CN111251289A - Hydraulic mechanical arm device - Google Patents
Hydraulic mechanical arm device Download PDFInfo
- Publication number
- CN111251289A CN111251289A CN202010188211.8A CN202010188211A CN111251289A CN 111251289 A CN111251289 A CN 111251289A CN 202010188211 A CN202010188211 A CN 202010188211A CN 111251289 A CN111251289 A CN 111251289A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- hydraulic
- cylinder
- clamping
- hydraulic cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention belongs to the technical field of mechanical hand devices, and discloses a hydraulic mechanical hand device which comprises an installation base, an upright post, a jacking oil cylinder, a cross arm, a rotating disc, a first mechanical hand, a rotating oil cylinder, a hollow sleeve, a first clamping arm and a second clamping arm; an upright post is fixedly arranged above the mounting base, a jacking oil cylinder is arranged in the upright post, the jacking plate is arranged in a sliding groove of the upright post in a sliding manner through a sliding strip, and the interior of the jacking plate is fixedly connected with the top end of the jacking oil cylinder; a cross arm is arranged on one side of the jacking plate through a mounting plate and a screw, and a first hydraulic cylinder is mounted inside one end of the cross arm. The direction of the manipulator can be adjusted at will according to needs, so that the manipulator is greatly convenient to clamp objects in any direction; the clamping force of the clamping jaw is effectively improved, and the use safety and the working efficiency of the manipulator are greatly improved; the rotating oil cylinder drives the rotating rod to drive the hollow sleeve to rotate through the bearing, and multi-angle clamping of the hydraulic mechanical arm is achieved.
Description
Technical Field
The invention relates to the technical field of manipulator devices, in particular to a hydraulic manipulator device.
Background
A robot is a part for gripping a workpiece (or a tool), and has various structural forms such as a gripping type, a holding type, an adsorption type, and the like according to the shape, size, weight, material, and working requirements of an object to be gripped. With the continuous development of modern industry, manipulators are increasingly applied to various industries. For the clamping of plastic or other soft workpieces, the surfaces of the workpieces are easily damaged, and the common manipulator has a complex structure and higher cost.
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The hydraulic mechanical arm is a mechanical arm taking hydraulic pressure as a power source.
The novel manipulator has the advantages that the novel manipulator is more and more in places where the modern industry needs to work, production efficiency can be improved, safety of workers can be guaranteed, the existing manipulator can only move singly, objects cannot be clamped evenly for a long time, damage to the objects is easily caused, implementation of work cannot be achieved, working efficiency and working quality of the manipulator can be greatly affected, and the novel manipulator is inconvenient to use.
Disclosure of Invention
The invention mainly aims to provide a hydraulic manipulator device, wherein a rotary disc can randomly adjust the direction of a clamping jaw according to the requirement, so that the manipulator can be greatly convenient to clamp an object in any direction; the clamping force of the clamping jaw can be effectively improved, so that the clamping jaw can clamp objects more firmly for a long time, and the use safety and the working efficiency of the manipulator are greatly improved; the rotating oil cylinder drives the rotating rod to drive the hollow sleeve to rotate through the bearing, so that multi-angle clamping of the hydraulic mechanical arm is realized; the flexible end of fourth pneumatic cylinder drives the second through the connecting rod and presss from both sides tight arm and reciprocate, has realized the control of opening and shutting degree size, is convenient for use according to actual demand.
