CN201776752U - Six-degree-of-freedom precise heavy-duty manipulator - Google Patents
Six-degree-of-freedom precise heavy-duty manipulator Download PDFInfo
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- CN201776752U CN201776752U CN2010201109738U CN201020110973U CN201776752U CN 201776752 U CN201776752 U CN 201776752U CN 2010201109738 U CN2010201109738 U CN 2010201109738U CN 201020110973 U CN201020110973 U CN 201020110973U CN 201776752 U CN201776752 U CN 201776752U
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Abstract
The utility model discloses a six-degree-of-freedom precise heavy-duty manipulator, which comprises a power device, a base and an arm assembly. The arm assembly comprises a lower arm assembly, an upper arm assembly and tongs assembly, adopts driving modes including a hydraulic driving mode and a servo motor driving mode, utilizes the structure of six degrees of freedom, can meet assembly requirements of different directions, can realize accurate assembling operation by the aid of corresponding electrical control, and utilizes the hydraulic driving mode to grip larger weights so as to realize heavy-duty operation. Besides, installation process can be positioned accurately through combination of a sensor and the computer control technology, so that the manipulator can meet operating requirements of intelligent assembly and other operations. In addition, transmission efficiency of the manipulator is increased, the manipulator can be driven in a manner with high precision, high reliability, long service life, low energy consumption, small volume, light duty and high rigidity, and simultaneously, is simple in manufacturing process, low in production and manufacturing cost, easy in installation and debugging and convenient in detachment and maintenance.
Description
Technical field
The utility model relates to a kind of automated machine parts, the accurate heavy-duty machinery hand of particularly a kind of six degree of freedom.
Background technology
Mechanical arm is widely studied as comparatively main critical equipment in the important manufacturing equipment, is mainly used in automobile, boats and ships, naval vessels, aircraft, satellite, rocket, spaceship, heavy duty machine tools, large-scale production line and industries such as equipment group and Ferrous Metallurgy.Yet,, the positioning accuracy and the load-carrying ability of industry mechanical arm are had higher requirement in the installation/assembling link of great equipment.To a great extent, the precision performance of industry mechanical arm is determining the precision and the performance of product.
In the prior art, mechanical arm is because the transmission and the parts that are connected are more, and driving-chain is longer, and running precision is difficult to reach requirement, and is relatively poor for heavy duty adaptive character; Thereby, under more heavy duty working environment, if the requirement that mechanical arm is had heavy duty and precision then limits the development of its free degree aspect.
Therefore need a kind of robot mechanical arm arm, can flexible operation freely, have the more free degree, be applicable to required precision height, heavy duty occasion.
The utility model content
In view of this, the purpose of this utility model provides a kind of six degree of freedom accurate heavy-duty machinery hand, can flexible operation freely, have the more free degree, be applicable to required precision height, heavy duty occasion.
The accurate heavy-duty machinery hand of six degree of freedom of the present utility model comprises power set, pedestal and arm assembly, and the arm assembly comprises following arm assembly, goes up arm assembly and calliper assembly;
Following arm assembly comprises the lifting hydraulic cylinder of vertical setting, and described lifting hydraulic cylinder cylinder body and pedestal are cooperating around the mode that self axis rotates, and the rotational power output shaft of power set cooperates with the transmission of lifting hydraulic cylinder cylinder body;
Last arm assembly comprises elongation hydraulic cylinder, forearm rotating servo motor and oscillating motor, and elongation hydraulic cylinder, forearm rotating servo motor and oscillating motor are in turn connected to form the straight-bar structure; Described elongation hydraulic cylinder body is connected in the lifting hydraulic cylinder piston rod with the mode single-degree-of-freedom of rotating along perpendicular, forearm rotating servo motor body is fixedly connected on the elongation hydraulic cylinder piston, and forearm rotating servo motor power output shaft cooperates with the transmission of oscillating motor cylinder body; Described oscillating motor clutch end is connected with mechanical wrist and forms wrist joint structure;
Calliper assembly comprises clamp seat, clamp and thrust hydraulic cylinder, described clamp comprises two clamp bodies of rod that are oppositely arranged and are articulated in the clamp seat with lever construction, the thrust hydraulic cylinder body is fixedly installed on the clamp seat, the piston rod leading section of thrust hydraulic cylinder is provided with the axial end arc boss, connect by the compression return spring between two clamp body of rod resistance arms, two clamp body of rod power arm inboards lean against the arcuate flanks of end face arc boss respectively under the return spring effect.
