CN203818156U - Load type mechanical arm - Google Patents
Load type mechanical arm Download PDFInfo
- Publication number
- CN203818156U CN203818156U CN201420232987.5U CN201420232987U CN203818156U CN 203818156 U CN203818156 U CN 203818156U CN 201420232987 U CN201420232987 U CN 201420232987U CN 203818156 U CN203818156 U CN 203818156U
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- runner
- mechanical arm
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- flowing
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Abstract
The utility model discloses a load type mechanical arm which comprises a hydraulic driving pump which is connected with a directional mechanism. The directional mechanism is connected with an end actuator. The directional mechanism comprises a main hydraulic channel which is connected with at least two branch channels and a pressure discharging bypass, each branch channel is internally provided with a pressure regulating valve and comprises a first flowing section, a second flowing section and a third flowing section, and the first flowing section, the second flowing section and the third flowing section of each branch channel are sequentially connected in series from the liquid inlet end and the liquid outlet end of the corresponding branch channel. The inner wall of the first channel is provided with a thread groove, the second flowing sections are in an ellipsoid shape, the pressure regulating valves are arranged in the second flowing sections, and the third channel comprises a plurality of arc sections which are connected in a tangent mode. The included angle between the tangent line of an inlet and the tangent line of an outlet of each arc section is smaller than 30 degrees, the tail end of each branch channel is connected with a piston rod, and the piston rods are hinged to the end actuator. According to the load type mechanical arm, the defects in the prior art can be overcome, a driving mechanism is simplified, and the positioning capability of the mechanical arm is improved.
Description
Technical field
The utility model relates to mechanical arm technical field, especially a kind of load-carrying formula mechanical arm.
Background technology
In prior art, Chinese invention patent CN102357897B discloses a kind of 4DOF connection in series-parallel mixing heavy-duty machinery arm, for heavily loaded work condition environment, has improved the bearing capacity of mechanical arm.But this structure has used multiple oil cylinders, complex structure on the one hand, more important question is that the cooperation difficulty of each oil cylinder is high, makes the stationkeeping ability of mechanical arm limited.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of load-carrying formula mechanical arm, can solve the deficiencies in the prior art, has simplified driving mechanism, has improved the stationkeeping ability of mechanical arm.
For solving the problems of the technologies described above, technical solution adopted in the utility model is as follows.
A kind of load-carrying formula mechanical arm, comprise fluid clutch, fluid clutch is connected with attitude reference device, attitude reference device is connected with end effector, described attitude reference device comprises a main hydraulic pressure runner, main hydraulic pressure runner is connected with at least Liang Ge branch runner and a pressure release bypass, in each branch runner, be provided with a pressure regulator valve, branch's runner comprises by liquid feeding end to outlet end connects first-class section that arranges successively, second section and the 3rd stream section, the inwall of first flow is provided with thread groove, the thread groove opposite direction of adjacent Liang Ge branch runner, second section is elliposoidal, pressure regulator valve is arranged in second section, the 3rd runner comprises the segmental arc of several tangent connections, the tangent line angle of each segmental arc import and outlet is less than 30 °, the end of each branch runner is connected with a piston rod, and piston rod is hinged on end effector.
As preferably, between the liquid feeding end of described adjacent Liang Ge branch runner, be provided with arc guide face, the protrusion direction of arc guide face is contrary with the flow direction of hydraulic oil.
As preferably, the ratio of the maximum inner diameter of described first-class section, second section and the 3rd stream section is 2:3:1.
As preferably, in described the 3rd stream section, the difference of the internal diameter of each segmental arc is less than 20% of the 3rd stream section maximum inner diameter.
As preferably, between described piston rod and end effector, be provided with elastic.
