CN207189695U - Hydraulic machinery gripping apparatus with internal oil passages - Google Patents
Hydraulic machinery gripping apparatus with internal oil passages Download PDFInfo
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- CN207189695U CN207189695U CN201721058163.0U CN201721058163U CN207189695U CN 207189695 U CN207189695 U CN 207189695U CN 201721058163 U CN201721058163 U CN 201721058163U CN 207189695 U CN207189695 U CN 207189695U
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- gripping apparatus
- handgrip
- hydraulic machinery
- oil passages
- oilhole
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Abstract
The utility model discloses a kind of hydraulic machinery gripping apparatus with internal oil passages,Including drive shell and handgrip,The first asphalt channel is provided with drive shell,Second asphalt channel and shoe cream room,Piston is provided with shoe cream room,Shoe cream room is separated into upper oil cavitie and lower oil cavitie by the piston,First asphalt channel and the second asphalt channel connect with upper oil cavitie and lower oil cavitie respectively,Piston is connected with piston rod,One end of the piston rod is equipped with handgrip after stretching out shoe cream room,Handgrip is driven to open or close when piston rod is flexible,Opened using the utility model driving handgrip or the hydraulic oil of closure is flowed in and out all inside drive shell,The oil-way pipe external without grafting around drive shell,Compared with traditional driving,It is effectively reduced the weight of manipulator rotary joint,Improve its flexibility ratio,And interference will not be produced when running between oil pipe as traditional manipulator.
Description
Technical field
It the utility model is related to manipulator technical field, and in particular to a kind of hydraulic machinery gripping apparatus with internal oil passages.
Background technology
In the last few years, robotics development was very rapid, and robot is led in industry, agricultural, service, medical treatment, military affairs etc.
Domain is applied widely.Manipulator is the important branch of robot technology, can complete various expected tasks.Manipulator presses it
Type of drive can be divided into electric drive, pneumatic, hydraulic-driven, wherein hydraulic driving mechanical have stable movement, load capacity it is big,
Rapidity is good, the advantages that variable speed can be achieved, and is extensively applied to the heavily loaded different areas of activity such as underwater operation.The rotation of manipulator is closed
Section is the critical component of manipulator, and its flexibility, accuracy have been largely fixed the flexibility of manipulator, accuracy.Cause
This design volume is small, and the good manipulator of flexibility is of great significance.The manipulator of hydraulic-driven is mostly using only at present
Vertical hydraulic motor and hydraulic cylinder is directly connected to, and fuel feed pump is external, bulky, is easily produced with external object during motion dry
Relate to, influence the kinematic dexterity of manipulator.
Utility model content
To solve above technical problem, the utility model provides a kind of hydraulic machinery gripping apparatus with internal oil passages.
Technical scheme is as follows：A kind of hydraulic machinery gripping apparatus with internal oil passages, its key are：Including drive shell and
Handgrip, the drive shell is interior to be provided with the first asphalt channel, the second asphalt channel and shoe cream room, is provided with and lives in the shoe cream room
The shoe cream room is separated into upper oil cavitie and lower oil cavitie, the first asphalt channel and the second asphalt channel difference by plug, the piston
Connected with the upper oil cavitie and lower oil cavitie, the piston is connected with piston rod, is assembled after one end stretching shoe cream room of the piston rod
There is the handgrip, the piston rod drives the handgrip to open or close when flexible.Using above-mentioned technical proposal driving handgrip
The passage that the hydraulic oil opened or closed flows in and out is all disposed within inside drive shell, external without grafting around drive shell
Oil-way pipe, compared with traditional driving, be effectively reduced the weight of manipulator rotary joint, improve its flexibility ratio, and transport
Interference will not be produced during row between oil pipe as traditional manipulator.
As preferred：The top of above-mentioned drive shell is provided with manifold block, and the manifold block is provided with the first oilhole and the second oil
Hole, first asphalt channel connect with first oilhole, and second asphalt channel connects with second oilhole.Using
Program oil circuit is all concentrated and collected in manifold block, convenient to carry out centralized management.
The bottom of above-mentioned drive shell is provided with pawl seat, and the handgrip includes the movable claw arm that two faces are set, two institutes
Movable claw arm is stated respectively rotatably to be arranged in the pawl seat.Using secondary two movable claw arms of scheme it is close to each other or away from i.e.
It can firmly grasp or put down object.
