CN110053021A - A kind of hydraulic robot - Google Patents
A kind of hydraulic robot Download PDFInfo
- Publication number
- CN110053021A CN110053021A CN201910308857.2A CN201910308857A CN110053021A CN 110053021 A CN110053021 A CN 110053021A CN 201910308857 A CN201910308857 A CN 201910308857A CN 110053021 A CN110053021 A CN 110053021A
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- CN
- China
- Prior art keywords
- lever arm
- hydraulic cylinder
- arm
- flexibly connected
- piston rod
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of hydraulic robots, comprising: pedestal, secondary lever arm, main lever arm and hydraulic system, in which: one end of secondary lever arm is movably installed with mounting base, and the other end is equipped with the first tie point and the second tie point；One end of main lever arm is connect with pedestal, and the other end is connect with the first tie point of secondary lever arm；Hydraulic system includes first hydraulic cylinder, second hydraulic cylinder and third hydraulic cylinder；The ejection end of piston rod is connect with main lever arm in first hydraulic cylinder, and first hydraulic cylinder is connect far from the one end at its piston rod ejection end with pedestal；The ejection end of piston rod is connect with the second tie point of secondary lever arm in second hydraulic cylinder, and second hydraulic cylinder is connect far from the one end at its piston rod ejection end with main lever arm；The ejection end of piston rod is flexibly connected with mounting base in third hydraulic cylinder, and third hydraulic cylinder is connect far from the one end at its piston rod ejection end with secondary lever arm.Structure of the invention is stablized, and weight bearing and force capabilities are strong.
Description
Technical field
The present invention relates to technical field of processing equipment more particularly to a kind of hydraulic robots.
Background technique
With the development of science and technology, robot in production, process using more and more common, then existing robot exists
Still have some deficits place in terms of stability and weight bearing ability and force capabilities in work, it would be highly desirable to improve.
Summary of the invention
Technical problem present in technology based on the above background, the present invention propose a kind of hydraulic robot.
A kind of hydraulic robot proposed by the present invention, comprising: pedestal, secondary lever arm, main lever arm and hydraulic system,
In:
One end of secondary lever arm is movably installed with the mounting base for installing mounting base；Secondary lever arm far from mounting base one
End is equipped with the first tie point of spacing and the second tie point along its length；One end of main lever arm is movably connected with the base, main
The one end of lever arm far from pedestal is flexibly connected with the first tie point of secondary lever arm；
Hydraulic system includes first hydraulic cylinder, second hydraulic cylinder and third hydraulic cylinder；
The ejection end of piston rod is located between the both ends of main lever arm and is flexibly connected with main lever arm in first hydraulic cylinder,
First hydraulic cylinder is movably connected with the base far from the one end at its piston rod ejection end, and first hydraulic cylinder and pedestal connection with
Spacing is reserved between main lever arm；
The ejection end of piston rod is flexibly connected with the second tie point of secondary lever arm in second hydraulic cylinder, and second hydraulic cylinder is remote
One end from its piston rod ejection end is flexibly connected with main lever arm；
The ejection end of piston rod is flexibly connected with mounting base in third hydraulic cylinder, and third hydraulic cylinder is ejected far from its piston rod
The one end at end is flexibly connected with secondary lever arm.
Preferably, the first tie point on secondary lever arm is located at its second tie point close to the side of mounting base.
Preferably, main lever arm includes the first arm and the second arm that one end is fixed to each other, and between the first arm and the second arm
With 90 ° of angle a less than 180 ° are greater than, the first arm is movably connected with the base far from one end of the second arm, and the second arm is far from the
One end of one arm is flexibly connected with the first junction on secondary lever arm；The ejection end of piston rod is connected in first hydraulic cylinder
The joint of one arm and the second arm；The one of one end with second arm rest nearly first arm of the second hydraulic cylinder far from its piston rod ejection end
End is flexibly connected.
Preferably, first hydraulic cylinder is located at the inside of angle a.
Preferably, pedestal includes chassis and the rotating seat above chassis and with chassis rolling assembling；Main lever arm master
Arm is located at the top of rotating seat, and one end of main lever arm is flexibly connected through first rotating shaft with rotating seat；First hydraulic cylinder is located at rotation
The top of swivel base, first hydraulic cylinder are flexibly connected far from second shaft of one end at its piston rod ejection end with rotating seat, and the
Two shafts are parallel to first rotating shaft.
