CN108582064A - A kind of automatic liquid press mechanical pressing arm - Google Patents
A kind of automatic liquid press mechanical pressing arm Download PDFInfo
- Publication number
- CN108582064A CN108582064A CN201810613770.1A CN201810613770A CN108582064A CN 108582064 A CN108582064 A CN 108582064A CN 201810613770 A CN201810613770 A CN 201810613770A CN 108582064 A CN108582064 A CN 108582064A
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- China
- Prior art keywords
- piston
- sleeve
- fixed
- automatic liquid
- liquid press
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Actuator (AREA)
Abstract
The invention discloses a kind of automatic liquid press mechanical pressing arms, the mechanical arm includes executive device and control terminal, the executive device includes pedestal, rotating part, lifting column, telescopic arm, wrist revolution and hand, the pedestal, rotating part, lifting column, telescopic arm, wrist revolution and hand are electrically connected with control terminal respectively, the rotating part is mounted on the base, the lifting column is mounted on rotating part, the telescopic arm is mounted on lifting column, the wrist turns round one end and is flexibly connected with telescopic arm, and the other end is connect with hand activities.The present invention devises a kind of automatic liquid press mechanical pressing arm, it is simple in structure, using spring assembly the smooth working of mechanical arm is kept to reduce when mechanical arm moves the pressure that generates, multi-faceted, multi-angle operation is realized using structures such as wrist revolution, telescopic arms simultaneously, a large amount of cost of labor and labour are saved, production efficiency is greatly improved.
Description
Technical field
The present invention relates to manipulator arm art, specifically a kind of automatic liquid press mechanical pressing arm.
Background technology
In recent years, robotics development is very rapid, robot is in necks such as industry, agricultural, service, medical treatment, military affairs
Domain is applied widely.And mechanical arm is then a critically important branch for robot technology, mechanical arm can be divided into electricity
Driving, pneumatic and three kinds of type of drive of hydraulic-driven, wherein hydraulic driving mechanical arm have stable movement, load capacity it is big,
Rapidity is good, the advantages that variable speed can be achieved, and is extensively applied to various load different areas of activity always.
And hydraulic driving mechanical arm currently on the market is not only bulky, and flexibility is not high when arm motion,
The angle and working range rolled over are limited, simultaneously as the design shape of chela is not enough bonded, are easy in operation
There is the case where can not closely firmly grasping workpiece, and because producing huge pressure when the work of these hydraulic machinery arms, from
And unstable when mechanical arm being caused to operate, part situations such as being easily damaged.
For mechanical arm, keep the stability of operation, realize the multi-faceted movement of multi-angle to be one extremely heavy
The thing wanted, therefore, design a kind of more flexible smoothly automatic liquid press mechanical pressing arm be we one urgently to be resolved hurrily
Problem.
Invention content
The purpose of the present invention is to provide a kind of automatic liquid press mechanical pressing arms, to solve the problems of the prior art.
To achieve the above object, the present invention provides the following technical solutions：A kind of automatic liquid press mechanical pressing arm is a kind of automatic
Change hydraulic machinery arm, the mechanical arm includes executive device and control terminal, and the executive device includes pedestal, rotation
Portion, lifting column, telescopic arm, wrist revolution and hand, the pedestal, rotating part, lifting column, telescopic arm, wrist return
Turn and hand is electrically connected with control terminal respectively, the rotating part is mounted on the base, and the lifting column is mounted on rotating part
On, the telescopic arm is mounted on lifting column, and the wrist turns round one end and is flexibly connected with telescopic arm, the other end and hand
Portion is flexibly connected.
The present invention devises control terminal and executive device, and when control terminal sends out instruction, mechanical arm executes dress
It sets to receive and instructs and specified operation, wherein rotating part, lifting column, telescopic arm and wrist are made by hydraulicdriven mode
The structure of portion's revolution realizes freely turning round for mechanical arm so that the working range of mechanical arm is wider, and operation is more convenient.
Further, the hand includes the first hydraulic cylinder, sleeve and chela, described sleeve one end and the first hydraulic oil
Cylinder is fixed, and the sleeve other end is flexibly connected with chela, and piston hole, the piston hole are provided in first hydraulic cylinder
Both sides are provided with the first positioning pin, and the piston hole is fixed by the first positioning pin and the first hydraulic cylinder, in the piston hole
It is provided with rack piston, described rack piston one end is fixed in piston hole, and the other end is fixed in sleeve, the rack piston
Upper and lower ends are respectively arranged with rack, and the rack piston is both provided with sector gear, described sector gear one end and tooth up and down
Piston is engaged by rack pinion and is installed, and the sector gear other end is fixed with chela, first hydraulic cylinder with cover
Limited block is provided between cylinder, the sleeve is mounted between two limited blocks, is set between the limited block and chela
It is equipped with connecting shaft, the one end of the connecting shaft is fixed on limited block, and the other end is fixed on chela.