Further, described pedestal is a case structure, gear driving pair is set in the pedestal, the rotational power output shaft of power set and the driving gear of gear driving pair are in the circumferencial direction secure fit, the driven gear shaft of the driven gear of gear driving pair passes pedestal and cooperates with the transmission of lifting hydraulic cylinder cylinder body, and described lifting hydraulic cylinder cylinder body stands on the pedestal and is rotatably assorted with it; Be provided with on the described pedestal to erect and support, erect and support the annular brace cover that setting is rotatably assorted and is coated at the lifting hydraulic cylinder cylinder body;
Further, described lifting hydraulic cylinder cylinder body top is with the lifting slide in cooperating by axial feather key, lifting slide upper end forms the annular lip of load at lifting hydraulic cylinder cylinder body top end face, the lifting hydraulic cylinder piston rod passes the lifting slide from the bottom to top and fixedlys connected with it along axis, lifting hydraulic cylinder piston rod upper end is set with the upper arm bearing, and described elongation hydraulic cylinder body is articulated in the upper arm bearing with the mode single-degree-of-freedom of rotating along perpendicular;
Further, described elongation hydraulic cylinder body front end is with the elongation slide in cooperating by axial feather key, elongation slide front end forms the annular lip of load at elongation hydraulic cylinder body front end face, the elongation hydraulic cylinder piston rod along axis by the back to before passing the elongation slide and fixedlying connected with it, elongation hydraulic cylinder piston rod leading section is set with forearm rotating servo motor bearing, and described forearm rotating servo motor body is fixedly installed on the forearm rotating servo motor bearing;
Further, described power set are servomotor;
Further, be rotatably assorted by thrust bearing between described lifting hydraulic cylinder cylinder body lower surface and the pedestal upper surface.
The beneficial effects of the utility model: the accurate heavy-duty machinery hand of six degree of freedom of the present utility model, adopt the type of drive of hydraulic-driven and driven by servomotor, and the structure of employing six-freedom degree, can realize the matching requirements in each orientation, in conjunction with corresponding electrical control, can realize the precision of assembly manipulation, utilize hydraulic-driven can grasp bigger weight, realize the heavy loading of operation; The utility model is equipped with sensor in use and the Computer Control Technology combination is accurately located installation process, can make manipulator realize intelligent assembling and other relevant job requirements; The utility model improves transmission efficiency, realize mechanical arm high accuracy, high reliability, long-life, low energy consumption, small size, the high-accuracy driving of light-weighted high rigidity, manufacturing processing technic is easy simultaneously, and manufacturing cost is low, and Installation and Debugging are easy and dismantle easy to maintenance.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further described.
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the calliper assembly structural representation.
The specific embodiment
Fig. 1 is a structural representation of the present utility model, Fig. 2 is the calliper assembly structural representation, as shown in the figure: the accurate heavy-duty machinery hand of the six degree of freedom of present embodiment, comprise power set 3, pedestal 1 and arm assembly, the arm assembly comprises following arm assembly, goes up arm assembly and calliper assembly;
Following arm assembly comprises the lifting hydraulic cylinder of vertical setting, and described lifting hydraulic cylinder cylinder body 8 and pedestal 1 are cooperating around the mode that self axis rotates, and the rotational power output shaft of power set cooperates with 8 transmissions of lifting hydraulic cylinder cylinder body;
Last arm assembly comprises elongation hydraulic cylinder, forearm rotating servo motor 21 and oscillating motor 24, and elongation hydraulic cylinder, forearm rotating servo motor 21 and oscillating motor 24 are in turn connected to form the straight-bar structure; Concrete connected mode is: described elongation hydraulic cylinder body 16 is connected in lifting hydraulic cylinder piston rod 9 with the mode single-degree-of-freedom of rotating along perpendicular, forearm rotating servo motor 21 bodies are fixedly connected on elongation hydraulic cylinder piston 17, and forearm rotating servo motor 21 power output shafts 23 cooperate with 24 transmissions of oscillating motor cylinder body; Described oscillating motor 24 clutch ends 32 are connected with mechanical wrist 26 and form wrist joint structure, as shown in the figure; Oscillating motor 24 clutch ends 32 are connected with mechanical wrist 26 by splined shaft 25;
Calliper assembly comprises clamp seat 27, clamp and thrust hydraulic cylinder, and described clamp comprises that two resistance arms that are oppositely arranged and are articulated in lever construction 30, two clamp bodies of rod 30 of the clamp body of rod of clamp seat 27 form jaw; Thrust hydraulic cylinder body 28 is fixedly installed on the clamp seat 27, piston rod 29 leading sections of thrust hydraulic cylinder are provided with axial end arc boss 31, connect by the compression return spring between two the clamp body of rod 30 resistance arms, two clamp body of rod power arm inboards lean against the arcuate flanks of end face arc boss 33 respectively under return spring 31 effects; During use, when the piston rod 29 of thrust hydraulic cylinder 28 travels forward, end face arc boss 33 drives power arm and overcomes return spring also separately, resistance arm forms clamp position, then jaw forms and adds the state of holding, and when putting down object, the piston rod 29 of thrust hydraulic cylinder 28 drives end face arc boss 33 motion backward, then return spring outwards flicks resistance arm, and jaw is opened.