The beneficial effect that adopts technique scheme to bring is: the utility model uses a location that overall attitude reference device realizes end effector, compared with using the structure of multiple oil cylinders in prior art, simple in structure, use single oil circuit control can complete whole position fixing process.The location that each branch runner is realized a dimension, by adjusting pressure regulator valve, realizes the cooperation location between different dimensions.The pressure balance of pressure release bypass for keeping whole oil circuit, improves the ride comfort that oil circuit pressure changes.Thread groove, for reducing to enter the adverse current of hydraulic oil in branch's runner, coordinates with arc guide face, can reduce the turbulent phenomenon of oil circuit branch part.The second section of elliposoidal can improve the adjusting sensitivity of control valve.The shape of the 3rd runner designs according to actual dimension direction.The ratio of the maximum inner diameter of first-class section, second section and the 3rd stream section is 2:3:1, can suppress to the full extent the unequal decay of pressure that hydraulic oil produces in pressure transmittance process.Elastic is used for the impulsive force of damper piston motion, improves the stationarity in object fetching process.
Brief description of the drawings
Fig. 1 is the schematic diagram of a detailed description of the invention of the utility model.
In figure: 1, fluid clutch; 2, attitude reference device; 3, end effector; 4, main hydraulic pressure runner; 5, branch's runner; 6, pressure release bypass; 7, pressure regulator valve; 8, first-class section; 9, second section; 10, the 3rd stream section; 11, thread groove; 12, piston rod; 13, arc guide face; 14, elastic.
Detailed description of the invention
The standardized element using in the utility model all can be bought from the market, shaped piece all can carry out customized according to description with record accompanying drawing, the concrete connected mode of each part all adopts the conventional meanses such as bolt ripe in prior art, rivet, welding, stickup, is not described in detail in this.
With reference to Fig. 1, the present embodiment comprises fluid clutch 1, fluid clutch 1 is connected with attitude reference device 2, attitude reference device 2 is connected with end effector 3, described attitude reference device 2 comprises a main hydraulic pressure runner 4, main hydraulic pressure runner 4 is connected with three branch's runners 5 and a pressure release bypass 6, in each branch runner 5, be provided with a pressure regulator valve 7, branch's runner 5 comprises by liquid feeding end to outlet end connects first-class section 8 that arranges successively, second section 9 and the 3rd stream section 10, the inwall of first flow 8 is provided with thread groove 11, thread groove 11 opposite directions of adjacent Liang Ge branch runner 5, second section 9 is elliposoidal, pressure regulator valve 7 is arranged in second section 9, the 3rd runner 10 comprises the segmental arc of several tangent connections, the tangent line angle of each segmental arc import and outlet is less than 20 °, can on the basis of reducing segmental arc quantity, reduce outlet pressure distortion, the end of each branch runner 5 is connected with a piston rod 12, and piston rod 12 is hinged on end effector 3.Between the liquid feeding end of described adjacent Liang Ge branch runner 5, be provided with arc guide face 13, the protrusion direction of arc guide face 13 is contrary with the flow direction of hydraulic oil.The ratio of the maximum inner diameter of described first-class section 8, second section 9 and the 3rd stream section 10 is 2:3:1.In described the 3rd stream section 10, the difference of the internal diameter of each segmental arc is less than 17% of the 3rd stream section 10 maximum inner diameters, can on the basis that reduces outlet pressure distortion, realize the linearisation of distortion.Between described piston rod 12 and end effector 3, be provided with elastic 14.This detailed description of the invention is used a location that overall attitude reference device 2 realizes end effector 3, compared with using the structure of multiple oil cylinders in prior art, simple in structure, uses single oil circuit control can complete whole position fixing process.The location that each branch runner 5 is realized a dimension, by adjusting pressure regulator valve 7, realizes the cooperation location between different dimensions.Pressure release bypass 6, for keeping the pressure balance of whole oil circuit, improves the ride comfort that oil circuit pressure changes.Thread groove 11, for reducing to enter the adverse current of branch's runner 5 interior hydraulic oil, coordinates with arc guide face 13, can reduce the turbulent phenomenon of oil circuit branch part.The second section 9 of elliposoidal can improve the adjusting sensitivity of control valve 7.The shape of the 3rd runner 10 designs according to actual dimension direction.The ratio of the maximum inner diameter of first-class section 8, second section 9 and the 3rd stream section 10 is 2:3:1, can suppress to the full extent the unequal decay of pressure that hydraulic oil produces in pressure transmittance process.Elastic 14 is used for the impulsive force of damper piston motion, improves the stationarity in object fetching process.