Further, the sleeve upper surface and lower face are respectively arranged with guide rod, and described guide rod one end is provided with
Second positioning pin, the guide rod are fixed by the second positioning pin with sleeve, and the sleeve right end is provided with cushion pad, described slow
Adjusting screw and the first locking nut are provided between punching pad and sleeve right side, the cushion pad passes through adjusting screw with sleeve
It is fixedly mounted with the first locking nut.
Hand in the present invention controls the movement of rack piston, rack by the way that the oil inlet that controls the first hydraulic cylinder is fuel-displaced
Sector gear is driven to be moved after piston motion, to control the opening and closing situation of chela, chela designs forming V-shape, can be more preferable
Grabbing workpiece.
Cushion pad is devised in sleeve, slows down when rack piston can be made to move to barrel end and speed is close to zero,
The inertia force for reducing rack piston alleviates the mechanical collision of rack piston and sleeve so that hand work is more stablized, and increases
The service life of sleeve is added.
Further, the telescopic arm includes cylinder assembly, piston component, sealing ring, cushion collar and gas vent, described
Cylinder assembly includes cylinder barrel, drive end bearing bracket and rear end cap, and the drive end bearing bracket, rear end cap side are respectively arranged with pull rod, the cylinder barrel
It is installed respectively by pull rod and drive end bearing bracket, rear end cap fastening, the gas vent is mounted on cylinder barrel upper left side, the cylinder barrel upper right side
It is provided with oil inlet and outlet, the piston component includes piston and piston rod, and the piston is mounted in cylinder barrel, the piston rod one
End is fixed across piston, and the piston rod other end is flexibly connected across rear end cap.
Further, semi-ring, axle sleeve and shaft block ring, the piston are provided between the piston rod and piston left side
Bar one end is fixed by semi-ring, axle sleeve and shaft block ring and piston, is provided with and is led between the piston rod other end and rear end cap
It is sequentially sleeved on piston rod to set and dustband, the guide sleeve, dustband, the sealing ring includes that O-ring seals and Y shape are close
Seal, the O-ring seals are separately mounted between drive end bearing bracket and cylinder barrel, rear end cap and cylinder barrel, piston and piston rod, the Y
Shape sealing ring is separately mounted between piston and cylinder barrel；The cushion collar is mounted on piston right side, and the piston rod is located at two
Between a cushion collar.
Further, the second locking nut is respectively arranged between the pull rod and drive end bearing bracket, rear end cap.
A kind of telescopic arm is devised in the present invention, mainly piston motion is controlled by controlling hydraulic oil, to drive
Piston rod, makes telescopic arm carry out stretching motion, and piston rod is fixedly connected with the piston by semi-ring, axle sleeve and shaft block ring, is made
The movement obtained between piston and piston rod more fastens steadily, and O-ring seals and y-shaped ring have also been devised in structure, reduces
Oil cylinder draining situation so that there is cylinder barrel good leakproofness, cushion collar can reduce the inertia force of piston, make piston rod
It is more steady when movement, gas vent is mounted on cylinder barrel upper left side, oil inlet and outlet is arranged in cylinder barrel upper right side, is not only convenient for oil return
When by a small amount of air being mingled in fluid band oil return box overflow, and gas vent can utilize oil return by fuel tank air arrange
Go out, guide sleeve can prevent that axis offset situation occurs when piston rod movement, and dustband can prevent dirty dirt and dust from entering
Cylinder barrel.
Further, load-bearing pillar is provided in the pedestal, the load-bearing pillar is mounted on pedestal inner bottom surface, the load-bearing
Dampening assembly is provided on column, the dampening assembly includes lower seat, spring, the first damping sheet, the seat of honour and fixing bolt, the bullet
Spring is mounted on lower seat, and first damping sheet is mounted on spring, and the spring one end is fixed with lower seat, the other end and first
Damping sheet bottom surface is fixed；The seat of honour is mounted on the first damping sheet, and the is respectively arranged on the seat of honour and the first damping sheet
One adjusting nut, the second adjusting nut, described fixing bolt one end are fixed on by the first adjusting nut on the seat of honour, and the other end is logical
The second adjusting nut is crossed to be fixed on the first damping sheet；Be additionally provided between the lower seat and the seat of honour partition board, the second damping sheet and
Limiting plate, the partition board and the second damping sheet are installed on lower seat, and second damping sheet is fixedly mounted on partition board side, institute
Limiting plate one end is stated to fix with seat of honour bottom, it is fixed in the middle part of the other end and the second damping sheet side；The lower seat bottom surface and the seat of honour
Upper surface is both provided with non-slip mat.
The present invention devises a kind of pedestal of damping, and the load-bearing pillar in pedestal can bear to produce when entire mechanical arm movement
Raw pressure, and dampening assembly can reduce pressure when arm works using components such as spring and damping sheets so that entire machine
More steady, the practicability and effectiveness of tool arm work.
