CN201565959U - Multi-directional internal clamping flexible manipulator based on hydraulic power - Google Patents
Multi-directional internal clamping flexible manipulator based on hydraulic power Download PDFInfo
- Publication number
- CN201565959U CN201565959U CN2009202456066U CN200920245606U CN201565959U CN 201565959 U CN201565959 U CN 201565959U CN 2009202456066 U CN2009202456066 U CN 2009202456066U CN 200920245606 U CN200920245606 U CN 200920245606U CN 201565959 U CN201565959 U CN 201565959U
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- Prior art keywords
- clamping
- slide block
- hydraulic
- arresting disk
- manipulator
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Abstract
The utility model relates to a multi-directional internal clamping flexible manipulator based on hydraulic power, which comprises a manipulator shell, a basal disc installed at the front end of the manipulator shell and a hydraulic transmission mechanism arranged in the manipulator shell, wherein the output power of the hydraulic transmission mechanism is realized by a second level transmission shaft rotated by a fixed shaft. A limit disc is embedded in the basal disc, a mounting hole is arranged in the center of the disc bottom of the limit disc, a rotating disc is coaxially installed with the mounting hole, the internal wall surface of the disc edge at the outer end of the limit disc consists of a plurality of sections of oblique arc planes, a clamping hole is arranged in the center of the rotating disc, a plurality of guide slots which are communicated with the clamping hole are radially and uniformly arranged on the rotating disc, and a clamping sliding block assembly is arranged in each guide slot; the front part of the clamping sliding block assembly faces the clamping hole, and the rear part props against the arc planes of the limit disc; and the rotating disc is coaxially connected with the second level transmission shaft. The manipulator is based on the hydraulic power, adopts a multi-directional internal clamping structure form, and thereby not only easily clamping an object, but also adopting flexible clamping to make the object to be clamped be safer and more reliable.
Description
Technical field
The utility model belongs to the manipulator field, relates to a kind of clamping flexible manipulator, especially a kind of multidirectional interior clamping flexible manipulator based on hydraulic power.
Background technology
Manipulator is also referred to as from starting, and can imitate some holding function of staff and arm, in order to the automatic pilot that grasps, carries object or operation tool by fixed routine.It can replace people's mechanization and the automation of heavy work to realize producing, and can operate under hostile environment with the protection personal safety, thereby be widely used in departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Manipulator mainly is made up of hand, motion and control system three parts.Hand is the parts that are used for grasping workpiece (or instrument), according to the shape that is grasped object, size, weight, material and job requirements multiple version is arranged, as clamp-type, holding type and absorbent-type etc.
The kind of manipulator can be divided into fluid pressure type, pneumatic type, electrodynamic type, mechanical type manipulator by type of drive.This patent relates to the hydraulic mechanical hand, because conventional robot carries out clamping from both direction to object mostly, and the time traditional outer clamp structure that utilizes, is not easy to grip objects and is unfavorable for protection to gripping object.
The utility model content
The purpose of this utility model is to overcome the shortcoming of above-mentioned prior art, a kind of multidirectional interior clamping flexible manipulator based on hydraulic power is provided, this manipulator is based on hydraulic power, adopt the version of multidirectional interior clamping, not only be easy to the clamping object, and adopted flexible clamping, make the gripped object safety and reliability.
The purpose of this utility model solves by the following technical programs:
This multidirectional interior clamping flexible manipulator based on hydraulic power, comprise the manipulator shell, be installed on the basal disc of manipulator shell front end and be located at the interior hydraulic gear of manipulator shell, the outputting power of described hydraulic gear is realized by the secondary drive shaft that dead axle rotates.Described basal disc is a cylinder type, be embedded with position-arresting disk in the basal disc, position-arresting disk is provided with installing hole at the center of trying to get to the heart of a matter, installing hole is coaxially installed with rotating disc, the outer end plate edge internal face of described position-arresting disk is made up of the oblique arc surface of multistage, every section arc surface successively decreases at counterclockwise circumferencial direction to the vertical range in position-arresting disk axle center, described rotating disc center is provided with clamping hole, rotating disc radially evenly is provided with many gathering sills that communicate with clamping hole, many gathering sill is corresponding one by one with the oblique arc surface of the multistage of position-arresting disk, is provided with the clamping slide block assembly in the gathering sill; The front portion of clamping slide block assembly is towards clamping hole, and push up on the arc surface of position-arresting disk at the rear portion; Described rotating disc is connected with secondary drive shaft is coaxial.
