CN109465844A - A kind of overload hydraulic gripper with double freedom - Google Patents
A kind of overload hydraulic gripper with double freedom Download PDFInfo
- Publication number
- CN109465844A CN109465844A CN201811615072.1A CN201811615072A CN109465844A CN 109465844 A CN109465844 A CN 109465844A CN 201811615072 A CN201811615072 A CN 201811615072A CN 109465844 A CN109465844 A CN 109465844A
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- China
- Prior art keywords
- direct acting
- oil ring
- collet
- oil
- dynamic
- 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.)
- Granted
Links
- 230000000712 assembly Effects 0.000 claims abstract description 25
- 238000000429 assembly Methods 0.000 claims abstract description 25
- 239000003921 oil Substances 0.000 claims description 148
- 238000007789 sealing Methods 0.000 claims description 33
- 239000012530 fluid Substances 0.000 claims description 28
- 239000007788 liquid Substances 0.000 claims description 19
- 230000003068 static effect Effects 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 10
- 210000000078 claw Anatomy 0.000 claims description 5
- 238000013461 design Methods 0.000 claims description 5
- 230000003139 buffering effect Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 239000010687 lubricating oil Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 230000003993 interaction Effects 0.000 claims 2
- 238000012544 monitoring process Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000000903 blocking effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- 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
- B25J9/146—Rotary actuators
Abstract
The invention discloses a kind of overload hydraulic gripper with double freedom, including clamp assemblies, direct acting driving assembly and rotary drive assembly；Clamp assemblies provide chucking power for directly contacting with the object to be operated；Direct acting driving assembly realizes direct acting freedom degree；Rotary drive assembly realizes revolution freedom degree；Clamp assemblies include two parts symmetrical above and below, and every part includes collet, collet connecting rod and the auxiliary bar of collet, are connected between two parts by direct acting connecting rod；Direct acting driving assembly is mounted in direct acting driving shell, includes bracket, quiet oil ring, dynamic oil ring, piston and piston rod；Rotary drive assembly includes oscillating cylinder, oscillating cylinder drive shaft, revolution driving shell；The present invention resists entirety by moment of flexure, by the big torque of spline drived, suitable for severe duty by two groups of bearings with direct acting and revolution double freedom for power using hydraulic.Gripper of the present invention is compact-sized, complete function, have it is highly integrated, have splendid future in engineering applications.
Description
Technical field
The invention belongs to oilhydraulic engineering fields, are related to the grippers such as hydraulic robot, hydraulic manipulator position, more particularly to
A kind of overload hydraulic gripper with double freedom.
Background technique
Hydraulic manipulator is widely used in various engineering fields, is particularly suitable for severe duty.Gripper is as hydraulic press
The ability of the least significant end of tool arm executive item, bending resistance square, torque resistant and transmitting heavy duty is particularly important.Existing machinery pawl is mostly only
With folding freedom degree, revolution freedom degree will lean on mechanical arm auxiliary to realize, and a small number of grippers with double freedom are then equal
Using nonstandard customization, the interchangeability without component, higher cost.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to propose that a kind of overload hydraulic with double freedom is mechanical
Pawl.
