CN112720542A - Electro-hydraulic servo control mechanical arm - Google Patents
Electro-hydraulic servo control mechanical arm Download PDFInfo
- Publication number
- CN112720542A CN112720542A CN202011589103.8A CN202011589103A CN112720542A CN 112720542 A CN112720542 A CN 112720542A CN 202011589103 A CN202011589103 A CN 202011589103A CN 112720542 A CN112720542 A CN 112720542A
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- frame
- block
- plate
- electro
- connecting plate
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Classifications
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- 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
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention discloses an electro-hydraulic servo control mechanical arm which structurally comprises a supporting table, a conveying mechanism and a moving frame, wherein the moving frame is connected with the upper end of the supporting table, the conveying mechanism is arranged at the bottom of the moving frame, the movable rod can slide downwards along the outer frame in the process of pushing the adsorption mechanism to descend by the lifting piston, so that the lower connecting plate can be pressed to be matched with the transition rod to be contracted upwards along the elastic strip, thereby the lower connecting plate can extrude airflow downwards, so that the air flow guided out by the outer frame can blow off the metal scraps on the surface of the metal product before the suction disc is attached to the surface of the metal product, when the sucker is pressed and attached on the metal product, the metal chips on the surface of the metal product can be squeezed into the sucker through the gap between the two contact reducing blocks, thereby make the sucking disc can be normal adsorb the metal product, the effectual condition of having avoided the metal fillings that have static to be difficult to be blown off by the air current.
Description
Technical Field
The invention relates to the field of transmission equipment servo systems, in particular to a mechanical arm controlled by an electro-hydraulic servo.
Background
Electro-hydraulic servo control formula arm is mainly used for striding regional equipment of transporting to the product, adopts hydraulic power, and application electro-hydraulic servo control directly presses the absorption to the surface of product through bottom adsorption plate, and the ascending and the rotation of rethread driving frame are striden regional transportation to the product, based on the above-mentioned description the inventor finds that current electro-hydraulic servo control's arm mainly has following not enough, for example:
because the electro-hydraulic servo control type mechanical arm directly presses and adsorbs the product, if the metal fillings that produce when the surface of metal product adheres to the cutting, then there is the metal fillings easily on the surface that makes absorption dish and metal product, when the electro-hydraulic servo control type mechanical arm lifted up metal product, then lead to easily that the absorption dish can not adsorb completely and cause the condition that drops on the metal product surface.
Disclosure of Invention
Aiming at the problems, the invention provides an electro-hydraulic servo control mechanical arm.
In order to achieve the purpose, the invention is realized by the following technical scheme: an electro-hydraulic servo control mechanical arm structurally comprises a supporting table, a conveying mechanism and a moving frame, wherein the moving frame is connected with the upper end of the supporting table, and the conveying mechanism is arranged at the bottom of the moving frame; the transportation mechanism comprises an outer pipe, an adsorption mechanism and a lifting piston, wherein the adsorption mechanism is fixedly embedded at the bottom of the lifting piston, and the lifting piston is in transition fit with the outer pipe.
As a further optimization of the invention, the adsorption mechanism comprises a movable rod, a complex spring plate, a sucker, a flow increasing ball and an outer frame, wherein the movable rod is movably clamped with the outer frame, the middle part of the complex spring plate is connected with the movable rod, two ends of the complex spring plate are fixedly embedded and connected with the upper end of the outer frame, the sucker is arranged at the position close to the lower end of the side surface of the outer frame, the flow increasing ball and the movable rod are of an integrated structure, and the bottom of the outer frame is provided with an inner through hole and an outer through hole.
As a further optimization of the invention, the flow increasing ball comprises an upper connecting plate, a lower connecting plate, a transition rod, a rotating roller and an elastic strip, wherein the lower connecting plate is fixedly embedded at the bottom position of the transition rod, the transition rod is movably clamped with the upper connecting plate, the rotating roller and the lower connecting plate are of an integrated structure, the elastic strip is arranged at the upper end positions of the inner walls of the transition rod and the upper connecting plate, and the lower connecting plate can be upwards contracted under the matching of the transition rod through the extrusion of an object on the lower connecting plate.