In the present embodiment, described pedestal 1 is a case structure, in the pedestal 1 gear driving pair is set, the rotational power output shaft 3a of power set 3 and the driving gear 2 of gear driving pair are in the circumferencial direction secure fit, the driven gear shaft 5 of the driven gear of the driven gear 4 of gear driving pair passes pedestal 1 and cooperates with 8 transmissions of lifting hydraulic cylinder cylinder body, and described lifting hydraulic cylinder cylinder body 8 stands on the pedestal 1 and is rotatably assorted with it; Be provided with on the described pedestal 1 to erect and support, erect and support the annular brace cover 10 that being provided with is rotatably assorted is coated at lifting hydraulic cylinder cylinder body 8; Adopt to erect support and the annular brace nested structure, be beneficial to the stability of assurance lifting hydraulic cylinder, prevent that it from toppling over, further improve its bearing capacity; This drive mechanism dismounting, easy to installation and maintenance, volume compact.
In the present embodiment, described lifting hydraulic cylinder cylinder body 8 tops are with lifting slide 11 in cooperating by axial feather key, lifting slide 11 upper ends form the annular lip of load at lifting hydraulic cylinder cylinder body 8 top end faces, lifting hydraulic cylinder piston rod 9 passes lifting slide 11 from the bottom to top and fixedlys connected with it along axis, as shown in the figure, fixedly connected with lifting slide 11 by contiguous block 12 in piston rod 9 ends; Lifting hydraulic cylinder piston rod 9 upper ends are set with upper arm bearing 13, described elongation hydraulic cylinder body 16 is articulated in upper arm bearing 13 with the mode single-degree-of-freedom of rotating along perpendicular, as shown in the figure, elongation hydraulic cylinder body 16 is fixedly installed on the pivoted arm 14 by jockey 15, and pivoted arm 14 is articulated in upper arm bearing 13 with the mode single-degree-of-freedom of rotating along perpendicular; Adopt the structure of lifting sliding sleeve, make it with the piston rod load, further the stable plunger bar increases the ability that it bears heavy duty, prevents its unstability.
In the present embodiment, described elongation hydraulic cylinder body 16 front ends are with elongation slide 18 in cooperating by axial feather key, elongation slide 18 front ends form the annular lip of load at elongation hydraulic cylinder body 16 front end faces, elongation hydraulic cylinder piston rod 17 along axis by the back to before passing elongation slide 18 and fixedlying connected with it, elongation hydraulic cylinder piston rod 17 leading sections are set with forearm rotating servo motor bearing 20, as shown in the figure, forearm rotating servo motor bearing 20 is fixedly installed on elongation hydraulic cylinder piston rod 17 front ends by contiguous block 19; Described forearm rotating servo motor 21 bodies are fixedly installed on the forearm rotating servo motor bearing 20; Adopt the structure of elongation sliding sleeve, make it with the piston rod load, further the stable plunger bar increases the ability that it bears heavy duty, prevents its unstability.
In the present embodiment, described power set 3 are servomotor; Driving precision height is controlled convenient and simple.
In the present embodiment, be rotatably assorted by thrust bearing 6 between described lifting hydraulic cylinder cylinder body 8 lower surfaces and pedestal 1 upper surface; Reduce friction, improve transmission efficiency, reduce noise.
Explanation is at last, above embodiment is only unrestricted in order to the explanation the technical solution of the utility model, although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement the technical solution of the utility model, and not breaking away from the aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of the claim scope of the present utility model.