The purpose of the present invention is achieved through the following technical solutions: a kind of overload hydraulic with double freedom is mechanical
Pawl, including clamp assemblies, direct acting driving assembly and rotary drive assembly；Clamp assemblies are used to directly contact with the object to be operated,
Chucking power is provided；Direct acting driving assembly realizes direct acting freedom degree；Rotary drive assembly realizes revolution freedom degree；
The clamp assemblies include two parts symmetrical above and below, and every part includes collet, collet connecting rod and the auxiliary bar of collet, and two
It is connected between part by direct acting connecting rod；Collet and collet connecting rod constitute revolute pair；Collet connecting rod and direct acting driving assembly are constituted
Revolute pair；Collet connecting rod and direct acting connecting rod constitute revolute pair；Collet and the auxiliary bar of collet constitute revolute pair；The auxiliary bar of collet and direct acting are driven
Dynamic component constitutes revolute pair；
The direct acting driving assembly is mounted in direct acting driving shell, includes bracket, quiet oil ring, dynamic oil ring, piston and work
Stopper rod；There is the hydraulic fluid port with the oil communication of direct acting driving assembly on the direct acting driving shell；The front end of direct acting driving assembly
One group of bearing is installed respectively with rear end；Both quiet oil ring and direct acting driving shell are remain stationary；If the outer surface of quiet oil ring is equipped with
Dry static sealing ring groove circumferentially, by being mounted in static sealing ring groove between quiet oil ring and direct acting driving shell
Sealing ring realizes static seal；Dynamic oil ring is connected by spline with rotary drive assembly, and dynamic oil ring is fixedly connected with bracket；Piston position
In on the central axis of dynamic oil ring, piston rod is fixedly connected with direct acting connecting rod；The inner surface of quiet oil ring be equipped with it is several circumferentially
Dynamic sealing groove；Dynamic sealing is realized by the combination seal being installed in dynamic sealing groove between dynamic oil ring and quiet oil ring；
Piston motion extreme position setting buffering boss in the dynamic oil ring；
It is designed on the quiet oil ring and is respectively used to input the high-voltage oil liquid of extraneous supply there are two quiet oil ring hydraulic fluid port, low
Pressure oil liquid is exported to the external world；Quiet oil ring inner surface is equipped with two oil grooves circumferentially, and position corresponds respectively to two quiet oil
Ring hydraulic fluid port；
There are two outer hydraulic fluid port, the oil liquid in two oil grooves of quiet oil ring passes through two outer oil respectively for design on the dynamic oil ring
Mouth enters inside dynamic oil ring, is respectively formed two oil passages；
The rotary drive assembly includes oscillating cylinder, oscillating cylinder drive shaft, revolution driving shell；Spline is processed in oscillating cylinder
In drive shaft, revolution driving shell is fixedly connected with direct acting driving shell by oscillating cylinder connecting plate；Revolution driving shell is realized
Oil liquid oil inlet, oil return and the extraneous connection of oscillating cylinder.
Further, one group of bearing that the front end installation of the direct acting driving assembly is formed top by two bearing biserials.
Further, the lubricating oil of the bearing of direct acting driving assembly front end installation passes through oil sealing sealing.
Further, two processing mouths are designed on dynamic oil ring, to facilitate processing oil passage, processing mouth leads to when in use
Cross the stifled sealing of oil.
Further, the rotary drive assembly further includes angular encoder, angular encoder and oscillating cylinder drive shaft phase
Even, oscillating cylinder angle of revolution is monitored.
A method of the object to be operated is clamped using the overload hydraulic gripper with double freedom, comprising:
Direct acting driving assembly realizes that the opening and closing movement of gripper, cooperative mechanical claw clip head complete the clamping to the object to be operated
Movement, specifically:
When piston makees forward travel, advanced by piston rod and direct acting connecting rod is pushed to advance, collet connecting rod rotates fortune at this time
Dynamic, collet remains clamping face horizontality under the pulling of the auxiliary bar of collet, mutual by each revolute pair in clamp assemblies
Gripper expansion action is realized in effect；
When piston makees rollback movement, retracting by piston rod and direct acting connecting rod is pulled back, collet connecting rod rotates at this time,
Collet remains clamping face horizontality under the pulling of the auxiliary bar of collet, is interacted by each revolute pair in clamp assemblies
Realize gripper closed action；
Rotary drive assembly realizes the revolution movement of gripper, and spline drives dynamic oil ring rotary motion, to drive entire
Gripper clamp assemblies and piston rod, piston do rotary motion；The cooperative mechanical pawl grips object to be operated is realized to being grasped
Make the rotary movement of object.
