CN207387662U - A kind of multi-joint hydraulic manipulator - Google Patents
A kind of multi-joint hydraulic manipulator Download PDFInfo
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- CN207387662U CN207387662U CN201721480892.5U CN201721480892U CN207387662U CN 207387662 U CN207387662 U CN 207387662U CN 201721480892 U CN201721480892 U CN 201721480892U CN 207387662 U CN207387662 U CN 207387662U
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Abstract
A kind of multi-joint hydraulic manipulator, including Hydraulic Conirol Unit and link assembly, link assembly includes six first connecting rod component, second connecting rod component, third connecting rod component, fourth link component, the 5th link assembly and the six-bar linkage components for passing sequentially through rotary joint connection, each rotary joint is connected with a hydraulic cylinder, and encoder is mounted on each rotary joint；The front end of 5th link assembly is equipped with force snesor, and the front end of six-bar linkage component is provided with double finger grips, and the finger of handgrip is connected by linkage with a clamp hand oil cylinder；The oil circuit of each hydraulic cylinder is connected with Hydraulic Conirol Unit.The mechanical arm uses full cascaded structure form, there are six rotary freedom, using hydraulic-driven, load/dead weight than greatly, degree of protection is high, working space is big and good appearance, these features have all widened the scope of application.
Description
Technical field
The utility model is related to a kind of mechanical arms of multi-joint hydraulic-driven, belong to mechanical arm technical field.
Background technology
With the high speed development of industry, industrial robot particularly mechanical arm is obtained in industries such as assembling, welding, carryings
To extensive use, industrial automatization level is drastically increased, the mankind from repeated labor or exceedingly odious work
Make to free in environment.
Industrial robot almost all is driven using servomotor and RV or harmonic wave speed reducing machine at present, though with higher position
It puts precision and technology maturation, but its load/dead weight is than small, and environmental suitability is poor, such as underwater, moist, nuclear radiation or exists strong
The environment of electromagnetic interference.
Chinese patent literature CN1035380701A discloses a kind of 5DOF hydraulic servo machinery hand, which is closing
Twin-tub electro-hydraulic servo synchronously driving, double motor electro-hydraulic servo synchronization driving and parallelogram closed loop knot have been used in section driving
Structure.Chinese patent literature CN20346081U discloses a kind of multi-joint hydraulic machinery with 5 turning joints and a handgrip
Arm configuration.Chinese patent literature CN104647365A discloses a kind of hydraulic-driven multi-joint industrial robot, the industrial machine
People uses full cascaded structure form, and there are six rotary freedoms and the isolated degree of freedom of 1 clamp hand folding for tool.
Mechanical arm disclosed in above-mentioned document has a stronger load capacity using hydraulic-driven, but because degree of freedom is few or
The reason for joint arrangement, the dexterous workspace of end are subject to certain restrictions.
Utility model content
The utility model provides a kind of using hydraulic-driven, load/dead weight for deficiency existing for current hydraulic manipulator
Than multi-joint hydraulic manipulator big, that degree of protection is high, dexterous workspace is big.
The multi-joint hydraulic manipulator of the utility model, using following technical scheme：
The multi-joint hydraulic manipulator, including Hydraulic Conirol Unit and link assembly, link assembly leads to successively including six
Cross first connecting rod component, second connecting rod component, third connecting rod component, fourth link component, the 5th connecting rod of rotary joint connection
Component and six-bar linkage component, each rotary joint are connected with a hydraulic cylinder, are mounted on compiling on each rotary joint
Code device；The front end of 5th link assembly is equipped with force snesor, and the front end of six-bar linkage component is provided with double finger grips, handgrip
Finger is connected by linkage with a clamp hand oil cylinder；The oil circuit of each hydraulic cylinder is connected with Hydraulic Conirol Unit.
