CN110039534A - A kind of hydraulic heavy-duty machinery arm of seven freedom - Google Patents
A kind of hydraulic heavy-duty machinery arm of seven freedom Download PDFInfo
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- CN110039534A CN110039534A CN201910366236.XA CN201910366236A CN110039534A CN 110039534 A CN110039534 A CN 110039534A CN 201910366236 A CN201910366236 A CN 201910366236A CN 110039534 A CN110039534 A CN 110039534A
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- hydraulic cylinder
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 18
- 238000005096 rolling process Methods 0.000 claims abstract description 14
- 244000309464 bull Species 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000004880 explosion Methods 0.000 abstract description 3
- 239000004677 Nylon Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229920001778 nylon Polymers 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
Abstract
The present invention relates to machinery fields, more particularly to a kind of hydraulic heavy-duty machinery arm of seven freedom, including revolute joint, lift joint, telescopic joint, flat pendulum joint, advance and retreat joint, rolling pendulum joint, pitching joint and clamp system, revolute joint includes pedestal and the revolving platform for capableing of 360 degree rotation on the base, joint is lifted to be arranged on revolving platform, lift joint, telescopic joint, flat pendulum joint, advance and retreat joint, rolling pendulum joint, pitching joint and clamp system are sequentially connected, it lifts between joint and telescopic joint, it is slidably connected between flat pendulum joint and advance and retreat joint, mechanical arm can be realized rotation, lifting, it is flexible, flat pendulum, it retreats, rolling pendulum, pitching, grasping movement, improve the working range of mechanical arm, it realizes flexibly crawl and places workpiece, solve the problems, such as that heavy-duty machinery arm precision is low, effective avoiding obstacles , the motion path of mechanical arm is more flexible, and full hydraulic drive can effectively improve the anti-explosion fire ability of mechanical arm.
Description
Technical field
The present invention relates to machinery fields, more particularly to a kind of hydraulic heavy-duty machinery arm of seven freedom.
Background technique
Heavy workpiece carrying, assembly and the upkeep operation of weight equipment etc. of the heavy-duty machinery arm in global industry field
Aspect more shows irreplaceable role, and in mine, the fields such as metallurgy, aerospace are even more to become heavy load operating efficiency
The core indispensability equipment of the great demands such as promotion, production safety guarantee, cost of labor reduction, there are precision for existing heavy-duty machinery arm
Low, the defects of working range is small, freedom degree is less, workpiece flexibly can not be grabbed and place, working efficiency is lower.
Summary of the invention
In order to solve the problems, such as in background technique, the present invention provides a kind of hydraulic heavy-duty machinery arm, passes through the superfluous of seven freedom
The design of cofree degree, improves the working range of mechanical arm, realizes flexibly crawl and places workpiece, improves load capacity, solve
The low problem of heavy-duty machinery arm precision of having determined.
For achieving the above object, the present invention adopts the following technical solutions:
A kind of hydraulic heavy-duty machinery arm of seven freedom, including revolute joint, lifting joint, telescopic joint, flat pendulum joint, pass of retreating
Section, rolling pendulum joint, pitching joint and clamp system, the revolute joint include pedestal and being capable of 360 degree rotations on the base
Revolving platform；The lifting joint includes connecting rod A, connecting rod B and hydraulic cylinder A, and connecting rod A, connecting rod B are separately positioned on revolving platform, liquid
The both ends of cylinder pressure A are hinged with connecting rod A, connecting rod B respectively；The telescopic joint includes flexible inner arm and hydraulic cylinder B, and stretch inner arm
Left end is protruded into connecting rod B and is slidably connected between the two, and the both ends hydraulic cylinder B are hinged with flexible inner arm, connecting rod B respectively；It is described flat
Putting joint includes the first rotary actuator and the first output shaft, and the first rotary actuator is fixed on flexible inner arm right part；The advance and retreat
Joint includes hydraulic cylinder C and the advance and retreat joint outer arm, advance and retreat joint inner arm, advance and retreat joint outer arm and the first output shaft that are slidably connected
Connection, the both ends hydraulic cylinder C are respectively hinged at advance and retreat joint outer arm, on the inner arm of advance and retreat joint；The rolling pendulum joint includes the second pendulum
Dynamic motor and the second output shaft, the second rotary actuator are fixed on the inner arm of advance and retreat joint；The pitching joint includes that third is swung
Motor and third output shaft, third rotary actuator are fixed on the second output shaft, and third output shaft is connect with clamp system；It is described
Clamp system includes dual-rod hydraulic cylinder and two symmetrical clamp linkages, and dual-rod hydraulic cylinder and two clamp linkages, third export
Axis is respectively articulated with.