Above-mentioned clamping slide block assembly comprises the clamping slide block, gathering sill on described clamping slide block and the rotating disc has same widths, the front end of clamping slide block is provided with Rubber end, and the also coaxial flexure spring that is provided with the band pressure sensor between clamping slide block and Rubber end, the rear end of clamping slide block is equipped with propelling sheave by wheel shaft, the wheel shaft of described propelling sheave is axial vertical with the clamping slide block, and propelling sheave pushes up on the arc surface of position-arresting disk; Be connected with retracting spring between the trying to get to the heart of a matter of the rear end of clamping slide block and position-arresting disk.
Further, the rear end of above-mentioned clamping slide block is provided with downward boss, propelling sheave is installed on the rear end of boss, the bottom of boss is attached to trying to get to the heart of a matter of position-arresting disk and can be along the face diameter of trying to get to the heart of a matter to being free to slide, position-arresting disk upwards has projection at the installing hole edge at the center of trying to get to the heart of a matter, described retracting spring one end withstands on the projection at installing hole edge, and the other end is connected with the boss of clamping slide block.
Above-mentioned hydraulic gear comprises hydraulic drive body, tooth bar, one-level power transmission shaft, be installed on gear on the one-level power transmission shaft and first bevel gear and in order to the tooth bar guiding groove of guiding tooth bar be coaxially installed on second bevel gear on the secondary drive shaft, the hydraulic push rod of described hydraulic drive body is connected with tooth bar, described one-level power transmission shaft is vertical mutually with secondary drive shaft and all be installed in the manipulator shell, the tooth bar guiding groove is fixedlyed connected with the inwall of manipulator shell, wheel and rack engagement, first bevel gear and the engagement of second bevel gear.
Above-mentioned hydraulic drive body is fixed in the manipulator shell, and the hydraulic drive body is provided with the hydraulic power source guide port on the manipulator shell.
The installing hole internal diameter of above-mentioned position-arresting disk is identical with the external diameter of rotating disc.
The outer end plate edge internal face of above-mentioned position-arresting disk is made up of four sections oblique arc surfaces, and described rotating disc radially evenly is provided with four gathering sills that communicate with clamping hole.
The utlity model has following beneficial effect:
1. this manipulator adopts multi-direction clamping, from a plurality of directions object is carried out clamping, is different from the existing machinery hand and from both direction object is carried out clamping, is convenient to clamp; 2. adopt " interior clamping " structure, be different from " outer clamping " structure of existing machinery hand, help protection gripping object; 3. adopt flexible clamping, safety and reliability has higher stability.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present utility model;
Fig. 2 is that the A of Fig. 1 is to view;
Fig. 3 is the structure and the scheme of installation of clamping slide block assembly 21 among Fig. 2.
