CN203460181U - Multi-joint hydraulic mechanical arm structure - Google Patents
Multi-joint hydraulic mechanical arm structure Download PDFInfo
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- CN203460181U CN203460181U CN201320503500.8U CN201320503500U CN203460181U CN 203460181 U CN203460181 U CN 203460181U CN 201320503500 U CN201320503500 U CN 201320503500U CN 203460181 U CN203460181 U CN 203460181U
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- finger
- mechanical arm
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- connecting rods
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Abstract
The utility model discloses a multi-joint hydraulic mechanical arm structure. The mechanical arm structure comprises a waist joint assembly, a second joint assembly, a third joint assembly, a fourth joint assembly and a finger joint assembly, wherein each joint is provided with a hydraulic cylinder, and link mechanisms are arranged among the joints. Compared with the prior art, the mechanical arm structure has the advantages of simple structure, high load, and stability and reliability in work, is insensitive to use environments and can be applied to the environments of deep sea, nuclear radiation, high humidity, high altitude and the like.
Description
Technical field
The utility model relates to mechanical automation field, particularly relates to a kind of multi-joint hydraulic machinery arm configuration.
Background technology
Existing joint of mechanical arm drives the general mode that adopts motor acceleration and deceleration machine, and the power density of common this mechanical arm is relatively low.Simultaneously owing to having used, after motor, in some particular surroundings, just limited the utilization scope of mechanical arm, as being subject to great impact the service life of this kind of mechanical arm under at nuclear radiation environment.
Utility model content
The purpose of this utility model is to solve above-mentioned prior art difficult point, provide a kind of simple in structure, power density is high and operation environment scope wide, the multi-joint hydraulic machinery arm of working stability.
The utility model adopts following technical scheme: a kind of multi-joint hydraulic machinery arm configuration, described mechanical arm comprises waist joint assembly, two joint assemblies, three joint assemblies, four joint assemblies, finger-joint assembly, described each joint is provided with hydraulic cylinder, between joint and joint, linkage is set.
In left-hand seat technical scheme, described four joint assemblies comprise four joint fluid cylinder pressures, forearm, four joint drive connecting rods, four joint follower link, wrist, four joint fluid cylinder pressures and four joint drive connecting rods, forearm form slider-crank mechanism, and four joint drive connecting rods and four joint follower link, wrist, forearm form double rocker mechanism.
In technique scheme, described finger-joint assembly comprises finger-joint and drives hydraulic cylinder, hand, finger connecting rod, finger, and finger-joint drives hydraulic cylinder and hand, finger connecting rod, finger to form slider-crank mechanism.
The utility model compared with prior art, it have simple in structure, load is large, the reliable advantage of working stability.Insensitive to used environment, can be as environmental applications such as deep-sea, nuclear radiation, high humility, high height above sea level.
Accompanying drawing explanation
The utility model will illustrate by embodiment and with reference to the mode of accompanying drawing, wherein:
Fig. 1 is the general assembly drawing of this kind of multi-joint hydraulic machinery arm configuration in the embodiment of the present invention;
Fig. 2 is the work schematic diagram in this kind of multi-joint hydraulic machinery arm the 4th joint in the embodiment of the present invention;
Fig. 3 is the work schematic diagram of this kind of multi-joint hydraulic machinery arm finger-joint in the embodiment of the present invention;
Wherein: the 1st, servo-hydraulic control valve, the 2nd, waist joint, the 3rd, waist joint hydraulic rotating cylinder, the 4th, large arm, 5 is two joint fluid cylinder pressures, 6 is three joint fluid cylinder pressures, the 7th, forearm, 8 is four joint fluid cylinder pressures, 9 is four joint drive connecting rods, 10 is four joint follower link, the 11st, and wrist, 12 is five joint hydraulic rotating cylinders, the 13rd, finger-joint drives hydraulic cylinder, the 14th, hand, the 15th, finger connecting rod, the 16th, finger.
The specific embodiment
Below in conjunction with accompanying drawing and by embodiment, the present invention is described in further detail, and following examples are explanation of the invention and the present invention is not limited to following examples.
As shown in Figure 1, a kind of multi-joint hydraulic machinery arm mechanism comprises that servo-hydraulic control valve 1, waist joint 2, waist joint hydraulic rotating cylinder 3, large arm 4, two joint fluid cylinder pressures 5, three joint fluid cylinder pressures 6, forearm 7, four joint fluid cylinder pressures 8, four joint drive connecting rods 9, four joint follower link 10, wrist 11, five joint hydraulic rotating cylinders 12, finger-joint drive hydraulic cylinder 13, hand 14, finger connecting rod 15, point 16.
As shown in Figure 2, four joint assemblies comprise four joint fluid cylinder pressures 8, forearm 7, four joint drive connecting rods 9, four joint follower link 10, wrist 11.Four joint fluid cylinder pressures 8 and four joint drive connecting rods 9, forearm 7 form slider-crank mechanism, and four joint drive connecting rods 9 and four joint follower link 10, wrist 11, forearm 7 form double rocker mechanism.When four joint fluid cylinder pressures 8 start to stretch, four joint drive connecting rods 9 rotate, and four joint drive connecting rods 9 rotate wrist 11 by four joint follower link 10.
As shown in Figure 3, finger-joint assembly comprises finger-joint driving hydraulic cylinder 13, hand 14, finger connecting rod 15, points 16.Finger-joint drives hydraulic cylinder 13 and hand 14, finger connecting rod 15, points 16 composition slider-crank mechanisms.When finger-joint drives hydraulic cylinder 13 flexible, by finger connecting rod 15, make to point 16 rotations, thereby realize the function of gripping object.