Further, it is connected between revolving platform and pedestal by bearing, pedestal is equipped with bull gear, and revolving platform is equipped with two
A hydraulic motor, two hydraulic motor output shafts are arranged with pinion gear respectively, and two pinion gears are meshed with bull gear respectively.
Further, the lower end connecting rod A is fixed on revolving platform, and upper end and horizontally disposed hydraulic cylinder A are hinged, and connecting rod B is L
Shape, including vertical section and horizontal segment, vertical section lower end and revolving platform are hinged, and vertical section upper end extends to form water horizontally to the right
Flat section, horizontal segment are hollow structure, and horizontal segment right end top and the tailpiece of the piston rod of hydraulic cylinder A are hinged.
Further, telescopic joint includes the flexible inner arm and hydraulic cylinder B of hollow structure, and flexible inner arm left end extend into company
It is slidably connected in bar B horizontal segment and with connecting rod B horizontal segment inner wall, the right end of flexible inner arm is connect with flat pendulum joint, and hydraulic cylinder B is solid
It is arranged in the cavity of flexible inner arm calmly, and the end of its piston rod and connecting rod B horizontal segment inner wall are hinged.
Further, the stator of the first rotary actuator is fixed on the right part of flexible inner arm, and rotor and the first output shaft connect
It connects.
Further, advance and retreat joint includes hydraulic cylinder C, advance and retreat joint outer arm, advance and retreat joint inner arm, and advance and retreat joint outer arm is solid
It is scheduled on the first output shaft, advance and retreat joint inner arm is inserted into the outer arm of advance and retreat joint and is slidably connected between the two.
Further, the stator of the second rotary actuator is fixed on the inner arm of advance and retreat joint, rotor and the second output axis connection.
Further, the stator of third rotary actuator is fixed on the second output shaft, and two ends of rotor is exported with third respectively
Axis connection.
Further, the clamp system further includes rack, and one end of two clamp linkages has been respectively fixedly connected with hook folder,
Two hook folders are symmetrical arranged, and the two-piston rod end of the other end difference dual-rod hydraulic cylinder of two clamp linkages is hinged, and double rod is hydraulic
Cylinder is hingedly fixed in rack, and rack and third export axis connection.
Further, the first rotary actuator, the second rotary actuator, third rotary actuator are frame-type installation.
Compared with prior art, the beneficial effects of the present invention are:
The hydraulic heavy-duty machinery arm configuration of seven freedom provided by the invention is compact, load is big, positioning accuracy is high, working range is big；
It is engaged by Double-gear, eliminates back lash, realize the accurate rotation revolution of rotary table；It lifts joint and passes through connecting rod A, L shape
Connecting rod B realizes the pitching of wide-angle；Telescopic joint is plugged in connecting rod B horizontal segment stretch inner arm and hydraulic cylinder B and is formed by sliding
Telescopic boom mechanism substantially increases working range by the telescoping mechanism of straight line pair；Play the work of fine tuning stroke in advance and retreat joint
With can effectively improve the kinematic accuracy of terminal position；The redundant degree of freedom of seven freedom designs planning machine that can be more flexible
The motion path of tool arm, effective avoiding obstacles, full hydraulic drive can effectively improve the anti-explosion fire ability of mechanical arm.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is attachment structure schematic diagram of the present invention；
In figure: 1, revolute joint；1-1, revolving platform；1-2, pedestal；2, joint is lifted；2-1, connecting rod A；2-2, hydraulic cylinder A；2-3,
Connecting rod B；3, telescopic joint；3-1, hydraulic cylinder B；3-2, flexible inner arm；4, flat pendulum joint；4-1, the first rotary actuator；4-2,
One output shaft；5, advance and retreat joint；5-1, hydraulic cylinder C；5-2, advance and retreat joint outer arm；5-3, advance and retreat joint inner arm；6, rolling pendulum joint；
6-1, the second rotary actuator；6-2, the second output shaft；7, pitching joint；7-1, third rotary actuator；7-2, third output shaft；8,
Clamp system；8-1, dual-rod hydraulic cylinder；8-2, clamp linkage；8-3, rack.
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.