Preferably, the ejection end of piston rod is flexibly connected through third shaft with main lever arm in first hydraulic cylinder；Main activity
Arm is flexibly connected through the 4th shaft with the first tie point on secondary lever arm；The ejection end the 5th of piston rod in second hydraulic cylinder
Shaft is flexibly connected with the second tie point on secondary lever arm, the one end the 6th of second hydraulic cylinder far from its piston rod ejection end
Shaft is flexibly connected with main lever arm；The 7th shaft of ejection end of piston rod is flexibly connected with mounting base in third hydraulic cylinder,
Third hydraulic cylinder is flexibly connected far from one end eight revolution axis at its piston rod ejection end with pair lever arm, and third shaft, the
Four shafts, the 5th shaft, the 6th shaft, the 7th shaft and eight revolution axis are respectively parallel to first rotating shaft.
Preferably, mounting base includes and the attachment base of secondary lever arm activity assembly and the cycloid being fixedly mounted on attachment base
Hydraulic motor.
In the present invention, by being defined to main lever arm and the assembly relation of the first hydraulic cylinder in hydraulic system, with
Make to form stable triangular structure between first hydraulic cylinder and main lever arm, so that first hydraulic cylinder had both driven main activity
Arm activity, and main lever arm can be supported, to share the weight bearing of main lever arm；Meanwhile by hydraulic system
One hydraulic cylinder, the structure of second hydraulic cylinder and third hydraulic cylinder and installation site are defined, to utilize three hydraulic cylinder realities
Show the activity of main lever arm, secondary lever arm and mounting base, it is this living using the hydraulic complete each joint part of driving robot
Flowing mode it is possible to prevente effectively from joint part torsion generation, improve robot exert a force intensity.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of hydraulic robot proposed by the present invention.
Specific embodiment
In the following, technical solution of the present invention is described in detail by specific embodiment.
As shown in FIG. 1, FIG. 1 is a kind of structural schematic diagrams of hydraulic robot proposed by the present invention.
Referring to Fig.1, a kind of hydraulic robot proposed by the present invention, comprising: pedestal 1, secondary lever arm 2, main lever arm 3 and liquid
Pressure system, in which:
One end of secondary lever arm 2 is movably installed with the mounting base 4 for installing mounting base；Secondary lever arm 2 is far from mounting base 4
One end be equipped with the first tie point of spacing and the second tie point along its length, and the first tie point is located at the second tie point and leans on
The side of nearly mounting base 4；One end of main lever arm 3 is flexibly connected with pedestal 1, and the one end of main lever arm 3 far from pedestal 1 and pair are living
First tie point of swing arm 2 is flexibly connected.
Hydraulic system includes first hydraulic cylinder 5, second hydraulic cylinder 6 and third hydraulic cylinder 7；Piston rod in first hydraulic cylinder 5
Ejection end be located between the both ends of main lever arm 3 and be flexibly connected with main lever arm 3, first hydraulic cylinder 5 is far from its piston rod
It ejects and is reserved with spacing between the one end and main lever arm 3 at end and is flexibly connected with pedestal 1；Piston rod in second hydraulic cylinder 6
Ejection end is flexibly connected with the second tie point of secondary lever arm 2, second hydraulic cylinder 6 one end and master far from its piston rod ejection end
Lever arm 3 is flexibly connected；The ejection end of piston rod is flexibly connected with mounting base 4 in third hydraulic cylinder 7, and third hydraulic cylinder 7 is separate
The one end at its piston rod ejection end is flexibly connected with secondary lever arm 2.
In the present invention, by being defined to main lever arm 3 and the assembly relation of the first hydraulic cylinder 5 in hydraulic system,
So as to stable triangular structure be formed between first hydraulic cylinder 5 and main lever arm 3, so that first hydraulic cylinder 5 both drove
Main 3 activity of lever arm, and main lever arm 3 can be supported, to share the weight bearing of main lever arm 3；By to hydraulic system
The structure and installation site of middle first hydraulic cylinder 5, second hydraulic cylinder 6 and third hydraulic cylinder 7 are defined, to utilize three liquid
Cylinder pressure realizes the activity of main lever arm 3, secondary lever arm 2 and mounting base 4, this to utilize each pass of hydraulic full driving robot
Save position manner it is possible to prevente effectively from joint part torsion generation, improve robot exert a force intensity.In addition, the present invention is also
Can be by programmable controller to logic control, and there is rotary encoder to do signal feedback the movement of each axis, accomplish
Program monitoring, Real-time Feedback and the closed loop feedback system compensated automatically.
