CN107088782A - A kind of hydraulic charging & manipulator - Google Patents

A kind of hydraulic charging & manipulator Download PDF

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Publication number
CN107088782A
CN107088782A CN201710431617.2A CN201710431617A CN107088782A CN 107088782 A CN107088782 A CN 107088782A CN 201710431617 A CN201710431617 A CN 201710431617A CN 107088782 A CN107088782 A CN 107088782A
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CN
China
Prior art keywords
arm
equiped
cylinder
component
seat
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710431617.2A
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Chinese (zh)
Inventor
李卫民
黄淑琴
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Taizhou Polytechnic College
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Taizhou Polytechnic College
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Filing date
Publication date
Application filed by Taizhou Polytechnic College filed Critical Taizhou Polytechnic College
Priority to CN201710431617.2A priority Critical patent/CN107088782A/en
Publication of CN107088782A publication Critical patent/CN107088782A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/043Construction of the grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14Programme-controlled manipulators characterised by positioning means for manipulator elements fluid

Abstract

The invention discloses a kind of hydraulic charging & manipulator, it includes arm component(1), revolution wrist component(6)With clipping hand component(7), the arm component is with clipping hand component by turning round wrist component(6)It is connected, the arm component includes arm lifting mechanism(2), arm carrying detent mechanism(3), arm slew gear(4)With arm telescoping mechanism(5), arm carrying detent mechanism is equiped with the arm lifting mechanism and by fastening bolt(8)It is fixedly connected, is equiped with arm slew gear and matched on the arm carrying detent mechanism, the arm slew gear is provided with arm telescoping mechanism and matched.Structure design advantages of simple of the present invention, applicability is splendid, it can effectively prevent when being lifted guide sleeve is produced to slide and tilt, can be when arm to make descending motion provided with cushion effect, each part can carry out effective control when being operated to the Cheng Jinhang of individual part in device.

Description

A kind of hydraulic charging & manipulator
Technical field
The present invention relates to the technical field of mechanical automation control, and in particular to a kind of hydraulic charging & manipulator.
Background technology
Manipulator is now primarily used to the fields such as lathe, loading and unloading, and welding.They are operated according to program 's.It is external by manipulator toward intelligent development.It can be changed according to peripheral environment and make different instructions changes.Such as It is modern overall toward two trend developments.One is to be combined the development of manipulator with intelligent robot;Two be by the development of manipulator It is combined with becoming privileged industrial robot.Existing feeding manipulator structure design is unreasonable, and feeding manipulator is lifted again When motion, guide sleeve can easily produce slip and tilt, and there is potential safety hazard, and guide sleeve tilts easily caused lifting position That puts is inaccurate;A downward impulsive force can be produced when arm makees descending motion, easily causes device inner body for a long time Damage, cause device not run, it is impossible to be capable of the security of effective ensuring equipment, and each part is being operated in device Shi Wufa carries out effective control to the stroke of each part, and loss is high, short life.
The content of the invention
The problem to be solved in the present invention there is provided a kind of structure design advantages of simple, can effectively prevent from being lifted When guide sleeve produce and slide and tilt, can be when arm makees descending motion again provided with cushion effect, each part is entering in device The hydraulic charging & manipulator of effective control can be carried out to the Cheng Jinhang of individual part during row running.
In order to solve the above problems, the invention provides a kind of hydraulic charging & manipulator, it includes arm component, revolution hand Wrist units and clipping hand component, the arm component are connected with clipping hand component by turning round wrist component, institute Stating arm component includes arm lifting mechanism, arm carrying detent mechanism, arm slew gear and arm telescoping mechanism, the hand Arm carrying detent mechanism is equiped with arm elevating mechanism and is fixedly connected by fastening bolt, the arm carries detent mechanism On be equiped with arm slew gear and matched, the arm slew gear with it provided with arm telescoping mechanism and mutually fitting Match somebody with somebody.
As a further improvement on the present invention, the arm lifting mechanism bottom is equiped with cylinder body fulcrum bearing, the cylinder body Lift cylinder is equiped with fulcrum bearing and is connected by screw, the lift cylinder bottom be equiped with buffer regulating valve and and its It is adapted, First piston bar is equiped with the lift cylinder, the First piston bar top is provided with spherical linkage, described spherical Spherical linkage seat is equiped with hinge, the spherical linkage is sheathed on ball
Shape hinge seat bottom is simultaneously matched, is equiped with terminal pad on the upper spherical linkage seat, the First piston bar is led to Cross spherical linkage to be connected with terminal pad, the side of terminal pad two is installed in guide sleeve, is equiped with provided with key in the guide sleeve Feather key is installed and matched in groove, keyway, the guide sleeve side is equiped with side plate, and the side plate is provided with impact Block, the side plate side is switched provided with device for detecting distance of travel, the device for detecting distance of travel is equiped with provided with lifting travel formula, institute Impact block is stated with lifting travel formula switch to be connected.