The first connecting rod component is swung including pedestal, the first oscillating oil cylinder, first connecting rod and the first encoder, first
Oil cylinder is fixedly mounted on pedestal, and first connecting rod is connected with the first oscillating oil cylinder, and the first encoder is fixedly mounted on pedestal, the
One connecting rod is connected with second straight line oil cylinder；The electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit of first oscillating oil cylinder；
The second connecting rod component, including second connecting rod, second encoder, first straight line oil cylinder, second straight line oil cylinder and
3rd encoder；One end of second connecting rod is mounted on by first rotating shaft on the first connecting rod in first connecting rod component, first turn
Axis is connected with the 3rd encoder, and the 3rd encoder is fixed on second connecting rod；The other end of second connecting rod is equipped with the second shaft
(for installing the third connecting rod in third connecting rod component)；Second shaft is connected with second encoder, and second encoder is fixed on
On second connecting rod；First straight line oil cylinder and second straight line oil cylinder are respectively by stud connection on second connecting rod；First straight line oil
Cylinder and the electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit respectively of second straight line oil cylinder；
The third connecting rod component, including third connecting rod, the second oscillating oil cylinder and the 4th encoder；Third connecting rod is connected to
In second shaft of second connecting rod, third connecting rod is connected with first straight line oil cylinder, and the second oscillating oil cylinder is equipped on third connecting rod
With the 4th encoder, the second oscillating oil cylinder is connected with the 4th encoder；Second oscillating oil cylinder is corresponding with Hydraulic Conirol Unit
Electrohydraulic servo valve connects；
The fourth link component, including fourth link, the 3rd linear oil cylinder and the 5th encoder；Fourth link and second
Oscillating oil cylinder connects, and the 3rd linear oil cylinder is equipped in fourth link, and the lower end of fourth link is equipped with the 3rd shaft (for pacifying
Fill the 5th connecting rod in the 5th link assembly)；3rd shaft is connected with the 5th encoder, and the 5th encoder is mounted on fourth link
On；
5th link assembly, including the 5th connecting rod, the 3rd oscillating oil cylinder, the 6th encoder and force snesor, the 5th
Connecting rod is connected by the 3rd shaft with fourth link；3rd oscillating oil cylinder is mounted on the 5th connecting rod, the 3rd oscillating oil cylinder inner shaft
Force sensor is installed in end face, and the 3rd oscillating oil cylinder is connected with the 6th encoder；6th encoder is mounted on the 5th connecting rod, the
Five connecting rods are connected with the 3rd linear oil cylinder；The electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit of 3rd oscillating oil cylinder；
The six-bar linkage component, including clamp hand set casing, clamp hand oil cylinder, substrate, straight-bar, paw, curved bar and square axis；
Clamp hand set casing is connected by multi-dimension force sensor with the 3rd oscillating oil cylinder, and clamp hand oil cylinder is mounted on clamp hand set casing, clamp hand
The cylinder rod end of oil cylinder is connected with square axis, and substrate is fixed on clamp hand set casing, and hinged straight-bar, paw are cut with scissors with straight-bar on substrate
It connects, paw is hinged with curved bar, and curved bar is hinged with square axis, and paw mounted in pairs is on substrate, and paw, straight-bar, curved bar and base
Plate forms parallelogram lindage；The electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit of clamp hand oil cylinder；
The Hydraulic Conirol Unit including valve block, is machined with high-pressure oil passage and low pressure oil way, is installed on valve block inside valve block
There are seven electrohydraulic servo valves and be provided with the fittings body being connected with each hydraulic cylinder.
The operation principle of the utility model is as follows：
Above-mentioned hydraulic-driven multi-joint mechanical arm has the isolated degree of freedom there are six rotary freedom and 1 clamp hand folding,
By (rotation or straight line) hydraulic cylinder driving, controlled respectively by seven servo valves, and six rotary joint axis
Place is separately installed with encoder, for detecting the angular displacement in each joint, by the way that the detected value of each joint encoders is fed back to control
Device processed can realize position closed loop SERVO CONTROL to each joint.
The utility model uses the joint arrangement different from existing machinery arm, significantly increases the spirit of mechanical arm tail end
Working space living；With following remarkable advantage：
1. load/dead weight is carried than greatly, being particularly suitable for carrying, stacking or other heavy load workplaces or installation movement
Mobile operation machine arm is used as on body.