In order to achieve the purpose, the hydraulic manipulator device provided by the invention comprises an installation base, an upright post, a jacking oil cylinder, a jacking plate, a cross arm, a first hydraulic cylinder, a second hydraulic cylinder, a rotating disc, a first manipulator, a third hydraulic cylinder, a clamping jaw, a limiting cylinder, a rotating oil cylinder, a hollow sleeve, a fourth hydraulic cylinder, a first clamping arm and a second clamping arm; an upright post is fixedly arranged above the mounting base, the upright post is designed to be a hollow structure, a jacking oil cylinder is arranged in the upright post, sliding grooves are formed in two side walls of the upright post, the jacking plate is arranged in the sliding grooves of the upright post in a sliding mode through sliding strips, and the inner portion of the jacking plate is fixedly connected with the top end of the jacking oil cylinder;
a cross arm is arranged on one side of the jacking plate through a mounting plate and a screw, a first hydraulic cylinder is arranged inside one end of the cross arm, a sliding rail is arranged on the bottom of the cross arm, a sliding block is arranged on the sliding rail in a sliding manner, one side of the sliding block is fixedly connected with the telescopic end of the first hydraulic cylinder, a second hydraulic cylinder is arranged at the bottom of the sliding block, a rotary disc is fixedly connected with the telescopic end of the bottom of the second hydraulic cylinder, the rotary disc is connected with the top of the first manipulator through a connecting shaft, clamping jaws are arranged on the inner walls of two sides of the first manipulator through movable shafts in a connecting manner, and a third hydraulic cylinder;
a limiting cylinder is fixedly mounted at the right end of the cross arm, a rotating oil cylinder is mounted in the limiting cylinder, the rotating oil cylinder is in transmission connection with a bearing, the bearing is in transmission connection with a rotating rod, one end of the rotating rod extends into the limiting cylinder and is in limiting connection with the limiting cylinder, and the other end of the rotating rod is fixedly connected with the hollow sleeve; the top and the bottom of the hollow sleeve are respectively provided with a fourth hydraulic cylinder and a second manipulator mounting frame, the telescopic end of the bottom of the fourth hydraulic cylinder is connected with a connecting rod through a coupler, and the bottom of the second manipulator mounting frame is provided with a second manipulator.
Optionally, the second manipulator comprises a first clamping arm and a second clamping arm; the bottom end of the connecting rod is hinged to one end of each of the two second clamping arms through a pin shaft penetrating through the second manipulator mounting frame, one end of each of the two first clamping arms is hinged to the second manipulator mounting frame through a pin shaft, and the other end of each of the two second clamping arms is hinged to the two first clamping arms through a pin shaft.
Optionally, a through hole in a long strip shape is formed in the second manipulator mounting frame, and the telescopic end of the fourth hydraulic cylinder drives the second clamping arm to move up and down through the connecting rod.
Optionally, a top limit plate is mounted at the top of the upright post.
Optionally, a triangular support frame is installed at the bottom of one end of the cross arm on the jacking plate.
Optionally, the third pneumatic cylinders are arranged into four groups, the four groups of third pneumatic cylinders are symmetrically arranged between the clamping jaw and the first manipulator, and the clamping jaw is provided with an anti-corrosion wear-resistant coating.
Optionally, the limiting cylinder is internally provided with damping blocks above and below the rotating oil cylinder.
Optionally, an anti-skid sucker is arranged on the inner wall of the first clamping arm.
Optionally, the hollow sleeve is rotated by rotating a cylinder drive rotation rod.
Optionally, the first manipulator is driven by a second hydraulic cylinder to move up and down, and the first hydraulic cylinder moves on the slide rail of the cross arm in the horizontal direction through the slide block.
The technical scheme of the invention has the following beneficial effects:
1. according to the invention, the jacking plate is lifted in the sliding groove of the upright post through the jacking oil cylinder to slide upwards and downwards, so that the jacking plate is adjusted to the required station height; thereby conveniently adjusting the height position of the cross arm.
2. According to the invention, the first hydraulic cylinder drives the sliding block to move in the horizontal direction in the sliding rail at the bottom of the cross arm, so that the second hydraulic cylinder and the first manipulator are driven to move in the horizontal direction; the second hydraulic cylinder hydraulically lifts the height of the first manipulator, so that the height of the first manipulator is better adjusted; can rotate first manipulator through rotating disc and connecting axle, can make things convenient for first manipulator to adjust to remove to pressing from both sides and get the position, adjust the direction of clamping jaw at will as required, very big has made things convenient for the manipulator to pressing from both sides the clamp of the object of arbitrary direction.
3. The third hydraulic cylinders are symmetrically arranged between the clamping jaws and the first mechanical arm, the width of the clamping jaws can be adjusted by the third hydraulic cylinders, the clamping force of the clamping jaws can be effectively improved, the clamping jaws can clamp objects more firmly for a long time, the use safety and the working efficiency of the mechanical arm are greatly improved, and the clamping jaws are provided with the anti-corrosion wear-resistant coating which effectively improves the use strength of the clamping jaws and greatly prolongs the service life of the clamping jaws.