As a further optimization of the invention, the rotating roller comprises eight blades, an external ring and a middle fixed block, wherein the blades are embedded and fixed at the outer side position of the external ring, the middle fixed block and the external ring are of an integrated structure, and the outer surfaces of the external ring which are uniformly distributed are in a circular shape.
As a further optimization of the invention, the sucker comprises a connecting block, a deformation plate and touch reducing blocks, wherein the deformation plate is embedded and fixed at the bottom of the connecting block, the touch reducing blocks are embedded and fixed at the inner side of the deformation plate, twenty touch reducing blocks are arranged, and ten touch reducing blocks are uniformly distributed on the inner sides of the left end and the right end of the deformation plate in a group and are symmetrical.
As a further optimization of the invention, the deformation plate comprises a telescopic block, an elastic ring and a plate body, wherein the telescopic block is in clearance fit with the plate body, the elastic ring is arranged between the telescopic block and the plate body, and the telescopic block can extend outwards under the cooperation of the elastic ring through the vibration generated by resetting of the mechanism.
As a further optimization of the invention, the telescopic block comprises an outer contact plate, three impact blocks, three pulling strips and a frame, wherein the outer contact plate is fixedly embedded at the right side of the frame, the impact blocks are in clearance fit with the frame, the pulling strips are arranged between the impact blocks and the left side of the inner wall of the frame, and the three impact blocks are uniformly and symmetrically distributed in the frame.
The invention has the following beneficial effects:
1. promote adsorption apparatus through lifting piston and carry out the in-process that descends, can make the movable rod slide down along the frame to make the lower fishplate bar can receive the extrusion upwards shrink along the elasticity strip under the cooperation of transition pole, so make the lower fishplate bar can extrude the air current downwards, thereby make the air current of frame derivation can blow off the metal fillings on metal product surface before sucking disc and metal product surface laminate mutually.
2. When the sucking disc pressed the laminating on metal product, it can be with the metal fillings on metal product surface squeeze its inside through two clearances that subtract between the touch multitouch to make the sucking disc can be normal adsorb metal product, the effectual metal fillings that have avoided having static are difficult to the condition blown off by the air current.
Drawings
Fig. 1 is a schematic structural diagram of a mechanical arm controlled by an electro-hydraulic servo according to the present invention.
Fig. 2 is a schematic structural view of a front section of the transportation mechanism of the present invention.
FIG. 3 is a front view of a half-section of the adsorption mechanism of the present invention.
Fig. 4 is a schematic structural view of a front half section of the flow increasing ball of the present invention.
FIG. 5 is a front half-section schematic view of a rotatable roller according to the present invention.
FIG. 6 is a schematic front view of the sucking disc of the present invention.
Fig. 7 is a partial front sectional structure diagram of the deformable plate of the invention.
Fig. 8 is a front half-section structural schematic diagram of the telescopic block of the present invention.
In the figure: the device comprises a support table-1, a transportation mechanism-2, a moving frame-3, an outer tube-21, an adsorption mechanism-22, a lifting piston-23, a movable rod-a 1, a complex spring sheet-a 2, a suction cup-a 3, a flow-increasing ball-a 4, an outer frame-a 5, an upper connecting plate-a 41, a lower connecting plate-a 42, a transition rod-a 43, a rotating roller-a 44, an elastic strip-a 45, a blade-b 1, an outer connecting ring-b 2, a middle fixed block-b 3, a connecting block-c 1, a deformation plate-c 2, a contact reducing block-c 3, an expansion block-c 21, an elastic ring-c 22, a plate body-c 23, an outer contact plate-d 1, an impact block-d 2, a pull back strip-d 3 and a frame-d 4.
