder slip drive inner sleeve 36 to drive overcoat 35 and inserting be arranged on the flexible arm between connecting lugs 29 and rotary cylinder bonnet 39 of arm and stretch alignment pin 38,

The flexible outside framework oil seal 23 of arm is located at the right side of pilot bushing 22, and the flexible outside framework oil seal 23 of arm is located 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 left end be arranged on revolution positioning lead to oily inner stopper 40 in wrist rotary piston bar 48, Fixed seat 41 after left end is fixedly connected with wrist rotary cylinder with the right-hand member of rotary cylinder bonnet 39, be fixedly installed on it is fixed after wrist rotary cylinder 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 The arc block 46 fixed with wrist revolution of shape block 44, it 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 Revolution connecting key 45, be arranged on wrist rotation the right-hand member of right aling cap 43 wrist before adpting flange seat 53, be arranged on wrist before connect The wrist front support end cap 55 of the right-hand member of flange seat 53 and it is arranged on adpting flange seat 53 and wrist front support end cap 55 before wrist 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 of the fixed arc block 46 of wrist revolution and fixed seat after wrist rotary cylinder 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 are oriented to arc block 44 and drive wrist rotary piston bar 48 to rotate setting, 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 The grip finger push pedal 63, two slided on clamping support plate 64 is 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 be hinged preceding finger 61 of finger 62 right-hand member, be arranged on corresponding preceding finger In the middle part of in the of 61 and clamp the fulcrum straight pin 59 between the right-hand member of support plate 64 and be 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 the lower end of arm revolution upper flange seat 71 is 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 between catch 73 and arm rotary cylinder shell 70 and be provided with sealing gasket, 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 the lower end of lift cylinders lower flange seat 87 85th, it is sleeved on the lifting lower end of guide sleeve 89 and is arranged on locking locknut 84 under the lower end of bottom adpting flange seat 85 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；

Oil pump 94 divides two-way after the first main road 96, is connected all the way with main road check valve 98；Another way is by by second The tunnels of 97 Hou Fen of road tri-, the first via return 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 connect with fuel tank 92；

Main road check valve 98 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 connects；

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 connects 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 connects 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 connect 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 connects with flexible oil return branch road 120, and flexible oil return branch road 120 divides two-way, and a-road-through hyperextension is retracted Oily choke valve 121 returns to fuel tank 92, and another way 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 connects with flexible first branch 118, and the oil-out of sequence valve 116 connects 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 connects 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 turns round the first branch 126, arm turns round the second branch 127th, arm turns round fuel-displaced branch road 128, arm turns round fuel-displaced choke valve 129 and arm and turns round fuel-displaced 2/2-way magnetic valve 130；

Second main road 99 connects with arm revolution oil-feed branch road 123, and arm revolution oil-feed branch road 123 handles revolution of arm oil-feed Choke valve 124 connects with the first import b1 of arm revolution three position four-way electromagnetic valve 125, 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 connects, and another oil cylinder cavity and the arm of arm slewing equipment 2 turn round the second branch 127 and connected, arm revolution Second branch 127 connects with the second outlet b4 of arm revolution three position four-way electromagnetic valve 125, 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 branch road 128 and divides two-way, respectively through receiving and distributing 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, three position four-way electromagnetic valve 133, lifting tie point 134, lifting buffer cell 135, the first branch 136 of lifting, liter are lifted Second branch 137, the fuel-displaced branch road 138 of lifting, the fuel-displaced choke valve 139 of lifting and the fuel-displaced 2/2-way magnetic valve 140 of lifting drop； It is O-shaped to lift the Median Function of three position four-way electromagnetic valve 133；

Second main road 99 connects 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 Lift tie point 134 and lift the inlet communication of buffer cell 135, lift first point of the outlet and lifting of buffer cell 135 Road 136 connects, and the first branch 136 of lifting connects 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 connects 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 connects 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 the fuel-displaced 2/2-way magnetic valve 140 of lifting respectively；

It is identical with the flexible structure of buffer cell 115 to lift buffer cell 135；