The beneficial effects of the present invention are: being realized by hydraulic offer power by rotary drive assembly and direct acting driving assembly
The folding of gripper may be implemented in the movement of gripper revolution and two freedom degrees of direct acting, direct acting driving assembly.Revolution driving group
Part is connected by spline with direct acting driving assembly, and biggish torque is provided.By being located at two groups of bearings in the middle part of gripper, guarantee
Gripper integrally-built rigidity, can resist the moment of flexure generated when heavily loaded operation, and internal withdraw type cushion chamber realizes direct acting drive
The buffering of dynamic component extreme position prevents piston from blocking hydraulic fluid port simultaneously, ensure that gripper is integrally-built compact.The gripper
With revolution and direct acting double freedom and it is suitable for severe duty, there is splendid future in engineering applications.
Detailed description of the invention
Fig. 1 is the overload hydraulic gripper entirety axonometric drawing with double freedom；
Fig. 2 is gripper cross-sectional view；
Fig. 3 is quiet oil ring cross-sectional view；
Fig. 4 is oil ring cross-sectional view；
Fig. 5 is freedom degree realization principle figure.
Specific embodiment
Present invention is further described in detail in the following with reference to the drawings and specific embodiments.
A kind of overload hydraulic gripper with double freedom provided by the invention, including clamp assemblies 1, direct acting driving group
Part 2 and rotary drive assembly 3；Wherein, clamp assemblies 1 provide chucking power for directly contacting with the object to be operated；Direct acting driving
Component 2 realizes direct acting freedom degree；Rotary drive assembly 3 realizes revolution freedom degree.
As shown in Figure 1, 2, the clamp assemblies 1 include two parts symmetrical above and below, and every part includes collet 1.1, first
Collet shaft 1.2, first bearing 1.3, collet connecting rod 1.4, second bearing 1.5, connecting rod shaft 1.6,3rd bearing 1.7, second
The auxiliary bar 1.9 of collet shaft 1.8, collet, direct acting connecting rod shaft 1.10 are connected by direct acting connecting rod 1.11 between two parts.Folder
First 1.1 constitute revolute pair by the first collet shaft 1.2 and first bearing 1.3, with collet connecting rod 1.4.Similarly, collet connecting rod
1.4 constitute revolute pair by second bearing 1.5 and connecting rod shaft 1.6, with direct acting driving assembly 2；Collet 1.1 passes through 3rd bearing
1.7 and the second collet shaft 1.8, revolute pair is constituted with the auxiliary bar 1.9 of collet；Collet connecting rod 1.4 passes through direct acting connecting rod shaft 1.10
Revolute pair is constituted with direct acting connecting rod 1.11.The auxiliary bar 1.9 of collet constitutes revolute pair with direct acting driving assembly 2.The revolute pair can be with
Realize that the relative rotation motion of driving system of clamp assemblies each section, the linear motion that piston rod 2.8 can be generated pass through each revolute pair
Rotational motion is changed into the opening and closing motion of entire clamp assemblies.Specific opening is implemented in closure freedom degree and ties hereinafter
Fig. 5 is closed to illustrate.
As shown in Figure 1, 2, 3, the direct acting driving assembly 2 realizes direct acting freedom degree, wherein direct acting drives shell 2.4
Entire direct acting driving assembly 2 is included, drives the hydraulic fluid port on shell 2.4 that can realize in direct acting driving assembly 2 by direct acting
Portion's oil liquid and extraneous circulation, fourth bearing 2.2 and 2.3 biserial of 5th bearing are used as first group of bearing, 6th bearing 2.5 to top
Separately as second group of bearing, two groups of bearings are distributed in 2 front and rear end of direct acting driving assembly respectively, and are located at entire gripper