4. The rotating oil cylinder in the limiting cylinder drives the hollow sleeve to rotate through the bearing transmission rotating rod; the hollow sleeve can be rotated to a proper angle position according to the requirement; and completing the multi-angle clamping operation.
5. According to the invention, a hydraulic rod at the bottom of a fourth hydraulic cylinder is connected with a connecting rod through a coupler, and a telescopic end of the fourth hydraulic cylinder drives a second clamping arm to move up and down through the connecting rod, so that two first clamping arms and the second clamping arm are driven to clamp an object; the anti-skidding sucker is arranged on the surface of the first clamping arm, so that the friction force between the anti-skidding sucker and a workpiece can be effectively enhanced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic diagram of the overall structure of a hydraulic manipulator device according to the present invention;
FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;
FIG. 3 is an enlarged view of the structure at B in FIG. 1;
FIG. 4 is an enlarged view of the structure at C in FIG. 1;
fig. 5 is a schematic structural diagram of connection between a vertical column and a jacking plate in a hydraulic manipulator device according to the present invention;
the reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 1 | |
2 | Upright post |
| 3 | Jacking |
4 | Jacking plate |
| 5 | Spacing roof | 6 | Cross arm |
| 7 | First hydraulic cylinder | 8 | Sliding block |
| 9 | Second hydraulic cylinder | 10 | Rotary disc |
| 11 | Connecting shaft | 12 | First manipulator |
| 13 | Third hydraulic cylinder | 14 | Movable shaft |
| 15 | Clamping jaw | 16 | Anti-corrosion wear-resistant coating |
| 17 | Sliding rail | 18 | Limiting cylinder |
| 19 | Rotary oil cylinder | 20 | Shock-absorbing block |
| 21 | Rotating rod | 22 | Bearing assembly |
| 23 | Hollow sleeve | 24 | Fourth hydraulic cylinder |
| 25 | Coupling device | 26 | Connecting |
| 27 | Second |
28 | |
| 29 | |
30 | Through |
| 31 | Anti-skid sucker | 32 | |
| 33 | |
34 | Slide bar |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In the description of the present invention, it is to be understood that the terms "center", "centerline", "longitudinal", "lateral", "length", "width", "thickness", "depth", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be taken as limiting the invention, also in the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1-5, the present invention provides a hydraulic manipulator device, which includes a mounting base 1, a column 2, a jacking cylinder 3, a jacking plate 4, a cross arm 6, a first hydraulic cylinder 7, a second hydraulic cylinder 9, a rotary disk 10, a first manipulator 12, a third hydraulic cylinder 13, a clamping jaw 15, a limiting cylinder 18, a rotary cylinder 19, a hollow sleeve 23, a fourth hydraulic cylinder 24, a first clamping arm 28, and a second clamping arm 29; an upright post 2 is fixedly arranged above the mounting base 1, the upright post 2 adopts a hollow structure design, a jacking oil cylinder 3 is arranged inside the upright post 2, sliding grooves 33 are formed in two side walls of the upright post 2, the jacking plate 4 is arranged in the sliding grooves 33 of the upright post 2 in a sliding manner through sliding strips 34, and the inside of the jacking plate 4 is fixedly connected with the top end of the jacking oil cylinder 3;
a cross arm 6 is arranged on one side of the jacking plate 4 through a mounting plate and a screw, a first hydraulic cylinder 7 is arranged inside one end of the cross arm 6, a sliding rail 17 is arranged at the bottom of the cross arm 6, a sliding block 8 is arranged on the sliding rail 17 in a sliding manner, one side of the sliding block 8 is fixedly connected with the telescopic end of the first hydraulic cylinder 7, a second hydraulic cylinder 9 is arranged at the bottom of the sliding block 8, a rotating disc 10 is fixedly connected to the telescopic end at the bottom of the second hydraulic cylinder 9, the rotating disc 10 is connected with the top of a first manipulator 12 through a connecting shaft 11, clamping jaws 15 are arranged on the inner walls of two sides of the first manipulator 12 through movable shafts 14 in a connecting manner, and a third hydraulic cylinder 13 is arranged between;
a limiting cylinder 18 is fixedly mounted at the right end of the cross arm 6, a rotating oil cylinder 19 is mounted inside the limiting cylinder 18, the rotating oil cylinder 19 is in transmission connection with a bearing 22, the bearing 22 is in transmission connection with a rotating rod 21, one end of the rotating rod 21 extends into the limiting cylinder 18 and is in limiting connection with the limiting cylinder 18, and the other end of the rotating rod 21 is fixedly connected with a hollow sleeve 23; the top and the bottom of the hollow sleeve 23 are respectively provided with a fourth hydraulic cylinder 24 and a second manipulator mounting frame 27, the telescopic end at the bottom of the fourth hydraulic cylinder 24 is connected with a connecting rod 26 through a coupler 25, and a second manipulator is mounted at the bottom of the second manipulator mounting frame 27.