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.
Example 1
As shown in fig. 1-5:
the invention provides an electro-hydraulic servo control mechanical arm which structurally comprises a supporting table 1, a conveying mechanism 2 and a moving frame 3, wherein the moving frame 3 is connected with the upper end of the supporting table 1, and the conveying mechanism 2 is arranged at the bottom of the moving frame 3; the transportation mechanism 2 comprises an outer tube 21, an adsorption mechanism 22 and a lifting piston 23, wherein the adsorption mechanism 22 is embedded at the bottom position of the lifting piston 23, and the lifting piston 23 is in transition fit with the outer tube 21.
The adsorption mechanism 22 comprises a movable rod a1, a composite spring sheet a2, a suction cup a3, a flow increasing ball a4 and an outer frame a5, the movable rod a1 is movably clamped with the outer frame a5, the middle of the composite spring sheet a2 is connected with the movable rod a1, two ends of the composite spring sheet a2 are fixedly embedded and connected with the upper end of the outer frame a5, the suction cup a3 is mounted on the side surface of the outer frame a5 close to the lower end, the flow increasing ball a4 and the movable rod a1 are of an integrated structure, the bottom of the outer frame a5 is provided with an inner through hole and an outer through hole, and air flow can be extruded outwards through the hole in the bottom of the outer frame a 5.
The flow increasing ball a4 comprises an upper connecting plate a41, a lower connecting plate a42, a transition rod a43, a rotating roller a44 and an elastic strip a45, wherein the lower connecting plate a42 is embedded at the bottom position of the transition rod a43, the transition rod a43 is movably clamped with the upper connecting plate a41, the rotating roller a44 and the lower connecting plate a42 are of an integrated structure, the elastic strip a45 is arranged at the upper end position of the inner wall of the transition rod a43 and the upper connecting plate a41, and the lower connecting plate a42 can be upwards contracted under the matching of the transition rod a43 through the pressing of an object on the lower connecting plate a42, so that the lower connecting plate a42 can downwards extrude air flow.
The rotating roller a44 comprises a blade b1, an external ring b2 and a middle fixed block b3, the blade b1 is embedded in the outer side of the external ring b2, the middle fixed block b3 and the external ring b2 are of an integrated structure, eight blades b1 are arranged, the outer surfaces of the external ring b2 are uniformly distributed in a circular shape, and the air flow generated by objects can be enhanced through the blades b 1.
The detailed use method and action of the embodiment are as follows:
in the invention, hydraulic oil is squeezed inwards at the left side of the outer pipe 21 on the transportation mechanism 2 to push the lifting piston 23 to slide downwards, so that the lifting piston 23 can push the adsorption mechanism 22 downwards, and in the process that the lifting piston 23 pushes the adsorption mechanism 22 to descend, the movable rod a1 can slide downwards along the outer frame a5, so that the lower connecting plate a42 can contract upwards along the elastic strip a45 under the coordination of the squeezing of the transition rod a43, so that the lower connecting plate a42 can squeeze air flow downwards, the air flow squeezed out downwards through the lower connecting plate a42 generates thrust on the rotating roller a44, the rotating roller a44 can rotate along the lower connecting plate a42, so that the middle fixing block b3 can drive the outer connecting ring b2 to rotate, so that the outer connecting ring b2 can drive the blade b1 to generate larger air flow, and the air flow is led downwards through the outer frame a5, so that the air flow led out from the suction cup a5 can be attached to the surface of the metal outer frame before the suction cup a3 and the surface of the metal product are attached to the surface The metal chips are blown off, so that the condition that the sucking disc a3 is adsorbed on the surface of a metal product with the metal chips to fall off is effectively avoided.