Middle section front and back end, the moment of flexure that gripper entirety is applied to when heavily loaded operation can be effective against.Oil sealing 2.1 is for sealing bearing
Lubricating oil.Both quiet oil ring 2.6 and direct acting driving shell 2.4 are remain stationary, and do not do rotary motion.Outside quiet oil ring 2.6
Surface sets that there are three the first static sealing ring groove 2.6.1 circumferentially, the second static sealing ring groove 2.6.3, third are quiet close
Seal groove 2.6.5, quiet oil ring 2.6 and direct acting driving shell 2.4 between by be mounted on the first static sealing ring groove 2.6.1,
Sealing ring in second static sealing ring groove 2.6.3, third static sealing ring groove 2.6.5 realizes static seal.Dynamic oil ring 2.7 passes through
Spline 3.4 and rotary drive assembly 3 connect, and spline 3.4 can transmit big torque, to realize the overturning after gripper clamping weight
Function etc., dynamic oil ring 2.7 and bracket 2.10 are bolted to connection, and the collet of bracket 2.10 and gripper clamp assemblies 1 connects
Bar 1.4 constitutes revolute pair by second bearing 1.5 and connecting rod shaft 1.6；Piston 2.9 is located on the central axis of dynamic oil ring 2.7,
Piston rod 2.8 is fixedly connected by bolt with direct acting connecting rod 1.11；Spline 3.4 drives dynamic 2.7 rotary motion of oil ring, to drive
Entire gripper clamp assemblies 1 and piston rod 2.8, piston 2.9 do rotary motion.The inner surface of quiet oil ring 2.6 is set there are three edge
The first dynamic sealing groove 2.6.6, the second dynamic sealing groove 2.6.7, third dynamic sealing groove 2.6.8 circumferentially；Dynamic oil ring
By being installed on quiet oil ring the first dynamic sealing groove 2.6.6, the second dynamic sealing groove 2.6.7, between 2.7 and quiet oil ring 2.6
Combination seal in three dynamic sealing groove 2.6.8 realizes dynamic sealing.
As shown in figure 3, on quiet oil ring 2.6 in the direct acting driving assembly 2 design have the first quiet oil ring hydraulic fluid port 2.6.2,
Second quiet oil ring hydraulic fluid port 2.6.4, the two function are the high-voltage oil liquid of the extraneous supply direct acting driving assembly 2 of input and direct acting are driven
Low pressure oil liquid in dynamic component 2 is exported to the external world.Quiet 2.6 inner surface of oil ring be equipped with the first oil groove 2.6.9 circumferentially and
Second oil groove 2.6.10, position correspond respectively to the first quiet oil ring hydraulic fluid port 2.6.2, the second quiet oil ring hydraulic fluid port 2.6.4, can be by oil liquid
Dispensing and quiet oil ring do the dynamic oil ring of opposite rotary motion.
As shown in figure 4, design has the outer hydraulic fluid port of the first dynamic oil ring on dynamic oil ring 2.7 in the direct acting driving assembly 2
2.7.3, in the outer hydraulic fluid port 2.7.8, the first oil groove 2.6.9 and the second oil groove 2.6.10 in quiet oil ring 2.6 of the second dynamic oil ring
Oil liquid can be entered inside dynamic oil ring 2.7 by hydraulic fluid port 2.7.8 outside the dynamic oil ring of hydraulic fluid port 2.7.3 and second outside the first dynamic oil ring, point
The first oil passage 2.7.2 and the second oil passage 2.7.7 are not formed.In process, in order to facilitate the first oil passage
2.7.2 processing designs the first processing mouth 2.7.1 and the second processing mouth 2.7.4, in actual use by two on dynamic oil ring 2.7
A processing mouth oil blocks.Setting buffering boss 2.7.6 can be at the 2.9 limit of sports record position of piston in dynamic oil ring 2.7
The buffer function of extreme position when playing gripper closure, while oil liquid enters dynamic oil ring and mentions when being gripper closed limit
Certain space has been supplied, has prevented piston 2.9 from blocking hydraulic fluid port when being located at extreme position and the situation of the oil effect area deficiency is gone out
It is existing.
