CN206066459U - Carry and use multiple degrees of freedom hydraulic driving mechanical in a kind of workshop - Google Patents
Carry and use multiple degrees of freedom hydraulic driving mechanical in a kind of workshop Download PDFInfo
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- CN206066459U CN206066459U CN201621086658.XU CN201621086658U CN206066459U CN 206066459 U CN206066459 U CN 206066459U CN 201621086658 U CN201621086658 U CN 201621086658U CN 206066459 U CN206066459 U CN 206066459U
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- cylinder
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- hydraulic cylinder
- telescopic arm
- clamping device
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Abstract
This utility model is related to a kind of workshop carrying multiple degrees of freedom hydraulic driving mechanical, and mechanical hand has five degree of freedom, including hand clamping device, wrist slew gear, telescopic arm mechanism and main body mechanism；Main body mechanism includes pedestal, rotary cylinder, lift cylinders and revoliving arm, and rotary cylinder is placed on lift cylinders.Hand clamping device includes paw and drives paw to do the linear type compression hydraulic cylinder of clamping movement；Telescopic arm mechanism is double guide post telescopic arm structures, and wrist slew gear is arranged on the front end of telescopic arm mechanism, for connecting hand clamping device and telescopic arm mechanism, and realizes the gyration of hand clamping device.Hydraulic driving mechanical of the present utility model can realize the motion of space five-freedom, overcome the shortcomings of existing manipulator, simple structure, with performances such as controllable, adjustable, function admirable, output flexibilities, can replace manually carrying out operation under compared with multi-environment, improve work efficiency.
Description
Technical field
This utility model is related to conveying robot technical field, and in particular to carries and is driven with multiple degrees of freedom hydraulic pressure in a kind of workshop
Dynamic mechanical hand.
Background technology
In traditional manufacture field, industrial robot is through being born, growing up, after the period of maturation, it has also become indispensable core
Heart automated arm, there are about nearly million industrial robots at present in the world and just works in various production scenes.In non-fabrication neck
Domain, up to space capsule, spacecraft, the moon are explored, down to extreme environment operation, medical operating, daily life service, robot
The application of technology has been extended to the numerous areas of socio-economic development.The continuous progress of science and technology, promotes roboticses
Constantly develop and perfect；The development of roboticses and extensively application, promote the improvement of people's lives again, promote the productivity
Raising and entire society progress.Front subject of the roboticses as current scientific technological advance, will become following society
Indispensable a special kind of skill in producing and living.
In current extensive manufacturing industry, enterprise is improve production efficiency, ensures product quality, most attention production process
Automaticity, industrial robot gradually accepted and adopted by enterprise as the important member on automatic production line.Work
The technical merit and level of application of industry robot reflect the level of a National Industrial automatization to a certain extent, at present,
Industrial robot mainly carries the repeatability such as welding, spraying, carrying and stacking and labor intensity greatly works.For
The technique device for reproducing the function of staff is referred to as mechanical hand.Mechanical hand is the partial act for imitating staff, by preset sequence,
Track and the robot apparatus for requiring the automatic crawl of realization, carrying or operate.The mechanical hand applied in the industrial production is claimed
For industry mechanical arm.
Industry mechanical arm is the new technique occurred in modern age automation field, and has become modern mechanical manufacturing life
An important component part in product system, this development of new techniques quickly, are increasingly becoming an emerging subject --- machinery
Manual journey.Mechanical hand is related to mechanics, mechanics, electrical equipment hydraulic technique, automatic control technology, sensor technology and computer skill
The scientific domains such as art, are a transsubject complex technologies.Industry mechanical arm be a kind of high-tech for growing up of recent decades from
Dynamic production equipment.Industry mechanical arm is also an important branch of industrial robot.His the characteristics of, can be by programming and come
Into various expected operations, people and the respective advantage of machine are had concurrently on construction and performance, be especially embodied in the intelligence of people and fit
Ying Xing.The ability fulfiled assignment in the accuracy and environment of mechanical manual task, has extensive development empty in national economy field
Between.
The degree of freedom that existing most of mechanical hands can be realized is typically more limited, and the crawl strength of mechanical hand with
And less stable, cause the working environment that these mechanical hands can adapt to less, it is impossible to carry out under some complicated operating modes
Carry work.
Utility model content
The purpose of this utility model is to provide a kind of workshop carrying multiple degrees of freedom hydraulic driving mechanical, overcomes existing machine
The deficiency of tool handss, can realize the motion of space five-freedom, and the crawl strength and grasp stability of mechanical hand are all preferable,
Can replace manually carrying out operation under compared with multi-environment, improve work efficiency.