Example 2
As shown in fig. 6-8:
the sucking disc a3 comprises a connecting block c1, a deformation plate c2 and a touch reducing block c3, the deformation plate c2 is embedded at the bottom of the connecting block c1, the touch reducing block c3 is embedded at the inner side of the deformation plate c2, twenty touch reducing blocks c3 are arranged, the ten touch reducing blocks are uniformly distributed on the inner sides of the left end and the right end of the deformation plate c2 in a group, and the contact area between a mechanism and an object can be reduced through the touch reducing blocks c 3.
The deformation plate c2 comprises a telescopic block c21, an elastic ring c22 and a plate body c23, the telescopic block c21 is in clearance fit with the plate body c23, the elastic ring c22 is installed between the telescopic block c21 and the plate body c23, the telescopic block c21 can extend outwards under the matching of the elastic ring c22 through the vibration generated by the mechanism resetting, and the elastic ring c22 can pull the telescopic block c21 to reset.
The telescopic block c21 comprises an outer touch plate d1, an impact block d2, a pull-back strip d3 and a frame d4, the outer touch plate d1 is embedded in the right side of the frame d4, the impact block d2 is in clearance fit with the frame d4, the pull-back strip d3 is installed between the left sides of the inner walls of the impact block d2 and the frame d4, the impact block d2 is three, the inner sides of the frame d4 are uniformly distributed symmetrically, and the impact on the inner sides of the outer touch plate d1 can be generated through the impact block d 2.
The detailed use method and action of the embodiment are as follows:
in the invention, because a small part of metal scraps can generate static electricity due to cutting, the air flow extruded by the outer frame a5 is difficult to blow off, so the suction cup a3 can fall off, when the suction cup a3 is pressed and attached on the metal product, the metal scraps on the surface of the metal product can be squeezed into the metal product through the gap between the two contact reducing blocks c3, so that the suction cup a3 can normally absorb the metal product, and the telescopic block c21 can extend outwards through the vibration generated when the suction cup a3 is separated from the metal product, therefore, the telescopic block c21 can push the metal scraps between the two touch reducing blocks c3 outwards, and the impact block d2 can extend forwards to impact the inner wall of the outer touch plate d1 through the vibration generated by the outward pushing of the telescopic block c21, therefore, the metal chips on the surface of the outer touch plate d1 can be vibrated down by vibration generated by the outer touch plate d1, and the condition that the metal chips with static electricity are difficult to blow off by airflow is effectively avoided.
The technical solutions of the present invention or similar technical solutions designed by those skilled in the art based on the teachings of the technical solutions of the present invention are all within the scope of the present invention to achieve the above technical effects.
Claims (7)
1. The utility model provides an electricity liquid servo control's arm, its structure includes brace table (1), transport mechanism (2), removes frame (3), it is connected its characterized in that to remove frame (3) and the upper end of brace table (1): the conveying mechanism (2) is arranged at the bottom of the moving frame (3);
transport mechanism (2) include outer tube (21), adsorption device (22), lift piston (23), adsorption device (22) are embedded in the bottom position of lift piston (23), lift piston (23) and outer tube (21) transition fit.
2. An electro-hydraulic servo controlled robotic arm as claimed in claim 1, wherein: adsorption apparatus constructs (22) including movable rod (a1), compound shell fragment (a2), sucking disc (a3), increase class ball (a4), frame (a5), movable rod (a1) and frame (a5) activity block, the middle part of compound shell fragment (a2) is connected with movable rod (a1), and the both ends of compound shell fragment (a2) are connected with the upper end of frame (a5) is embedded firmly, sucking disc (a3) are installed and are leaned on lower extreme position in the side of frame (a5), increase class ball (a4) and movable rod (a1) structure as an organic whole.
3. An electro-hydraulic servo controlled robotic arm as claimed in claim 2, wherein: the flow increasing ball (a4) comprises an upper connecting plate (a41), a lower connecting plate (a42), a transition rod (a43), a rotating roller (a44) and an elastic strip (a45), wherein the lower connecting plate (a42) is embedded in the bottom position of the transition rod (a43), the transition rod (a43) is movably clamped with the upper connecting plate (a41), the rotating roller (a44) and the lower connecting plate (a42) are of an integrated structure, and the elastic strip (a45) is installed at the upper end position of the inner wall of the transition rod (a43) and the upper connecting plate (a 41).