As a further improvement on the present invention, the arm carrying detent mechanism is provided with middle seat part, the centre Base member is provided with fixation on support, the support and is equiped with gear and gear ring, and the gear is meshed with gear ring, described Block is equiped with gear and matched, the middle seat part is provided with connecting seat, the connecting seat and is equiped with out Close provided with the first combined type stroke type switch in seat, the switch base, the first combined type stroke type switch is provided with collision block And it is matched, it is provided with the middle seat part on positional cylinder, the positional cylinder and is equiped with positional cylinder connecting seat, Second piston bar is equiped with the positional cylinder, the second piston bar top is equiped with center, the second piston bar Bottom is equiped with back of the body cap.
As a further improvement on the present invention, the arm slew gear is provided with angling cylinder, the angling cylinder Provided with rotary cylinder shell, the rotary cylinder shell is provided with stroke deceleration valve, and the stroke deceleration valve is adapted with block, the revolution Cylinder shell upper and lower ends are respectively equipped with upper end cover and bottom end cover, and the upper end cover and bottom end cover are consolidated by fastening bolt and rotary cylinder shell Fixed, swivel sleeve installs dynamic and stator, the power piece is with returning in upper end cover and bottom end cover on the upper end cover Rotating shaft is connected, and the stator is plugged in gyroaxis.
As a further improvement on the present invention, the arm telescoping mechanism is provided with clamping cylinder, the clamping cylinder It is equiped with sliding pillow and is connected with each other with it, the sliding pillow in dovetail groove and makees reciprocating linear fortune by clamping cylinder It is dynamic, provided with the second combined type stroke type switch and locating piece in the clamping cylinder, the second combined type stroke type switch and Locating piece is adapted, and the arm telescoping mechanism is provided with the 3rd piston rod, and described 3rd piston rod one end is through second group In box-like stroke type switch and extend in clamping cylinder, the 3rd piston rod extend to clamping cylinder part with it is adjustable fixed Helically formula is connected position bolt, and the arm telescoping mechanism is provided with center base portion, and the center base subordinate is provided with centre Frame is simultaneously coupled, and the arm telescoping mechanism is provided with oil circuit, and the oil circuit is connected with oil inlet pipe.
As a further improvement on the present invention, the revolution wrist component includes wrist angling cylinder, rotary sleeve, separation sleeve And rotating shaft, the wrist angling cylinder side, which is provided with clamping cylinder, the wrist angling cylinder, is provided with rotary sleeve, the 3rd piston Bar in clamping cylinder and wrist angling cylinder with doing reciprocating linear motion, the rotary sleeve
Be in movable connection with shaft coupling, the shaft coupling is connected with rotating shaft, the rotating shaft by rotating interplanting gyration, Described rotating shaft one end is provided with separation sleeve.
As a further improvement on the present invention, the clipping hand component is in chute lever-type structure, described clipping It is equiped with hand component in hand cradle, the clipping hand component and is provided with collar, the collar side is described provided with axle is tensed Collar is in movable connection by tensing axle and left finger seat and right finger seat, and the left finger seat and right finger seat are connected in staggered form, institute State and be equiped with mechanical finger on left finger seat and right finger seat.
The present invention compared with prior art, with advantages below:
Arm lifting mechanism of the present invention is to realize vertical displacement movement, the installing of arm lifting mechanism bottom by double-acting type oil cylinder Have and be equiped with lift cylinder in cylinder body fulcrum bearing, cylinder body fulcrum bearing and be connected by screw, the upper end of piston rod passes through spherical The parts such as hinge, upper spherical linkage seat, terminal pad and guide sleeve constitute the lifting part of elevating mechanism, and lift cylinder promotes piston Bar simultaneously drives guiding interplanting elevating movement, and the side of terminal pad two is installed in guide sleeve, is equiped with and is provided with the guide sleeve Feather key is installed and matched in keyway, keyway, feather key can be slided in keyway, can effectively prevent from carrying out Guide sleeve may produce slip when lifting, eliminate potential safety hazard, and guider, its steering capability are used as with guide sleeve Good, rigidity is big, stable working;First piston bar is equiped with lift cylinder, the First piston bar top is provided with spherical linkage, Spherical linkage seat is equiped with the spherical linkage, spherical linkage is sheathed on spherical linkage seat bottom and matched, Terminal pad is equiped with the upper spherical linkage seat, the First piston bar is connected by spherical linkage with terminal pad, piston rod It is connected by spherical linkage with terminal pad, guide pin bushing can be made up and tilt caused deviation;The lift cylinder bottom is equiped with buffering Regulating valve is simultaneously matched, and resistance is realized by buffer regulating valve when arm makees descending motion, buffer regulating valve energy Enough effective bufferings and regulation arm make produced impulsive force when descending motion, can effectively ensure the peace of manipulator Quan Xing;Guide sleeve side is equiped with side plate, and the side plate is provided with impact block, and the side plate side is provided with and is equiped with stroke detection Device, the device for detecting distance of travel is switched provided with lifting travel formula, and the impact block is connected with lifting travel formula switch, hand The stroke type that the lifting travel of arm touches device for detecting distance of travel by the impact block being installed on side plate is switched, stroke type switch hair Go out signal to be controlled, security and practicality are splendid.