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 turns round the first branch 144, wrist turns round the second branch 145th, wrist turns round fuel-displaced branch road 146, wrist turns round fuel-displaced choke valve 147 and wrist turns round fuel-displaced 2/2-way magnetic valve 148；

Second main road 99 connects with wrist revolution oil-feed branch road 141, and wrist revolution oil-feed branch road 141 turns round oil-feed through wrist Choke valve 142 connects with the first import d1 of wrist revolution three position four-way electromagnetic valve 143, 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 connects, and another oil cylinder cavity and the wrist of wrist slewing equipment 8 are turned round the second branch 145 and connected, wrist revolution Second branch 145 connects with the second outlet d4 of wrist revolution three position four-way electromagnetic valve 143, 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 branch road 146 and divides two-way, 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, two-bit triplet magnetic valve 152 is clamped, the second branch road 153 is clamped, clamps check valve 154, clamps the 3rd branch road 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 connect with clamping tie point 150, press 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 connects with clamping the 3rd branch road 155, and the 3rd branch road 155 of clamping divides two-way, respectively with pressure The oil cylinder rodless cavity of relay 156 and grip finger device 9 connects；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.

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.The present 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, and fuselage includes fuselage lowering or hoisting gear 1 and formed with the grade of arm slewing equipment 2 part, With wrist revolution, arm is flexible, arm lifts and arm turns round 4 frees degree, disclosure satisfy that in general industrial requirements.This hair Bright by potentiometer is arm location potentiometer 12 and lifting position detector 81, and is respectively cooperating with arm location screw rod 11 and lifting Location bar 8 positions, 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, be advantageous to simplify circuit, save cost, raise labour efficiency, improve productivity ratio, 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, make the structure of manipulator more succinct and compact.

Finger part is used for directly clamping workpiece, and wrist is to connect the part of 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 to predetermined position by pre-provisioning request.Arm has four frees degree, is stretched before and after 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 uses 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 drive device three parts, 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 to be worked in high-temperature operation and Korrosionsmedium.

The support of bearing 6 connects before bearing 5 and arm are flexible during the flexible rear support 4 of arm link 3, arm, arm are flexible 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 be supported to protect arm location screw rod 11,22 preferred brass of pilot bushing or phosphor bronze, 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 arm cylinder shell 32 that stretches stretches telescopic slide in cylinder body guide sleeve 31 in 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 logical Crossing the arm alignment pin 38 that stretches drives arm cylinder body adapter sleeve 33 flexible, rotary cylinder bonnet 39, revolution positioning lead to oily inner stopper 40, 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 wrist rotary piston bar 48 forms angling cylinder housing；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, plays support, fixed and guide effect, 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 mainly further changes on the basis of 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, it is compact-sized, in light weight, it is rationally distributed,

Executing agency of the wrist part as manipulator, undertake connection and supporting role, except ensure power and motion will Ask and there is enough intensity, outside rigidity, should also consider, rational deployment,

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

The grip finger action of the present invention is by single-action hydraulic cylinder, only needs an oil pipe, optimizes structure, leads to hand drive The oil pipe of hydrodynamic cylinder pressure be from revolution casing wall by, hand clamping cylinder is then surrounded by groove structure, when wrist turns 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 connects, three oil pipes（One supplies hand oil pipe, and two supply wrist rotating hydraulic cylinder）By being 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-sized, pipeline uses 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.Such as Fluted realize is set to buffer by valve group or on cylinder body.Safety guard is added, is prevented because damage machine is overloaded in collision Tool structure.The present invention selects solenoid directional control valve loop, obtains preferable automaticity and economic benefit.General use of the invention The mechanism such as single pump or double pump fuel feeding, arm is flexible, arm pitching, arm rotation uses fuel feeding in parallel, so can effectively reduce and is The charge oil pressure of system, reversal valve preferably use middle position " O " type reversal valve, ensure that the system of multi-cylinder motion is not interfere with each other, realize 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, to ensure the even running of 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 present invention selects single oil pump feed.Single oil pump feed will select the flow of pump with need 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, is required for buffering during the starting and stopping of hydraulic cylinder.Such as Buffer loop is formed using a two-position two-way electromagnetic directional valve and a choke valve shown in Figure 13.When hydraulic cylinder to hope During point, main frame is signaled to by position detecting device, then the path of host computer control solenoid valves cut-out bi-bit bi-pass, hydraulic pressure The loop of cylinder the resistance of the oil return line of increase, slows down hydraulic cylinder speed, prevents impact from reaching buffering diverted via choke valve oil return box Purpose, this loop are 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, improves and uses 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, the fuel injection pressure signal for clamping oil circuit is changed into by electric signal by pressure switch, 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 is few, maintenance load is small, easy to maintenance, small volume, and 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 is opened spacing by structure, therefore does not need limit switch