As shown in Fig. 2,3,4,5, it is as follows that gripper makees oil circuit connection situation when open and close movement in direct acting driving assembly 2:
Piston 2.9 can make movement of advancing and retract in dynamic oil ring 2.7, when piston 2.9 makees forward travel, be advanced by piston rod 2.8
Direct acting connecting rod 1.11 is pushed to advance, collet connecting rod 1.4 is rotated with connecting rod shaft 1.6 for the centre of gyration at this time, is pressed from both sides at this time
First 1.1 under the pulling of the auxiliary bar 1.9 of collet, rotates around the first collet shaft 1.2, so that collet 1.1 remains clamping face water
Level state is interacted by each revolute pair in clamp assemblies 1, realizes gripper expansion action；Piston 2.9 makees the fortune that retracts
It when dynamic, retracted by piston rod 2.8 and direct acting connecting rod 1.11 is pulled back, collet connecting rod 1.4 is in revolution with connecting rod shaft 1.6 at this time
The heart rotates, and collet 1.1 rotates, so that collet under the pulling of the auxiliary bar 1.9 of collet around the first collet shaft 1.2 at this time
1.1 remain clamping face horizontality, are interacted by each revolute pair in clamp assemblies 1, realize gripper closure
Movement.In gripper closing course, high-voltage oil liquid enters the first oil groove 2.6.9 from the first quiet oil ring hydraulic fluid port 2.6.2, passes through first
The dynamic outer hydraulic fluid port 2.7.3 of oil ring, by the first oil passage 2.7.2, hydraulic fluid port 2.7.5 enters dynamic oil ring 2.7 out of first dynamic oil ring
Interior, acting on dynamic oil ring inner piston 2.9 has bar one end, and low pressure oil liquid is through the second oil passage 2.7.7 by oily outside the second dynamic oil ring
Mouth 2.7.8 enters quiet the second oil groove of oil ring 2.6.10, is exported by the second quiet oil ring hydraulic fluid port 2.6.4 to the external world.Gripper opened
Cheng Zhong, high-voltage oil liquid enter the second oil groove 2.6.10 from the second quiet oil ring hydraulic fluid port 2.6.4, pass through hydraulic fluid port outside the second dynamic oil ring
2.7.8 entering east through the second oil passage 2.7.7 has in ring, acts on dynamic oil ring inner piston 2.9 without bar one end, low pressure oil liquid warp
First oil passage 2.7.2 hydraulic fluid port 2.7.3 outside the first dynamic oil ring enters quiet the first oil groove of oil ring 2.6.9, passes through the first quiet oil
Ring hydraulic fluid port 2.6.2 is exported to the external world.
As shown in Figure 1, 2, the rotary drive assembly 3 realizes revolution freedom degree comprising oscillating cylinder 3.3, oscillating cylinder
Drive shaft 3.5, revolution driving shell 3.2 and angular encoder 3.6.Spline 3.4 is processed in oscillating cylinder drive shaft 3.5, is returned
Turn driving shell 3.2 and direct acting driving shell 2.4 is bolted to connection by oscillating cylinder connecting plate 3.1；Angular encoder
3.6 are connected with oscillating cylinder drive shaft 3.5, monitor oscillating cylinder angle of revolution.Revolution driving shell 3.2 can realize oscillating cylinder 3.3
Oil liquid oil inlet, oil return and extraneous connection.
The course of work of the invention is as follows:
(1) overload hydraulic gripper is installed to hydraulic manipulator；
(2) by the direct acting driving assembly of gripper and the pipe fitting of rotary drive assembly respectively with respective high pressure fuel source,
The connection such as low pressure oil sources；
(3) after debugging is good, the test of hydraulic press machinery claw is carried out；
(4) direct acting driving assembly realizes that the opening and closing movement of gripper, cooperative mechanical claw clip head can be completed to by operation pair
The holding action of elephant；
(5) rotary drive assembly realizes the revolution movement of gripper, and the cooperative mechanical pawl grips object to be operated can be real
Now overturning of the object to be operated etc. is acted.
It is finally noted that above description is a kind of specific application example of the invention, can according to need, if
Count the form of a variety of direct acting driving assemblies and rotary drive assembly, it is clear that other application example identical with general principles
Also it should belong to protection scope of the present invention.