In particular, the second manipulator comprises a first clamping arm 28 and a second clamping arm 29; the bottom end of the connecting rod 26 is hinged to one end of two second clamping arms 29 through a pin shaft penetrating through the second manipulator mounting frame 27, one end of each of the two first clamping arms 28 is hinged to the second manipulator mounting frame 27 through a pin shaft, and the other end of each of the two second clamping arms 29 is hinged to each of the two first clamping arms 28 through a pin shaft.
Specifically, a strip-shaped through hole 30 is formed in the second manipulator mounting frame 27, and the telescopic end of the fourth hydraulic cylinder 24 drives the second clamping arm 29 to move up and down through the connecting rod 26.
Specifically, a limiting top plate 5 is installed at the top of the upright post 2.
Specifically, a triangular support frame 32 is arranged at the bottom of one end of the cross arm 6 on the jacking plate 4.
Specifically, third pneumatic cylinder 13 sets up to four groups, and four groups of third pneumatic cylinders 13 are the symmetric distribution and set up between clamping jaw 15 and first manipulator 12, and the width between clamping jaw 15 can be adjusted to third pneumatic cylinder 13, also can effectual improvement clamping jaw 15's clamp force simultaneously, makes clamping jaw 15 can be long-time and more firm clip the object, great improvement the security and the work efficiency that the manipulator used, be equipped with anticorrosion wear-resistant coating 16 on clamping jaw 15, 16 effectual use intensity that has improved clamping jaw 15 of anticorrosion wear-resistant coating and the life who has prolonged clamping jaw 15 greatly.
Specifically, the limiting cylinder 18 is internally provided with shock absorption blocks 20 above and below the rotating oil cylinder 19.
Specifically, the inner wall of the first clamping arm 28 is provided with an anti-skid sucker 31.
Specifically, the hollow sleeve 23 drives the rotating rod 21 to rotate through the rotating oil cylinder 19.
Specifically, the first manipulator 12 is driven by the second hydraulic cylinder 9 to move up and down, and is moved horizontally on the slide rail 17 of the arm 6 by the first hydraulic cylinder 7 via the slider 8.