Wherein: 1 is the clamping slide block; 2 is Rubber end; 3 is propelling sheave; 4 is retracting spring; 5 is basal disc; 6 is rotating disc; 7 is position-arresting disk; 8 is trip bolt; 9 is the tooth bar guiding groove; 10 is the manipulator shell; 11 is first bevel gear; 12 is gear; 13 is the one-level power transmission shaft; 14 is tooth bar; 15 is hydraulic push rod; 16 are the hydraulic drive body; 17 is the hydraulic power source guide port; 18 is secondary drive shaft; 19 is second bevel gear; 20 flexure springs for the band pressure sensor; 21 are the clamping slide block assembly; 22 is arc surface; 23 is installing hole; 24 is projection; 25 is boss; 26 is clamping hole; 27 is gathering sill.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is done and to be described in further detail:
Referring to Fig. 1, this multidirectional interior clamping flexible manipulator based on hydraulic power, comprise manipulator shell 10, be installed on the basal disc 5 of manipulator shell 10 front ends and be located at hydraulic gear in the manipulator shell 10 that hydraulic gear comprises hydraulic drive body 16, tooth bar 14, one-level power transmission shaft 13, be installed on gear 12 on the one-level power transmission shaft 13 and first bevel gear 11 and in order to the tooth bar guiding groove 9 of guiding tooth bar 14 be coaxially installed on second bevel gear 19 on the secondary drive shaft 18.Hydraulic drive body 16 is fixed in the manipulator shell 10, hydraulic drive body 16 is provided with hydraulic power source guide port 17 on manipulator shell 10, the hydraulic push rod 15 of hydraulic drive body 16 is connected with tooth bar 14, one-level power transmission shaft 13 is vertical mutually with secondary drive shaft 18 and all be installed in the manipulator shell 10, tooth bar guiding groove 9 is fixedlyed connected with the inwall of manipulator shell 10, gear 12 and tooth bar 14 engagements, first bevel gear 11 and 19 engagements of second bevel gear.The outputting power of hydraulic gear is realized by the secondary drive shaft 8 that dead axle rotates.
As Fig. 1 and Fig. 2, basal disc 5 is a cylinder type, and basal disc 5 is embedded in position-arresting disk 7 on its inwall by trip bolt 8, and position-arresting disk 7 is provided with installing hole 23 at the center of trying to get to the heart of a matter of basal disc 5, installing hole 23 is coaxially installed with rotating disc 6, and installing hole 23 internal diameters of position-arresting disk 7 are identical with the external diameter of rotating disc 6.The outer end plate edge internal face of position-arresting disk 7 is formed (being made up of four arcs face 22 shown in Fig. 2) by the oblique arc surface 22 of multistage, every section arc surface 22 successively decreases at counterclockwise circumferencial direction to the vertical range in position-arresting disk 7 axle center, rotating disc 6 centers are provided with clamping hole 26, rotating disc 6 radially evenly is provided with many gathering sills 27 that communicate with clamping hole 26 (also being four among the figure), many gathering sill 27 is corresponding one by one with the oblique arc surface 22 of the multistage of position-arresting disk 7, is provided with clamping slide block assembly 21 in the gathering sill; The front portion of clamping slide block assembly 21 is towards clamping hole 26, and push up on the arc surface 22 of position-arresting disk 7 at the rear portion; Rotating disc 6 and 8 coaxial connections of secondary drive shaft.
As shown in Figure 3, the clamping slide block assembly comprises clamping slide block 1, gathering sill on clamping slide block 1 and the rotating disc 6 has same widths, the front end of clamping slide block 1 is provided with Rubber end 2, and the also coaxial flexure spring 20 that is provided with the band pressure sensor between clamping slide block 1 and Rubber end 2, the rear end of clamping slide block 1 is equipped with propelling sheave 3 by wheel shaft, and the wheel shaft of propelling sheave 3 is axial vertical with clamping slide block 1, and propelling sheave 3 pushes up on the arc surface of position-arresting disk 7; Be connected with retracting spring 4 between the trying to get to the heart of a matter of the rear end of clamping slide block 1 and position-arresting disk 7.The rear end of clamping slide block 1 is provided with downward boss 25, propelling sheave 3 is installed on the rear end of boss 25, the bottom of boss 25 is attached to trying to get to the heart of a matter of position-arresting disk 7 and can be along the face diameter of trying to get to the heart of a matter to being free to slide, position-arresting disk 7 upwards has projection 24 at installing hole 23 edges at the center of trying to get to the heart of a matter, retracting spring 4 one ends withstand on the projection 24 at installing hole edge, and the other end is connected with the boss 25 of clamping slide block 1.
Optimal case of the present utility model is that the outer end plate edge internal face of position-arresting disk 7 is made up of four sections oblique arc surfaces 22, and rotating disc 6 radially evenly is provided with four gathering sills 27 that communicate with clamping hole 26.From four direction object is carried out clamping like this, clamping not only is convenient to clamp like this, and clamping rear stability height.