The distribution of hand push button of the present invention

1st, arm revolution control

Arm rotates forward：SB1 arms invert：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 rotates forward：SB7 wrists invert：SB8 wrists revolution buffering：SB14

5th, grip finger controls

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 of personal-machine interaction, 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,

Effective important technological parameters as 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. a kind of circular cylindrical coordinate industry mechanical arm with hydraulic control system and circuit control system, including set along Z-direction lifting The fuselage lowering or hoisting gear (1) put, along W to revolution it is arranged on the arm slewing equipment (2) of fuselage lowering or hoisting gear (1) upper end, sets After arm link (3) in arm slewing equipment (2) upper end, the arm being fixedly installed on the left of arm link (3) are flexible The flexible middle bearing (5) of bearing (4), the arm being fixedly installed in the middle part of arm link (3), it is fixedly installed on arm link (3) bearing (6) before arm on the right side of is flexible, along X to the flexible arm retractor device (7) being arranged on arm link (3), edge U is arranged on the wrist slewing equipment (8) of arm retractor device (7) right-hand member to revolution, is arranged on wrist slewing equipment (8) right-hand member Grip finger device (9), hydraulic control system and circuit control system, arm retractor device (7) be installed on arm it is flexible after Before bearing (5) and arm are flexible during bearing (4), 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 stretches under the lower end of rear support (4), the lower end of the flexible middle bearing (5) of arm and the flexible preceding bearing (6) of arm Respectively on fixing arm fixed mount (17), arm location potentiometer (12) is sleeved on arm location screw rod (11) at end, 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 both 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 The flexible rear dashpot (26) of the corresponding arm of arm telescopic piston rod (18) left end, 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 arm stretch connecting lugs (29),

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 Positioning is turned round to lead to oily inner stopper (40), be arranged on revolution and position and lead between oily inner stopper (40) 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 slides 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 slides, drives the telescopic slide in inner sleeve (36) to drive overcoat (35) and inserting to be arranged on the flexible connecting lugs of arm (29) the flexible alignment pin (38) of the arm between rotary cylinder bonnet (39),

The arm outside framework oil seal (23) that stretches is located on the right side of pilot bushing (22), and the arm outside framework oil seal (23) that stretches is located 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 left end and is arranged on the wrist rotary piston bar that revolution positioning is led in oily inner stopper (40) (48) fixed seat (41) after, left end is fixedly connected with wrist rotary cylinder with rotary cylinder bonnet (39) right-hand member, it is fixedly installed on wrist and returns Turn the wrist rotary cylinder fixed shell (42) of fixed seat (41) right-hand member after cylinder, solid with wrist rotary cylinder fixed shell (42) right side 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) arc block (46) fixed 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 adpting flange seat (53) right-hand member before wrist And the wrist intermediate supports set (54) before wrist between adpting flange seat (53) and wrist front support end cap (55) is arranged on,