In addition, in the present embodiment, the first arm 31 and the second arm 32 that main lever arm 3 is fixed to each other including one end, and first
Have between arm 31 and the second arm 32 and is greater than 90 ° of angle a less than 180 °, the first arm 31 one end and pedestal far from the second arm 32
1 is flexibly connected, and the one end of the second arm 32 far from the first arm 31 is flexibly connected with the first junction on secondary lever arm 2；First liquid
Cylinder pressure 5 is located at the inside of angle a, and the ejection end of piston rod is connected to the phase of the first arm 31 with the second arm 32 in first hydraulic cylinder 5
Meet place；Second hydraulic cylinder 6 is flexibly connected with the second arm 32 close to one end of the first arm 31 far from the one end at its piston rod ejection end.
The setting of the structure in gravity segment set so that in the first arm 31 and 32 joint of the second arm and turn to be divided by first hydraulic cylinder 5
Load, effectively reduces the pressure of main 3 both ends junction of lever arm, so as to further increase the stabilization of the hydraulic robot structure
Property.
In the present embodiment, pedestal 1 includes chassis 11 and the rotating seat above chassis 11 and with 11 rolling assembling of chassis
12；Main 3 principal arm of lever arm is located at the top of rotating seat 12, and one end of main lever arm 3 connects through first rotating shaft and 12 activity of rotating seat
It connects；First hydraulic cylinder 5 is located at the top of rotating seat 12, second turn of the one end of first hydraulic cylinder 5 far from its piston rod ejection end
Axis is flexibly connected with rotating seat 12, and the second shaft is parallel to first rotating shaft.The setting of the structure is so that be mounted on rotating seat 12
Each component of top can be rotated with the rotation of rotating seat 12.
In the present embodiment, the ejection end of piston rod is flexibly connected through third shaft with main lever arm 3 in first hydraulic cylinder 5；
Main lever arm 3 is flexibly connected through the 4th shaft with the first tie point on secondary lever arm 2；The top of piston rod in second hydraulic cylinder 6
Outlet is flexibly connected through the 5th shaft with the second tie point on secondary lever arm 2, and second hydraulic cylinder 6 ejects end far from its piston rod
The 6th shaft of one end be flexibly connected with main lever arm 3；The 7th shaft of ejection end of piston rod and peace in third hydraulic cylinder 7
It fills seat 4 to be flexibly connected, one end eight revolution axis and secondary lever arm 2 activity of the third hydraulic cylinder 7 far from its piston rod ejection end are even
It connects, and third shaft, the 4th shaft, the 5th shaft, the 6th shaft, the 7th shaft and eight revolution axis are respectively parallel to first turn
Axis.
Furthermore it is also possible to be configured to the structure of mounting base 4, so that mounting base 4 includes assembling with secondary 2 activity of lever arm
Attachment base 41 and the cycloid hydraulic motor 42 that is fixedly mounted on attachment base 41 can be by execution unit and cycloid when work
Hydraulic motor 42 connects, so that the execution unit installed can carry out revolution movement.
In addition, the robot in specific works, using programming, makes its whole process by programmable controller to logic control
System, has rotary encoder to do signal feedback the movement of each axis, accomplishes that program monitors, and Real-time Feedback simultaneously compensates automatically
Closed loop feedback system.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of hydraulic robot characterized by comprising pedestal (1), secondary lever arm (2), main lever arm (3) and hydraulic pressure system
System, in which:
One end of secondary lever arm (2) is movably installed with the mounting base (4) for installing mounting base；Secondary lever arm (2) is far from installation
One end of seat (4) is equipped with the first tie point of spacing and the second tie point along its length；
One end of main lever arm (3) is flexibly connected with pedestal (1), main lever arm (3) one end and secondary lever arm far from pedestal (1)
(2) the first tie point is flexibly connected；
Hydraulic system includes first hydraulic cylinder (5), second hydraulic cylinder (6) and third hydraulic cylinder (7)；
In first hydraulic cylinder (5) the ejection end of piston rod be located between the both ends of main lever arm (3) and with main lever arm (3) activity
Connection, first hydraulic cylinder (5) far from its piston rod ejection end one end be flexibly connected with pedestal (1), and first hydraulic cylinder (5) and
Spacing is reserved between pedestal (1) connection and main lever arm (3)；
The ejection end of piston rod is flexibly connected with the second tie point of secondary lever arm (2) in second hydraulic cylinder (6), second hydraulic cylinder
(6) one end far from its piston rod ejection end is flexibly connected with main lever arm (3)；
The ejection end of piston rod is flexibly connected with mounting base (4) in third hydraulic cylinder (7), and third hydraulic cylinder (7) is far from its piston
The one end at bar ejection end is flexibly connected with secondary lever arm (2).