Synchronizing bar is respectively equipped with above-mentioned movable claw arm, in the rotation of the center line of the synchronizing bar and the movable claw arm
Heart line is parallel, the lower end of the piston rod passes connect after the pawl seat after pull bar, the both ends of the pull bar respectively with two
Synchronizing bar connection on the movable claw arm.Two movable claw arm rotations can be driven simultaneously using one piston rod of the program.
Above-mentioned synchronizing bar is provided with the slot to make way of arc close to the side of the pull bar.Driven using this scheme pull bar same
Interference is not mutually produced during step bar motion.
The lower end of above-mentioned movable claw arm, which is provided with, clamps grapple, and the medial surface for clamping grapple is provided with anti-skid rack.Adopt
Clamped with this scheme more firm.
Above-mentioned first oilhole and the second oilhole are respectively in the side wall of the manifold block.
Displacement transducer mounting hole is provided with the drive shell above above-mentioned upper oil cavitie.Can be in displacement using this scheme
Sensor mounting hole installs displacement transducer, detects the stroke of piston rod.
Beneficial effect：It is to drive the hydraulic oil of handgrip opening or closure to flow into and flow using the beneficial effects of the utility model
Go out all inside drive shell, the oil-way pipe external without grafting around drive shell, compared with traditional driving, effectively mitigate
When the weight of manipulator rotary joint, improving its flexibility ratio, and running will not as traditional manipulator with oil pipe it
Between produce interference.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model；
Fig. 2 is planar structure schematic diagram of the present utility model；
Fig. 3 is Fig. 2 A-A ' sectional views；
Fig. 4 is Fig. 2 B-B ' sectional views.
Embodiment
With reference to embodiment and accompanying drawing, the utility model is described in further detail.
As Figure 1-4, a kind of hydraulic machinery gripping apparatus with internal oil passages, including drive shell 1 and handgrip, the drive
The first asphalt channel 6, the second asphalt channel 7 and shoe cream room are provided with dynamic housing 1, piston 8, the work are provided with the shoe cream room
The shoe cream room is separated into upper oil cavitie 14 and lower oil cavitie 15 by plug 8, and the asphalt channel 7 of the first asphalt channel 6 and second is distinguished
Connected with the upper oil cavitie 14 and lower oil cavitie 15, the piston 8 is connected with piston rod 2, and shoe cream room is stretched out in one end of the piston rod 2
After be equipped with the handgrip, the piston rod 2 drives the handgrip to open or closure when stretching.
The top of the drive shell 1 is provided with manifold block 3, and the manifold block 3 is provided with the first oilhole 4 and the second oilhole 5, institute
The both ends of the first asphalt channel 6 are stated to connect with first oilhole 4 and the upper oil cavitie 14 respectively, second asphalt channel 7
Both ends connect with second oilhole 5 and lower oil cavitie 15 respectively, and the oilhole 5 of the first oilhole 4 and second is located at the pipe respectively
Converge in the side wall of block 3, displacement transducer mounting hole 17 is provided with the drive shell 1 of the top of upper oil cavitie 14.
The bottom of the drive shell 1 is provided with pawl seat 9, and the handgrip includes the movable claw arm 12 that two faces are set, and two
The top of the individual movable claw arm 12 is respectively rotatably arranged in the pawl seat 9 by rotating shaft, two movable claw arms
Synchronizing bar 11 is respectively equipped with 12, the center line of the synchronizing bar 11 is parallel with the rotation centerline of the movable claw arm 12, institute
State piston rod 2 lower end pass connect after the pawl seat 9 after pull bar 10, the both ends of the pull bar 10 respectively with two work
Synchronizing bar 11 on pawl arm 12 connects, and specifically, the pull bar 10 is corresponded on the synchronizing bar 11 and is provided with push-and-pull hole, described
The both ends of pull bar 10 are respectively protruding into corresponding push-and-pull hole, and the synchronizing bar 11 is provided with arc close to the side of the pull bar 10
The slot to make way 16 of shape, the lower end of the movable claw arm 12, which is provided with, clamps grapple 13, and the medial surface for clamping grapple 13 is provided with
Anti-skid rack.
When needing grip objects, hydraulic oil is flowed into lower oil cavitie 15 from the second oilhole 5 through the second asphalt channel 7, so as to
Piston 8 is promoted constantly to move upwards, the hydraulic oil in upper oil cavitie 14 is discharged through the first asphalt channel 6 from the first oilhole 4, piston rod
2 move up, and pull bar 10 drives synchronizing bar 11 to move up, and now two movable claw arms 12 rotate around the shaft, clamp grapple
13 is close to each other so as to which object be clamped, by controlling the pressure size of hydraulic oil to can control the clamping force of handgrip, it is necessary to put
During lower object, reverse operating.