Further, it is provided with the second hydraulic cylinder in the wrist revolution, second hydraulic cylinder includes cylinder body, determines
Piece, movable plate and rotating shaft, the cylinder body both sides are respectively arranged with the first hydraulic fluid port and the second hydraulic fluid port, and the stator, movable plate are pacified respectively
Between rotating shaft and cylinder body, folded obtuse angle a is 90-150 ° between the stator and movable plate.
Further, the movable plate both ends are both provided with seal.
Single blade hydraulic cylinder is utilized to carry out revolution operation, when oil enters from the first hydraulic fluid port in wrist revolution in the present invention
When, due to hydraulic pressure can push rotating shaft carry out counter clockwise direction revolution, then low pressure chamber oil from the second hydraulic fluid port be discharged, it is on the contrary then
Rotating shaft carries out clockwise direction revolution.
Further, the telescopic arm left end is provided with balancing device, the telescopic arm, wrist revolution and hand it
Between be both provided with active connection, passing sequentially through active connection activity between the telescopic arm, wrist revolution and hand connects
It connects.
Counterweight is provided in balancing device, the pressure generated when using balancing device balancing machine arm motion so that hand
Arm work can be carried out steadily.
Fasteners and the connectors such as the first positioning pin, the second positioning pin, connecting shaft are devised in entire mechanical arm, if
There is damaged condition in mechanical arm part, as long as we unload the connection fixture of corresponding position, can more quickly more
Part is changed, it is convenient and practical, while saving manpower.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention devises a kind of automatic liquid press mechanical pressing arm,
Pedestal can support and bear the pressure generated when mechanical arm work, be generated wherein reducing pressure using spring and damping sheet
Concussion, so that mechanically actuated is steadily realized.
Control terminal can send instruction as needed in the present invention, and executive device receives instruction and opening movement immediately,
Rotating part can make mechanical arm carry out 360 degree rotation around pedestal, wait slack after adjusting to certain angle, while lift vertical
Column carrys out the height of control machinery arm, and telescopic arm and wrist turn round the length and angle that can control hand after height is certain,
Then it is moved by rack piston band moving gear, closure and the unlatching of chela is controlled with this.
In telescopic arm structure, when hydraulic oil enters cylinder barrel, since the effect of pressure pushes piston that can stretch
Movement；In wrist revolving structure, when hydraulic oil is from the first hydraulic fluid port into fashionable, since that rotating shaft can be pushed to carry out is counterclockwise for hydraulic pressure
Direction is turned round, then the oil of low pressure chamber is discharged from the second hydraulic fluid port, and on the contrary then rotating shaft carries out clockwise direction revolution；Hand structure
In, hydraulic oil enters piston hole, and pressure pushes rack piston to move right, and rack piston drives sector gear to be moved, together
When chela open, after hydraulic oil leaves piston hole, rack piston drive sector gear carry out counter motion, chela be closed, object
Firmly firmly grasp.
The present invention devises a kind of automatic liquid press mechanical pressing arm, simple in structure, and manipulator is reduced using spring assembly
The pressure that generates keeps the smooth working of mechanical arm when arm moves, at the same using the structures such as wrist revolution, telescopic arm come
It realizes multi-faceted, multi-angle operation, saves a large amount of cost of labor and labour, greatly improve production efficiency.
Description of the drawings
In order that the present invention can be more clearly and readily understood, right below according to specific embodiment and in conjunction with attached drawing
The present invention is described in further detail.
Fig. 1 is a kind of overall structure diagram of automatic liquid press mechanical pressing arm of the present invention；
Fig. 2 is a kind of module declaration figure of automatic liquid press mechanical pressing arm of the present invention；
Fig. 3 is a kind of hand structure schematic diagram of automatic liquid press mechanical pressing arm of the present invention；
Fig. 4 is a kind of partial enlarged view of the hand of automatic liquid press mechanical pressing arm of the present invention；
Fig. 5 is a kind of structural schematic diagram of the telescopic arm of automatic liquid press mechanical pressing arm of the present invention；
Fig. 6 is a kind of schematic diagram of base structure of automatic liquid press mechanical pressing arm of the present invention；
Fig. 7 is a kind of side view of second hydraulic cylinder of automatic liquid press mechanical pressing arm of the present invention.