The working principle and the using process of the invention are as follows: when the invention is used, a worker starts the jacking oil cylinder 3 to lift the jacking plate 4 to slide upwards in the sliding groove 33 of the upright post 2 through the sliding strip 34, when the jacking plate 4 is lifted to the required station height, the jacking oil cylinder 3 is stopped, then the first hydraulic cylinder 7 is started to drive the slide block 8 to move horizontally in the slide rail 17 at the bottom of the cross arm 6, thereby driving the second hydraulic cylinder 9 and the first mechanical arm 12 to move in the horizontal direction, after moving to the clamping position, the first hydraulic cylinder 7 is stopped, the second hydraulic cylinder 9 is started to hydraulically lift the height of the first manipulator 12, after the height of the first manipulator 12 is adjusted, the worker can rotate the first manipulator 12 through the rotary disc 10 and the connecting shaft 11, adjust the first manipulator 12 to the clamped object, stop the second hydraulic cylinder 9, and start the third hydraulic cylinder 13 to drive the clamping jaw 15 to rotate on the movable shaft 14; the four groups of third hydraulic cylinders 13 are symmetrically arranged between the clamping jaw 15 and the first mechanical arm 12, the third hydraulic cylinders 13 can adjust the width between the clamping jaws 15, and can effectively improve the clamping force of the clamping jaws 15, so that the clamping jaws 15 can clamp objects more firmly for a long time, the use safety and the work efficiency of the mechanical arm are greatly improved, the clamping jaws 15 are provided with the anti-corrosion wear-resistant coating 16, and the anti-corrosion wear-resistant coating 16 effectively improves the use strength of the clamping jaws 15 and greatly prolongs the service life of the clamping jaws 15;
in addition, when multi-angle manipulator clamping operation is required, a worker can drive the hollow sleeve 23 to rotate through the rotating oil cylinder 19 in the limiting cylinder 18 arranged at the front end of the cross arm 6 and the rotating rod 21 driven by the bearing 22; the hollow sleeve 23 can be rotated to a proper angle position as required, then a worker can start the fourth hydraulic cylinder 24, a hydraulic rod at the bottom of the fourth hydraulic cylinder 24 is connected with a connecting rod 26 through a coupler 25, the bottom end of the connecting rod 26 is hinged with one end of each of two second clamping arms 29 through a pin shaft penetrating through a second manipulator mounting frame 27, one end of each of the two first clamping arms 28 is hinged on the second manipulator mounting frame 27 through a pin shaft, and the other end of each of the two second clamping arms 29 is hinged with the two first clamping arms 28 through a pin shaft; the telescopic end of the fourth hydraulic cylinder 24 drives the second clamping arm 29 to move up and down through the connecting rod 26, so as to drive the two first clamping arms 28 and the second clamping arm 29 to clamp the object.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A hydraulic manipulator device is characterized by comprising an installation base (1), a stand column (2), a jacking oil cylinder (3), a jacking plate (4), a cross arm (6), a first hydraulic cylinder (7), a second hydraulic cylinder (9), a rotary disc (10), a first manipulator (12), a third hydraulic cylinder (13), a clamping jaw (15), a limiting cylinder (18), a rotary oil cylinder (19), a hollow sleeve (23), a fourth hydraulic cylinder (24), a first clamping arm (28) and a second clamping arm (29); an upright post (2) is fixedly arranged above the mounting base (1), the upright post (2) adopts a hollow structure design, a jacking oil cylinder (3) is arranged inside the upright post (2), sliding grooves (33) are formed in two side walls of the upright post (2), the jacking plate (4) is arranged in the sliding grooves (33) of the upright post (2) in a sliding mode through sliding strips (34), and the inside of the jacking plate (4) is fixedly connected with the top end of the jacking oil cylinder (3);
a cross arm (6) is arranged on one side of the jacking plate (4) through a mounting plate and a screw, a first hydraulic cylinder (7) is arranged in one end of the cross arm (6), a sliding rail (17) is arranged on the bottom of the cross arm (6), a sliding block (8) is arranged on the sliding rail (17) in a sliding manner, one side of the sliding block (8) is fixedly connected with the telescopic end of the first hydraulic cylinder (7), the bottom of the sliding block (8) is provided with a second hydraulic cylinder (9), the telescopic end at the bottom of the second hydraulic cylinder (9) is fixedly connected with a rotating disc (10), the rotating disc (10) is connected with the top of the first manipulator (12) through a connecting shaft (11), the inner walls of the two sides of the first manipulator (12) are connected and provided with clamping jaws (15) through movable shafts (14), a third hydraulic cylinder (13) is connected between the clamping jaw (15) and the inner wall of the first manipulator (12);
a limiting cylinder (18) is fixedly mounted at the right end of the cross arm (6), a rotating oil cylinder (19) is mounted inside the limiting cylinder (18), the rotating oil cylinder (19) is connected with a bearing (22) in a transmission manner, the bearing (22) is provided with a rotating rod (21) in a transmission manner, one end of the rotating rod (21) extends into the limiting cylinder (18) and is in limiting connection with the limiting cylinder (18), and the other end of the rotating rod (21) is fixedly connected with the hollow sleeve (23); the top and the bottom of the hollow sleeve (23) are respectively provided with a fourth hydraulic cylinder (24) and a second manipulator mounting frame (27), the telescopic end at the bottom of the fourth hydraulic cylinder (24) is connected with a connecting rod (26) through a coupler (25), and the bottom of the second manipulator mounting frame (27) is provided with a second manipulator.