Arm carrying detent mechanism of the present invention is part of the force maximum among whole manipulator, arm carrying detent mechanism Middle seat part is provided with, middle seat part is provided with fixation on support, support and is equiped with gear and gear ring, and gear ring is fixed Engaged on support with gear and play drive rotation, reduce frictional force, reduce angling cylinder
The effect of load;Middle seat part, which is provided with connecting seat, connecting seat, is equiped with switch base, and first group is provided with switch base Box-like stroke type switch, the first combined type stroke type switch is provided with collision block and matched, in arm turning course Middle collision block touches the first combined type stroke type switch, and the first combined type stroke type switch sends signal, controls arm gyration Position;It is provided with middle seat part on positional cylinder, positional cylinder and is equiped with positional cylinder connecting seat, is installed in positional cylinder There is second piston bar, second piston bar top is equiped with center, and second piston bar bottom is equiped with back of the body cap, and positional cylinder can make Arm is positioned more accurately in turning course, can effectively avoid arm positioning when carrying out gyration from inaccurately causing hand The position specified can not be reached during revolution of arm, the operating of device is influenceed.
Arm slew gear of the present invention is provided with angling cylinder, and angling cylinder is provided with rotary cylinder shell, rotary cylinder shell and set There is stroke deceleration valve, stroke deceleration valve is adapted with block, rotary cylinder shell upper and lower ends are respectively equipped with upper end cover and bottom end cover, institute State upper end cover and bottom end cover to fix with rotary cylinder shell by fastening bolt, swivel sleeve makes back located at upper end cover and bottom end cover interior energy Rotating shaft position is more consolidated, and positioning is more accurate, and gear is fixedly connected with the gyroaxis of angling cylinder, the rotary cylinder of angling cylinder Shell is fixedly mounted on the middle support body of arm telescoping mechanism again, and gear is connected with the gear ring being fixed on support, revolution oil When the gyroaxis of cylinder drives pinion rotation, gear ring is fixed, and gear will also revolve round the sun in addition to rotation around gear ring so that arm can Revolution, turns cylinder shell and is provided with stroke deceleration valve, gear equipped with block, and when arm is turned round, stroke deceleration valve is connected with block to be touched Move and slow down gyroaxis operation, realize arm and slow down produced impulsive force when turning round final position, ensure that machinery The overall security of hand;Dynamic and stator are installed on upper end cover, power piece is connected with gyroaxis, it is ensured that can move simultaneously And mutually it can be driven to move, stator is plugged in gyroaxis, it can be ensured that stator is immovable or rocks.Work as hydraulic oil Pressure into hydraulic oil when oil cylinder can be rotated with propulsion power piece, and now power piece will drive turning for rotary shaft Dynamic to allow arm to realize gyration, structure design advantages of simple, applicability is wide.
Arm telescoping mechanism of the present invention, which is provided with, to be equiped with sliding pillow on clamping cylinder, clamping cylinder and is mutually interconnected with it Connect, sliding pillow is done reciprocating linear motion in dovetail groove and by clamping cylinder, and dovetail groove plays a part of guide rail, and clamps Oil cylinder starting power impetus;Provided with the second combined type stroke type switch and locating piece, the second combined type stroke in clamping cylinder Formula is switched and locating piece is adapted, and locating piece touches the second combined type stroke type switch and is connected, and the second combined type stroke type is opened Pass sends signal so as to being controlled, and arm telescoping mechanism is provided with the 3rd piston rod, and the 3rd piston rod one end is through second Combined type stroke type switch is interior and extends to clamping cylinder
Interior, the 3rd piston rod extends to clamping cylinder part, and helically formula is connected with adjustable bolt, convenient peace installation and dismantling Unload, adjustable bolt may insure positioning precision and piston rod connection is more consolidated.