Disclosed all features in this description, except mutually exclusive feature, all can combine by any way.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (3)
1. a multi-joint hydraulic machinery arm configuration, described mechanical arm comprises waist joint assembly, two joint assemblies, three joint assemblies, four joint assemblies, finger-joint assembly, it is characterized by described each joint and be provided with hydraulic cylinder, between joint and joint, linkage is set.
2. a kind of multi-joint hydraulic machinery arm configuration according to claim 1, it is characterized by described four joint assemblies and comprise four joint fluid cylinder pressures, forearm, four joint drive connecting rods, four joint follower link, wrist, four joint fluid cylinder pressures and four joint drive connecting rods, forearm form slider-crank mechanism, and four joint drive connecting rods and four joint follower link, wrist, forearm form double rocker mechanism.
3. a kind of multi-joint hydraulic machinery arm configuration according to claim 1, it is characterized by described finger-joint assembly and comprise finger-joint driving hydraulic cylinder, hand, finger connecting rod, finger, finger-joint drives hydraulic cylinder and hand, finger connecting rod, finger to form slider-crank mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320503500.8U CN203460181U (en) | 2013-08-19 | 2013-08-19 | Multi-joint hydraulic mechanical arm structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320503500.8U CN203460181U (en) | 2013-08-19 | 2013-08-19 | Multi-joint hydraulic mechanical arm structure |
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| Publication Number | Publication Date |
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| CN203460181U true CN203460181U (en) | 2014-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320503500.8U Expired - Lifetime CN203460181U (en) | 2013-08-19 | 2013-08-19 | Multi-joint hydraulic mechanical arm structure |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104084947A (en) * | 2014-06-27 | 2014-10-08 | 哈尔滨工程大学 | Seven-functional underwater mechanical arm system |
| CN105798528A (en) * | 2016-05-26 | 2016-07-27 | 桂林电子科技大学 | Multi-degree of freedom hydraulic clamping support |
| CN107618029A (en) * | 2017-10-27 | 2018-01-23 | 吉林省云动力智能装备制造有限公司 | Hydraulic intelligent controls articulated robot |
| CN110253601A (en) * | 2019-06-12 | 2019-09-20 | 广东技术师范大学天河学院 | A kind of full fluid power humanoid manipulator |
| CN112591557A (en) * | 2020-12-04 | 2021-04-02 | 福德机器人（成都）有限责任公司 | Automatic feeding and head wire cutting combined robot for material collecting and coiling barrel |
| CN113172655A (en) * | 2021-05-10 | 2021-07-27 | 福德机器人（成都）有限责任公司 | Integrated joint device and seven-axis robot thereof |
| CN113478407A (en) * | 2021-06-02 | 2021-10-08 | 机械工业第九设计研究院有限公司 | Accurate clamping and positioning mechanism with elastic tensioning function |
-
2013
- 2013-08-19 CN CN201320503500.8U patent/CN203460181U/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104084947A (en) * | 2014-06-27 | 2014-10-08 | 哈尔滨工程大学 | Seven-functional underwater mechanical arm system |
| CN104084947B (en) * | 2014-06-27 | 2015-12-02 | 哈尔滨工程大学 | Mechanical arm system under a kind of seven function water |
| CN105798528A (en) * | 2016-05-26 | 2016-07-27 | 桂林电子科技大学 | Multi-degree of freedom hydraulic clamping support |
| CN105798528B (en) * | 2016-05-26 | 2017-12-12 | 桂林电子科技大学 | A kind of multiple degrees of freedom hydraulic clamp support |
| CN107618029A (en) * | 2017-10-27 | 2018-01-23 | 吉林省云动力智能装备制造有限公司 | Hydraulic intelligent controls articulated robot |
| CN107618029B (en) * | 2017-10-27 | 2024-02-02 | 吉林省云动力智能装备制造有限公司 | Hydraulic intelligent control multi-joint robot |
| CN110253601A (en) * | 2019-06-12 | 2019-09-20 | 广东技术师范大学天河学院 | A kind of full fluid power humanoid manipulator |
| CN110253601B (en) * | 2019-06-12 | 2022-05-24 | 广东技术师范大学天河学院 | Full-hydraulic humanoid manipulator |
| CN112591557A (en) * | 2020-12-04 | 2021-04-02 | 福德机器人（成都）有限责任公司 | Automatic feeding and head wire cutting combined robot for material collecting and coiling barrel |
| CN113172655A (en) * | 2021-05-10 | 2021-07-27 | 福德机器人（成都）有限责任公司 | Integrated joint device and seven-axis robot thereof |
| CN113478407A (en) * | 2021-06-02 | 2021-10-08 | 机械工业第九设计研究院有限公司 | Accurate clamping and positioning mechanism with elastic tensioning function |
| CN113478407B (en) * | 2021-06-02 | 2022-09-27 | 机械工业第九设计研究院股份有限公司 | Accurate clamping and positioning mechanism with elastic tensioning function |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 621000 Mianyang province Sichuan City Feiyun Road in the middle of 386 Patentee after: SICHUAN FUDE ROBOT Co.,Ltd. Address before: 2 building, No. 2, Xingye South Road, Yongxing Town, Mianyang, Sichuan, 621000 Patentee before: MIANYANG FUDE ROBOT Co.,Ltd. |
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| CX01 | Expiry of patent term |
Granted publication date: 20140305 |
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| CX01 | Expiry of patent term |