Finally it should be noted that foregoing description is only preferred embodiment of the present utility model, the common skill of this area
Art personnel on the premise of without prejudice to the utility model aims and claim, can make under enlightenment of the present utility model
Expression, such conversion are each fallen within the scope of protection of the utility model as multiple types.
Claims (8)
- A kind of 1. hydraulic machinery gripping apparatus with internal oil passages, it is characterised in that：Including drive shell (1) and handgrip, the drive The first asphalt channel (6), the second asphalt channel (7) and shoe cream room are provided with dynamic housing (1), piston is provided with the shoe cream room (8), the shoe cream room is separated into upper oil cavitie (14) and lower oil cavitie (15), first asphalt channel (6) and by the piston (8) Two asphalt channels (7) connect with the upper oil cavitie (14) and lower oil cavitie (15) respectively, and the piston (8) is connected with piston rod (2), One end of the piston rod (2) is equipped with the handgrip after stretching out shoe cream room, and the piston rod (2) drives the handgrip when flexible Open or close.
- 2. the hydraulic machinery gripping apparatus according to claim 1 with internal oil passages, it is characterised in that：The drive shell (1) top is provided with manifold block (3), and the manifold block (3) is provided with the first oilhole (4) and the second oilhole (5), first oil circuit Passage (6) connects with first oilhole (4), and second asphalt channel (7) connects with second oilhole (5).
- 3. the hydraulic machinery gripping apparatus according to claim 1 or 2 with internal oil passages, it is characterised in that：The driving shell The bottom of body (1) is provided with pawl seat (9), and the handgrip includes the movable claw arm (12) that two faces are set, two movable claws Arm (12) is respectively rotatably arranged in the pawl seat (9).
- 4. the hydraulic machinery gripping apparatus according to claim 3 with internal oil passages, it is characterised in that：Two movable claws Synchronizing bar (11), the center line of the synchronizing bar (11) and the pivot of the movable claw arm (12) are respectively equipped with arm (12) Line is parallel, and the lower end of the piston rod (2) passes pull bar (10) after the pawl seat (9) connects afterwards, and the two of the pull bar (10) End is connected with the synchronizing bar (11) on two movable claw arms (12) respectively.
- 5. the hydraulic machinery gripping apparatus according to claim 4 with internal oil passages, it is characterised in that：The synchronizing bar (11) The slot to make way (16) of arc is provided with close to the side of the pull bar (10).
- 6. the hydraulic machinery gripping apparatus according to claim 3 with internal oil passages, it is characterised in that：The movable claw arm (12) lower end, which is provided with, clamps grapple (13), and the medial surface for clamping grapple (13) is provided with anti-skid rack.
- 7. the hydraulic machinery gripping apparatus according to claim 2 with internal oil passages, it is characterised in that：First oilhole (4) it is located at respectively in the side wall of the manifold block (3) with the second oilhole (5).
- 8. the hydraulic machinery gripping apparatus according to claim 2 with internal oil passages, it is characterised in that：The upper oil cavitie (14) Displacement transducer mounting hole (17) is provided with the drive shell (1) of top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721058163.0U CN207189695U (en) | 2017-08-22 | 2017-08-22 | Hydraulic machinery gripping apparatus with internal oil passages |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721058163.0U CN207189695U (en) | 2017-08-22 | 2017-08-22 | Hydraulic machinery gripping apparatus with internal oil passages |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207189695U true CN207189695U (en) | 2018-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721058163.0U Active CN207189695U (en) | 2017-08-22 | 2017-08-22 | Hydraulic machinery gripping apparatus with internal oil passages |
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| CN (1) | CN207189695U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531606A (en) * | 2018-11-27 | 2019-03-29 | 山东大学 | A kind of electro-hydraulic pair is driven direct-push manipulators and working method |
-
2017
- 2017-08-22 CN CN201721058163.0U patent/CN207189695U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531606A (en) * | 2018-11-27 | 2019-03-29 | 山东大学 | A kind of electro-hydraulic pair is driven direct-push manipulators and working method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180822 Address after: 401120 3, 10-3, Jin Kai Road, North New District, Chongqing, 10-3 Patentee after: Chongqing Meng Ma Zhi Xin Technology Co., Ltd. Address before: 401120 Chongqing Yubei District North New District Jin Kai Avenue 1228, 3 buildings 10-3 Patentee before: Chongqing Blue Road New Technology Co., Ltd. |