The wrist angling cylinder side of present invention revolution wrist component is provided with clamping cylinder, wrist angling cylinder provided with rotation Pivoted housing, the 3rd piston rod in clamping cylinder and wrist angling cylinder with doing reciprocating linear motion, and rotary sleeve is with shaft coupling in activity Formula is connected, and shaft coupling is connected with rotating shaft, and rotating shaft enters arm angling cylinder by rotating interplanting gyration, the 3rd piston rod When cause pivoted housing inside wrist angling cylinder movement pattern by the transmission of shaft coupling, forms of motion is delivered to Rotating shaft, then rotating shaft, which starts to do gyration, realizes the gyration of wrist, operation of the revolution wrist component in manipulator Cheng Dangzhong serves the important function for linking arm and hand, and serves supporting role to the operation of whole manipulator.
The clipping hand component of the present invention is in that collar, collar one are provided with chute lever-type structure, clipping hand component Side is in movable connection by tensing axle and left finger seat and right finger seat provided with axle, collar is tensed, and left finger seat and right finger seat are in intersection Formula is connected, and mechanical finger is equiped with left finger seat and right finger seat, and the opening and closing of mechanical finger is to drive tension axle to do past by collar Move and realize again, collar and the pitch brace hinge connection of clamping cylinder the 3rd input driving force by pitch brace, drive a left side Refer to seat 7-4 and right finger seat 7-5 carries out clamping campaign, structure design advantages of simple, applicability is wide.
Brief description of the drawings
Fig. 1 is the structural representation of hydraulic charging & manipulator of the present invention.
Fig. 2 is the elevating mechanism structural representation of the arm component of hydraulic charging & manipulator of the present invention.
Fig. 3 is the structural representation of the carrying detent mechanism of the arm component of hydraulic charging & manipulator of the present invention.
Fig. 4 is the structural representation of the slew gear of the arm component of hydraulic charging & manipulator of the present invention.
Fig. 5 is the top view of the slew gear of the arm component of hydraulic charging & manipulator of the present invention.
Fig. 6 is the structural representation of the telescoping mechanism of the arm component of hydraulic charging & manipulator of the present invention.
Fig. 7 is the structural representation of the revolution wrist component of hydraulic charging & manipulator of the present invention.
Fig. 8 is the structural representation of the clipping hand component of hydraulic charging & manipulator of the present invention.
In figure:1- arm components, 2- arm lifting mechanisms, 2-1 cylinder body fulcrum bearings, 2-2 lift cylinders, 2-3 screws, 2-4 First piston bar, 2-5 spherical linkages, 2-6 spherical linkages seat, 2-7 terminal pads, 2-8 guide sleeves, 2-9 keyways, 2-10 feather keys, 2-11 side plates, 2-12 impact blocks, 2-13 device for detecting distance of travel, 2-14 lifting travels formula switch, 2-15 buffer regulating valves, 3- arms Carry detent mechanism, 3-1 middle seat parts, 3
Support, 3-3 gears, 3-4 gear rings, 3-5 blocks, 3-6 connecting seats, 3-7 switch bases, 3-8 the first combined type stroke types are opened Close, 3-9 collision blocks, 3-10 positional cylinders, 3-11 positional cylinder connecting seats, 3-12 second piston bars, 3-13 centers, the 3-14 back ofs the body Cap, 4- arm slew gears, 4-1 angling cylinders, 4-2 rotary cylinder shells, 4-3 stroke deceleration valves, 4-4 upper end covers, 4-5 bottom end covers, 4-6 gyroaxises, 4-7 power pieces, 4-8 stators, 4-9 fastening bolts, 5- arm telescoping mechanisms, 5-1 clamping cylinders, 5-2 sliding pillows, 5-3 dovetail grooves, the second combined types of 5-4 stroke type switch, 5-5 locating pieces, the piston rods of 5-6 the 3rd, the adjustable bolts of 5-7, 5-8 center bases portion, 5-9 middle frames, 5-10 oil circuits, 5-11 oil inlet pipes, 6- revolution wrist components, 6-1 wrist angling cylinders, 6- 2 rotary sleeves, 6-3 separation sleeves, 6-4 rotating shafts, 6-5 shaft couplings, the clipping hand components of 7-, 7-1 hand cradle, 7-2 collars, 7-3 is tensed Axle, the left finger seats of 7-4, the right finger seats of 7-5,7-6 mechanical fingers.
Embodiment
The present invention is further explained with reference to the accompanying drawings and examples.