Claims (6)
1. a kind of overload hydraulic gripper with double freedom, which is characterized in that including clamp assemblies (1), direct acting driving group
Part (2) and rotary drive assembly (3)；Clamp assemblies (1) provide chucking power for directly contacting with the object to be operated；Direct acting is driven
Dynamic component (2) realize direct acting freedom degree；Rotary drive assembly (3) realizes revolution freedom degree；
The clamp assemblies (1) include two parts symmetrical above and below, and every part includes collet (1.1), collet connecting rod (1.4) and folder
Auxiliary bar (1.9) is connected by direct acting connecting rod (1.11) between two parts；Collet (1.1) and collet connecting rod (1.4), which are constituted, to be rotated
It is secondary；Collet connecting rod (1.4) and direct acting driving assembly (2) constitute revolute pair；Collet connecting rod (1.4) and direct acting connecting rod (1.11) are constituted
Revolute pair；Collet (1.1) and the auxiliary bar of collet (1.9) constitute revolute pair；The auxiliary bar of collet (1.9) and direct acting driving assembly (2) are constituted
Revolute pair；
The direct acting driving assembly (2) be mounted on direct acting driving shell (2.4) in, comprising bracket (2.10), quiet oil ring (2.6),
Dynamic oil ring (2.7), piston (2.9) and piston rod (2.8)；Have and direct acting driving assembly on direct acting driving shell (2.4)
(2) hydraulic fluid port of oil communication；The front and rear end of direct acting driving assembly (2) is installed by one group of bearing respectively；Quiet oil ring (2.6) and
Both direct acting drivings shell (2.4) are remain stationary；The outer surface of quiet oil ring (2.6) is equipped with several static sealing rings circumferentially
Groove, it is quiet by the sealing ring realization being mounted in static sealing ring groove between quiet oil ring (2.6) and direct acting driving shell (2.4)
Sealing；Dynamic oil ring (2.7) are connected by spline (3.4) and rotary drive assembly (3), move oil ring (2.7) and bracket (2.10) is solid
Fixed connection；Piston (2.9) is located on the central axis of dynamic oil ring (2.7), piston rod (2.8) and direct acting connecting rod (1.11) fixed company
It connects；The inner surface of quiet oil ring (2.6) is equipped with several dynamic sealing grooves circumferentially；Dynamic oil ring (2.7) and quiet oil ring (2.6)
Between dynamic sealing realized by the combination seal that is installed in dynamic sealing groove；Piston (2.9) in the dynamic oil ring (2.7)
Setting buffering boss (2.7.6) at limit of sports record position；
It is designed on the quiet oil ring (2.6) and is respectively used to input the high-voltage oil liquid of extraneous supply there are two quiet oil ring hydraulic fluid port, low
Pressure oil liquid is exported to the external world；Quiet oil ring (2.6) inner surface is equipped with two oil grooves circumferentially, and position corresponds respectively to two
Quiet oil ring hydraulic fluid port；
There are two outer hydraulic fluid port, the oil liquid in two oil grooves of quiet oil ring (2.6) passes through two respectively for design on the dynamic oil ring (2.7)
A outer hydraulic fluid port enters dynamic oil ring (2.7) inside, is respectively formed two oil passages；
The rotary drive assembly (3) includes oscillating cylinder (3.3), oscillating cylinder drive shaft (3.5), revolution driving shell (3.2)；Flower
Key (3.4) is processed on oscillating cylinder drive shaft (3.5), and revolution driving shell (3.2) and direct acting driving shell (2.4) pass through swing
Cylinder connecting plate (3.1) is fixedly connected；Revolution driving shell (3.2) realizes the oil liquid oil inlet of oscillating cylinder (3.3), oil return and the external world
Connection.
2. a kind of overload hydraulic gripper with double freedom according to claim 1, which is characterized in that the direct acting
One group of bearing that the front end installation of driving assembly (2) is formed top by two bearing biserials.
3. a kind of overload hydraulic gripper with double freedom according to claim 1, which is characterized in that the direct acting
The lubricating oil of the bearing of driving assembly (2) front end installation is sealed by oil sealing (2.1).
4. a kind of overload hydraulic gripper with double freedom according to claim 1, which is characterized in that in dynamic oil ring
(2.7) two processing mouths are designed on, to facilitate processing oil passage, processing mouth passes through the stifled sealing of oil when in use.
