CN110202568A - A kind of hydraulic driving mechanical - Google Patents

A kind of hydraulic driving mechanical Download PDF

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Publication number
CN110202568A
CN110202568A CN201910636521.9A CN201910636521A CN110202568A CN 110202568 A CN110202568 A CN 110202568A CN 201910636521 A CN201910636521 A CN 201910636521A CN 110202568 A CN110202568 A CN 110202568A
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CN
China
Prior art keywords
hydraulic
hydraulic cylinder
arm
articulated
bracket
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
Application number
CN201910636521.9A
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Chinese (zh)
Inventor
许熙童
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Guangdong University of Technology
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Guangdong University of Technology
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Filing date
Publication date
Application filed by Guangdong University of Technology filed Critical Guangdong University of Technology
Priority to CN201910636521.9A priority Critical patent/CN110202568A/en
Publication of CN110202568A publication Critical patent/CN110202568A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0206Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14Programme-controlled manipulators characterised by positioning means for manipulator elements fluid

Abstract

The invention discloses a kind of hydraulic driving mechanicals, comprising: pedestal and can be equipped with the first hydraulic system for driving arm rotation in the first rotation in surface, the bracket that is set on pedestal, pedestal;The mechanical arm that can be swung in any second plane vertical with the first plane is hinged on bracket, bracket is equipped with the second hydraulic system that the hinge for driving mechanical arm to be articulated with bracket around it is swung;Mechanical arm is equipped with gripper, and mechanical arm is equipped with the third hydraulic system for driving gripper to clamp and open;First hydraulic system, the second hydraulic system, third hydraulic system are connect with control system.Drive control is carried out to hydraulic driving mechanical using the first hydraulic system, the second hydraulic system, third hydraulic system, since the driving force of each hydraulic system is big, output loads can effectively be promoted, hydraulic driving mechanical is set to grab heavier object, it is more stable by hydraulic-driven and for the air pressure driving method that compares.

Description

A kind of hydraulic driving mechanical
Technical field
The present invention relates to manipulator technical fields, more specifically to a kind of hydraulic driving mechanical.
Background technique
Mechanical arm is most widely used automation equipment in robotic technology field, is manufactured in industry, medical treatment is defended Life, space probation, military aspect all play very important effect, can not only substitute people's onerous toil and realize automation Efficient production, and can operation is in dangerous environment to guarantee life safety, although theirs different, purposes It is different, but suffer from a common feature, be exactly by corresponding instruction, can in time, accurately navigate to three Dimension or two in a certain fixed point carry out operation, this also designs it and proposes corresponding requirement, must bearing capacity Preferably, own wt should be relatively light, and arm has to flexibly for larger, rigidity, and the speed of movement is appropriate, and inertia wants small.
Existing manipulator can be divided into electrodynamic type, mechanical, Pneumatic driving type by the difference of driving method.These types driving The load that mode can not only export is lower, relatively unstable when furthermore whole system works, vulnerable to externalities.
In conclusion how to provide, a kind of output loads are higher, manipulator of the operation is stable, are current those skilled in the art Member's urgent problem to be solved.
Summary of the invention
In view of this, it is higher that the manipulator can stablize output the object of the present invention is to provide a kind of hydraulic driving mechanical Load.
To achieve the goals above, the invention provides the following technical scheme:
A kind of hydraulic driving mechanical, comprising: pedestal and can the first rotation in surface, be set on the pedestal Bracket, the pedestal are equipped with the first hydraulic system for driving the holder pivots;
The mechanical arm that can be swung in any second plane vertical with first plane, institute are hinged on the bracket It states bracket and is equipped with the second hydraulic system that the hinge for driving the mechanical arm to be articulated with the bracket around it is swung;
The mechanical arm is equipped with gripper, and the mechanical arm is equipped with for driving the gripper to clamp and open Third hydraulic system;
First hydraulic system, second hydraulic system, the third hydraulic system are connect with control system.
Preferably, the mechanical arm includes the upper arm for being articulated with the lower arm of the bracket and being articulated on the lower arm, institute It states bracket and is equipped with the second hydraulic cylinder that the hinge for driving the lower arm to be articulated with the bracket around it is swung, the lower arm It is equipped with the 4th hydraulic cylinder for driving the upper arm to swing around its hinge, the gripper is set on the upper arm.