Claims (6)
1. the accurate heavy-duty machinery hand of six degree of freedom is characterized in that: comprise power set, pedestal and arm assembly, arm assembly, last arm assembly and calliper assembly under the arm assembly comprises;
Following arm assembly comprises the lifting hydraulic cylinder of vertical setting, and described lifting hydraulic cylinder cylinder body and pedestal are cooperating around the mode that self axis rotates, and the rotational power output shaft of power set cooperates with the transmission of lifting hydraulic cylinder cylinder body;
Last arm assembly comprises elongation hydraulic cylinder, forearm rotating servo motor and oscillating motor, and elongation hydraulic cylinder, forearm rotating servo motor and oscillating motor are in turn connected to form the straight-bar structure; Described elongation hydraulic cylinder body is connected in the lifting hydraulic cylinder piston rod with the mode single-degree-of-freedom of rotating along perpendicular, forearm rotating servo motor body is fixedly connected on the elongation hydraulic cylinder piston, and forearm rotating servo motor power output shaft cooperates with the transmission of oscillating motor cylinder body; Described oscillating motor clutch end is connected with mechanical wrist and forms wrist joint structure;
Calliper assembly comprises clamp seat, clamp and thrust hydraulic cylinder, described clamp comprises two clamp bodies of rod that are oppositely arranged and are articulated in the clamp seat with lever construction, the thrust hydraulic cylinder body is fixedly installed on the clamp seat, the piston rod leading section of thrust hydraulic cylinder is provided with the axial end arc boss, connect by the compression return spring between two clamp body of rod resistance arms, two clamp body of rod power arm inboards lean against the arcuate flanks of end face arc boss respectively under the return spring effect.
2. the accurate heavy-duty machinery hand of six degree of freedom according to claim 1, it is characterized in that: described pedestal is a case structure, gear driving pair is set in the pedestal, the rotational power output shaft of power set and the driving gear of gear driving pair are in the circumferencial direction secure fit, the driven gear shaft of the driven gear of gear driving pair passes pedestal and cooperates with the transmission of lifting hydraulic cylinder cylinder body, and described lifting hydraulic cylinder cylinder body stands on the pedestal and is rotatably assorted with it; Be provided with on the described pedestal to erect and support, erect and support the annular brace cover that setting is rotatably assorted and is coated at the lifting hydraulic cylinder cylinder body.
3. the accurate heavy-duty machinery hand of six degree of freedom according to claim 2, it is characterized in that: described lifting hydraulic cylinder cylinder body top is with the lifting slide in cooperating by axial feather key, lifting slide upper end forms the annular lip of load at lifting hydraulic cylinder cylinder body top end face, the lifting hydraulic cylinder piston rod passes the lifting slide from the bottom to top and fixedlys connected with it along axis, lifting hydraulic cylinder piston rod upper end is set with the upper arm bearing, and described elongation hydraulic cylinder body is articulated in the upper arm bearing with the mode single-degree-of-freedom of rotating along perpendicular.
4. the accurate heavy-duty machinery hand of six degree of freedom according to claim 3, it is characterized in that: described elongation hydraulic cylinder body front end is with the elongation slide in cooperating by axial feather key, elongation slide front end forms the annular lip of load at elongation hydraulic cylinder body front end face, the elongation hydraulic cylinder piston rod along axis by the back to before passing the elongation slide and fixedlying connected with it, elongation hydraulic cylinder piston rod leading section is set with forearm rotating servo motor bearing, and described forearm rotating servo motor body is fixedly installed on the forearm rotating servo motor bearing.
5. the accurate heavy-duty machinery hand of six degree of freedom according to claim 4, it is characterized in that: described power set are servomotor.