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), connection grip finger dashpot (52) and wrist oil path in oil cylinder are provided with wrist rotary piston bar (48) (37) pipeline, deep groove ball bearing is provided between fixed seat (41) after wrist rotary piston bar (48) and wrist rotary cylinder, 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 rotates, to be set, and is turned round in wrist on guiding 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 be hinged preceding finger (61) in end, it is 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 be used for 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, Under the arm rotary cylinder shell (70) and arm rotary cylinder shell (70) that are fixedly connected with arm revolution upper flange seat (71) lower end 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), arm revolution upper flange seat (71), arm rotary cylinder shell (70), arm rotary cylinder company are sequentially passed through along Z-direction 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 lived with fuselage lifting 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, it is arranged on lift cylinders lower flange seat (87) and lifts the lifting sending down the fishbone between guide sleeve (89) Frame oil sealing (86), the bottom adpting flange seat (85) for being arranged on lift cylinders lower flange 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；

It is characterized in that：

The hydraulic control system includes fuel tank (92), filter (93), oil pump (94), motor (95), the first main road (96), the Two bypasses (97), main road check valve (98), the second main road (99), arm telescopic hydraulic control module (100), arm revolution hydraulic pressure Control module (101), raise-lower hydraulic control module (102), wrist revolution hydraulic control module (103), grip finger hydraulic pressure control Molding 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；

Oil pump (94) divides two-way after the first main road (96), is connected all the way with main road check valve (98)；Another way passes through second The tunnels of (97) Hou Fen tri- are bypassed, the first via returns to fuel tank (92) by safety valve (105), and the second tunnel is logical through pressure gauge branch road (106) Excess pressure table switch (107) connects with pressure indicator (108), and the 3rd tunnel passes through off-load branch road (109) and off-load 2/2-way The oil inlet connection of magnetic valve (110), the oil-out of off-load 2/2-way magnetic valve (110) connect with fuel tank (92)；

Main road check valve (98) by the tunnels of the second main road (99) Hou Fen five, respectively with arm telescopic hydraulic control module (100), hand Revolution of arm hydraulic control module (101), raise-lower hydraulic control module (102), wrist revolution hydraulic control module (103) and hand Refer to clamping hydraulic control module (104) connection；

Arm telescopic hydraulic control module (100) includes arm retractor device (7), flexible oil-feed branch road (111), flexible oil-feed section Flow valve (112), flexible three position four-way electromagnetic valve (113), flexible tie point (114), flexible buffer cell (115), sequence valve (116), dashpot check 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) connects with flexible oil-feed branch road (111), and the oil-feed branch road (111) that stretches is through flexible meter in valve (112) connected with the first import a1 of flexible three position four-way electromagnetic valve (113), the first of flexible three position four-way electromagnetic valve (113) A2 is exported by tie point (114) and the inlet communication of flexible buffer cell (115) of stretching, stretch buffer cell (115) Outlet is connected by flexible first branch (118) with the oil cylinder rodless cavity of arm retractor device (7), arm retractor device (7) Cylinder rod chamber connects with flexible second branch (119), the second branch (119) of stretching and flexible three position four-way electromagnetic valve (113) Second outlet a4 connections, the second import a3 of flexible three position four-way electromagnetic valve (113) connects with flexible oil return branch road (120), Flexible oil return branch road (120) divides two-way, and the oily choke valve (121) of a-road-through hyperextension retraction returns to fuel tank (92), and another way is through hyperextension Oily 2/2-way magnetic valve (122) of retracting returns to fuel tank (92)；

Flexible buffer cell (115) includes the sequence valve (116) being arranged in parallel and dashpot check valve (117), sequence valve (116) Oil inlet connects with flexible first branch (118), and the oil-out of sequence valve (116) connects with flexible tie point (114), buffering The oil inlet of check valve (117) connects with flexible tie point (114), the oil-out of dashpot check valve (117) and flexible first Branch (118) connects；

Arm revolution hydraulic control module (101) includes arm slewing equipment (2), arm revolution oil-feed branch road (123), arm and returned Rotate into oily choke valve (124), arm revolution three position four-way electromagnetic valve (125), arm and turn round the first branch (126), arm revolution Second branch (127), arm turn round fuel-displaced branch road (128), arm turns round fuel-displaced choke valve (129) and arm revolution fuel-displaced two Two three-way electromagnetic valves of position (130)；