Preferably, one end of the lower arm is articulated with the top of the bracket, and the other end of the lower arm is articulated with described The arm body of upper arm, one end of the second hydraulic cylinder are articulated with the frame body of the bracket, the other end hinge of the second hydraulic cylinder It is connected on the lower arm, one end of the 4th hydraulic cylinder is articulated with the lower arm, and the other end of the 4th hydraulic cylinder is hinged In one end of the upper arm, the gripper is set to the other end of the upper arm.
Preferably, first hydraulic system includes that one end is articulated with the pedestal, the other end is articulated with the bracket The first hydraulic cylinder of lower end, the first fluid pressure line that one end is connect with the first hydraulic cylinder, first fluid pressure line it is another One end is connected to hydraulic pump, and the hydraulic pump is connected to fluid box, and first fluid pressure line is equipped with for controlling described the First valve body of flow rate of liquid in one fluid pressure line, the hydraulic pump and control system control connect.
Preferably, second hydraulic system includes the fluid box and the hydraulic pump that connect with the fluid box, The hydraulic pump is connected to the second hydraulic cylinder by the second fluid pressure line, and the hydraulic pump is connected by the 4th fluid pressure line In the 4th hydraulic cylinder, second fluid pressure line is equipped with for controlling flow rate of liquid in second fluid pressure line Two valve bodies, the 4th fluid pressure line are equipped with the 4th valve body for controlling flow rate of liquid in the 4th fluid pressure line.
Preferably, the third hydraulic system include the fluid box, the hydraulic pump being connect with the fluid box and It is set to the third hydraulic cylinder on the upper arm along the upper arm lengths direction, the third hydraulic cylinder passes through third fluid pressure line It is connected to the hydraulic pump, the third fluid pressure line is equipped with for controlling flow rate of liquid in the third fluid pressure line Three valve bodies.
Preferably, first valve body, second valve body, the third valve body, the 4th valve body are throttle valve.
Preferably, the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder, the 4th hydraulic cylinder are equal For multistage hydraulic cylinder, between the first hydraulic cylinder and first valve body, the second hydraulic cylinder and second valve body it Between, between the third hydraulic cylinder and the third valve body, between the 4th hydraulic cylinder and the 4th valve body be equipped with three Position four-way electro-hydraulic reversing valve, the 3-position 4-way electro-hydraulic reversing valve and control system control connect.
Preferably, the cylinder barrel of the third hydraulic cylinder is fixed on the upper arm, and the gripper includes two and is articulated with Two L shape fingers of the upper arm, two L shape fingers are symmetrical arranged about the upper arm, two L shape fingers it is vertical Bar is hingedly connected on the upper arm, and the end of two vertical poles is hinged with connecting rod respectively, two connecting rods it is another One end is hingedly connected to the hydraulic stem of the third hydraulic cylinder, and the hydraulic stem of the third hydraulic cylinder is stretched out to drive described in two The end of the cross bar of L shape finger separates, and the hydraulic stem of the third hydraulic cylinder retracts the cross bar to drive two L shape fingers End fitting.
Preferably, the end sleeve of the cross bar of two L shape fingers is equipped with rubber head.
Pedestal is used to support bracket and the first hydraulic system, and control system can control by the first hydraulic system of control Bracket is in the first rotation in surface, to drive the mechanical arm being set on bracket in the first rotation in surface, to drive machinery Pawl can be configured according to actual needs in the first rotation in surface, slewing area;Control system passes through the second hydraulic pressure system of control System can control the hinge that mechanical arm is articulated on bracket in any second plane around mechanical arm and swing, to drive machinery Pawl is swung in any second plane, since the first plane is vertical with any second plane, when bracket is in its rotatable range When interior rotation, mechanical arm can be swung in a certain second plane perpendicular to the first plane, and realizing gripper can be moved into Any point in the accessible space arrived;Control system can control the clamping of gripper by controlling third hydraulic system And opening.
Control system by controlling the first hydraulic system, the second hydraulic system, third hydraulic system respectively, to control machinery Any point of pawl in the space that can touch is grabbed, in addition, using the first hydraulic system, the second hydraulic system, Third hydraulic system carries out drive control to hydraulic driving mechanical, due to the small in size, light-weight of each hydraulic system, rigidity Greatly, driving force is big, can effectively promote output loads, so that hydraulic driving mechanical is grabbed heavier object, and compare It is more stable by hydraulic-driven for air pressure driving method.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis The attached drawing of offer obtains other attached drawings.