5. a kind of overload hydraulic gripper with double freedom according to claim 1, which is characterized in that the revolution
Driving assembly (3) further includes angular encoder (3.6), and angular encoder (3.6) is connected with oscillating cylinder drive shaft (3.5), monitoring
Oscillating cylinder angle of revolution.
6. a kind of utilize the method that hydraulic machinery claw clip holds the object to be operated described in claim 1-5 characterized by comprising
Direct acting driving assembly (2) realizes that the opening and closing movement of gripper, cooperative mechanical claw clip head complete the clamping to the object to be operated
Movement, specifically:
When piston (2.9) makees forward travel, is advanced by piston rod (2.8) and direct acting connecting rod (1.11) is pushed to advance, at this time collet
Connecting rod (1.4) rotates, and collet (1.1) remains clamping face horizontality under the pulling of the auxiliary bar of collet (1.9), leads to
Gripper expansion action is realized in each revolute pair interaction crossed in clamp assemblies (1)；
It when piston (2.9) makees rollback movement, is retracted by piston rod (2.8) and direct acting connecting rod (1.11) is pulled back, collet connects at this time
Bar (1.4) rotates, and collet (1.1) remains clamping face horizontality under the pulling of the auxiliary bar of collet (1.9), passes through
Gripper closed action is realized in each revolute pair interaction in clamp assemblies (1)；
Rotary drive assembly (3) realizes the revolution movement of gripper, and spline (3.4) drives dynamic oil ring (2.7) rotary motion, thus
Entire gripper clamp assemblies (1) and piston rod (2.8), piston (2.9) is driven to do rotary motion；Cooperative mechanical pawl grips
The object to be operated realizes the rotary movement to the object to be operated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811615072.1A CN109465844B (en) | 2018-12-27 | 2018-12-27 | Heavy-duty hydraulic mechanical claw with double degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811615072.1A CN109465844B (en) | 2018-12-27 | 2018-12-27 | Heavy-duty hydraulic mechanical claw with double degrees of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109465844A true CN109465844A (en) | 2019-03-15 |
| CN109465844B CN109465844B (en) | 2023-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811615072.1A Active CN109465844B (en) | 2018-12-27 | 2018-12-27 | Heavy-duty hydraulic mechanical claw with double degrees of freedom |
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| CN (1) | CN109465844B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111761607A (en) * | 2020-06-18 | 2020-10-13 | 敬科(深圳)机器人科技有限公司 | Dynamic and static seal combined modular joint of cooperative robot |
| CN113305870A (en) * | 2021-06-30 | 2021-08-27 | 徐春丹 | Cutter bar type air pressure clamping jaw with air pressure system |
| US20220193934A1 (en) * | 2020-12-23 | 2022-06-23 | Delaware Capital Formation, Inc. | Gripper Jaw Sensor |
| CN117428815A (en) * | 2023-12-21 | 2024-01-23 | 浙江大学 | Two-degree-of-freedom compact hydraulic paw for heavy-duty application |
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| US20070090611A1 (en) * | 2005-10-18 | 2007-04-26 | Hardinge, Inc. | Hydraulic workholding assembly |
| CN104440939A (en) * | 2014-11-13 | 2015-03-25 | 哈尔滨工程大学 | Small underwater hydraulic mechanical arm two-stage drive joint |
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| CN111761607B (en) * | 2020-06-18 | 2021-04-30 | 敬科(深圳)机器人科技有限公司 | Dynamic and static seal combined modular joint of cooperative robot |
| US20220193934A1 (en) * | 2020-12-23 | 2022-06-23 | Delaware Capital Formation, Inc. | Gripper Jaw Sensor |
| CN113305870A (en) * | 2021-06-30 | 2021-08-27 | 徐春丹 | Cutter bar type air pressure clamping jaw with air pressure system |
| CN117428815A (en) * | 2023-12-21 | 2024-01-23 | 浙江大学 | Two-degree-of-freedom compact hydraulic paw for heavy-duty application |
| CN117428815B (en) * | 2023-12-21 | 2024-04-05 | 浙江大学 | Two-degree-of-freedom compact hydraulic paw for heavy-duty application |
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