Second main road (99) connects with arm revolution oil-feed branch road (123), and arm revolution oil-feed branch road (123) is handled revolution of arm and entered Oily choke valve (124) connects with the first import b1 of arm revolution three position four-way electromagnetic valve (125), arm revolution 3-position 4-way electricity The first outlet b2 of magnet valve (125) turns round the first branch (126) with arm and connected, and arm turns round the first branch (126) and arm The oil cylinder cavity connection of slewing equipment (2), another oil cylinder cavity and the arm of arm slewing equipment (2) turn round the second branch (127) connecting, arm turns round the second branch (127) and connected with the second outlet b4 of arm revolution three position four-way electromagnetic valve (125), Second import b3 of arm revolution three position four-way electromagnetic valve (125) turns round fuel-displaced branch road (128) with arm and connected, and arm turns round out Oily branch road (128) divides two-way, turns round fuel-displaced choke valve (129) by arm respectively and arm turns round fuel-displaced 2/2-way electromagnetism Valve (130) returns to fuel tank (92)；

Raise-lower hydraulic control module (102) includes fuselage lowering or hoisting gear (1), lifting oil-feed branch road (131), lifting meter in valve (132) three position four-way electromagnetic valve (133), lifting tie point (134), lifting buffer cell (135), first point of lifting, are lifted Road (136), the second branch of lifting (137), the fuel-displaced branch road (138) of lifting, the fuel-displaced choke valve (139) of lifting and lifting fuel-displaced two Two three-way electromagnetic valves of position (140)；

Second main road (99) connects with lifting oil-feed branch road (131), and lifting oil-feed branch road (131) is by lifting meter in valve (132) the first import c1 with lifting three position four-way electromagnetic valve (133) is connected, and the first of lifting three position four-way electromagnetic valve (133) C2 is exported by lifting tie point (134) and the inlet communication of lifting buffer cell (135), lifting buffer cell (135) Outlet connects with the first branch of lifting (136), and the first branch of lifting (136) and the oil cylinder rodless cavity of fuselage lowering or hoisting gear (1) connect Logical, the cylinder rod chamber of fuselage lowering or hoisting gear (1) connects with the second branch of lifting (137), the second branch of lifting (137) and lifting The second outlet c4 connections of three position four-way electromagnetic valve (133), the second import c3 and the lifting of lifting three position four-way electromagnetic valve (133) Fuel-displaced branch road (138) connection, lifts fuel-displaced branch road (138) and divides two-way, respectively by lifting fuel-displaced choke valve (139) and lifting Fuel-displaced 2/2-way magnetic valve (140) returns to fuel tank (92)；

It is identical with flexible buffer cell (115) structure to lift buffer cell (135)；

Wrist revolution hydraulic control module (103) includes wrist slewing equipment (8), wrist revolution oil-feed branch road (141), wrist and returned Rotate into oily choke valve (142), wrist revolution three position four-way electromagnetic valve (143), wrist and turn round the first branch (144), wrist revolution Second branch (145), wrist turn round fuel-displaced branch road (146), wrist turns round fuel-displaced choke valve (147) and wrist revolution fuel-displaced two Two three-way electromagnetic valves of position (148)；

Second main road (99) and wrist revolution oil-feed branch road (141) connects, wrist turn round oil-feed branch road (141) through wrist turn round into Oily choke valve (142) connects with the first import d1 of wrist revolution three position four-way electromagnetic valve (143), wrist revolution 3-position 4-way electricity The first outlet d2 of magnet valve (143) turns round the first branch (144) with wrist and connected, and wrist turns round the first branch (144) and wrist The oil cylinder cavity connection of slewing equipment (8), another oil cylinder cavity and the wrist of wrist slewing equipment (8) turn round the second branch (145) connecting, wrist is turned round the second branch (145) and connected with the second outlet d4 of wrist revolution three position four-way electromagnetic valve (143), Second import d3 of wrist revolution three position four-way electromagnetic valve (143) turns round fuel-displaced branch road (146) with wrist and connected, and wrist is turned round out Oily branch road (146) divides two-way, turns round fuel-displaced choke valve (147) by wrist respectively and wrist turns round fuel-displaced 2/2-way electromagnetism Valve (148) returns to fuel tank (92)；