In figure：1- pedestals, 2- rotating parts, 3- lifting columns, 4- balancing devices, 5- telescopic arms, the revolution of 6- wrists, 7- hands
Portion, the first hydraulic cylinders of 8-, 9- piston holes, the first positioning pins of 10-, 11- rack pistons, 12- limited blocks, 13- connecting shafts,
14- chelas, 15- sector gears, 16- sleeves, 17- guide rods, the second positioning pins of 18-, 19- adjusting screws, the first locking screws of 20-
Mother, 21- cushion pads, 22- racks, the second locking nuts of 23-, 24- pull rods, 25- drive end bearing brackets, 26- gas vents, 27- cylinder barrels, 28-
Oil inlet and outlet, 29- guide sleeves, 30-Y shape sealing rings, 31- dustbands, 32- rear end caps, 33-O shape sealing rings, 34- piston rods,
Seat under 35- cushion collars, 36- semi-rings, 37- axle sleeves, 38- shaft block rings, 39- pistons, 40-, 41- partition boards, the second damping sheets of 42-,
43- limiting plates, the seats of honour 44-, 45- non-slip mats, 46- fixing bolts, the first adjusting nuts of 47-, the second adjusting nuts of 48-, 49-
One damping sheet, 50- springs, 51- load-bearing pillars, 52- cylinder bodies, the first hydraulic fluid ports of 53-, the second hydraulic fluid ports of 54-, 55- stators, 56- rotating shafts,
57- movable plates, 58- seal.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1 and Figure 2, a kind of automatic liquid press mechanical pressing arm, the mechanical arm include that executive device and control are whole
End, the executive device include pedestal 1, rotating part 2, lifting column 3, telescopic arm 5, wrist revolution 6 and hand 7, the bottom
Seat 1, rotating part 2, lifting column 3, telescopic arm 5, wrist revolution 6 and hand 7 are electrically connected with control terminal respectively, the rotation
Portion 2 is mounted on pedestal 1, and the lifting column 3 is mounted on rotating part 2, and the telescopic arm 5 is mounted on lifting column 3,
The wrist turns round 6 one end and is flexibly connected with telescopic arm 5, and the other end is flexibly connected with hand 7.
The present invention devises control terminal and executive device, and when control terminal sends out instruction, mechanical arm executes dress
It sets to receive and instructs and specified operation, wherein rotating part 2, lifting column 3, telescopic arm 5 are made by hydraulicdriven mode
Freely turning round for mechanical arm is realized with the structure of wrist revolution 6 so that the working range of mechanical arm is wider, and operation is more just
It is prompt.
As shown in figure 3, the hand 7 include the first hydraulic cylinder 8, sleeve 16 and chela 14,16 one end of the sleeve with
First hydraulic cylinder 8 is fixed, and 16 other end of the sleeve is flexibly connected with chela 14, is provided in first hydraulic cylinder 8
Piston hole 9,9 both sides of the piston hole are provided with the first positioning pin 10, and the piston hole 9 passes through the first positioning pin 10 and the first liquid
Compressing cylinder 8 is fixed, and rack piston 11 is provided in the piston hole 9, and 11 one end of the rack piston is fixed in piston hole 9,
The other end is fixed in sleeve 16, and 11 upper and lower ends of the rack piston are respectively arranged with rack 22, on the rack piston 11
Under be both provided with sector gear 15, installation is engaged in 15 one end of the sector gear with rack piston 11 by rack pinion, described
15 other end of sector gear is fixed with chela 14, and limited block 12, institute are provided between first hydraulic cylinder 8 and sleeve 16
Sleeve 16 is stated between two limited blocks 12, connecting shaft 13, institute are provided between the limited block 12 and chela 14
It states 13 one end of connecting shaft to be fixed on limited block 12, the other end is fixed on chela 14.
As shown in figure 4,16 upper surface of the sleeve and lower face are respectively arranged with guide rod 17,17 one end of the guide rod
It is provided with the second positioning pin 18, the guide rod 17 is fixed by the second positioning pin 18 with sleeve 16, and 16 right end of the sleeve is set
It is equipped with cushion pad 21, the cushion pad 21 and sleeve are provided with adjusting screw 19 and the first locking nut 20 between 16 right side,
The cushion pad 21 is fixedly mounted with sleeve 16 by adjusting screw 19 and the first locking nut 20.
Hand 7 in the present invention controls the movement of rack piston 11 by the way that the oil inlet that controls the first hydraulic cylinder 8 is fuel-displaced,
Rack piston 11 drives sector gear 15 to be moved after moving, and to control the opening and closing situation of chela 14, chela 14 is designed to V
Shape, can better grabbing workpiece.
Cushion pad 21 is devised in sleeve 16, slows down when rack piston 11 can be made to move to 16 end of sleeve and speed connects
It is bordering on zero, reduces the inertia force of rack piston 11, alleviates the mechanical collision of rack piston 11 and sleeve 16 so that hand 7
Work is more stablized, and the service life of sleeve 16 is increased.
As shown in figure 5, the telescopic arm 5 includes cylinder assembly, piston component, sealing ring, cushion collar 35 and gas vent
26, the cylinder assembly includes cylinder barrel 27, drive end bearing bracket 25 and rear end cap 32, and the drive end bearing bracket 25,32 side of rear end cap are set respectively
It is equipped with pull rod 24, the cylinder barrel 27 is installed by pull rod 24 and drive end bearing bracket 25, the fastening of rear end cap 32 respectively, and the gas vent 26 is pacified
Mounted in 27 upper left side of cylinder barrel, 27 upper right side of the cylinder barrel is provided with oil inlet and outlet 28, and the piston component includes piston 39 and lives
Stopper rod 34, the piston 39 are mounted in cylinder barrel 27, and 34 one end of the piston rod is fixed across piston 39, and the piston rod 34 is another
One end is flexibly connected across rear end cap 32.