As shown in figs. 1-7, a kind of hydraulic charging & manipulator, it includes arm component 1, turns round wrist component 6 and clipping Hand component 7, the arm component 1 is connected with clipping hand component 7 by turning round wrist component 6, the arm component 1 Including arm lifting mechanism 2, arm carrying detent mechanism 3, arm slew gear 4 and arm telescoping mechanism 5, the arm lifting Arm carrying detent mechanism 3 is equiped with mechanism 2 and is fixedly connected by fastening bolt 8, on the arm carrying detent mechanism 3 Be equiped with arm slew gear 4 and matched, the arm slew gear 4 provided with arm telescoping mechanism 5 and with its phase Adaptation.
The bottom of arm lifting mechanism 2, which is equiped with cylinder body fulcrum bearing 2-1, the cylinder body fulcrum bearing 2-1, is equiped with lifting oil Cylinder 2-2 is simultaneously connected by screw 2-3, and the lift cylinder 2-2 bottoms are equiped with buffer regulating valve 2-15 and matched, First piston bar 2-4 is equiped with the lift cylinder 2-2, the First piston bar 2-4 tops are provided with spherical linkage 2-5, institute State and spherical linkage seat 2-6, the spherical linkage 2-5 are equiped with spherical linkage 2-5 are sheathed on spherical linkage seat 2-6 bottoms And it is matched, it is equiped with terminal pad 2-7, the First piston bar 2-4 on the upper spherical linkage seat 2-6 and passes through spherical hinge Chain 2-5 is connected with terminal pad 2-7, and the terminal pad 2-7 sides are installed in guide sleeve 2-8, is equiped with the guide sleeve 2-8 Provided with keyway 2-9, feather key 2-10 is installed and matched in keyway 2-9, the guide sleeve 2-8 sides are equiped with side plate 2-11, the side plate 2-11 are provided with impact block 2-12, and the side plate 2-11 sides are provided with and are equiped with device for detecting distance of travel 2-13, The device for detecting distance of travel 2-13 switchs 2-14 provided with lifting travel formula,
The impact block 2-12 is connected with lifting travel formula switch 2-14.
Arm carrying detent mechanism 3 is provided with support 3-2 provided with middle seat part 3-1, the middle seat part 3-1, Fixed on the support 3-2 to be equiped with gear 3-3 and gear ring 3-4, the gear 3-3 is meshed with gear ring 3-4, the tooth Block 3-5 is equiped with wheel 3-3 and matched, and the middle seat part 3-1 is provided with connecting seat 3-6, the connecting seat It is equiped with 3-6 in switch base 3-7, the switch base 3-7 and switchs 3-8, first combination provided with the first combined type stroke type Formula stroke type switch 3-8 is provided with collision block 3-9 and matched, and positional cylinder 3-10 is provided with the middle seat part 3-1, It is equiped with the positional cylinder 3-10 in positional cylinder connecting seat 3-11, the positional cylinder 3-10 and is equiped with second piston bar 3-12, the second piston bar 3-12 tops are equiped with center 3-13, and the second piston bar 3-12 bottoms are equiped with back of the body cap 3-14。
Arm slew gear 4 is provided with angling cylinder 4-1, and the angling cylinder 4-1 is described provided with rotary cylinder shell 4-2 Rotary cylinder shell 4-2 is adapted provided with stroke deceleration valve 4-3, the stroke deceleration valve 4-3 with block 3-5, the rotary cylinder shell 4-2 upper and lower ends are respectively equipped with upper end cover 4-4 and bottom end cover 4-5, the upper end cover 4-4 and bottom end cover 4-5 pass through fastening bolt 4-9 is fixed with rotary cylinder shell 4-2, and gyroaxis 4-6 is sheathed in upper end cover 4-4 and bottom end cover 4-5, is filled on the upper end cover 4-4 It is connected provided with power piece 4-7 and stator 4-8, the power piece 4-7 with revolution 4-6 axles, the stator 4-8 is plugged in gyroaxis In 4-6.
Arm telescoping mechanism 5 provided be equiped with clamping cylinder 5-1, the clamping cylinder 5-1 sliding pillow 5-2 and and its It is connected with each other, the sliding pillow 5-2 is done reciprocating linear motion in dovetail groove 5-3 and by clamping cylinder 5-1, it is described to clamp In oil cylinder 5-1 provided with the second combined type stroke type switch 5-4 and locating piece 5-5, the second combined type stroke type switch 5-4 and Locating piece 5-5 is adapted, and the arm telescoping mechanism 5 is provided with the 3rd piston rod 5-6, and described 3rd piston rod 5-6 one end is passed through It is through in the second combined type stroke type switch 5-4 and extends in clamping cylinder 5-1, the 3rd piston rod 5-6 extends to folder Helically formula is connected with adjustable bolt 5-7 for locking oil cylinder 5-1 parts, and the arm telescoping mechanism 5 is provided with center base Portion 5-8, the center base portion 5-8 has middle frame 5-9 and coupled, and the arm telescoping mechanism 5 is provided with oil Road 5-10, the oil circuit 5-10 is connected with oil inlet pipe 5-11.