2. Hydraulic manipulator device according to claim 1, wherein the second manipulator comprises a first gripping arm (28) and a second gripping arm (29); the bottom end of the connecting rod (26) is hinged to one end of each of the two second clamping arms (29) through a pin shaft penetrating through the second manipulator mounting frame (27), one end of each of the two first clamping arms (28) is hinged to the second manipulator mounting frame (27) through a pin shaft, and the other end of each of the two second clamping arms (29) is hinged to the two first clamping arms (28) through a pin shaft.
3. The hydraulic manipulator device according to claim 1, wherein the second manipulator mounting frame (27) is provided with a long strip-shaped through hole (30), and the telescopic end of the fourth hydraulic cylinder (24) drives the second clamping arm (29) to move up and down through the connecting rod (26).
4. Hydraulic manipulator device according to claim 1, characterised in that a top limit plate (5) is mounted on top of the upright (2).
5. Hydraulic manipulator according to claim 1, characterized in that a triangular support (32) is arranged on the jacking plate (4) at the bottom of one end of the cross arm (6).
6. Hydraulic manipulator device according to claim 1, wherein the third hydraulic cylinders (13) are arranged in four groups, and the four groups of third hydraulic cylinders (13) are symmetrically arranged between the clamping jaw (15) and the first manipulator (12), and the clamping jaw (15) is provided with an anti-corrosion wear-resistant coating (16).
7. Hydraulic manipulator device according to claim 1, characterised in that inside the limit cylinder (18) above and below the turning cylinder (19) are mounted shock-absorbing blocks (20).
8. Hydraulic manipulator device according to claim 1, wherein anti-slip suction cups (31) are provided on the inner wall of the first gripping arm (28).
9. Hydraulic manipulator device according to claim 1, characterised in that the hollow sleeve (23) is rotated by means of a rotation cylinder (19) driving a rotation rod (21).
10. Hydraulic manipulator according to claim 1, characterised in that the first manipulator (12) is driven by a second hydraulic cylinder (9) to move up and down and by a first hydraulic cylinder (7) via a slide (8) to move in a horizontal direction on a slide (17) of the crossbar (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010188211.8A CN111251289A (en) | 2020-03-17 | 2020-03-17 | Hydraulic mechanical arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010188211.8A CN111251289A (en) | 2020-03-17 | 2020-03-17 | Hydraulic mechanical arm device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111251289A true CN111251289A (en) | 2020-06-09 |
Family
ID=70943636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010188211.8A Pending CN111251289A (en) | 2020-03-17 | 2020-03-17 | Hydraulic mechanical arm device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111251289A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112225083A (en) * | 2020-11-13 | 2021-01-15 | 河南正大起重设备有限公司 | Crane lifting automatic control assembly device |
| CN112427856A (en) * | 2020-11-12 | 2021-03-02 | 浙江泰鸿万立科技股份有限公司 | Double-welding-head welding device for hollow pedal arm |
| CN112665894A (en) * | 2020-12-03 | 2021-04-16 | 西安建筑科技大学 | Working device and method of fixed type train coal short-period automatic sampling machine |
| CN112659171A (en) * | 2020-12-08 | 2021-04-16 | 南京布瑞锶克金属科技有限公司 | Automatic clamping injury prevention manipulator for automated production |
| CN112773395A (en) * | 2020-12-30 | 2021-05-11 | 无锡祥生医疗科技股份有限公司 | Neck ultrasonic imaging device based on mechanical arm |
| CN115283952A (en) * | 2022-06-27 | 2022-11-04 | 深圳市高捷力科技有限公司 | Safety assembly fixture for hydraulic prop of armored chariot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204431254U (en) * | 2015-03-03 | 2015-07-01 | 山东理工大学 | A kind of accurately clamping type rotary fluid machine hand |