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

Second main road (99) and pressure-reducing valve (149) inlet communication, the outlet of pressure-reducing valve (149) is with clamping tie point (150) even It is logical, clamp tie point (150) and connected by clamping choke valve (151) with clamping the import A of two-bit triplet magnetic valve (152) first It is logical, clamp two-bit triplet magnetic valve (152) outlet P and connected with clamping the second branch road (153), clamp the second branch road (153) and folder The inlet communication of tight check valve (154), the outlet for clamping check valve (154) connect with clamping the 3rd branch road (155), clamp the 3rd Branch road (155) divides two-way, and the oil cylinder rodless cavity with pressure switch (156) and grip finger device (9) connects respectively；Subtracting Feedback oil circuit (157) is provided between pressure valve (149) and clamping check valve (154)；

The circuit control system includes programmable processor PLC, arm rotates forward switch SB1, arm reversal switch SB2, arm Rising switch SB3, arm down switch SB4, arm, which stretch out switch SB5, arm is retracted switchs SB6, wrist rotates 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 inverts spacing ST2, arm lifting position-limit ST3, arm descending spacing ST4, arm stretch out Spacing ST5, the spacing ST6 of arm retraction, wrist rotate forward spacing ST7, wrist inverts 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 turn round the right coil 11YA of three position four-way electromagnetic valve, wrist turns round three position four-way electromagnetic valve left coil 12YA, Wrist revolution three position four-way electromagnetic valve right coil 13YA and clamping 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 rotates forward switch SB1 and is connected between programmable processor PLC COM ends and programmable processor PLC X10 ends,

Arm reversal switch SB2 is connected between programmable processor PLC COM ends and programmable processor PLC X11 ends,

Arm rising switch SB3 is connected between programmable processor PLC COM ends and programmable processor PLC X12 ends,

Arm down switch SB4 is connected between programmable processor PLC COM ends and programmable processor PLC X13 ends,

Arm stretches out switch SB5 and is connected between programmable processor PLC COM ends and programmable processor PLC X14 ends,

Arm retraction switch SB6 is connected between programmable processor PLC COM ends and programmable processor PLC X15 ends,

Wrist rotates forward switch SB7 and is connected between programmable processor PLC COM ends and programmable processor PLC X16 ends,

Wrist reversal switch SB8 is connected between programmable processor PLC COM ends and programmable processor PLC X17 ends,

Grip finger switch SB9 is connected between programmable processor PLC COM ends and programmable processor PLC X20 ends,

Finger trip switch SB10 is connected between programmable processor PLC COM ends and programmable processor PLC X21 ends,

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

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

Arm stretch buffer switch SB13 be connected on programmable processor PLC COM ends and programmable processor PLC X24 ends it Between,

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

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 is connected between programmable processor PLC COM ends and programmable processor PLC X31 ends,

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's 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 power live wires respectively with the second public COM2 ends End,

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

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

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

Arm turns round Y3 ends and the 220V AC powers that fuel-displaced 2/2-way electromagnetic valve coil 4YA is connected on programmable processor PLC Between zero line side,

Wrist turns round Y4 ends and the 220V AC powers that fuel-displaced 2/2-way electromagnetic valve coil 5YA is connected on programmable processor PLC Between zero line side,

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

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

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

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

Arm revolution three position four-way electromagnetic valve left coil 10YA is connected on programmable processor PLC Y11 ends and 220V AC powers Between zero line side,

The arm revolution right coil 11YA of three position four-way electromagnetic valve is connected on programmable processor PLC Y12 ends and 220V AC powers Between zero line side,

Wrist revolution three position four-way electromagnetic valve left coil 12YA is connected on programmable processor PLC Y13 ends and 220V AC powers Between zero line side,

The wrist revolution right coil 13YA of three position four-way electromagnetic valve is connected on programmable processor PLC Y14 ends and 220V AC powers Between zero line side,

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

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