This utility model provide technical scheme be：A kind of workshop is carried and uses multiple degrees of freedom hydraulic driving mechanical, described
Mechanical hand is cylindrical coordinate manipulative, and mechanical hand has five degree of freedom, wherein, the first degree of freedom grabs opening and closing for handss, and second
Degree of freedom is turned round for hand, and Three Degree Of Freedom is flexible for arm, and four-degree-of-freedom is turned round for arm, and five degree of freedom is arm liter
Drop；
The mechanical hand includes hand clamping device, wrist slew gear, telescopic arm mechanism and main body mechanism；
The main body mechanism includes pedestal, rotary cylinder, lift cylinders and revoliving arm, and rotary cylinder is placed on lift cylinders, revolution
Arm is connected with the upper end cover of rotary cylinder, and the moving plate of rotary cylinder is connected with cylinder body, is driven revoliving arm to do gyration by cylinder body, is turned round
The rotating shaft of cylinder is wholely set with the piston rod of lift cylinders, and piston rod is hollow piston rod, the built-in spline housing of piston rod and spline
Axle coordinates, and piston lifting is oriented to by splined shaft, and the bottom end cover of splined shaft and lift cylinders is fixed by spline, bottom end cover be arranged on
Pedestal on ground is fixedly connected.
The hand clamping device includes paw and drives paw to do the linear type compression hydraulic cylinder of clamping movement, paw
Expansion link including seat, two holding fingers are referred to and for transmitting compression hydraulic cylinder power, refers to the cylinder of seat and compression hydraulic cylinder
It is fixedly connected between body, the piston rod of compression hydraulic cylinder is connected with the expansion link of paw；
The telescopic arm mechanism is double guide post telescopic arm structures, and telescopic arm mechanism includes double guide post hydraulic cylinders
And hydraulic cylinder base plate, hydraulic cylinder base plate is fixedly installed on the upper end of revoliving arm, and double guide post hydraulic cylinders are arranged on cylinder bottom
On plate；
The wrist slew gear is arranged on the front end of telescopic arm mechanism, for connecting hand clamping device and flexible handss
Arm mechanism, and the gyration of hand clamping device is realized, wrist slew gear adopts rotating hydraulic cylinder structure setting, revolution
It is attached and positions using screw and pin between the stator and bonnet of hydraulic cylinder and between revolution cylinder body and protecgulum, returns
Turn to be bonded between the compression hydraulic cylinder cylinder body in the moving plate and hand clamping device of hydraulic cylinder, when two chambers of rotating hydraulic cylinder
When each leading into hydraulic oil, moving plate is driven together with compression hydraulic cylinder cylinder body and refer to that seat is together rotated.
Beneficial effect
1st, hydraulic driving mechanical of the present utility model can realize the motion of space five-freedom, overcome existing manipulator
Deficiency, simple structure, with performances such as controllable, adjustable, function admirable, output flexibilities, can replace manually entering under compared with multi-environment
Row operation, improves work efficiency；
2nd, hydraulic driving mechanical of the present utility model adopts hydraulic drive, hydraulic pressure to exert oneself greatly, and arm strength can reach 1000N
More than, and electrohydraudic servomechanism can be used, and continuous control to be realized, makes mechanical hand purposes wider, positioning precision is typically very high,
Within 1mm；
3rd, hydraulic driving mechanical option and installment two of the present utility model refers to holding finger, captures general bar.If necessary
More hand-off can grab, crawl casing etc..
Description of the drawings
Structural representations of the Fig. 1 for this utility model hydraulic driving mechanical；
Structural representations of the Fig. 2 for the paw of this utility model hydraulic driving mechanical；
Labelling in figure：1st, revoliving arm, 2, paw, 3, double guide post hydraulic cylinders, 4, rotating hydraulic cylinder.