Fig. 1 is the schematic diagram of hydraulic driving mechanical provided by the present invention;
Fig. 2 is the schematic diagram of third Driven by Hydraulic Cylinder L shape finger provided by the present invention closure;
Fig. 3 is the driving schematic diagram of mechanical arm provided by the present invention;
Fig. 4 is the rotation schematic diagram of bracket provided by the present invention;
Fig. 5 is the schematic diagram of the first hydraulic system provided by the present invention, the second hydraulic system, third hydraulic system.
In Fig. 1-5:
1- first hydraulic cylinder, 2- rubber head, 3-L shape finger, 4- connecting rod, 5- upper arm, 6- third hydraulic cylinder, 7- lower arm, 8- 4th hydraulic cylinder, 9- bracket, 10- second hydraulic cylinder, 11- parallel bar, 12- 3-position 4-way electro-hydraulic reversing valve, the first valve body of 13-, The second valve body of 14-, 15- third valve body, the 4th valve body of 16-, 17- motor, 18- hydraulic pump, 19- oil filter, 20- overflow valve, 21- Fluid box.
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.
Core of the invention is to provide a kind of hydraulic driving mechanical, which can stablize the higher load of output.
Fig. 1~5 is please referred to, Fig. 1 is the schematic diagram of hydraulic driving mechanical provided by the present invention;Fig. 2 is institute of the present invention The schematic diagram of the third Driven by Hydraulic Cylinder L shape finger closure of offer;Fig. 3 is that the driving of mechanical arm provided by the present invention is illustrated Figure;Fig. 4 is the rotation schematic diagram of bracket provided by the present invention;Fig. 5 is the first hydraulic system provided by the present invention, the second liquid The schematic diagram of pressure system, third hydraulic system.
A kind of hydraulic driving mechanical, comprising: pedestal and can be in the first rotation in surface, the bracket that is set on pedestal 9, pedestal is equipped with the first hydraulic system rotated for driving arm 9;Being hinged on bracket 9 can be vertical with the first plane The mechanical arm swung in any second plane, the hinge that bracket 9 is equipped with for driving mechanical arm to be articulated with bracket 9 around it are swung The second hydraulic system;Mechanical arm is equipped with gripper, and mechanical arm is equipped with the third for driving gripper to clamp and open Hydraulic system;First hydraulic system, the second hydraulic system, third hydraulic system are connect with control system.
It should be noted that it can be workbench that pedestal, which is, settable in any working environment, bracket 9 is installed on work Make on platform, and can not will receive the obstruction of workbench in the first Plane Rotation to guarantee bracket 9 in rotation, can incite somebody to action The Plane of rotation of bracket 9 is set as parallel with the top surface of pedestal, for example, the first plane is water when horizontal table is arranged Plane, and since the first plane is vertical with any second plane, so the second plane is the vertical plane on any direction.
First hydraulic system, the second hydraulic system, third hydraulic system by five part form, i.e., dynamical element, hold Units, control element, auxiliary element and hydraulic oil.
The effect of dynamical element is that the mechanical energy of prime mover is converted into the pressure energy of liquid, is often referred in hydraulic system Hydraulic pump 18, it provides power to entire hydraulic system.The structure type of hydraulic pump 18 generally has gear pump, vane pump, plunger Pump and screw pump, hydraulic pump 18 are connected to the motor 17 being used to provide power.
The effect of executive component is that the pressure energy of liquid is converted to mechanical energy, and driving load is made straight reciprocating motion or returned Transhipment is dynamic, such as hydraulic cylinder and hydraulic motor.
Control element controls in hydraulic system and adjusts pressure, flow and the direction of liquid, i.e., various hydraulic valves.According to The difference of control function, hydraulic valve can be divided into pressure-control valve, flow control valve and directional control valve.Pressure-control valve includes overflowing Flow valve 20, pressure reducing valve, sequence valve etc.;Flow control valve includes throttle valve, regulating valve etc.;Directional control valve includes check valve, liquid Control check valve, shuttle valve, reversal valve etc..According to control mode difference, hydraulic valve can be divided into bang-bang control valve, setting control valve and Proportional control valve.
Auxiliary element includes hydraulic fluid tank, oil filter 19, oil pipe and pipe fitting, sealing ring etc..
Hydraulic oil is the working media that energy is transmitted in hydraulic system, has various mineral oil, emulsion and synthesis type hydraulic Several major class such as oil.