The course of work of the present utility model is as follows:
Hydraulic power source is injected into hydraulic drive body 16 from hydraulic power source guide port 17, drives hydraulic push rod 15 motions, so tooth bar 14 just can slide along tooth bar guiding groove 9, makes gear 12 rotations.Just can pass motion to secondary drive shaft 18 by second bevel gear 19 and first bevel gear 11.Rotating disc 6 is connected with secondary drive shaft 18, can rotate thereupon.Like this, clamping slide block 1 will together rotate along with rotating disc 6.Again owing to be subjected to the restriction of oblique arc surface 22 of the outer end plate edge internal face of position-arresting disk 7, while clamping slide block 1 can rotate on the rotating disc 6 gathering sill 27 forward the direction of clamping hole 26 (promptly to) move.Held object is positioned in the clamping hole 26, thereby four clamping slide blocks 1 just can be from the clamping operation of four direction realization to object.Again because the existence of retracting spring 4, propelling sheave 3 will be all the time keeps in touch with the oblique arc surface 22 of position-arresting disk 7.As long as rotating disc 6 reverse rotations can make 1 playback of four clamping slide blocks.
Because pressure sensor is housed, can adopt external control devices that clamp pressure is set, and can add negative feedback arrangement, make manipulator hold pressure and be unlikely to excessive and damage by pressure surperficial or too small and do not have clamping adding of object.
Claims (7)
1. one kind based on clamping flexible manipulator in hydraulic power multidirectional, comprise manipulator shell (10), be installed on the basal disc (5) of manipulator shell (10) front end and be located at the interior hydraulic gear of manipulator shell (10), the outputting power of described hydraulic gear is realized by the secondary drive shaft (8) that dead axle rotates, it is characterized in that: described basal disc (5) is a cylinder type, be embedded with position-arresting disk (7) in the basal disc (5), position-arresting disk (7) is provided with installing hole (23) at the center of trying to get to the heart of a matter, installing hole (23) is coaxially installed with rotating disc (6), the outer end plate edge internal face of described position-arresting disk (7) is made up of the oblique arc surface of multistage (22), every section arc surface (22) successively decreases at counterclockwise circumferencial direction to the vertical range in position-arresting disk (7) axle center, described rotating disc (6) center is provided with clamping hole (26), rotating disc (6) radially evenly is provided with many gathering sills (27) that communicate with clamping hole (26), many gathering sills (27) are corresponding one by one with the oblique arc surface of multistage (22) of position-arresting disk (7), are provided with clamping slide block assembly (21) in the gathering sill; The front portion of clamping slide block assembly (21) is towards clamping hole (26), and push up on the arc surface (22) of position-arresting disk (7) at the rear portion; Described rotating disc (6) and coaxial connection of secondary drive shaft (8).
2. the multidirectional interior clamping flexible manipulator based on hydraulic power according to claim 1, it is characterized in that: described clamping slide block assembly comprises clamping slide block (1), gathering sill on described clamping slide block (1) and the rotating disc (6) has same widths, the front end of clamping slide block (1) is provided with Rubber end (2), and the also coaxial flexure spring (20) that is provided with the band pressure sensor between clamping slide block (1) and Rubber end (2), the rear end of clamping slide block (1) is equipped with propelling sheave (3) by wheel shaft, the wheel shaft of described propelling sheave (3) is axial vertical with clamping slide block (1), and propelling sheave (3) pushes up on the arc surface of position-arresting disk (7); Be connected with retracting spring (4) between the trying to get to the heart of a matter of the rear end of clamping slide block (1) and position-arresting disk (7).
3. the multidirectional interior clamping flexible manipulator based on hydraulic power according to claim 2, it is characterized in that: the rear end of described clamping slide block (1) is provided with downward boss (25), propelling sheave (3) is installed on the rear end of boss (25), the bottom of boss (25) is attached to trying to get to the heart of a matter of position-arresting disk (7) and can be along the face diameter of trying to get to the heart of a matter to being free to slide, position-arresting disk (7) upwards has projection (24) at installing hole (23) edge at the center of trying to get to the heart of a matter, described retracting spring (4) one ends withstand on the projection (24) at installing hole edge, and the other end is connected with the boss (25) of clamping slide block (1).