2. hydraulic robot according to claim 1, which is characterized in that the first tie point on secondary lever arm (2) is located at
Side of its second tie point close to mounting base (4).
3. hydraulic robot according to claim 1, which is characterized in that main lever arm (3) includes what one end was fixed to each other
First arm (31) and the second arm (32), and have between the first arm (31) and the second arm (32) and be greater than 90 ° of angles less than 180 °
A, the first arm (31) are flexibly connected far from the one end of the second arm (32) with pedestal (1), and the second arm (32) is far from the first arm (31)
One end is flexibly connected with the first junction on secondary lever arm (2)；The ejection end of piston rod is connected in first hydraulic cylinder (5)
The joint of one arm (31) and the second arm (32)；Second hydraulic cylinder (6) one end and the second arm far from its piston rod ejection end
(32) one end close to the first arm (31) is flexibly connected.
4. hydraulic robot according to claim 3, which is characterized in that first hydraulic cylinder (5) is located at the inside of angle a.
5. hydraulic robot described in any one of -4 according to claim 1, which is characterized in that pedestal (1) includes chassis (11)
Rotating seat (12) with chassis (11) top is located at and with chassis (11) rolling assembling；Main lever arm (3) principal arm is located at rotating seat
(12) one end of top, main lever arm (3) is flexibly connected through first rotating shaft with rotating seat (12)；First hydraulic cylinder (5) is located at
The top of rotating seat (12), one end second shaft and rotating seat (12) of the first hydraulic cylinder (5) far from its piston rod ejection end
It is flexibly connected, and the second shaft is parallel to first rotating shaft.
6. hydraulic robot according to claim 5, which is characterized in that the ejection end of piston rod in first hydraulic cylinder (5)
It is flexibly connected through third shaft with main lever arm (3)；Main lever arm (3) connects through first in the 4th shaft and secondary lever arm (2)
Contact is flexibly connected；The 5th shaft of ejection end of piston rod is connect with second on secondary lever arm (2) in second hydraulic cylinder (6)
Point is flexibly connected, and one end sixth shaft and main lever arm (3) activity of the second hydraulic cylinder (6) far from its piston rod ejection end are even
It connects；The 7th shaft of ejection end of piston rod is flexibly connected with mounting base (4) in third hydraulic cylinder (7), and third hydraulic cylinder (7) is remote
One end eight revolution axis from its piston rod ejection end is flexibly connected with pair lever arm (2), and third shaft, the 4th shaft, the
Five shafts, the 6th shaft, the 7th shaft and eight revolution axis are respectively parallel to first rotating shaft.
7. hydraulic robot according to claim 1, which is characterized in that mounting base (4) includes and secondary lever arm (2) is movable
The attachment base (41) of assembly and the cycloid hydraulic motor (42) being fixedly mounted on attachment base (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910308857.2A CN110053021A (en) | 2019-04-17 | 2019-04-17 | A kind of hydraulic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910308857.2A CN110053021A (en) | 2019-04-17 | 2019-04-17 | A kind of hydraulic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110053021A true CN110053021A (en) | 2019-07-26 |
Family
ID=67319160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910308857.2A Pending CN110053021A (en) | 2019-04-17 | 2019-04-17 | A kind of hydraulic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110053021A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113427475A (en) * | 2021-07-07 | 2021-09-24 | 广东云下汇金科技有限公司 | Arm convenient to data center server is put on and off shelf |
-
2019
- 2019-04-17 CN CN201910308857.2A patent/CN110053021A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113427475A (en) * | 2021-07-07 | 2021-09-24 | 广东云下汇金科技有限公司 | Arm convenient to data center server is put on and off shelf |
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