CN107866793A - A kind of Three Degree Of Freedom carries hydraulic efficiency manipulator - Google Patents

A kind of Three Degree Of Freedom carries hydraulic efficiency manipulator Download PDF

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Publication number
CN107866793A
CN107866793A CN201610884160.6A CN201610884160A CN107866793A CN 107866793 A CN107866793 A CN 107866793A CN 201610884160 A CN201610884160 A CN 201610884160A CN 107866793 A CN107866793 A CN 107866793A
Authority
CN
China
Prior art keywords
hydraulic cylinder
panoramic
chain
telescopic
base
Prior art date
Application number
CN201610884160.6A
Other languages
Chinese (zh)
Inventor
张旭阳
Original Assignee
广西大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广西大学 filed Critical 广西大学
Priority to CN201610884160.6A priority Critical patent/CN107866793A/en
Publication of CN107866793A publication Critical patent/CN107866793A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases

Abstract

A kind of Three Degree Of Freedom of the present invention carries hydraulic efficiency manipulator, by paw, telescopic hydraulic cylinder, lifting hydraulic cylinder, main spring, panoramic table, base, rotating hydraulic cylinder, chain, rotating shaft, base forms, lifting hydraulic cylinder is arranged on panoramic table, panoramic table is fixed with central rotating shaft, telescopic hydraulic cylinder is connected by attachment structure with lifting hydraulic cylinder, paw is arranged on the hydraulic cylinder rod of telescopic hydraulic cylinder, the driving hydraulic cylinder of rotary motion is Linear telescopic hydraulic cylinder, it is fixed in base, hydraulic cylinder rod is connected by chain with the sprocket wheel in rotating shaft, chain-driving sprocket wheel drive shaft does turning anticlockwise motion, so as to drive panoramic table to do rotate counterclockwise, return spring is installed in panoramic table, return spring drives panoramic table to turn clockwise.It is the invention has the advantages that convenient using hydraulic-driven, transmission;Bottom instead of rotating hydraulic cylinder, simple in construction using linear hydraulic cylinder drive chain linear hydraulic cylinder, and corner is big, no interference, installation, easy to maintenance.

Description

A kind of Three Degree Of Freedom carries hydraulic efficiency manipulator

Technical field

The present invention relates to manipulator technical field, particularly a kind of Three Degree Of Freedom carries hydraulic efficiency manipulator.

Background technology

With the development of manipulator technology so that the application of manipulator constantly expands, and is used to be engaged in instead of people numerous The work of weight, frequent, dull repetitive operation is carried out instead of people.Easy to use, programming is simple, the PLC of strong antijamming capability Extensive use, manipulator is possessed independent control, more convenient, flexible work.

The content of the invention

It is an object of the invention to:For carrying working environment, propose that a kind of Three Degree Of Freedom carries hydraulic efficiency manipulator, can be real Now lift, be flexible, the motion of rotation three degree of freedom, there is the characteristics of cost is low, simple in construction, easy to maintenance.Use simultaneously PLC control system, facilitate operating personnel to manipulate, reach the purpose of convenient use.

Technical scheme provided by the invention is:A kind of Three Degree Of Freedom carries hydraulic efficiency manipulator, by paw, telescopic hydraulic cylinder, Lifting hydraulic cylinder, main spring, panoramic table, base, rotating hydraulic cylinder, chain, rotating shaft, base composition, lifting hydraulic cylinder installation On panoramic table, panoramic table is fixed with central rotating shaft, and telescopic hydraulic cylinder is connected by attachment structure with lifting hydraulic cylinder, paw On the hydraulic cylinder rod of telescopic hydraulic cylinder, the driving hydraulic cylinder of rotary motion is Linear telescopic hydraulic cylinder, is fixed on bottom In seat, hydraulic cylinder rod is connected by chain with the sprocket wheel in rotating shaft, and chain-driving sprocket wheel drive shaft does turning anticlockwise motion, So as to drive panoramic table to do rotate counterclockwise, return spring is installed in panoramic table, return spring drives panoramic table to do clockwise Rotation.

The invention has the advantages that:Motor is not arranged on to the joint of manipulator, but uses hydraulic-driven, is passed It is dynamic convenient;Bottom uses linear hydraulic cylinder drive chain, pulls sprocket wheel to make central rotating shaft counterclockwise rotates, uses torsionspring It is rotated clockwise it, linear hydraulic cylinder instead of rotating hydraulic cylinder, simple in construction, and corner is big, no interference, installation, dimension Shield is convenient.

Brief description of the drawings

Fig. 1 carries hydraulic efficiency manipulator schematic diagram for a kind of Three Degree Of Freedom of the present invention.

Fig. 2 is the upward view that a kind of Three Degree Of Freedom of the present invention carries hydraulic efficiency manipulator base portion.

Fig. 3 is that the main spring installation that a kind of Three Degree Of Freedom of the present invention is carried in hydraulic efficiency manipulator panoramic table is illustrated Figure.