Pedestal is used to support bracket 9 and the first hydraulic system, and control system can control by the first hydraulic system of control Bracket 9 is in the first rotation in surface, to drive the mechanical arm being set on bracket 9 in the first rotation in surface, thus with motivation Machinery claw can be configured according to actual needs in the first rotation in surface, slewing area;Control system is hydraulic by control second System can control the hinge that mechanical arm is articulated on bracket 9 in any second plane around mechanical arm and swing, thus with motivation Machinery claw is swung in any second plane, since the first plane is vertical with any second plane, when bracket 9 is in its rotatable model When enclosing interior rotation, mechanical arm can be swung in a certain second plane perpendicular to the first plane, and it is removable to realize gripper To any point in the accessible space arrived;Control system can control the folder of gripper by controlling third hydraulic system It holds and opens.
Control system by controlling the first hydraulic system, the second hydraulic system, third hydraulic system respectively, to control machinery Any point of pawl in the space that can touch is grabbed, in addition, using the first hydraulic system, the second hydraulic system, Third hydraulic system carries out drive control to hydraulic driving mechanical, due to the small in size, light-weight of each hydraulic system, rigidity Greatly, driving force is big, can effectively promote output loads, so that hydraulic driving mechanical is grabbed heavier object, and compare It is more stable by hydraulic-driven for air pressure driving method.
On the basis of the above embodiments, mechanical arm includes being articulated with the lower arm 7 of bracket 9 and being articulated with upper on lower arm 7 Arm 5, bracket 9 are equipped with the second hydraulic cylinder 10 that the hinge for driving lower arm 7 to be articulated with bracket 9 around it is swung, set on lower arm 7 There is the 4th hydraulic cylinder 8 for driving upper arm 5 to swing around its hinge, gripper is set on upper arm 5.
It should be noted that preferably, bracket 9 is two parallel stripe boards, two stripe boards are connected by swivel plate In pedestal, mechanical arm is articulated between two stripe boards.The shape of stripe board is trapezoidal, the corresponding one end company of two stripe boards It is connected to the same swivel plate, swivel plate can be set on pedestal by devices such as shafts, realize that swivel plate and bracket 9 turn jointly It is dynamic.
Lower arm 7 is articulated with bracket 9, and upper arm 5 is articulated with lower arm 7, and mechanical arm has been divided into the two-segment type of lower arm 7 and upper arm 5 Mechanical arm, and swung by the hinge that second hydraulic cylinder 10 drives lower arm 7 to be articulated with bracket 9 around it, pass through the 4th hydraulic cylinder 8 Driving upper arm 5 is swung around its hinge for being articulated with lower arm 7, to realize the more piece adjustment of mechanical arm, increases mechanical arm Scope of activities.Certainly, mechanical arm is not limited to two-segment type mechanical arm, may be set to be the mechanical arm of a section or two sections or more.
On the basis of the above embodiments, it is preferable that one end of lower arm 7 is articulated with the top of bracket 9, lower arm 7 it is another End is articulated with the arm body of upper arm 5, and one end of second hydraulic cylinder 10 is articulated with the frame body of bracket 9, the other end of second hydraulic cylinder 10 It is articulated on lower arm 7, one end of the 4th hydraulic cylinder 8 is articulated with lower arm 7, and the other end of the 4th hydraulic cylinder 8 is articulated with the one of upper arm 5 End, gripper are set to the other end of upper arm 5.
It should be noted that one end of lower arm 7 is articulated with the top of bracket 9, the scope of activities of lower arm 7 is made to reach maximum, The cylinder barrel of second hydraulic cylinder 10 is articulated on bracket 9, and bolt or pin shaft, the cylinder barrel of second hydraulic cylinder 10 are equipped on bracket 9 Outside is equipped with the lantern ring that is rotatably set on bolt or pin shaft, the axis of lantern ring perpendicular to cylinder barrel axis so that set Ring set loaded on bolt perhaps on pin shaft after second hydraulic cylinder 10 axis perpendicular to bolt or pin shaft.
Lower arm 7 and upper arm 5 plate structure that be all made of two parallel, can also use single plate structure, only be arranged to two A parallel plate structure is more firm.
The arm body of upper arm 5 is articulated with the other end of lower arm 7, the mode phase of hinged rear articulated manner and 7 articulated stand 9 of lower arm End with the perhaps telescopic rod of different second hydraulic cylinders 10 is articulated in the same or different mode of cylinder barrel articulated stand 9 The arm body of lower arm 7, to adjust angle of the lower arm 7 relative to bracket 9, the 4th hydraulic cylinder 8 is using identical with second hydraulic cylinder 10 Articulated structure is articulated on lower arm 7, and the 4th hydraulic cylinder 8 is respectively arranged at the two sides of lower arm 7 with second hydraulic cylinder 10, due to upper arm 5 arm body is articulated with lower arm 7, so, in the case where upper arm 5 is not overlapped with lower arm 7, the both ends of upper arm 5 are respectively at lower arm 7 Two sides, one end of upper arm 5 and second hydraulic cylinder 10 are in the side of lower arm 7, the other end of upper arm 5 and the 4th hydraulic cylinder 8 together It is in the other side of lower arm 7 together, the end of the hydraulic stem of the 4th hydraulic cylinder 8, which is articulated with, is in lower arm 7 together with the 4th hydraulic cylinder 8 The other end of the end of the upper arm 5 of side, upper arm 5 is equipped with gripper.