The piston rod 34 and piston are provided with semi-ring 36, axle sleeve 37 and shaft block ring 38, the work between 39 left side
34 one end of stopper rod is fixed by semi-ring 36, axle sleeve 37 and shaft block ring 38 and piston 39,34 other end of the piston rod and rear end
Guide sleeve 29 and dustband 31 are provided between lid 32, the guide sleeve 29, dustband 31 are sequentially sleeved on piston rod 34, described
Sealing ring includes O-ring seals 33 and y-shaped ring 30, the O-ring seals 33 be separately mounted to drive end bearing bracket 25 and cylinder barrel 27,
Between rear end cap 32 and cylinder barrel 27, piston 39 and piston rod 34, the y-shaped ring 30 is separately mounted to piston 39 and cylinder barrel 27
Between；The cushion collar 35 is mounted on 39 right side of piston, and the piston rod 34 is located between two cushion collars 35.
The second locking nut 23 is respectively arranged between the pull rod 24 and drive end bearing bracket 25, rear end cap 32.
A kind of telescopic arm 5 is devised in the present invention, is mainly moved by controlling hydraulic oil to control piston 39, to band
Piston bar 34 makes telescopic arm 5 carry out stretching motion, and piston rod 34 is by semi-ring 36, axle sleeve 37 and shaft block ring 38 and lives
Plug 39 is fixedly connected so that the movement between piston 39 and piston rod 34 more fastens steadily, and the sealing of O shapes has also been devised in structure
Circle 33 and y-shaped ring 30, reduces oil cylinder draining situation so that cylinder barrel 27 has a good leakproofness, and cushion collar 35 can be with
The inertia force for reducing piston 39, it is more steady when piston rod 34 being made to move, gas vent 26 is mounted on 27 upper left side of cylinder barrel, into
Oil outlet 28 is arranged in 27 upper right side of cylinder barrel, overflows a small amount of air being mingled in fluid band oil return box when being not only convenient for oil return,
And gas vent 26 can utilize oil return that the air in fuel tank is discharged, when guide sleeve 29 can prevent piston rod 34 from moving
Axis offset situation, dustband 31 can prevent dirty dirt and dust from entering cylinder barrel 27.
As shown in fig. 6, being provided with load-bearing pillar 51 in the pedestal 1, the load-bearing pillar 51 is mounted on 1 inner bottom surface of pedestal,
Dampening assembly is provided on the load-bearing pillar 51, the dampening assembly includes lower seat 40, spring 50, the first damping sheet 49, the seat of honour
44 and fixing bolt 46, the spring 50 is mounted on lower seat 40, and first damping sheet 49 is mounted on spring 50, the bullet
50 one end of spring is fixed with lower seat 40, and the other end is fixed with 49 bottom surface of the first damping sheet；The seat of honour 44 is mounted on the first damping sheet
On 49, the first adjusting nut 47, the second adjusting nut 48 are respectively arranged on the seat of honour 44 and the first damping sheet 49, it is described solid
Determine 46 one end of bolt to be fixed on the seat of honour 44 by the first adjusting nut 47, the other end is fixed on by the second adjusting nut 48
On one damping sheet 49；Partition board 41, the second damping sheet 42 and limiting plate 43 are additionally provided between the lower seat 40 and the seat of honour 44, it is described
Partition board 41 and the second damping sheet 42 are installed on lower seat 40, and second damping sheet 42 is fixedly mounted on 41 side of partition board, institute
43 one end of limiting plate is stated to fix with 44 bottom of the seat of honour, it is fixed in the middle part of the other end and 42 side of the second damping sheet；40 bottom of lower seat
Face and 44 upper surface of the seat of honour are both provided with non-slip mat 45.
The present invention devise it is a kind of can be with the pedestal 1 of damping, the load-bearing pillar 51 in pedestal 1 can bear entire mechanical arm
The pressure generated when movement, and dampening assembly can reduce pressure when arm works using components such as spring 50 and damping sheets,
More steady, the practicability and effectiveness so that entire mechanical arm works.
As shown in fig. 7, being provided with the second hydraulic cylinder in the wrist revolution 6, second hydraulic cylinder includes cylinder body
52, stator 55, movable plate 57 and rotating shaft 56,52 both sides of the cylinder body are respectively arranged with the first hydraulic fluid port 53 and the second hydraulic fluid port 54, institute
State stator 55, movable plate 57 is separately mounted between rotating shaft 56 and cylinder body 52, folded blunt between the stator 55 and movable plate 57
Angle a is 90-150 °.