Turning round wrist component 6 includes wrist angling cylinder 6-1, rotary sleeve 6-2, separation sleeve 6-3 and rotating shaft 6-4, the hand Wrist angling cylinder 6-1 sides are interior provided with rotary sleeve 6-2, the 3rd piston provided with clamping cylinder 5-1, the wrist angling cylinder 6-1 Make reciprocating linear fortune in bar 5-6 and clamping cylinder 5-1 and wrist angling cylinder 6-1
Dynamic, the rotary sleeve 6-2 and shaft coupling 6-5 is in movable connection, and the shaft coupling 6-5 is connected with rotating shaft 6-4, described Rotating shaft 6-4 makees gyration by rotary sleeve 6-2, and described rotating shaft 6-4 one end is provided with separation sleeve 6-3.
Clipping hand component 1 is in be equiped with hand cradle 7-1, institute on chute lever-type structure, the clipping hand component 7 State and collar 7-2 is provided with clipping hand component 7, the collar 7-2 sides pass through drawing provided with axle 7-3, the collar 7-2 is tensed Mandrel 7-3 and left finger seat 7-4 and right finger seat 7-5 are in movable connection, and the left finger seat 7-4 and right finger seat 7-5 connect in staggered form Connect, mechanical finger 7-6 is equiped with the left finger seat 7-4 and right finger seat 7-5.
The course of work:When arm carries out ascending motion, the lift cylinder 2-2 of arm lifting mechanism 2 promotes First piston bar 2-4 is operated, and First piston bar 2-4 drives guide sleeve 2-8 to make elevating movement, and feather key 2-10 2-9 in keyway, which slide to have opened, to be led To effect, First piston bar 2-4 drives spherical linkage 2-5 and terminal pad 2-7 to operate, when arm carries out descending motion, arm liter The buffer regulating valve 2-15 of descending mechanism 2 provides cushioned resistance, and the lifting travel of arm passes through the impact that is installed on side plate 2-11 Block 2-12 touches device for detecting distance of travel 2-13 lifting travel formula switch 2-14, lifting travel formula switch 2-14 send signal so as to It is controlled;When arm is turned round, the angling cylinder 4-1 of arm slew gear 4 promotes gyroaxis 4-6 to be operated, upper end cover Power piece 4-7 and gyroaxis 4-6 on 4-4 mutually drives motion, and stator 4-8 is plugged in gyroaxis 4-6, it is ensured that stator can not Movement is rocked, and the pressure propulsion power piece 4-7 of hydraulic oil is rotated when hydraulic oil enters angling cylinder 4-1, is moved Power piece 4-8 will drive gyroaxis 4-6 rotation, and when gyroaxis 4-6 band moving gears 3-3 is rotated, gear ring 3-4 is fixed, gear 3-3 will also revolve round the sun in addition to rotation around gear ring 3-4 so that arm can carry out gyration, and rotary cylinder shell 4-2 is provided with stroke Block 3-5 is housed, when arm is turned round, stroke deceleration valve 4-3 is connected with block 3-5 to be touched and subtract on deceleration valve 4-3, gear 3-3 Slow gyroaxis 4-6 operations, realize arm and slow down produced impulsive force when turning round final position, in arm turning course In, the collision block 3-9 of arm carrying detent mechanism 3 touches the first combined type stroke type switch 3-8, the first combined type stroke type switch 3-8 sends signal, controls the position of arm gyration, it is more smart that positional cylinder 3-10 can be such that arm is positioned in turning course Really, when arm carries out flexible, hydraulic oil enters clamping cylinder 5-1 oil circuit 5-10 from oil inlet pipe 5-11, into clamping cylinder 5- After 11 both sides intracavitary, sliding pillow 5-2 does reciprocating linear motion under clamping cylinder 5-1 driving in dovetail groove 5-3, and the 3rd lives Stopper rod 5-6 carries out stretching motion, and locating piece 5-5 touches the second combined type stroke type switch 5-4, the second Combined overtravel-limit switch 5- 4 send signal to be controlled, and helically formula is connected the adjustable bolt 5-7 of the 3rd piston rod 5-6, adjustable positioning spiral shell Bolt 5-7 may insure positioning precision and piston rod connection more consolidated;When wrist is turned round, hydraulic oil passes through two Fuel feed hole enter arm angling cylinder 6-1 when so that the forms of motion of the rotary sleeve 6-2 inside arm angling cylinder 6-1 leads to Shaft coupling 6-5 transmission is crossed, forms of motion has been delivered to rotating shaft 6-4, then rotating shaft 6-4 starts to do gyration;Work as clamping When formula hand component 7 carries out clamping, the 3rd piston rod 5-6 is carried out in stretching motion to clipping hand component 7 and collar 7-2 is cut with scissors Chain is connected, the 3rd pitch brace 5-6 input driving forces, drives left finger seat 7-4 and right finger seat 7-5 to carry out clamping campaign.