Optionally, the 4th hydraulic cylinder 8 and the cylinder barrel of second hydraulic cylinder 10 can also be articulated with bracket 9, and the second liquid The end of the hydraulic stem of cylinder pressure 10 is articulated with lower arm 7, and the end of the hydraulic stem of the 4th hydraulic cylinder 8 is articulated with lower arm 7, needs at this time The hinge joint that 4th hydraulic cylinder 8 is articulated with bracket 9 is articulated with the hinge joint of bracket 9 lower than second hydraulic cylinder 10, needs to use The stroke of 4th hydraulic cylinder 8 is more.
Structure, the second hydraulic cylinder 10 that the 4th hydraulic cylinder 8 driving upper arm 5 being arranged in the present embodiment moves drive lower arm 7 The structure of movement is bigger with scope of activities for being articulated on bracket 9 with the 4th hydraulic cylinder 8 relative to second hydraulic cylinder 10, uses Hydraulic cylinder stroke it is smaller, to simplify structure.
On the basis of the above embodiments, the first hydraulic system includes that one end is articulated with pedestal, the other end is articulated with bracket 9 Lower end first hydraulic cylinder 1, the first fluid pressure line that one end is connect with first hydraulic cylinder 1, the other end of the first fluid pressure line It is connected to hydraulic pump 18, hydraulic pump 18 is connected to fluid box 21, and the first fluid pressure line is equipped with for controlling the first fluid pressure line First valve body 13 of interior flow rate of liquid, hydraulic pump 18 and control system control connect.
It should be noted that the cylinder barrel of first hydraulic cylinder 1 is articulated with pedestal, the end hinge of the hydraulic stem of first hydraulic cylinder 1 It is connected to the lower end of bracket 9, since bracket 9 can be in the first rotation in surface, so the driving direction of hydraulic stem is needed to be in first In plane, it is preferable that be equipped with two parallel bars 11 for protruding from bracket 9 in the bottom of bracket 9, be arranged between two parallel bars 11 Perhaps the end of hydraulic stem is articulated with pin shaft or bolt to the pin shaft for having perpendicular to the first plane by bolt.
Fluid box 21 is fuel tank, is used for oil storage, control system control motor 17 drive hydraulic pump 18 from fuel tank to first 1 pump oil of hydraulic cylinder, and the first valve body 13 is set on the first fluid pressure line, it can control the liquid flow in the first fluid pressure line Speed, to realize flexible, the rotation of control bracket 9 that can be stable of hydraulic stem in stabilized driving first hydraulic cylinder 1.
On the basis of the above embodiments, the second hydraulic system includes fluid box 21 and the hydraulic pump that connect with fluid box 21 18, hydraulic pump 18 is connected to second hydraulic cylinder 10 by the second fluid pressure line, and hydraulic pump 18 is connected to by the 4th fluid pressure line 4th hydraulic cylinder 8, the second fluid pressure line are equipped with for controlling the second valve body 14 of flow rate of liquid in the second fluid pressure line, and the 4th Fluid pressure line is equipped with the 4th valve body 16 for controlling flow rate of liquid in the 4th fluid pressure line.
It should be noted that second hydraulic cylinder 10 can be connected to same hydraulic pump 18 by the second fluid pressure line, it will 4th hydraulic cylinder 8 is connected to same hydraulic pump 18 by the 4th fluid pressure line, and supplies liquid using same fluid box 21, makes the The structure of two hydraulic systems simplifies, and can save occupied space.In addition, the second valve body 14 is set on the second fluid pressure line, The 4th valve body 16 is arranged on 4th fluid pressure line can be controlled separately the liquid flow in the second fluid pressure line and the 4th fluid pressure line Speed, thus realize flexible and the 4th hydraulic cylinder 8 of stabilized driving the hydraulic stem of the hydraulic stem of stabilized driving second hydraulic cylinder 10 It is flexible, it can be with the swing of stability contorting upper arm 5 and lower arm 7.