Specific embodiment
This utility model is further described with reference to embodiment and accompanying drawing：
As shown in the figure:A kind of workshop is carried and uses multiple degrees of freedom hydraulic driving mechanical, and the mechanical hand is circular cylindrical coordinate formula
Mechanical hand, mechanical hand have five degree of freedom, wherein, the first degree of freedom grabs opening and closing for handss, and the second degree of freedom is turned round for hand, the
Three Degree Of Freedom is flexible for arm, and four-degree-of-freedom is turned round for arm, and five degree of freedom is lifted for arm；The mechanical hand includes handss
Portion's clamping device, wrist slew gear, telescopic arm mechanism and main body mechanism；The main body mechanism include pedestal, rotary cylinder,
Lift cylinders and revoliving arm 1, rotary cylinder is placed on lift cylinders, and revoliving arm 1 is connected with the upper end cover of rotary cylinder, the moving plate of rotary cylinder
It is connected with cylinder body, drives revoliving arm 1 to do gyration by cylinder body, the rotating shaft of rotary cylinder is wholely set with the piston rod of lift cylinders,
Piston rod is hollow piston rod, the built-in spline housing of piston rod and splined shaft cooperation, and piston lifting is by splined shaft guiding, splined shaft
Fixed by spline with the bottom end cover of lift cylinders, bottom end cover is fixedly connected with the pedestal for arranging on the ground.The hand clamping
Mechanism includes paw 2 and drives paw 2 to do the linear type compression hydraulic cylinder of clamping movement, and paw 2 includes referring to seat, two clampings
Finger and the expansion link for transmitting compression hydraulic cylinder power, refer to and are fixedly connected between seat and the cylinder body of compression hydraulic cylinder, folder
The piston rod of tight hydraulic cylinder is connected with the expansion link of paw 2；The telescopic arm mechanism is double guide post telescopic arm knots
Structure, telescopic arm mechanism include double guide post hydraulic cylinders 3 and hydraulic cylinder base plate, and hydraulic cylinder base plate is fixedly installed on revoliving arm 1
Upper end, double guide post hydraulic cylinders 3 be arranged on hydraulic cylinder base plate on；The wrist slew gear is arranged on telescopic arm mechanism
Front end, for connecting hand clamping device and telescopic arm mechanism, and realizes the gyration of hand clamping device, and wrist is returned
Rotation mechanism adopt 4 structure setting of rotating hydraulic cylinder, between the stator and bonnet of rotating hydraulic cylinder 4 and revolution cylinder body and protecgulum it
Between be attached and position using screw and pin, the clamping hydraulic in the moving plate of rotating hydraulic cylinder 4 and hand clamping device
Be bonded between cylinder cylinder body, when two chambers of rotating hydraulic cylinder 4 each lead into hydraulic oil, moving plate is driven together with compression hydraulic cylinder
Cylinder body and finger seat are together rotated.
The operation principle and process of this utility model hydraulic driving mechanical be：During work, drive of the revoliving arm in rotary cylinder
Dynamic lower to do gyration, revoliving arm can be moved up and down under the driving of lift cylinders, revoliving arm do gyration with
Can together move with telescopic arm mechanism while elevating movement, the arm of telescopic arm mechanism can be in double guide post hydraulic cylinders
In the presence of elongate or shorten, hand organization can realize holding action by compression hydraulic cylinder, at the same wrist mechanism turn round
Gyration is carried out under the driving of hydraulic cylinder, the motion of space five-freedom can be realized（First degree of freedom grabs opening and closing for handss, and second
Degree of freedom is turned round for hand, and Three Degree Of Freedom is flexible for arm, and four-degree-of-freedom is turned round for arm, and five degree of freedom is arm liter
Drop）, overcome the shortcomings of existing manipulator, simple structure, with performances such as controllable, adjustable, function admirable, output flexibilities, can be
Compared with replacing manually carrying out operation under multi-environment, work efficiency is improved.
The above, is only preferred embodiment of the present utility model, not makees any formal to this utility model
Restriction, although this utility model is disclosed above with preferred embodiment, but is not limited to this utility model, any ripe
Professional and technical personnel is known, in the range of without departing from technical solutions of the utility model, when in the technology using the disclosure above
Appearance is made a little change or is modified to the Equivalent embodiments of equivalent variations, as long as being without departing from technical solutions of the utility model
Hold, any simple modification, equivalent variations and modification above example made according to technical spirit of the present utility model, still
Belong in the range of technical solutions of the utility model.