57 both ends of the movable plate are both provided with seal 58.
Single blade hydraulic cylinder is utilized to carry out revolution operation in wrist revolution 6 in the present invention, when oil is from the first hydraulic fluid port 53
Into fashionable, since hydraulic pressure can push rotating shaft 56 to carry out counter clockwise direction revolution, then the oil of low pressure chamber is from 54 row of the second hydraulic fluid port
Go out, on the contrary then rotating shaft 56 carries out clockwise direction revolution.
5 left end of the telescopic arm is provided with balancing device 4, between the telescopic arm 5, wrist revolution 6 and hand 7
It is provided with active connection, active connection activity company is passed sequentially through between the telescopic arm 5, wrist revolution 6 and hand 7
It connects.
It is provided with counterweight in balancing device 4, the pressure generated when using 4 balancing machine arm motion of balancing device so that
Arm work can be carried out steadily.
Fasteners and the connections such as the first positioning pin 10, the second positioning pin 18, connecting shaft 13 are devised in entire mechanical arm
Part, as long as we unload the connection fixture of corresponding position, can more be accelerated if damaged condition occurs in mechanical arm part
The renewal part of speed, it is convenient and practical, while saving manpower.
The present invention devises a kind of automatic liquid press mechanical pressing arm, when pedestal 1 can support and bear mechanical arm work
The pressure of generation keeps mechanically actuated steadily real wherein reducing the concussion of pressure generation using spring assembly and damping sheet
It is existing.
Control terminal can send instruction as needed in the present invention, and executive device receives instruction and opening movement immediately,
Rotating part 2 can make mechanical arm carry out 360 degree rotation around pedestal 1, wait slack after adjusting to certain angle, lift simultaneously
Column 3 carrys out the height of control machinery arm, after height is certain telescopic arm 5 and wrist revolution 6 can control hand 7 length and
Then angle is moved by rack piston 11 with moving gear, closure and the unlatching of chela 14 are controlled with this.
In 5 structure of telescopic arm, when hydraulic oil enters cylinder barrel 27, since the effect of pressure pushes piston 39 that can carry out
Stretching motion；Wrist turns round in 6 structures, when hydraulic oil is from the first hydraulic fluid port 53 into fashionable, since hydraulic pressure can push rotating shaft 56
Counter clockwise direction revolution is carried out, then the oil of low pressure chamber is discharged from the second hydraulic fluid port 54, and on the contrary then rotating shaft 56 carries out clockwise
Revolution；In 7 structure of hand, hydraulic oil enters piston hole 9, and pressure pushes rack piston 11 to move right, and rack piston 11 drives
Sector gear 15 is moved, while chela 14 opens, and after hydraulic oil leaves piston hole 9, rack piston 11 drives sector gear
15 carry out counter motion, and chela 14 is closed, and object is firmly firmly grasped.
The present invention devises a kind of automatic liquid press mechanical pressing arm, simple in structure, and manipulator is reduced using spring assembly
The pressure that arm generates when moving turns round the structures such as 6, telescopic arm 5 to keep the smooth working of mechanical arm using wrist
Multi-faceted, multi-angle operation is realized to realize, is saved a large amount of cost of labor and labour, is greatly improved production efficiency.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of automatic liquid press mechanical pressing arm, it is characterised in that：The mechanical arm includes executive device and control terminal, institute
It includes pedestal (1), rotating part (2), lifting column (3), telescopic arm (5), wrist revolution (6) and hand (7) to state executive device,
The pedestal (1), rotating part (2), lifting column (3), telescopic arm (5), wrist revolution (6) and hand (7) respectively with control
Terminal is electrically connected, and the rotating part (2) is mounted on pedestal (1), and the lifting column (3) is mounted on rotating part (2), described
Telescopic arm (5) is mounted on lifting column (3), and the wrist revolution (6) one end is flexibly connected with telescopic arm (5), another
End is flexibly connected with hand (7).
2. a kind of automatic liquid press mechanical pressing arm according to claim 1, it is characterised in that：The hand (7) includes the
One hydraulic cylinder (8), sleeve (16) and chela (14), described sleeve (16) one end is fixed with the first hydraulic cylinder (8), the set
Cylinder (16) other end is flexibly connected with chela (14), and piston hole (9), the piston are provided in first hydraulic cylinder (8)
Hole (9) both sides are provided with the first positioning pin (10), and the piston hole (9) passes through the first positioning pin (10) and the first hydraulic cylinder
(8) fixed, it is provided with rack piston (11) in the piston hole (9), described rack piston (11) one end is fixed on piston hole (9)
Interior, the other end is fixed in sleeve (16), and rack piston (11) upper and lower ends are respectively arranged with rack (22), the rack
Piston (11) is both provided with sector gear (15) up and down, and described sector gear (15) one end passes through rack tooth with rack piston (11)
Wheel engagement installation, sector gear (15) other end is fixed with chela (14), first hydraulic cylinder (8) and sleeve (16)
Between be provided with limited block (12), the sleeve (16) is mounted between two limited blocks (12), the limited block
(12) connecting shaft (13) is provided between chela (14), described connecting shaft (13) one end is fixed on limited block (12), separately
One end is fixed on chela (14).