On the basis of the above embodiments, third hydraulic system include fluid box 21, the hydraulic pump that is connect with fluid box 21 18 and it is set to the third hydraulic cylinder 6 on upper arm 5 along 5 length direction of upper arm, third hydraulic cylinder 6 is connected by third fluid pressure line In hydraulic pump 18, third fluid pressure line is equipped with the third valve body 15 for controlling flow rate of liquid in third fluid pressure line.
It should be noted that third hydraulic cylinder 6 is set on upper arm 5, and the axis direction and upper arm of third hydraulic cylinder 6 5 length direction is consistent, and the end of the telescopic rod of third hydraulic cylinder 6 is connected to gripper, and the clamping for driving gripper And opening.
Third hydraulic cylinder 6 is connected to same hydraulic pump 18 by third fluid pressure line, and is supplied using same fluid box 21 Oil can simplify the structure of third hydraulic system, in addition, setting controls liquid in third fluid pressure line on third fluid pressure line The third valve body 15 of flow velocity, can be with the flexible of the hydraulic stem of stability contorting third hydraulic cylinder 6, so that stability contorting gripper is beaten It opens and clamps.
Preferably, the first valve body 13, the second valve body 14, third valve body 15, the 4th valve body 16 are throttle valve.
It should be noted that throttle valve is the valve by change throttling section or chock length to control fluid flow, Throttle flow rate adjustable range is big, and the variation of one pressure difference of flow is smooth;Torque-adjusting is small, sensitive.Construction is simpler, convenient for system It makes and repairs, it is at low cost.
On the basis of the above embodiments, first hydraulic cylinder 1, second hydraulic cylinder 10, third hydraulic cylinder 6, the 4th hydraulic cylinder 8 Be multistage hydraulic cylinder, between first hydraulic cylinder 1 and the first valve body 13, between second hydraulic cylinder 10 and the second valve body 14, third 3-position 4-way electro-hydraulic reversing valve is equipped between hydraulic cylinder 6 and third valve body 15, between the 4th hydraulic cylinder 8 and the 4th valve body 16 12,3-position 4-way electro-hydraulic reversing valve 12 and control system control connect.
It should be noted that multistage hydraulic cylinder is filled by two-stage or multi-level piston cylinder sleeve, mainly by cylinder cap, cylinder barrel, set The parts such as cylinder, piston composition.Preferably, the multistage hydraulic cylinder in the present embodiment can use two-stage hydraulic cylinder.
The bottom end of the cylinder barrel of two-stage hydraulic cylinder is equipped with the first hydraulic fluid port, and the top of cylinder barrel and the top of inner sleeve are respectively equipped with Second hydraulic fluid port and third hydraulic fluid port first push sleeve movement, then when the first hydraulic fluid port oil inlet, the second hydraulic fluid port, third hydraulic fluid port oil return Push the hydraulic stem movement of sleeve inner.If the second hydraulic fluid port, third hydraulic fluid port oil inlet, the first hydraulic fluid port oil return, then sleeve is first retracted into Terminal, then hydraulic stem is just retracted.
3-position 4-way electro-hydraulic reversing valve 12 be with the incorporated hydraulic directional valve of solenoid-operated pilot valves, it is right respectively The movement of first hydraulic cylinder 1, second hydraulic cylinder 10, third hydraulic cylinder 6, the 4th hydraulic cylinder 8 is controlled, that is, to oil liquid Flow direction is controlled.
3-position 4-way electro-hydraulic reversing valve 12 is controlled by control system, can control every root canal road on each hydraulic cylinder Oil inlet and fuel-displaced makes first hydraulic cylinder 1, second hydraulic cylinder 10, third hydraulic cylinder 6, the to control the flexible of each hydraulic cylinder The flexible realizations of four hydraulic cylinders 8 is freely combined, thus realize hydraulic driving mechanical each position can do it is identical or Different movements.
On the basis of the above embodiments, the cylinder barrel of third hydraulic cylinder 6 is fixed on upper arm 5, and gripper includes two hinges Two L shape fingers 3 of upper arm 5 are connected to, two L shape fingers 3 are symmetrical arranged about upper arm 5, the vertical pole difference of two L shape fingers 3 It is articulated on upper arm 5, the end of two vertical poles is hinged with connecting rod 4 respectively, and the other end of two connecting rods 4 is hingedly connected to The hydraulic stem of three hydraulic cylinders 6, the end separation that the hydraulic stem of third hydraulic cylinder 6 is stretched out to drive the cross bar of two L shape fingers 3, The end fitting that the hydraulic stem of third hydraulic cylinder 6 is retracted to drive the cross bar of two L shape fingers 3.