| CN105415366A (en) * | 2015-12-28 | 2016-03-23 | 天津市中恒科贸有限公司 | Manipulator for grabbing plastic special-shaped body |
| CN205201555U (en) * | 2015-12-28 | 2016-05-04 | 天津市中恒科贸有限公司 | Rotatory promotion formula manipulator |
| CN205254982U (en) * | 2015-12-28 | 2016-05-25 | 天津市中恒科贸有限公司 | Snatch profile body's promotion formula manipulator device |
| CN205820415U (en) * | 2016-06-22 | 2016-12-21 | 安徽松科信息科技有限公司 | A kind of automatic loading robot |
-
2020
- 2020-03-17 CN CN202010188211.8A patent/CN111251289A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204431254U (en) * | 2015-03-03 | 2015-07-01 | 山东理工大学 | A kind of accurately clamping type rotary fluid machine hand |
| CN105415366A (en) * | 2015-12-28 | 2016-03-23 | 天津市中恒科贸有限公司 | Manipulator for grabbing plastic special-shaped body |
| CN205201555U (en) * | 2015-12-28 | 2016-05-04 | 天津市中恒科贸有限公司 | Rotatory promotion formula manipulator |
| CN205254982U (en) * | 2015-12-28 | 2016-05-25 | 天津市中恒科贸有限公司 | Snatch profile body's promotion formula manipulator device |
| CN205820415U (en) * | 2016-06-22 | 2016-12-21 | 安徽松科信息科技有限公司 | A kind of automatic loading robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112427856A (en) * | 2020-11-12 | 2021-03-02 | 浙江泰鸿万立科技股份有限公司 | Double-welding-head welding device for hollow pedal arm |
| CN112427856B (en) * | 2020-11-12 | 2023-02-28 | 浙江泰鸿万立科技股份有限公司 | Double-welding-head welding device for hollow pedal arm |
| CN112225083A (en) * | 2020-11-13 | 2021-01-15 | 河南正大起重设备有限公司 | Crane lifting automatic control assembly device |
| CN112665894A (en) * | 2020-12-03 | 2021-04-16 | 西安建筑科技大学 | Working device and method of fixed type train coal short-period automatic sampling machine |
| CN112659171A (en) * | 2020-12-08 | 2021-04-16 | 南京布瑞锶克金属科技有限公司 | Automatic clamping injury prevention manipulator for automated production |
| CN112773395A (en) * | 2020-12-30 | 2021-05-11 | 无锡祥生医疗科技股份有限公司 | Neck ultrasonic imaging device based on mechanical arm |
| CN115283952A (en) * | 2022-06-27 | 2022-11-04 | 深圳市高捷力科技有限公司 | Safety assembly fixture for hydraulic prop of armored chariot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111251289A (en) | Hydraulic mechanical arm device | |
| CN208164661U (en) | A kind of three axis displacement automotive wheel tightening device | |
| CN215660258U (en) | Lightweight multi freedom manipulator | |
| CN113084024B (en) | Stamping fixing device for machining | |
| CN206108345U (en) | Cross sliding type flipping robot | |
| CN211191780U (en) | Material grabbing device of hoop bending machine | |
| CN212127308U (en) | Movable clamping lifting table | |
| CN114227736A (en) | Robot gripper for feeding and discharging of ice skate | |
| CN211615647U (en) | Automatic change mechanical clamping jaw | |
| CN210172663U (en) | Steel pipe cutting work platform | |
| CN201343359Y (en) | Clamp for conveying workpieces | |
| CN205888606U (en) | Locate mode clamping tool | |
| CN205928701U (en) | Lower hanging truss machine handle structure | |
| CN111017560A (en) | A loading attachment for robot grinds mechanism | |
| CN213890048U (en) | A novel mechanical clamping jaw for intelligent vehicle | |
| CN108858255A (en) | A kind of pneumatic gripping device | |
| CN213081486U (en) | Grabbing device of car water cutting trim robot | |
| CN211386390U (en) | Quick straightener of broach | |
| CN210848047U (en) | Full-automatic turning device for sheet workpiece | |
| CN214770529U (en) | Clamping and lifting system | |
| CN214349159U (en) | Special stamping fixture of automobile engine connection accessory | |
| CN215144836U (en) | Large piece inlaying workbench | |
| LU500459B1 (en) | Cylindrical Coordinate Robot | |
| CN218926466U (en) | Automatic clamping device for racks | |
| CN213196391U (en) | Device for realizing 360-degree arbitrary overturning of engine assembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200609 |