The above is example and explanation of the invention, but does not mean that obtainable advantage of the invention is so limited, all Being may be to wherein the one of the advantage realized in the simple transformation of structure, and/or some embodiments in practice process of the present invention It is individual or multiple in the protection domain of the application.

Claims (7)

1. a kind of hydraulic charging & manipulator, it is characterised in that:It includes arm component(1), revolution wrist component(6)With it is clipping Hand component(7), the arm component(1)With clipping hand component(7)By turning round wrist component(6)It is connected, it is described Arm component(1)Including arm lifting mechanism(2), arm carrying detent mechanism(3), arm slew gear(4)It is flexible with arm Mechanism(5), the arm lifting mechanism(2)On be equiped with arm carrying detent mechanism(3)And pass through fastening bolt(8)It is fixed to connect Connect, the arm carries detent mechanism(3)On be equiped with arm slew gear(4)And matched, the arm turn-around machine Structure(4)It is provided with arm telescoping mechanism(5)And it is matched.
2. hydraulic charging & manipulator according to claim 1, it is characterised in that:The arm lifting mechanism(2)Bottom is filled Provided with cylinder body fulcrum bearing(2-1), the cylinder body fulcrum bearing(2-1)On be equiped with lift cylinder(2-2)And pass through screw(2-3)Phase Connection, the lift cylinder(2-2)Bottom is equiped with buffer regulating valve(2-15)And matched, the lift cylinder(2- 2)Inside it is equiped with First piston bar(2-4), the First piston bar(2-4)Top is provided with spherical linkage(2-5), the spherical hinge Chain(2-5)On be equiped with spherical linkage seat(2-6), the spherical linkage(2-5)It is sheathed on spherical linkage seat(2-6)Bottom And matched, the upper spherical linkage seat(2-6)On be equiped with terminal pad(2-7), the First piston bar(2-4)Pass through Spherical linkage(2-5)With terminal pad(2-7)Connection, the terminal pad(2-7)Two sides are installed in guide sleeve(2-8)It is interior, it is described to lead To set(2-8)Inside it is equiped with provided with keyway(2-9), feather key is installed in keyway(2-10)And it is matched, it is described to be oriented to Set(2-8)Side is equiped with side plate(2-11), the side plate(2-11)It is provided with impact block(2-12), the side plate(2-11)One Side is provided with and is equiped with device for detecting distance of travel(2-13), the device for detecting distance of travel(2-13)Provided with lifting travel formula switch(2- 14), the impact block(2-12)Switched with lifting travel formula(2-14)It is connected.
3. hydraulic charging & manipulator according to claim 1, it is characterised in that:The arm carries detent mechanism(3)On Provided with middle seat part(3-1), the middle seat part(3-1)It is provided with support(3-2), the support(3-2)Upper fixed dress Provided with gear(3-3)And gear ring(3-4), the gear(3-3)With gear ring(3-4)It is meshed, the gear(3-3)Upper dress Provided with block(3-5)And matched, the middle seat part(3-1)It is provided with connecting seat(3-6), the connecting seat(3- 6)On be equiped with switch base(3-7), the switch base(3-7)Inside it is provided with the first combined type stroke type switch(3-8), described first Combined type stroke type is switched(3-8)It is provided with collision block(3-9)And matched, the middle seat part(3-1)It is interior to be provided with fixed Position oil cylinder(3-10), the positional cylinder(3-10)On be equiped with positional cylinder
Connecting seat(3-11), the positional cylinder(3-10)Inside it is equiped with second piston bar(3-12), the second piston bar(3- 12)Top is equiped with center(3-13), the second piston bar(3-12)Bottom is equiped with back of the body cap(3-14).
4. hydraulic charging & manipulator according to claim 1, it is characterised in that:The arm slew gear(4)It is provided with Angling cylinder(4-1), the angling cylinder(4-1)It is provided with rotary cylinder shell(4-2), the rotary cylinder shell(4-2)Provided with row Journey deceleration valve(4-3), the stroke deceleration valve(4-3)With block(3-5)It is adapted, the rotary cylinder shell(4-2)Upper and lower ends It is respectively equipped with upper end cover(4-4)And bottom end cover(4-5), the upper end cover(4-4)And bottom end cover(4-5)Pass through fastening bolt(4- 9)With rotary cylinder shell(4-2)It is fixed, gyroaxis(4-6)It is sheathed on upper end cover(4-4)And bottom end cover(4-5)It is interior, the upper end cover (4-4)Upper dynamic of installing(4-7)And stator(4-8), the power piece(4-7)With revolution(4-6)Axle is connected, described fixed Piece(4-8)It is plugged in gyroaxis(4-6)It is interior.