6. the accurate heavy-duty machinery hand of six degree of freedom according to claim 5 is characterized in that: be rotatably assorted by thrust bearing between described lifting hydraulic cylinder cylinder body lower surface and the pedestal upper surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201109738U CN201776752U (en) | 2010-02-09 | 2010-02-09 | Six-degree-of-freedom precise heavy-duty manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201109738U CN201776752U (en) | 2010-02-09 | 2010-02-09 | Six-degree-of-freedom precise heavy-duty manipulator |
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| CN201776752U true CN201776752U (en) | 2011-03-30 |
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| CN2010201109738U Expired - Fee Related CN201776752U (en) | 2010-02-09 | 2010-02-09 | Six-degree-of-freedom precise heavy-duty manipulator |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102266895A (en) * | 2011-07-22 | 2011-12-07 | 浙江工业大学 | Manipulator device for cooling medium can production |
| CN102581685A (en) * | 2012-03-30 | 2012-07-18 | 山东建设机械股份有限公司 | Clamp floating mechanism |
| CN102664367A (en) * | 2012-05-11 | 2012-09-12 | 广东交通职业技术学院 | Mechanical hand for cleaning high-voltage porcelain insulator |
| CN102975198A (en) * | 2012-11-30 | 2013-03-20 | 厉彦亮 | Flexible hydraulic mechanical hand |
| CN103233691A (en) * | 2013-04-11 | 2013-08-07 | 中煤科工集团重庆研究院 | Large-dip-angle drill pipe delivering device supporting coal drilling rig |
| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
| CN104928472A (en) * | 2015-04-29 | 2015-09-23 | 宁波金田铜业(集团)股份有限公司 | Manipulator with multifunctional clamp |
| CN105014680A (en) * | 2014-05-02 | 2015-11-04 | 赵德朝 | Robot finger driven by swing oil cylinders |
| CN107030996A (en) * | 2017-05-22 | 2017-08-11 | 泰州职业技术学院 | A kind of plastic catching robot with nozzle clip |
| CN108188291A (en) * | 2018-01-29 | 2018-06-22 | 重庆埃力森金属制品有限公司 | Tubing connection press fastening device |
| CN108436895A (en) * | 2016-07-18 | 2018-08-24 | 于洋 | A kind of all-purpose robot equipped with adjutage |
| CN109604910A (en) * | 2019-01-25 | 2019-04-12 | 上海中巽科技股份有限公司 | A kind of ship plate Intelligent welding positioning device |
| CN109769479A (en) * | 2019-03-25 | 2019-05-21 | 河南工学院 | A kind of intelligent picking robot for preventing fruit from damaging |
| CN115006195A (en) * | 2022-05-24 | 2022-09-06 | 重庆交通大学 | Self-adaptive knee joint exoskeleton device |
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2010
- 2010-02-09 CN CN2010201109738U patent/CN201776752U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102266895A (en) * | 2011-07-22 | 2011-12-07 | 浙江工业大学 | Manipulator device for cooling medium can production |
| CN102581685A (en) * | 2012-03-30 | 2012-07-18 | 山东建设机械股份有限公司 | Clamp floating mechanism |
| CN102664367A (en) * | 2012-05-11 | 2012-09-12 | 广东交通职业技术学院 | Mechanical hand for cleaning high-voltage porcelain insulator |
| CN102975198A (en) * | 2012-11-30 | 2013-03-20 | 厉彦亮 | Flexible hydraulic mechanical hand |
| CN103233691A (en) * | 2013-04-11 | 2013-08-07 | 中煤科工集团重庆研究院 | Large-dip-angle drill pipe delivering device supporting coal drilling rig |
| CN103753526B (en) * | 2013-12-30 | 2015-09-30 | 重庆交通大学 | Can the precise heavy-load manipulator of positioning compensation |
| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
| CN105014680A (en) * | 2014-05-02 | 2015-11-04 | 赵德朝 | Robot finger driven by swing oil cylinders |
| CN104928472A (en) * | 2015-04-29 | 2015-09-23 | 宁波金田铜业(集团)股份有限公司 | Manipulator with multifunctional clamp |
| CN108436895A (en) * | 2016-07-18 | 2018-08-24 | 于洋 | A kind of all-purpose robot equipped with adjutage |
| CN108436895B (en) * | 2016-07-18 | 2021-02-19 | 南通瑞强机械制造有限公司 | General robot with extension arm |
| CN107030996A (en) * | 2017-05-22 | 2017-08-11 | 泰州职业技术学院 | A kind of plastic catching robot with nozzle clip |
| CN108188291A (en) * | 2018-01-29 | 2018-06-22 | 重庆埃力森金属制品有限公司 | Tubing connection press fastening device |
| CN109604910A (en) * | 2019-01-25 | 2019-04-12 | 上海中巽科技股份有限公司 | A kind of ship plate Intelligent welding positioning device |
| CN109769479A (en) * | 2019-03-25 | 2019-05-21 | 河南工学院 | A kind of intelligent picking robot for preventing fruit from damaging |
| CN109769479B (en) * | 2019-03-25 | 2021-06-04 | 河南工学院 | Intelligent picking robot capable of preventing fruits from being damaged |
| CN115006195A (en) * | 2022-05-24 | 2022-09-06 | 重庆交通大学 | Self-adaptive knee joint exoskeleton device |
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Legal Events
| Date | Code | Title | Description |
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| 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: 20110330 Termination date: 20120209 |