It should be noted that L shape finger 3 includes vertical pole and is in the cross bar that predetermined angle is connect, the end of cross bar with vertical pole It is connected to the end of vertical pole, the other end of cross bar and the other end of vertical pole are free end, and two connecting rods 4 are hingedly connected to The end of the hydraulic stem of three hydraulic cylinders 6.
Two vertical poles are articulated with the end of upper arm 5, the bending directions of two L shape fingers 3 on the contrary, and two L shape fingers 3 exist Movement in same plane, and L shape finger 3, after closing up, the free end of two cross bars can contact with each other, to complete the dynamic of clamping Make.
After the hydraulic stem of third hydraulic cylinder 6 stretches out, two connecting rods 4 are driven to move along the length direction of upper arm 5, at this time Connecting rod 4 will drive the hinge joint rotation that the end of vertical pole is articulated with upper arm 5 around vertical pole, thus drive the end of cross bar open or Person's clamping.The present embodiment structure is simple, is directly stretched by the hydraulic stem of third hydraulic cylinder 6 to control the opening of gripper and folder It takes, chucking power can be promoted.
On the basis of the above embodiments, the friction between the cross bar and gripped object in order to reduce by two L shape fingers 3 and Pressure can be equipped with rubber head 2 in the end sleeve of the cross bar of two L shape fingers 3.The face that two rubber heads 2 are bonded to each other is plane, with Clamp object.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Hydraulic driving mechanical provided by the present invention is described in detail above.Specific case used herein Principle and implementation of the present invention are described, the above embodiments are only used to help understand side of the invention Method and its core concept.It should be pointed out that for those skilled in the art, not departing from the principle of the invention Under the premise of, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the claims in the present invention In protection scope.

Claims (10)

1. a kind of hydraulic driving mechanical characterized by comprising pedestal and can the first rotation in surface, be set to institute The bracket (9) on pedestal is stated, the pedestal is equipped with the first hydraulic system for driving the bracket (9) to rotate;
The mechanical arm that can be swung in any second plane vertical with first plane, institute are hinged on the bracket (9) It states bracket (9) and is equipped with the second hydraulic pressure system that the hinge for driving the mechanical arm to be articulated with the bracket (9) around it is swung System;
The mechanical arm is equipped with gripper, and the mechanical arm is equipped with the third for driving the gripper to clamp and open Hydraulic system;
First hydraulic system, second hydraulic system, the third hydraulic system are connect with control system.
2. hydraulic driving mechanical according to claim 1, which is characterized in that the mechanical arm includes being articulated with the branch The lower arm (7) of frame (9) and the upper arm (5) being articulated on the lower arm (7), the bracket (9) be equipped with for drive it is described under The second hydraulic cylinder (10) that arm (7) is swung around its hinge for being articulated with the bracket (9), the lower arm (7) are equipped with for driving The 4th hydraulic cylinder (8) that the upper arm (5) is swung around its hinge is moved, the gripper is set on the upper arm (5).
3. hydraulic driving mechanical according to claim 2, which is characterized in that one end of the lower arm (7) is articulated with institute The top of bracket (9) is stated, the other end of the lower arm (7) is articulated with the arm body of the upper arm (5), the second hydraulic cylinder (10) One end be articulated with the frame body of the bracket (9), the other end of the second hydraulic cylinder (10) is articulated on the lower arm (7), One end of 4th hydraulic cylinder (8) is articulated with the lower arm (7), and the other end of the 4th hydraulic cylinder (8) is articulated with described One end of upper arm (5), the gripper are set to the other end of the upper arm (5).
4. hydraulic driving mechanical according to claim 3, which is characterized in that first hydraulic system includes one end hinge Be connected to the pedestal, the other end be articulated with the bracket (9) lower end first hydraulic cylinder (1), one end and described first hydraulic First fluid pressure line of cylinder (1) connection, the other end of first fluid pressure line are connected to hydraulic pump (18), the hydraulic pump (18) it is connected to fluid box (21), first fluid pressure line is equipped with for controlling flow rate of liquid in first fluid pressure line The first valve body (13), the hydraulic pump (18) and the control system control connect.