4. the multidirectional interior clamping flexible manipulator based on hydraulic power according to claim 1, it is characterized in that: described hydraulic gear comprises hydraulic drive body (16), tooth bar (14), one-level power transmission shaft (13), be installed on gear (12) on the one-level power transmission shaft (13) and first bevel gear (11) and in order to the tooth bar guiding groove (9) of guiding tooth bar (14) be coaxially installed on second bevel gear (19) on the secondary drive shaft (18), the hydraulic push rod (15) of described hydraulic drive body (16) is connected with tooth bar (14), described one-level power transmission shaft (13) is vertical mutually with secondary drive shaft (18) and all be installed in the manipulator shell (10), tooth bar guiding groove (9) is fixedlyed connected with the inwall of manipulator shell (10), gear (12) and tooth bar (14) engagement, first bevel gear (11) and second bevel gear (19) engagement.
5. the multidirectional interior clamping flexible manipulator based on hydraulic power according to claim 4, it is characterized in that: described hydraulic drive body (16) is fixed in the manipulator shell (10), and hydraulic drive body (16) is provided with hydraulic power source guide port (17) on manipulator shell (10).
6. the multidirectional interior clamping flexible manipulator based on hydraulic power according to claim 1, it is characterized in that: installing hole (23) internal diameter of described position-arresting disk (7) is identical with the external diameter of rotating disc (6).
7. the multidirectional interior clamping flexible manipulator based on hydraulic power according to claim 1, it is characterized in that: the outer end plate edge internal face of described position-arresting disk (7) is made up of four sections oblique arc surfaces (22), and described rotating disc (6) radially evenly is provided with four gathering sills (27) that communicate with clamping hole (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202456066U CN201565959U (en) | 2009-12-04 | 2009-12-04 | Multi-directional internal clamping flexible manipulator based on hydraulic power |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202456066U CN201565959U (en) | 2009-12-04 | 2009-12-04 | Multi-directional internal clamping flexible manipulator based on hydraulic power |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201565959U true CN201565959U (en) | 2010-09-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202456066U Expired - Fee Related CN201565959U (en) | 2009-12-04 | 2009-12-04 | Multi-directional internal clamping flexible manipulator based on hydraulic power |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201565959U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103552088A (en) * | 2013-10-12 | 2014-02-05 | 杨兆奎 | Mechanical wrist |
| CN109303610A (en) * | 2017-07-27 | 2019-02-05 | 赛诺微医疗科技(北京)有限公司 | Surgical instrument clamping device, end effector and the surgery mechanical arm using it |
| CN113460568A (en) * | 2021-06-30 | 2021-10-01 | 山东玲珑轮胎股份有限公司 | Conveyer is used in tire workshop production |
-
2009
- 2009-12-04 CN CN2009202456066U patent/CN201565959U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103552088A (en) * | 2013-10-12 | 2014-02-05 | 杨兆奎 | Mechanical wrist |
| CN103552088B (en) * | 2013-10-12 | 2016-06-22 | 杨兆奎 | A kind of wrist |
| CN109303610A (en) * | 2017-07-27 | 2019-02-05 | 赛诺微医疗科技(北京)有限公司 | Surgical instrument clamping device, end effector and the surgery mechanical arm using it |
| CN109303610B (en) * | 2017-07-27 | 2021-05-18 | 赛诺微医疗科技(北京)有限公司 | Surgical instrument clamping mechanism, end effector and surgical mechanical arm adopting same |
| CN113460568A (en) * | 2021-06-30 | 2021-10-01 | 山东玲珑轮胎股份有限公司 | Conveyer is used in tire workshop production |
| CN113460568B (en) * | 2021-06-30 | 2022-08-12 | 山东玲珑轮胎股份有限公司 | Conveyer is used in tire workshop production |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100901 Termination date: 20101204 |