5. hydraulic charging & manipulator according to claim 1, it is characterised in that:The arm telescoping mechanism(5)It is provided with Clamping cylinder(5-1), the clamping cylinder(5-1)On be equiped with sliding pillow(5-2)And be connected with each other with it, the sliding pillow (5-2)Located at dovetail groove(5-3)It is interior and pass through clamping cylinder(5-1)Do reciprocating linear motion, the clamping cylinder(5-1)Inside set There is the second combined type stroke type switch(5-4)And locating piece(5-5), the second combined type stroke type switch(5-4)And positioning Block(5-5)It is adapted, the arm telescoping mechanism(5)It is provided with the 3rd piston rod(5-6), the 3rd piston rod(5-6)One End is switched through the second combined type stroke type(5-4)It is interior and extend to clamping cylinder(5-1)It is interior, the 3rd piston rod(5- 6)Extend to clamping cylinder(5-1)Part and adjustable bolt(5-7)Helically formula is connected, the arm telescoping mechanism (5)It is provided with center base portion(5-8), the center base portion(5-8)Have middle frame(5-9)And coupled, institute State arm telescoping mechanism(5)It is provided with oil circuit(5-10), the oil circuit(5-10)With oil inlet pipe(5-11)It is connected.
6. hydraulic charging & manipulator according to claim 1, it is characterised in that:The revolution wrist component(6)Including hand Wrist angling cylinder(6-1), rotary sleeve(6-2), separation sleeve(6-3)And rotating shaft(6-4), the wrist angling cylinder(6-1)Side Provided with clamping cylinder(5-1), the wrist angling cylinder(6-1)It is interior to be provided with rotary sleeve(6-2), the 3rd piston rod(5-6)With folder Locking oil cylinder(5-1)With wrist angling cylinder(6-1)Inside do reciprocating linear motion, the rotary sleeve(6-2)With shaft coupling(6-5)It is in Movable connection, the shaft coupling(6-5)With rotating shaft(6-4)It is connected, the rotating shaft(6-4)Pass through rotary sleeve(6-2)
Make gyration, the rotating shaft(6-4)One end is provided with separation sleeve(6-3).
7. hydraulic charging & manipulator according to claim 1, it is characterised in that:The clipping hand component(1)In cunning Groove lever-type structure, the clipping hand component(7)On be equiped with hand cradle(7-1), the clipping hand component(7)Inside set There is collar(7-2), the collar(7-2)Side is provided with tension axle(7-3), the collar(7-2)By tensing axle(7-3)With a left side Refer to seat(7-4)With right finger seat(7-5)In movable connection, the left finger seat(7-4)With right finger seat(7-5)Connected in staggered form, The left finger seat(7-4)With right finger seat(7-5)On be equiped with mechanical finger(7-6).
CN201710431617.2A 2017-06-09 2017-06-09 A kind of hydraulic charging & manipulator Pending CN107088782A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710431617.2A CN107088782A (en) 2017-06-09 2017-06-09 A kind of hydraulic charging & manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710431617.2A CN107088782A (en) 2017-06-09 2017-06-09 A kind of hydraulic charging & manipulator

Publications (1)

Publication Number Publication Date
CN107088782A true CN107088782A (en) 2017-08-25

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109160284A (en) * 2018-09-10 2019-01-08 许昌富华玻璃有限公司 A kind of glass feeding device
CN109454636A (en) * 2018-10-10 2019-03-12 重庆交通大学 Four-degree-of-freedom loading and unloading manipulator
CN112393004A (en) * 2020-11-17 2021-02-23 扬州市美华电气有限公司 Spliced low valve for high-voltage electric appliance shielding case

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109160284A (en) * 2018-09-10 2019-01-08 许昌富华玻璃有限公司 A kind of glass feeding device
CN109454636A (en) * 2018-10-10 2019-03-12 重庆交通大学 Four-degree-of-freedom loading and unloading manipulator
CN112393004A (en) * 2020-11-17 2021-02-23 扬州市美华电气有限公司 Spliced low valve for high-voltage electric appliance shielding case
CN112393004B (en) * 2020-11-17 2022-06-21 扬州市美华电气有限公司 Spliced low valve for high-voltage electric appliance shielding case

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