3. a kind of automatic liquid press mechanical pressing arm according to claim 2, it is characterised in that：Sleeve (16) upper surface
It is respectively arranged with guide rod (17) with lower face, described guide rod (17) one end is provided with the second positioning pin (18), the guiding
Bar (17) is fixed by the second positioning pin (18) and sleeve (16), and sleeve (16) right end is provided with cushion pad (21), described
It is provided with adjusting screw (19) and the first locking nut (20), the cushion pad between cushion pad (21) and sleeve (16) right side
(21) it is fixedly mounted by adjusting screw (19) and the first locking nut (20) with sleeve (16).
4. a kind of automatic liquid press mechanical pressing arm according to claim 3, it is characterised in that：Telescopic arm (5) packet
Include cylinder assembly, piston component, sealing ring, cushion collar (35) and gas vent (26), the cylinder assembly includes cylinder barrel (27), preceding
End cap (25) and rear end cap (32), the drive end bearing bracket (25), rear end cap (32) side are respectively arranged with pull rod (24), the cylinder barrel
(27) it is installed respectively by pull rod (24) and drive end bearing bracket (25), rear end cap (32) fastening, the gas vent (26) is mounted on cylinder barrel
(27) upper left side, cylinder barrel (27) upper right side are provided with oil inlet and outlet (28), and the piston component includes piston (39) and lives
Stopper rod (34), the piston (39) are mounted in cylinder barrel (27), and described piston rod (34) one end is fixed across piston (39), described
Piston rod (34) other end is flexibly connected across rear end cap (32).
5. a kind of automatic liquid press mechanical pressing arm according to claim 4, it is characterised in that：The piston rod (34) and work
Plug is provided with semi-ring (36), axle sleeve (37) and shaft block ring (38) between (39) left side, and described piston rod (34) one end passes through
Semi-ring (36), axle sleeve (37) and shaft block ring (38) are fixed with piston (39), piston rod (34) other end and rear end cap
(32) guide sleeve (29) and dustband (31) are provided between, the guide sleeve (29), dustband (31) are sequentially sleeved in piston rod
(34) on, the sealing ring includes O-ring seals (33) and y-shaped ring (30), and the O-ring seals (33) are separately mounted to
Between drive end bearing bracket (25) and cylinder barrel (27), rear end cap (32) and cylinder barrel (27), piston (39) and piston rod (34), the Y shape is close
Seal (30) is separately mounted between piston (39) and cylinder barrel (27)；The cushion collar (35) is mounted on piston (39) right side,
The piston rod (34) is located between two cushion collars (35).
6. a kind of automatic liquid press mechanical pressing arm according to claim 5, it is characterised in that：The pull rod (24) and front end
It is respectively arranged with the second locking nut (23) between lid (25), rear end cap (32).
7. a kind of automatic liquid press mechanical pressing arm according to claim 6, it is characterised in that：Setting in the pedestal (1)
There are load-bearing pillar (51), the load-bearing pillar (51) to be mounted on pedestal (1) inner bottom surface, damping group is provided on the load-bearing pillar (51)
Part, the dampening assembly include lower seat (40), spring (50), the first damping sheet (49), the seat of honour (44) and fixing bolt (46), institute
Spring (50) is stated on lower seat (40), first damping sheet (49) is mounted on spring (50), the spring (50) one
End is fixed with lower seat (40), and the other end is fixed with the first damping sheet (49) bottom surface；The seat of honour (44) is mounted on the first damping sheet
(49) on, the first adjusting nut (47), the second adjusting nut are respectively arranged on the seat of honour (44) and the first damping sheet (49)
(48), described fixing bolt (46) one end is fixed on by the first adjusting nut (47) on the seat of honour (44), and the other end passes through second
Adjusting nut (48) is fixed on the first damping sheet (49)；It is additionally provided with partition board between the lower seat (40) and the seat of honour (44)
(41), the second damping sheet (42) and limiting plate (43), the partition board (41) and the second damping sheet (42) are installed in lower seat (40)
On, second damping sheet (42) is fixedly mounted on partition board (41) side, described limiting plate (43) one end and the seat of honour (44) bottom
It is fixed, it is fixed in the middle part of the other end and the second damping sheet (42) side；Lower seat (40) bottom surface and the seat of honour (44) upper surface are all provided with
It is equipped with non-slip mat (45).