Claims (1)
1. a kind of workshop is carried and uses multiple degrees of freedom hydraulic driving mechanical, it is characterised in that：The mechanical hand is circular cylindrical coordinate formula
Mechanical hand, mechanical hand have five degree of freedom, wherein, the first degree of freedom grabs opening and closing for handss, and the second degree of freedom is turned round for hand, the
Three Degree Of Freedom is flexible for arm, and four-degree-of-freedom is turned round for arm, and five degree of freedom is lifted for arm；
The mechanical hand includes hand clamping device, wrist slew gear, telescopic arm mechanism and main body mechanism；
The main body mechanism includes pedestal, rotary cylinder, lift cylinders and revoliving arm（1）, rotary cylinder is placed on lift cylinders, revoliving arm
（1）It is connected with the upper end cover of rotary cylinder, the moving plate of rotary cylinder is connected with cylinder body, drives revoliving arm by cylinder body（1）Do gyration,
The rotating shaft of rotary cylinder is wholely set with the piston rod of lift cylinders, and piston rod is hollow piston rod, the built-in spline housing of piston rod with
Splined shaft coordinates, and piston lifting is oriented to by splined shaft, and the bottom end cover of splined shaft and lift cylinders is fixed by spline, bottom end cover with set
The pedestal put on the ground is fixedly connected；
The hand clamping device includes paw（2）And drive paw（2）Do the linear type compression hydraulic cylinder of clamping movement, handss
Pawl（2）Expansion link including seat, two holding fingers are referred to and for transmitting compression hydraulic cylinder power, refers to seat and compression hydraulic cylinder
Cylinder body between be fixedly connected, the piston rod and paw of compression hydraulic cylinder（2）Expansion link be connected；
The telescopic arm mechanism is double guide post telescopic arm structures, and telescopic arm mechanism includes double guide post hydraulic cylinders（3）
And hydraulic cylinder base plate, hydraulic cylinder base plate is fixedly installed on revoliving arm（1）Upper end, double guide post hydraulic cylinders（3）Installed in liquid
On cylinder pressure base plate；
The wrist slew gear is arranged on the front end of telescopic arm mechanism, for connecting hand clamping device and telescopic arm machine
Structure, and the gyration of hand clamping device is realized, wrist slew gear adopts rotating hydraulic cylinder（4）Structure setting, revolution
Hydraulic cylinder（4）Stator and bonnet between and revolution cylinder body and protecgulum between be attached using screw and pin and fixed
Position, rotating hydraulic cylinder（4）Moving plate and hand clamping device in compression hydraulic cylinder cylinder body between be it is bonded, when revolution hydraulic pressure
Cylinder（4）Two chambers when each leading into hydraulic oil, drive moving plate together with compression hydraulic cylinder cylinder body and refer to that seat is together rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621086658.XU CN206066459U (en) | 2016-09-28 | 2016-09-28 | Carry and use multiple degrees of freedom hydraulic driving mechanical in a kind of workshop |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621086658.XU CN206066459U (en) | 2016-09-28 | 2016-09-28 | Carry and use multiple degrees of freedom hydraulic driving mechanical in a kind of workshop |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206066459U true CN206066459U (en) | 2017-04-05 |
Family
ID=58439192
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621086658.XU Expired - Fee Related CN206066459U (en) | 2016-09-28 | 2016-09-28 | Carry and use multiple degrees of freedom hydraulic driving mechanical in a kind of workshop |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206066459U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239501A (en) * | 2016-09-28 | 2016-12-21 | 洛阳理工学院 | Multiple degrees of freedom hydraulic driving mechanical is used in the carrying of a kind of workshop |
| CN107914267A (en) * | 2018-01-05 | 2018-04-17 | 北京章鱼智控科技有限公司 | A kind of underwater hydraulic rotating mechanism and underwater hydraulic manipulator |
| CN109465844A (en) * | 2018-12-27 | 2019-03-15 | 浙江大学 | A kind of overload hydraulic gripper with double freedom |
| CN110216048A (en) * | 2019-05-20 | 2019-09-10 | 安徽明洋电子有限公司 | A kind of limiting tool for charactron processing |
| CN110509017A (en) * | 2018-09-28 | 2019-11-29 | 东北林业大学 | A kind of street lamp post mounting device |
-
2016
- 2016-09-28 CN CN201621086658.XU patent/CN206066459U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239501A (en) * | 2016-09-28 | 2016-12-21 | 洛阳理工学院 | Multiple degrees of freedom hydraulic driving mechanical is used in the carrying of a kind of workshop |
| CN107914267A (en) * | 2018-01-05 | 2018-04-17 | 北京章鱼智控科技有限公司 | A kind of underwater hydraulic rotating mechanism and underwater hydraulic manipulator |
| CN110509017A (en) * | 2018-09-28 | 2019-11-29 | 东北林业大学 | A kind of street lamp post mounting device |
| CN109465844A (en) * | 2018-12-27 | 2019-03-15 | 浙江大学 | A kind of overload hydraulic gripper with double freedom |
| CN109465844B (en) * | 2018-12-27 | 2023-10-27 | 浙江大学 | Heavy-duty hydraulic mechanical claw with double degrees of freedom |
| CN110216048A (en) * | 2019-05-20 | 2019-09-10 | 安徽明洋电子有限公司 | A kind of limiting tool for charactron processing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170405 Termination date: 20190928 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |