CN109318212A - A kind of multi-angle clamping hydraulic machinery arm - Google Patents
A kind of multi-angle clamping hydraulic machinery arm Download PDFInfo
- Publication number
- CN109318212A CN109318212A CN201811434945.9A CN201811434945A CN109318212A CN 109318212 A CN109318212 A CN 109318212A CN 201811434945 A CN201811434945 A CN 201811434945A CN 109318212 A CN109318212 A CN 109318212A
- Authority
- CN
- China
- Prior art keywords
- clamping arm
- fixed ring
- support column
- arm
- hydraulic
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
- B25J9/144—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a kind of multi-angle clamping hydraulic machinery arms, including going up and down support column, upper end fixed ring, No.1 hydraulic cylinder, No. two hydraulic cylinders, driven clamping arm and active clamping arm, the upper and lower ends of the lifting support column, which pass through to be threadedly engaged, is connected with end stop nut, entire principal and subordinate is controlled by bottom end fixed ring in device and moves clamping arm to go up and down support column as axis rotation, electric pushrod control principal and subordinate moves clamping arm and moves up and down, No.1 hydraulic cylinder controls principal and subordinate and moves the distance between clamping arm and lifting support column, motor controls principal and subordinate by transmission shaft and moves clamping arm using No. two hydraulic cylinders as axis rotation, realize the multi-angle clamping of hydraulic machinery arm, No. two hydraulic cylinders are convenient for the opening and closing degree size of control active clamping arm and driven clamping arm, realize the control of opening and closing degree size, convenient for carry out according to actual needs using.
Description
Technical field
The present invention relates to hydraulic machinery arm technical field, specially a kind of multi-angle clamping hydraulic machinery arm.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently, hydraulic machinery arm be by a kind of hydraulic mechanical arm as power source,
But there are still following drawbacks in actual use for it:
1. in the prior art, the hydraulic machinery arm of multi-angle clamping generally requires multiple mechanical arm cooperation completions,
Cost of manufacture is high, it is difficult to accomplish that a hydraulic arm completes the clamping of multi-angle；
2. in the prior art, often inconvenient clamping, inconvenience control clamping opening and closing to hydraulic machinery arm during use
The size of degree, and mechanical arm serious wear when clamping, service life are shorter.
Summary of the invention
The purpose of the present invention is to provide a kind of multi-angle clamping hydraulic machinery arms, to solve in above-mentioned background technique
The problem of proposition.
To achieve the above object, the invention provides the following technical scheme: a kind of multi-angle clamping hydraulic machinery arm, packet
Include lifting support column, upper end fixed ring, No.1 hydraulic cylinder, No. two hydraulic cylinders, driven clamping arm and active clamping arm, the lifting
The upper and lower ends of support column, which pass through to be threadedly engaged, is connected with end stop nut, goes up and down and sets at the middle position outer ring of support column
There is electric pushrod, the upper end of electric pushrod is fixedly welded on the bottom of upper end fixed ring, and the lower end of electric pushrod is fixedly welded on
The upper surface of bottom end fixed ring, the right end face of upper end fixed ring are fixedly welded with No.1 hydraulic cylinder, the No.1 hydraulic cylinder
Right end is fixedly welded on the left side of electric motor protecting case, and the electric motor protecting case is in the rectangular box shape structure without right lateral surface,
The internal activity engaging of electric motor protecting case has motor, and the equal activity in right side front and rear sides of the motor is fitted with Limit screw,
The right side of the motor is sequentially connected with transmission shaft, and the right end of transmission shaft is fastened in matched axle sleeve, the axis
It puts on and is equipped with standing screw, the axle sleeve is fixedly welded on the left-hand face of control panel, and the symmetrical shape of control panel is set
There are two groups, two groups of control panels are in the setting of L-shaped plate structure, and two groups of control panels are fixedly welded on a left side for active clamping arm respectively
The upper right side of upper end and driven clamping arm is connected between two groups of control panels by No. two hydraulic cylinders.
Preferably, the top of bottom end fixed ring is arranged in the upper end fixed ring, and upper end fixed ring is movably set in lifting
On support column, bottom end fixed ring passes through at the outer ring for being threadedly engaged and being connected to lifting support column.
Preferably, the surrounding activity of the motor is fitted with yielding rubber pad, and the yielding rubber pad fixation is located at motor
On the inner wall of guard box.
Preferably, the Limit screw is arranged in the vertical upper and lower surfaces through electric motor protecting case, and Limit screw runs through
The end of electric motor protecting case upper and lower surfaces, which passes through to be threadedly engaged, is connected with Limit screw fixture nut.
Preferably, the standing screw runs through the transmission shaft setting inside the upper and lower surface and axle sleeve of axle sleeve simultaneously, fixed
The both ends of screw rod are connected with stop nut by being threadedly engaged.
Preferably, the driven clamping arm and the S-shaped structure of active clamping arm, in driven clamping arm and active clamping arm
Between position be hinged by articulated shaft, the lower end of the lower end of the active clamping arm and driven clamping arm be arranged with rubber guarantor
Sheath.
Compared with prior art, the beneficial effects of the present invention are: structure of the invention setting rationally, functional, have with
Lower advantage:
1. the dynamic clamping arm of entire principal and subordinate is controlled by bottom end fixed ring in device to rotate to go up and down support column as axis, it is electronic to push away
Bar control principal and subordinate moves clamping arm and moves up and down, and No.1 hydraulic cylinder controls principal and subordinate and moves the distance between clamping arm and lifting support column,
Motor controls principal and subordinate by transmission shaft and moves clamping arm using No. two hydraulic cylinders as axis rotation, realizes the polygonal of hydraulic machinery arm
Spend clamping；
2. it is big to realize opening and closing degree convenient for the opening and closing degree size of control active clamping arm and driven clamping arm for No. two hydraulic cylinders
Small control, convenient for carry out according to actual needs using；
3. the rubber protecting jacket that active clamping arm and driven clamping arm lower end are arranged has protection active clamping arm and driven
The effect of clamping arm prevents the excessive wear between active clamping arm, driven clamping arm and clamping object, increases making for equipment
With the service life, opposite use cost is reduced.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is electric motor protecting box structure schematic diagram of the present invention；
Fig. 3 is structure enlargement diagram at A in Fig. 1 of the present invention.
In figure: lifting support column 1, bottom end fixed ring 2, electric pushrod 3, upper end fixed ring 4, end stop nut 5, No.1
Hydraulic cylinder 6, motor 7, yielding rubber pad 8,9, No. two hydraulic cylinders 10 of electric motor protecting case, driven clamping arm 11, control panel 12, active
Clamping arm 13, articulated shaft 14, rubber protecting jacket 15, Limit screw 16, transmission shaft 17, axle sleeve 18, standing screw 19, Limit screw
Fixture nut 20.
Specific embodiment
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 description, 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.
It please refers to Fig.1 to Fig.3, the present invention provides a kind of technical solution: a kind of multi-angle clamping hydraulic machinery arm, packet
Include lifting support column 1, upper end fixed ring 4,6, No. two hydraulic cylinders 10 of No.1 hydraulic cylinder, driven clamping arm 11 and active clamping arm
13, the upper and lower ends of lifting support column 1, which pass through to be threadedly engaged, is connected with end stop nut 5, goes up and down the interposition of support column 1
It sets and is equipped with electric pushrod 3 at outer ring, the upper end of electric pushrod 3 is fixedly welded on the bottom of upper end fixed ring 4, electric pushrod 3
Lower end is fixedly welded on the upper surface of bottom end fixed ring 2, and the right end face of upper end fixed ring 4 is fixedly welded with No.1 hydraulic cylinder 6,
The right end of No.1 hydraulic cylinder 6 is fixedly welded on the left side of electric motor protecting case 9, and electric motor protecting case 9 is in the rectangle without right lateral surface
The internal activity engaging of box-like structure, electric motor protecting case 9 has motor 7, and the equal activity in right side front and rear sides of motor 7 is fitted with
Limit screw 16, the right side of motor 7 are sequentially connected with transmission shaft 17, and the right end of transmission shaft 17 is fastened on matched axis
In set 18, axle sleeve 18 is equipped with standing screw 19, and axle sleeve 18 is fixedly welded on the left-hand face of control panel 12, and control panel 12 is in a left side
Right symmetry shape is equipped with two groups, and two groups of control panels 12 are arranged in L-shaped plate structure, and two groups of control panels 12 are fixedly welded on respectively
The upper right side of the left upper end of active clamping arm 13 and driven clamping arm 11 passes through No. two 10 phases of hydraulic cylinder between two groups of control panels 12
Connection.
The top of bottom end fixed ring 2 is arranged in upper end fixed ring 4, and upper end fixed ring 4 is movably set in lifting support column 1
On, bottom end fixed ring 2 passes through at the outer ring for being threadedly engaged and being connected to lifting support column 1, and rotation bottom end fixed ring 2 can control upper end
The height of fixed ring 4 has haved the function that the entire principal and subordinate of control moves clamping arm height.
The surrounding activity of motor 7 is fitted with yielding rubber pad 8, the fixed inner wall for being located at electric motor protecting case 9 of yielding rubber pad 8
On, yielding rubber pad 8 has the function of protecting motor 7, good damping effect.
Limit screw 16 is arranged in the vertical upper and lower surfaces through electric motor protecting case 9, and Limit screw 16 is protected through motor
The end of 9 upper and lower surfaces of protecting box, which passes through to be threadedly engaged, is connected with Limit screw fixture nut 20, and Limit screw 16 has gear
The firmly effect of 7 right side of motor, avoids motor 7 from falling off out of electric motor protecting case 9, protectiveness is strong.
The transmission shaft 17 through the upper and lower surface of axle sleeve 18 and inside axle sleeve 18 is arranged standing screw 19 simultaneously, standing screw
19 both ends are connected with stop nut by being threadedly engaged, and standing screw 19 plays the work of connection transmission shaft 17 and control panel 12
With convenient for disassembly and assembly.
Driven clamping arm 11 and the S-shaped structure of active clamping arm 13, among driven clamping arm 11 and active clamping arm 13
Position is hinged by articulated shaft 14, and the lower end of the lower end of active clamping arm 13 and driven clamping arm 11 is arranged with rubber guarantor
Sheath 15.
Working principle: entire principal and subordinate is controlled by bottom end fixed ring 2 in device and moves clamping arm to go up and down support column 1 as axis and turn
Dynamic, electric pushrod 3 controls the dynamic clamping arm of principal and subordinate and moves up and down, and No.1 hydraulic cylinder 6 controls principal and subordinate and moves clamping arm and lifting support column 1
The distance between, it is axis rotation that motor 7 controls principal and subordinate to move clamping arm with No. two hydraulic cylinders 10 by transmission shaft 17, realizes liquid
The multi-angle clamping of press mechanical pressing arm；
No. two hydraulic cylinders 10 realize opening and closing convenient for the opening and closing degree size of control active clamping arm 13 and driven clamping arm 11
Spend size control, convenient for carry out according to actual needs using；
The rubber protecting jacket 15 that active clamping arm 13 and driven 11 lower end of clamping arm are arranged has protection active clamping arm 13
With the effect of driven clamping arm 11, the excessive wear between active clamping arm 13, driven clamping arm 11 and clamping object is prevented, is increased
The service life for having added equipment reduces opposite use cost.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of multi-angle clamping hydraulic machinery arm, including lifting support column (1), upper end fixed ring (4), No.1 hydraulic cylinder
(6), No. two hydraulic cylinders (10), driven clamping arm (11) and active clamping arm (13), it is characterised in that: the lifting support column
(1) upper and lower ends, which pass through to be threadedly engaged, to be connected with end stop nut (5), and the middle position outer ring of support column (1) is gone up and down
Place is equipped with electric pushrod (3), and the upper end of electric pushrod (3) is fixedly welded on the bottom of upper end fixed ring (4), electric pushrod (3)
Lower end be fixedly welded on the upper surfaces of bottom end fixed ring (2), the right end face of upper end fixed ring (4) is fixedly welded with No.1 liquid
The right end of cylinder pressure (6), the No.1 hydraulic cylinder (6) is fixedly welded on the left side of electric motor protecting case (9), the electric motor protecting case
It (9) is in the rectangular box shape structure without right lateral surface, the internal activity engaging of electric motor protecting case (9) has motor (7), the motor
(7) the equal activity in right side front and rear sides is fitted with Limit screw (16), and the right side of the motor (7) is sequentially connected with transmission
Axis (17), the right end of transmission shaft (17) are fastened in matched axle sleeve (18), and the axle sleeve (18) is equipped with fixed spiral shell
Bar (19), the axle sleeve (18) are fixedly welded on the left-hand face of control panel (12), the symmetrical shape of the control panel (12)
Equipped with two groups, two groups of control panels (12) are arranged in L-shaped plate structure, and two groups of control panels (12) are fixedly welded on actively respectively
The upper right side of the left upper end of clamping arm (13) and driven clamping arm (11) passes through No. two hydraulic cylinders between two groups of control panels (12)
(10) it is connected.
2. a kind of multi-angle clamping hydraulic machinery arm according to claim 1, it is characterised in that: the upper end is fixed
Ring (4) is arranged in the top of bottom end fixed ring (2), and upper end fixed ring (4) is movably set in lifting support column (1), and bottom end is solid
Ring (2) is determined by being threadedly engaged at the outer ring for being connected to lifting support column (1).
3. a kind of multi-angle clamping hydraulic machinery arm according to claim 1, it is characterised in that: the motor (7)
Surrounding activity be fitted with yielding rubber pad (8), the yielding rubber pad (8) fixation is located on the inner wall of electric motor protecting case (9).
4. a kind of multi-angle clamping hydraulic machinery arm according to claim 1, it is characterised in that: the Limit screw
(16) it is arranged in the vertical upper and lower surfaces through electric motor protecting case (9), Limit screw (16) runs through electric motor protecting case (9) up and down
The end on two surfaces, which passes through to be threadedly engaged, is connected with Limit screw fixture nut (20).
5. a kind of multi-angle clamping hydraulic machinery arm according to claim 1, it is characterised in that: the standing screw
(19) it is arranged simultaneously through the internal transmission shaft (17) of the upper and lower surface and axle sleeve (18) of axle sleeve (18), the two of standing screw (19)
End is connected with stop nut by being threadedly engaged.
6. a kind of multi-angle clamping hydraulic machinery arm according to claim 1, it is characterised in that: the driven clamping
Arm (11) and the S-shaped structure of active clamping arm (13), driven clamping arm (11) and active clamping arm (13) middle position pass through
Articulated shaft (14) is hinged, and the lower end of the active clamping arm (13) and the lower end of driven clamping arm (11) are arranged with rubber
Protective case (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811434945.9A CN109318212A (en) | 2018-11-28 | 2018-11-28 | A kind of multi-angle clamping hydraulic machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811434945.9A CN109318212A (en) | 2018-11-28 | 2018-11-28 | A kind of multi-angle clamping hydraulic machinery arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109318212A true CN109318212A (en) | 2019-02-12 |
Family
ID=65259129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811434945.9A Pending CN109318212A (en) | 2018-11-28 | 2018-11-28 | A kind of multi-angle clamping hydraulic machinery arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109318212A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1452469A1 (en) * | 2003-02-28 | 2004-09-01 | Windmöller & Hölscher KG | Palletizer |
| CN107234613A (en) * | 2017-06-16 | 2017-10-10 | 无锡市京锡冶金液压机电有限公司 | Hydraulic mechanical hand |
| CN207858835U (en) * | 2017-11-28 | 2018-09-14 | 天津泰沃纳科技有限公司 | A kind of industrial robot grabbing device |
| CN108582064A (en) * | 2018-06-14 | 2018-09-28 | 常州信息职业技术学院 | A kind of automatic liquid press mechanical pressing arm |
| CN108748236A (en) * | 2018-08-13 | 2018-11-06 | 南京皓焜自动化科技有限公司 | A kind of mechanical gripper for capturing steel |
| CN208101318U (en) * | 2018-04-17 | 2018-11-16 | 东莞市科尼纸品有限公司 | A kind of automatic screen-printing machine clamping fixture seat |
-
2018
- 2018-11-28 CN CN201811434945.9A patent/CN109318212A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1452469A1 (en) * | 2003-02-28 | 2004-09-01 | Windmöller & Hölscher KG | Palletizer |
| CN107234613A (en) * | 2017-06-16 | 2017-10-10 | 无锡市京锡冶金液压机电有限公司 | Hydraulic mechanical hand |
| CN207858835U (en) * | 2017-11-28 | 2018-09-14 | 天津泰沃纳科技有限公司 | A kind of industrial robot grabbing device |
| CN208101318U (en) * | 2018-04-17 | 2018-11-16 | 东莞市科尼纸品有限公司 | A kind of automatic screen-printing machine clamping fixture seat |
| CN108582064A (en) * | 2018-06-14 | 2018-09-28 | 常州信息职业技术学院 | A kind of automatic liquid press mechanical pressing arm |
| CN108748236A (en) * | 2018-08-13 | 2018-11-06 | 南京皓焜自动化科技有限公司 | A kind of mechanical gripper for capturing steel |
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