In conjunction with attached drawing 1, attached drawing 2, in the embodiment of the present invention, a kind of hydraulic heavy-duty machinery arm of seven freedom, including revolution are closed
Section 1, lifting joint 2, telescopic joint 3, flat pendulum joint 4, advance and retreat joint 5, rolling pendulum joint 6, pitching joint 7 and clamp system 8, are returned
Turn joint 1 include pedestal 1-2 and can on pedestal 1-2 360 degree rotation revolving platform 1-1；Lifting joint 2 includes connecting rod A2-
1, connecting rod B2-3 and hydraulic cylinder A2-2, connecting rod A2-1, connecting rod B2-3 are separately positioned on revolving platform 1-1, and the two of hydraulic cylinder A2-2
It holds hinged with connecting rod A2-1, connecting rod B2-3 respectively；Telescopic joint 3 includes flexible inner arm 3-2 and hydraulic cylinder B3-1, and stretch inner arm 3-
2 left ends are protruded into connecting rod B2-3 and are slidably connected between the two, the both ends hydraulic cylinder B3-1 respectively with flexible inner arm 3-2, connecting rod B2-
3 is hinged；Flat pendulum joint 4 includes that the first rotary actuator 4-1 and the first output shaft 4-2, the first rotary actuator 4-1 are fixed on flexible interior
The right part arm 3-2；Advance and retreat joint 5 includes hydraulic cylinder C5-1 and the advance and retreat joint outer arm 5-2, the advance and retreat joint inner arm 5- that are slidably connected
3, advance and retreat joint outer arm 5-2 is connect with the first output shaft 4-2, the both ends hydraulic cylinder C5-1 be respectively hinged at advance and retreat joint outer arm 5-2,
On the inner arm 5-3 of advance and retreat joint；Rolling pendulum joint 6 includes the second rotary actuator 6-1 and the second output shaft 6-2, the second rotary actuator 6-1
It is fixed on the inner arm 5-3 of advance and retreat joint；Pitching joint 7 includes third rotary actuator 7-1 and third output shaft 7-2, and third is swung
Motor 7-1 is fixed on the second output shaft 6-2, and third output shaft 7-2 is connect with clamp system 8；Clamp system 8 includes double rod liquid
Cylinder pressure 8-1 and two clamp linkage 8-2, dual-rod hydraulic cylinder 8-1 are cut with scissors respectively with two clamp linkage 8-2, third output shaft 7-2
It connects.
In conjunction with attached drawing 2, revolute joint 1 includes revolving platform 1-1 and pedestal 1-2, is passed through between revolving platform 1-1 and pedestal 1-2
Bearing connection, pedestal 1-2 are equipped with bull gear, are set on revolving platform 1-1 there are two hydraulic motor, two hydraulic motor output shafts divide
It is not arranged with pinion gear, two pinion gears are meshed with bull gear respectively, when hydraulic motor output torque, by bull gear to small
The reaction force of gear realizes driving revolving platform 1-1 rotation, and two pinion gears simultaneously and large ring gear meshing, are engaged by Double-gear
The gap that disappears technology eliminates back lash.
In conjunction with attached drawing 2, lifting joint 2 includes connecting rod A2-1, connecting rod B2-3 and hydraulic cylinder A2-2, is loaded for elevating mechanism arm
Ability, it is two that hydraulic cylinder A2-2, which is symmetrical arranged, and the lower end connecting rod A2-1 is fixed on revolving platform 1-1, upper end with it is horizontally disposed
Hydraulic cylinder A2-2 is hinged, and connecting rod B2-3 is L shape, including vertical section and horizontal segment, and vertical section lower end and revolving platform 1-1 are hinged,
Vertical section upper end extends to form horizontal segment horizontally to the right, and horizontal segment is hollow structure, horizontal segment right end top and hydraulic cylinder A2-
2 tailpiece of the piston rod is hinged, and lifting joint 2 is lifted by the flexible realization of hydraulic cylinder A2-2, and the design of this mechanism can be with lesser
Stroke realizes wide-angle pitching, increases working range.
In conjunction with attached drawing 2, telescopic joint 3 includes the flexible inner arm 3-2 and hydraulic cylinder B3-1 of hollow structure, and stretch inner arm 3-2
Left end extend into connecting rod B2-3 horizontal segment and is slidably connected with connecting rod B2-3 horizontal segment inner wall, and stretch inner arm 3-2 and connecting rod B2-
It is connected by support roller or nylon slide block between 3 horizontal segments, the right part of flexible inner arm 3-2 is connect with flat pendulum joint 4, hydraulic
Cylinder B3-1 is fixed in the cavity of flexible inner arm 3-2, and the end of its piston rod and connecting rod B2-3 horizontal segment left end inner wall
Hingedly, stretch inner arm 3-2, connecting rod B2-3 horizontal segment, hydraulic cylinder B3-1 central axes point-blank, the work of hydraulic cylinder B3-1
Under, flexible inner arm 3-2 does the round-trip linear motion in left and right in connecting rod B2-3 horizontal segment cavity, and stretch inner arm 3-2 and connecting rod B2-
3 horizontal segments are quadrilateral frame structure, and four faces contact, and the way of contact includes carrying roller and face contact, face and face contact two
Kind mode.