5. hydraulic driving mechanical according to claim 4, which is characterized in that second hydraulic system includes the liquid Body case (21) and the hydraulic pump (18) connecting with the fluid box (21), the hydraulic pump (18) pass through the second fluid pressure line It is connected to the second hydraulic cylinder (10), the hydraulic pump (18) is connected to the 4th hydraulic cylinder by the 4th fluid pressure line (8), second fluid pressure line is equipped with the second valve body (14) for controlling flow rate of liquid in second fluid pressure line, institute The 4th fluid pressure line is stated equipped with the 4th valve body (16) for controlling flow rate of liquid in the 4th fluid pressure line.
6. hydraulic driving mechanical according to claim 5, which is characterized in that the third hydraulic system includes the liquid Body case (21), the hydraulic pump (18) connecting with the fluid box (21) and institute is set to along the upper arm (5) length direction The third hydraulic cylinder (6) on upper arm (5) is stated, the third hydraulic cylinder (6) is connected to the hydraulic pump by third fluid pressure line (18), the third fluid pressure line is equipped with the third valve body (15) for controlling flow rate of liquid in the third fluid pressure line.
7. hydraulic driving mechanical according to claim 6, which is characterized in that first valve body (13), described second Valve body (14), the third valve body (15), the 4th valve body (16) are throttle valve.
8. hydraulic driving mechanical according to claim 7, which is characterized in that the first hydraulic cylinder (1), described second Hydraulic cylinder (10), the third hydraulic cylinder (6), the 4th hydraulic cylinder (8) are multistage hydraulic cylinder, the first hydraulic cylinder (1) between first valve body (13), between the second hydraulic cylinder (10) and second valve body (14), the third liquid Three are equipped between cylinder pressure (6) and the third valve body (15), between the 4th hydraulic cylinder (8) and the 4th valve body (16) Position four-way electro-hydraulic reversing valve (12), the 3-position 4-way electro-hydraulic reversing valve (12) and control system control connect.
9. hydraulic driving mechanical according to claim 8, which is characterized in that the cylinder barrel of the third hydraulic cylinder (6) is solid Due on the upper arm (5), the gripper includes two two L shape fingers for being articulated with the upper arm (5), two L Shape finger is symmetrical arranged about the upper arm (5), and the vertical pole of two L shape fingers is hingedly connected on the upper arm (5), and two The end of a vertical pole is hinged with connecting rod (4) respectively, and the other end of two connecting rods (4) is hingedly connected to described The hydraulic stem of three hydraulic cylinders (6), the hydraulic stem of the third hydraulic cylinder (6) stretch out the cross bar to drive two L shape fingers End separation, the end patch that the hydraulic stem of the third hydraulic cylinder (6) is retracted to drive the cross bar of two L shape fingers It closes.
10. hydraulic driving mechanical according to claim 9, which is characterized in that the end of the cross bar of two L shape fingers Portion is set with rubber head (2).
CN201910636521.9A 2019-07-15 2019-07-15 A kind of hydraulic driving mechanical Pending CN110202568A (en)

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Cited By (2)

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CN112318486A (en) * 2020-10-10 2021-02-05 安徽省巢湖市宏顺机械铸造有限公司 Manipulator equipment for casting
CN112343878A (en) * 2020-10-15 2021-02-09 南京晨光集团有限责任公司 Hydraulic driving system for linear motion of mechanical arm and intelligent control method thereof

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CN106313110A (en) * 2016-10-18 2017-01-11 国网山东省电力公司电力科学研究院 Auxiliary mechanical arm used for live working and robot
CN107856029A (en) * 2017-11-29 2018-03-30 长春工业大学 A kind of electro-hydraulic combination drive industrial machinery arm configuration and control system
CN210148091U (en) * 2019-07-15 2020-03-17 广东工业大学 Hydraulic drive manipulator

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CN203357446U (en) * 2013-07-12 2013-12-25 中国石油大学(华东) Drill rod handling mechanical arm
CN106313110A (en) * 2016-10-18 2017-01-11 国网山东省电力公司电力科学研究院 Auxiliary mechanical arm used for live working and robot
CN107856029A (en) * 2017-11-29 2018-03-30 长春工业大学 A kind of electro-hydraulic combination drive industrial machinery arm configuration and control system
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* Cited by examiner, † Cited by third party
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CN112318486A (en) * 2020-10-10 2021-02-05 安徽省巢湖市宏顺机械铸造有限公司 Manipulator equipment for casting
CN112343878A (en) * 2020-10-15 2021-02-09 南京晨光集团有限责任公司 Hydraulic driving system for linear motion of mechanical arm and intelligent control method thereof

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