Embodiment

Technical scheme is described further below by way of accompanying drawing.

A kind of Three Degree Of Freedom carries hydraulic efficiency manipulator, is turned round by the panoramic table 5 of 1 telescopic hydraulic cylinder, 2 paw, 3 lifting hydraulic cylinder 4 The rotating hydraulic cylinder of 8 rotating shaft of spring 6 base, 7 chain 9 forms.Its motion mode is:Telescopic hydraulic cylinder 1 is along the flexible straight of orientation arm The lifting linear motion of line motion, lifting hydraulic cylinder 3 vertically;Clockwise, the counterclockwise rotation of panoramic table 4 about the z axis The rotary motion turned.Rotary motion wherein about the z axis affects realization using chain 7, makes the transform linear motion of linear hydraulic cylinder 9 For the rotary motion of rotating shaft, the action of convolution is driven by main spring 5.

The invention has the advantages that:Motor is not arranged on to the joint of manipulator, but uses Driven by Hydraulic Cylinder, Transmission is convenient, and precision is high;Bottom uses linear hydraulic cylinder drive chain, and pulling is rotated clockwise central rotating shaft, with torsion Turning spring makes its counterclockwise rotates, linear hydraulic cylinder instead of rotating hydraulic cylinder, and simple in construction, corner is big, no interference, peace Fill, be easy to maintenance.

Claims (1)

1. a kind of Three Degree Of Freedom carries hydraulic efficiency manipulator, by paw, telescopic hydraulic cylinder, lifting hydraulic cylinder, main spring, revolution Platform, base, rotating hydraulic cylinder, chain, rotating shaft, base composition, lifting hydraulic cylinder are arranged on panoramic table, and panoramic table turns with center Axle is fixed, and telescopic hydraulic cylinder is connected by attachment structure with lifting hydraulic cylinder, and paw is arranged on the hydraulic cylinder of telescopic hydraulic cylinder On bar, the driving hydraulic cylinder of rotary motion is Linear telescopic hydraulic cylinder, is fixed in base, and hydraulic cylinder rod is by chain with turning Sprocket wheel on axle is connected, and chain-driving sprocket wheel drive shaft does turning anticlockwise motion, so as to drive panoramic table to do rotation counterclockwise Turn, return spring is installed in panoramic table, return spring drives panoramic table to turn clockwise.
CN201610884160.6A 2016-09-28 2016-09-28 A kind of Three Degree Of Freedom carries hydraulic efficiency manipulator CN107866793A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610884160.6A CN107866793A (en) 2016-09-28 2016-09-28 A kind of Three Degree Of Freedom carries hydraulic efficiency manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610884160.6A CN107866793A (en) 2016-09-28 2016-09-28 A kind of Three Degree Of Freedom carries hydraulic efficiency manipulator

Publications (1)

Publication Number Publication Date
CN107866793A true CN107866793A (en) 2018-04-03

Family

ID=61762056

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610884160.6A CN107866793A (en) 2016-09-28 2016-09-28 A kind of Three Degree Of Freedom carries hydraulic efficiency manipulator

Country Status (1)

Country Link
CN (1) CN107866793A (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3339227A1 (en) * 1983-10-28 1985-05-09 Knorr Bremse Gmbh Handling appliance unit
CN202572385U (en) * 2012-06-07 2012-12-05 重庆钢铁(集团)有限责任公司 Rotary heating and feeding manipulator device
CN202571094U (en) * 2012-06-12 2012-12-05 匡津平 Machine head for automated hoop-bending machines
CN203510222U (en) * 2013-07-02 2014-04-02 安徽理工大学 Novel four-freedom-degree pneumatic manipulator structure
CN104647362A (en) * 2015-01-09 2015-05-27 广西大学 Three-degree-of-freedom cylindrical coordinate hydraulic drive manipulator
CN204954831U (en) * 2015-09-17 2016-01-13 黄河科技学院 Servo manipulator
CN105666473A (en) * 2016-04-07 2016-06-15 河海大学常州校区 Materials handling mechanical hand

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3339227A1 (en) * 1983-10-28 1985-05-09 Knorr Bremse Gmbh Handling appliance unit
CN202572385U (en) * 2012-06-07 2012-12-05 重庆钢铁(集团)有限责任公司 Rotary heating and feeding manipulator device
CN202571094U (en) * 2012-06-12 2012-12-05 匡津平 Machine head for automated hoop-bending machines
CN203510222U (en) * 2013-07-02 2014-04-02 安徽理工大学 Novel four-freedom-degree pneumatic manipulator structure
CN104647362A (en) * 2015-01-09 2015-05-27 广西大学 Three-degree-of-freedom cylindrical coordinate hydraulic drive manipulator
CN204954831U (en) * 2015-09-17 2016-01-13 黄河科技学院 Servo manipulator
CN105666473A (en) * 2016-04-07 2016-06-15 河海大学常州校区 Materials handling mechanical hand

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Application publication date: 20180403