4. An electro-hydraulic servo controlled robotic arm as claimed in claim 3, wherein: the rotating roller (a44) comprises a blade (b1), an outer connecting ring (b2) and a middle fixing block (b3), wherein the blade (b1) is embedded at the outer side position of the outer connecting ring (b2), and the middle fixing block (b3) and the outer connecting ring (b2) are of an integrated structure.
5. An electro-hydraulic servo controlled robotic arm as claimed in claim 2, wherein: the sucking disc (a3) comprises an engagement block (c1), a deformation plate (c2) and a touch reduction block (c3), wherein the deformation plate (c2) is embedded at the bottom position of the engagement block (c1), and the touch reduction block (c3) is embedded at the inner side position of the deformation plate (c 2).
6. An electro-hydraulic servo controlled robotic arm as claimed in claim 5, wherein: the deformation plate (c2) comprises a telescopic block (c21), an elastic ring (c22) and a plate body (c23), the telescopic block (c21) is in clearance fit with the plate body (c23), and the elastic ring (c22) is installed between the telescopic block (c21) and the plate body (c 23).
7. An electro-hydraulic servo controlled robotic arm as claimed in claim 6, wherein: the telescopic block (c21) comprises an outer touch plate (d1), an impact block (d2), a pull-back strip (d3) and a frame (d4), wherein the outer touch plate (d1) is embedded at the right side position of the frame (d4), the impact block (d2) is in clearance fit with the frame (d4), and the pull-back strip (d3) is installed between the left sides of the inner walls of the impact block (d2) and the frame (d 4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011589103.8A CN112720542A (en) | 2020-12-29 | 2020-12-29 | Electro-hydraulic servo control mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011589103.8A CN112720542A (en) | 2020-12-29 | 2020-12-29 | Electro-hydraulic servo control mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN112720542A true CN112720542A (en) | 2021-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011589103.8A Pending CN112720542A (en) | 2020-12-29 | 2020-12-29 | Electro-hydraulic servo control mechanical arm |
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| CN (1) | CN112720542A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002103265A (en) * | 2000-10-02 | 2002-04-09 | Nippon Electric Glass Co Ltd | Platelike object sucking and holding method |
| CN205009228U (en) * | 2015-08-06 | 2016-02-03 | 宁国市阳光耐磨材料有限公司 | Mechanical hand of material letter sorting |
| CN110039566A (en) * | 2019-04-11 | 2019-07-23 | 方彐云 | A kind of chip sorting equipment of the high reliablity with dedusting function |
| CN111570857A (en) * | 2020-05-31 | 2020-08-25 | 钟志练 | Aluminum alloy drilling machine |
-
2020
- 2020-12-29 CN CN202011589103.8A patent/CN112720542A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002103265A (en) * | 2000-10-02 | 2002-04-09 | Nippon Electric Glass Co Ltd | Platelike object sucking and holding method |
| CN205009228U (en) * | 2015-08-06 | 2016-02-03 | 宁国市阳光耐磨材料有限公司 | Mechanical hand of material letter sorting |
| CN110039566A (en) * | 2019-04-11 | 2019-07-23 | 方彐云 | A kind of chip sorting equipment of the high reliablity with dedusting function |
| CN111570857A (en) * | 2020-05-31 | 2020-08-25 | 钟志练 | Aluminum alloy drilling machine |
Non-Patent Citations (2)
| Title |
|---|
| 张明文: "《工业机器人技术基础及应用》", 31 July 2017 * |
| 金凌芳,等.: "《工业机器人概论》", 31 August 2017 * |
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Effective date of abandoning: 20230523 |