Wherein, the internal diameter R of first-class section 8
1, main hydraulic pressure runner 4 internal diameter R
2with relation between first-class section of 8 center line and the angle α of main hydraulic pressure runner 4 center lines meets following formula:
R
1＝k*R
2*cosα
K is proportionality coefficient, and the selection rule of k is that first-class section of 8 internal diameter sums in all branches runner 5 are less than or equal to 80% of main hydraulic pressure runner 4 internal diameters.
Wherein, end effector 3 is rectangular box, is provided with the sidewall of the hyperboloid of one sheet in rectangular box.The height that this end effector 3 is applicable to spherical member bears a heavy burden and shifts.
More than show and described general principle of the present utility model and principal character and advantage of the present utility model.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; that in above-described embodiment and description, describes just illustrates principle of the present utility model; do not departing under the prerequisite of the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (5)
1. a load-carrying formula mechanical arm, comprise fluid clutch (1), fluid clutch (1) is connected with attitude reference device (2), attitude reference device (2) is connected with end effector (3), it is characterized in that: described attitude reference device (2) comprises a main hydraulic pressure runner (4), main hydraulic pressure runner (4) is connected with at least Liang Ge branch runner (5) and a pressure release bypass (6), in each branch runner (5), be provided with a pressure regulator valve (7), branch's runner (5) comprise by liquid feeding end to outlet end connect successively arrange first-class section (8), second section (9) and the 3rd stream section (10), the inwall of first flow (8) is provided with thread groove (11), thread groove (11) opposite direction of adjacent Liang Ge branch runner (5), second section (9) is elliposoidal, pressure regulator valve (7) is arranged in second section (9), the 3rd runner (10) comprises the segmental arc of several tangent connections, the tangent line angle of each segmental arc import and outlet is less than 30 °, the end of each branch runner (5) is connected with a piston rod (12), and piston rod (12) is hinged on end effector (3).
2. load-carrying formula mechanical arm according to claim 1, it is characterized in that: between the liquid feeding end of described adjacent Liang Ge branch's runner (5), be provided with arc guide face (13), the protrusion direction of arc guide face (13) is contrary with the flow direction of hydraulic oil.
3. load-carrying formula mechanical arm according to claim 1, is characterized in that: the ratio of the maximum inner diameter of described first-class section (8), second section (9) and the 3rd stream section (10) is 2:3:1.
4. load-carrying formula mechanical arm according to claim 3, is characterized in that: in described the 3rd stream section (10), the difference of the internal diameter of each segmental arc is less than 20% of the 3rd stream section (10) maximum inner diameter.
5. load-carrying formula mechanical arm according to claim 1, is characterized in that: between described piston rod (12) and end effector (3), be provided with elastic (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420232987.5U CN203818156U (en) | 2014-05-08 | 2014-05-08 | Load type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420232987.5U CN203818156U (en) | 2014-05-08 | 2014-05-08 | Load type mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203818156U true CN203818156U (en) | 2014-09-10 |
Family
ID=51473698
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420232987.5U Expired - Fee Related CN203818156U (en) | 2014-05-08 | 2014-05-08 | Load type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203818156U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082138A (en) * | 2014-05-08 | 2015-11-25 | 宁夏巨能机器人系统有限公司 | Load bearing type mechanical arm |
-
2014
- 2014-05-08 CN CN201420232987.5U patent/CN203818156U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082138A (en) * | 2014-05-08 | 2015-11-25 | 宁夏巨能机器人系统有限公司 | Load bearing type mechanical arm |
| CN105082138B (en) * | 2014-05-08 | 2016-12-07 | 宁夏巨能机器人股份有限公司 | A kind of load-carrying formula mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 750021 the Ningxia Hui Autonomous Region concentric Yinchuan City Development Zone, No. 296 South Street Patentee after: Ningxia giant robot Limited by Share Ltd Address before: 750021 the Ningxia Hui Autonomous Region concentric Yinchuan City Development Zone, No. 296 South Street Patentee before: Ningxia Juneng Robot System Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140910 Termination date: 20170508 |