In conjunction with attached drawing 2, flat pendulum joint 4 includes the first rotary actuator 4-1 and the first output shaft 4-2, the first rotary actuator 4-1
Stator be fixed on the right part of flexible inner arm 3-2, rotor is connect with the first output shaft 4-2, and rotor drives the first output shaft 4-2
Rotation, realizes the flat pendulum movement of mechanical arm, and the first output shaft 4-2 drives advance and retreat joint 5.
In conjunction with attached drawing 2, advance and retreat joint 5 includes hydraulic cylinder C5-1, advance and retreat joint outer arm 5-2, advance and retreat joint inner arm 5-3, into
It shuts out and saves outer arm 5-2 and be fixed on the first output shaft 4-2, advance and retreat joint inner arm 5-3 is inserted into the outer arm 5-2 of advance and retreat joint and two
It is slidably connected between person, is connected by support roller or nylon slide block between advance and retreat joint outer arm 5-2, advance and retreat joint inner arm 5-3
It connects, the both ends hydraulic cylinder C5-1 are respectively hinged on advance and retreat joint outer arm 5-2, advance and retreat joint inner arm 5-3, when hydraulic cylinder C5-1 stretches
Advance and retreat joint inner arm 5-3 is driven to retreat, hydraulic cylinder C5-1 stroke is smaller but precision is high, it can be realized the fine tuning on advance and retreat direction,
Guarantee crawl precision.
In conjunction with attached drawing 2, rolling pendulum joint 6 includes the second rotary actuator 6-1, the second output shaft 6-2, the second rotary actuator 6-1
Stator be fixed on the inner arm 5-3 of advance and retreat joint, rotor is connect with the second output shaft 6-2, the second rotary actuator 6-1 swing when band
The rolling pendulum movement of mechanical arm is realized in dynamic second output shaft 6-2 rotation.
In conjunction with attached drawing 2, pitching joint 7 includes third rotary actuator 7-1 and third output shaft 7-2, third rotary actuator 7-
1 stator is fixed on the second output shaft 6-2, and two ends of rotor is connect with third output shaft 7-2 respectively, third rotary actuator 7-1
Third output shaft 7-2 rotation is driven when swing, realizes the pitching motion of mechanical arm.
In conjunction with attached drawing 2, clamp system 8 includes dual-rod hydraulic cylinder 8-1, two clamp linkage 8-2, rack 8-3, two clampings
One end of connecting rod 8-2 has been respectively fixedly connected with hook folder, and two hook folders are opposite, and the other end of two clamp linkage 8-2 distinguishes double rod
The two-piston rod end of hydraulic cylinder 8-1 is hinged, and dual-rod hydraulic cylinder 8-1 is hingedly fixed on rack 8-3, and rack 8-3 and third export
Axis 7-2 connection, flexible by dual-rod hydraulic cylinder 8-1 piston rod hook the spacing pressed from both sides, flexible crawl and placement to adjust two
Workpiece.
First rotary actuator 4-1, the second rotary actuator 6-1, third rotary actuator 7-1 are frame-type installation, are solely subjected to
Torque.