8. a kind of automatic liquid press mechanical pressing arm according to claim 7, it is characterised in that：In the wrist revolution (6)
It is provided with the second hydraulic cylinder, second hydraulic cylinder includes cylinder body (52), stator (55), movable plate (57) and rotating shaft
(56), cylinder body (52) both sides are respectively arranged with the first hydraulic fluid port (53) and the second hydraulic fluid port (54), the stator (55), movable plate
(57) it is separately mounted between rotating shaft (56) and cylinder body (52), folded obtuse angle a between the stator (55) and movable plate (57)
It is 90-150 °.
9. a kind of automatic liquid press mechanical pressing arm according to claim 8, it is characterised in that：Movable plate (57) both ends are equal
It is provided with seal (58).
10. a kind of automatic liquid press mechanical pressing arm according to claim 9, it is characterised in that：The telescopic arm (5) is left
End is provided with balancing device (4), and flexible connection is both provided between the telescopic arm (5), wrist revolution (6) and hand (7)
Part passes sequentially through active connection flexible connection between the telescopic arm (5), wrist revolution (6) and hand (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810613770.1A CN108582064A (en) | 2018-06-14 | 2018-06-14 | A kind of automatic liquid press mechanical pressing arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810613770.1A CN108582064A (en) | 2018-06-14 | 2018-06-14 | A kind of automatic liquid press mechanical pressing arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108582064A true CN108582064A (en) | 2018-09-28 |
Family
ID=63628657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810613770.1A Withdrawn CN108582064A (en) | 2018-06-14 | 2018-06-14 | A kind of automatic liquid press mechanical pressing arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108582064A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318212A (en) * | 2018-11-28 | 2019-02-12 | 罗美羚 | A kind of multi-angle clamping hydraulic machinery arm |
| CN109318257A (en) * | 2018-10-24 | 2019-02-12 | 国网江苏省电力有限公司徐州供电分公司 | A kind of buffer unit and its control method for mechanical arm |
| CN110145260A (en) * | 2019-06-18 | 2019-08-20 | 湖南科技大学 | A kind of multi-functional take suitable for seabed drilling machine different tube diameters manages and protects pipe manipulator |
| CN110238866A (en) * | 2019-07-22 | 2019-09-17 | 北京工业大学 | A kind of rubber tapping robot flexible mechanical arm |
| CN111604876A (en) * | 2020-05-07 | 2020-09-01 | 南京航创特种机器人有限公司 | Special hydraulic wrist of industrial robot |
| CN111823261A (en) * | 2020-07-27 | 2020-10-27 | 西安邮电大学 | Automatic change material suction means for production line |
| CN112692871A (en) * | 2021-01-13 | 2021-04-23 | 华翔翔能科技股份有限公司 | A upset manipulator for panel beating assembly line |
| CN113334358A (en) * | 2021-06-18 | 2021-09-03 | 常州机电职业技术学院 | Mechanical arm convenient to adjust and using method |
| CN116117752A (en) * | 2022-09-19 | 2023-05-16 | 江苏太平洋精锻科技股份有限公司 | Positioning fixture for machining shaft parts |
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2018
- 2018-06-14 CN CN201810613770.1A patent/CN108582064A/en not_active Withdrawn
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318257A (en) * | 2018-10-24 | 2019-02-12 | 国网江苏省电力有限公司徐州供电分公司 | A kind of buffer unit and its control method for mechanical arm |
| CN109318257B (en) * | 2018-10-24 | 2024-04-09 | 国网江苏省电力有限公司徐州供电分公司 | Buffer device for mechanical arm and control method thereof |
| CN109318212A (en) * | 2018-11-28 | 2019-02-12 | 罗美羚 | A kind of multi-angle clamping hydraulic machinery arm |
| CN110145260A (en) * | 2019-06-18 | 2019-08-20 | 湖南科技大学 | A kind of multi-functional take suitable for seabed drilling machine different tube diameters manages and protects pipe manipulator |
| CN110145260B (en) * | 2019-06-18 | 2023-12-12 | 湖南科技大学 | Multifunctional pipe taking and protecting manipulator applicable to submarine drilling machine with different pipe diameters |
| CN110238866A (en) * | 2019-07-22 | 2019-09-17 | 北京工业大学 | A kind of rubber tapping robot flexible mechanical arm |
| CN111604876A (en) * | 2020-05-07 | 2020-09-01 | 南京航创特种机器人有限公司 | Special hydraulic wrist of industrial robot |
| CN111823261A (en) * | 2020-07-27 | 2020-10-27 | 西安邮电大学 | Automatic change material suction means for production line |
| CN112692871A (en) * | 2021-01-13 | 2021-04-23 | 华翔翔能科技股份有限公司 | A upset manipulator for panel beating assembly line |
| CN113334358A (en) * | 2021-06-18 | 2021-09-03 | 常州机电职业技术学院 | Mechanical arm convenient to adjust and using method |
| CN116117752A (en) * | 2022-09-19 | 2023-05-16 | 江苏太平洋精锻科技股份有限公司 | Positioning fixture for machining shaft parts |
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Application publication date: 20180928 |
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