The course of work of the present invention is as follows:
The revolving platform 1-1 of revolute joint 1 rotates on pedestal 1-2, and according to adjustment mechanical arm working range, lifting joint 2 passes through
The flexible realization mechanical arm of hydraulic cylinder A2-2 lifts, and for telescopic joint 3 under the action of hydraulic cylinder B3-1, the inner arm 3-2 that stretches is even
The round-trip linear motion in left and right is done in bar B2-3 horizontal segment cavity, is realized that mechanical arm is flexible, is substantially increased working range, flat pendulum joint
The rotor of 4 first rotary actuator 4-1 drives the first output shaft 4-2 rotation, realizes the flat pendulum movement of mechanical arm, advance and retreat joint 5
Advance and retreat joint inner arm 5-3 is driven to retreat when hydraulic cylinder C5-1 is flexible, hydraulic cylinder C5-1 stroke is smaller but precision is high, can be realized machine
Fine tuning on tool arm advance and retreat direction, guarantees crawl precision, and the second output is driven when 6 second rotary actuator 6-1 of rolling pendulum joint is swung
Axis 6-2 rotation realizes the rolling pendulum movement of mechanical arm, third output shaft 7- is driven when 7 third rotary actuator 7-1 of pitching joint is swung
2 rotations, realize the pitching motion of mechanical arm, and clamp system 8 adjusts two hooks by the flexible of dual-rod hydraulic cylinder 8-1 piston rod
The spacing of folder, flexible crawl and placement workpiece, the planning mechanical arm that the redundant degree of freedom design of seven freedom can be more flexible
Motion path, effective avoiding obstacles, full hydraulic drive can effectively improve the anti-explosion fire ability of mechanical arm.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "front", "rear" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention, in the present invention, it is also necessary to explanation,
Term " installation ", " connection " shall be understood in a broad sense, for example, can be fixedly connected, may be a detachable connection, or be integrally formed
Connection, is also possible to be mechanically connected, is also possible to be indirectly connected with by intermediary, can understand that term exists by concrete condition
Concrete meaning during this is practical.
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 where 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
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention, and any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of hydraulic heavy-duty machinery arm of seven freedom, it is characterized in that: including revolute joint (1), lifting joint (2), flexible pass
Save (3), flat pendulum joint (4), advance and retreat joint (5), rolling pendulum joint (6), pitching joint (7) and clamp system (8), revolute joint
(1) include pedestal (1-2) and can on pedestal (1-2) 360 degree rotation revolving platform (1-1)；Lifting joint (2) includes connecting rod
A(2-1), connecting rod B(2-3) and hydraulic cylinder A(2-2), connecting rod A(2-1), connecting rod B(2-3) be separately positioned on revolving platform (1-1),
Hydraulic cylinder A(2-2) both ends it is hinged with connecting rod A(2-1), connecting rod B(2-3) respectively；Telescopic joint (3) includes flexible inner arm (3-
2) and hydraulic cylinder B(3-1), connecting rod B(2-3 is protruded into flexible left end inner arm (3-2)) in and be slidably connected between the two, hydraulic cylinder B
The both ends (3-1) respectively with flexible inner arm (3-2), connecting rod B(2-3) it is hinged；Flat pendulum joint (4) includes the first rotary actuator (4-1)
With the first output shaft (4-2), the first rotary actuator (4-1) is fixed on the right part flexible inner arm (3-2)；Advance and retreat joint (5) includes
Hydraulic cylinder C(5-1) and advance and retreat joint outer arm (5-2), advance and retreat joint (5) inner arm (5-3) for being slidably connected, advance and retreat joint outer arm
(5-2) is connect, hydraulic cylinder C(5-1 with the first output shaft (4-2)) both ends are respectively hinged at advance and retreat joint outer arm (5-2), advance and retreat are closed
It saves on inner arm (5-3)；Rolling pendulum joint (6) includes the second rotary actuator (6-1) and the second output shaft (6-2), the second rotary actuator
(6-1) is fixed on advance and retreat joint inner arm (5-3)；Pitching joint (7) includes third rotary actuator (7-1) and third output shaft
(7-2), third rotary actuator (7-1) are fixed on the second output shaft (6-2), and third output shaft (7-2) and clamp system (8) are even
It connects；Clamp system (8) includes dual-rod hydraulic cylinder (8-1) and two clamp linkages (8-2), and dual-rod hydraulic cylinder (8-1) is pressed from both sides with two
It is close to bar (8-2), third output shaft (7-2) is respectively articulated with.
2. the hydraulic heavy-duty machinery arm of a kind of seven freedom according to claim 1, it is characterized in that: revolving platform (1-1) and pedestal
It is connected between (1-2) by bearing, pedestal (1-2) is equipped with bull gear, sets on revolving platform (1-1) there are two hydraulic motor, two
A hydraulic motor output shaft is arranged with pinion gear respectively, and two pinion gears are meshed with bull gear respectively.
3. the hydraulic heavy-duty machinery arm of a kind of seven freedom according to claim 1, it is characterized in that: connecting rod A(2-1) lower end fixes
On revolving platform (1-1), connecting rod A(2-1) upper end and horizontally disposed hydraulic cylinder A(2-2) hingedly, and connecting rod B(2-3) it is L shape, packet
Vertical section and horizontal segment are included, hingedly, vertical section upper end extends to form water horizontally to the right by vertical section lower end and revolving platform (1-1)
Flat section, horizontal segment are hollow structure, and horizontal segment right end top and the tailpiece of the piston rod of hydraulic cylinder A(2-2) are hinged.
4. the hydraulic heavy-duty machinery arm of a kind of seven freedom according to claim 3, it is characterized in that: during telescopic joint (3) includes
The flexible inner arm (3-2) and hydraulic cylinder B(3-1 of hollow structure), flexible left end inner arm (3-2) extend into connecting rod B(2-3) in horizontal segment
And be slidably connected with connecting rod B(2-3) horizontal segment inner wall, the right end of flexible inner arm (3-2) is connect with flat pendulum joint (4), hydraulic cylinder B
(3-1) is fixed in the cavity of flexible inner arm (3-2), and the end of its piston rod and connecting rod B(2-3) in horizontal segment left end
Wall is hinged.
5. the hydraulic heavy-duty machinery arm of a kind of seven freedom according to claim 1, it is characterized in that: the first rotary actuator (4-1)
Stator be fixed on the right part of flexible inner arm (3-2), rotor is connect with the first output shaft (4-2).
6. the hydraulic heavy-duty machinery arm of a kind of seven freedom according to claim 1, it is characterized in that: advance and retreat joint outer arm (5-2)
It is fixed on the first output shaft (4-2), advance and retreat joint inner arm (5-3) is inserted into advance and retreat joint outer arm (5-2) and between the two
It is slidably connected.
7. the hydraulic heavy-duty machinery arm of a kind of seven freedom according to claim 1, it is characterized in that: the second rotary actuator (6-1)
Stator be fixed on advance and retreat joint inner arm (5-3), rotor is connect with the second output shaft (6-2).
8. the hydraulic heavy-duty machinery arm of a kind of seven freedom according to claim 1, it is characterized in that: third rotary actuator (7-1)
Stator be fixed on the second output shaft (6-2), two ends of rotor is connect with third output shaft (7-2) respectively.
9. the hydraulic heavy-duty machinery arm of a kind of seven freedom according to claim 1, it is characterized in that: the clamp system (8) is also
Including rack (8-3), one end of two clamp linkages (8-2) has been respectively fixedly connected with hook folder, and two hook folders are symmetrical arranged, and two
The two-piston rod end of other end difference dual-rod hydraulic cylinder (8-1) of clamp linkage (8-2) is hinged, and dual-rod hydraulic cylinder (8-1) is hinged
It is fixed on rack (8-3), rack (8-3) is connect with third output shaft (7-2).
10. the hydraulic heavy-duty machinery arm of a kind of seven freedom according to claim 1, it is characterized in that: the first rotary actuator (4-
1), the second rotary actuator (6-1), third rotary actuator (7-1) are frame-type installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910366236.XA CN110039534A (en) | 2019-05-05 | 2019-05-05 | A kind of hydraulic heavy-duty machinery arm of seven freedom |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910366236.XA CN110039534A (en) | 2019-05-05 | 2019-05-05 | A kind of hydraulic heavy-duty machinery arm of seven freedom |
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| CN110039534A true CN110039534A (en) | 2019-07-23 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110815282A (en) * | 2019-10-21 | 2020-02-21 | 南京理工大学 | Six-degree-of-freedom hydraulic mechanical arm |
| CN110842980A (en) * | 2019-11-11 | 2020-02-28 | 迈赫机器人自动化股份有限公司 | Mechanical arm with variable rod length |
| CN113601484A (en) * | 2021-07-28 | 2021-11-05 | 合肥市春华起重机械有限公司 | Lining-changing manipulator cantilever structure |
| CN114083528A (en) * | 2021-12-31 | 2022-02-25 | 浙江鼎力机械股份有限公司 | High-load mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110815282B (en) * | 2019-10-21 | 2022-04-08 | 南京理工大学 | Six-degree-of-freedom hydraulic mechanical arm |
| CN110842980A (en) * | 2019-11-11 | 2020-02-28 | 迈赫机器人自动化股份有限公司 | Mechanical arm with variable rod length |
| CN113601484A (en) * | 2021-07-28 | 2021-11-05 | 合肥市春华起重机械有限公司 | Lining-changing manipulator cantilever structure |
| CN114083528A (en) * | 2021-12-31 | 2022-02-25 | 浙江鼎力机械股份有限公司 | High-load mechanical arm |
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