2. control block hydraulic unit with is integrated on pedestal, effectively mitigate manipulator shaft portion weight；
3. degree of protection is high, underwater, moist, nuclear radiation or strong electromagnetic interference environment can be applied to.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model multi-joint hydraulic manipulator.
Fig. 2 is the structure diagram of first connecting rod component in the utility model.
Fig. 3 is line A-A sectional view in Fig. 2.
Fig. 4 is the structure diagram of second connecting rod component in the utility model.
Fig. 5 is the structure diagram of third connecting rod component in the utility model.
Fig. 6 is line B-B sectional view in Fig. 5.
Fig. 7 is the structure diagram of fourth link component in the utility model.
Fig. 8 is the structure diagram of the 5th link assembly in the utility model.
Fig. 9 is line C-C sectional view in Fig. 8.
Figure 10 is the structure diagram of six-bar linkage component in the utility model.
Figure 11 is the structure diagram of Hydraulic Conirol Unit in the utility model.
Wherein：1. first connecting rod component, 2. second connecting rod components, 3. third connecting rod components, 4. fourth link components, 5.
Five link assemblies, 6. six-bar linkage components, 7. Hydraulic Conirol Units；
101. pedestal, 102. first oscillating oil cylinders, 103. connectors, 104. first connecting rods, 105. encoder locating shafts, 106.
First encoder, 107. encoder installing rings, 108. bearings, 109. encoder mounting shells, 110. axis, 111. axle sleeves；
201. second connecting rods, 202. bearing boring covers, 203. hinge shafts, 204. axle sleeves, 205. bearing boring covers, 206. bearings,
207. spacers, 208. encoder installing rings, 209. second encoders, 210. encoder installing plates, 211. cappings, 212. second turns
Axis, 213. hinge shafts, 214. first straight line oil cylinders, 215. second straight line oil cylinders, 216. encoder installing rings, 217. spacers, 218.
Capping, 219. the 3rd encoders, 220. encoder installing plates, 221. bearings, 222. first rotating shafts；
301. third connecting rods, 302. bearings, 303. connectors through walls, 304. the 4th encoders, 305. encoder retainer plates,
306. encoder fixing axles, 307. second oscillating oil cylinders, 308. axis, 309. spacers；
401. fourth links, 402. the 3rd linear oil cylinders, 403. hinge shaft baffles, 404. sealing plates, 405. axle sleeves, 406. hinges
Axis, 407. encoder installing rings, 408. capping, 409. the 5th encoders, 410. encoder installing plates, 411. bearings, 412. every
Set, 413. the 3rd shafts, 414. bearing boring covers.
501. the 5th connecting rods, 502. connectors through walls, 503. the 6th encoders, 504. encoder fixing axles, 505. the 3rd pendulum
Dynamic oil cylinder, 506. connecting flanges, 507. multi-dimension force sensors, 508. encoder retainer plates, 509. bearings, 510. axis, 511. every
Set.
601. clamp hand set casings, 602. clamp hand oil cylinders, 603. substrates, 604. straight-bars, 605. paws, 606. curved bars, 607.
Nut, 608. floor clips, 609. square axis, 610. axle sleeves, 611. cylinder rod supporting sleeves；
701. valve blocks, 702. electrohydraulic servo valves, 703. electrohydraulic servo valves, 704. electrohydraulic servo valves, 705. electrohydraulic servo valves,
706. electrohydraulic servo valves, 707. electrohydraulic servo valves, 708. electrohydraulic servo valves, 709. block, 710. low pressure oil way fittings bodies, and 711.
High-pressure oil passage fittings body, 712. filters, 713. fittings bodies.
Specific embodiment
The utility model multi-joint hydraulic manipulator, as shown in Figure 1, including sequentially connected six link assemblies and one
A Hydraulic Conirol Unit 7.Six linkage components be respectively first connecting rod component 1, second connecting rod component 2, third connecting rod component 3,
Fourth link component 4, the 5th link assembly 5 and six-bar linkage component 6.Six are sequentially connected by rotary joint, each to rotate
Joint is connected with a hydraulic cylinder, and encoder is mounted on each rotary joint；The front end of 5th link assembly 5 is equipped with
Force snesor 506, the front end of six-bar linkage component 6 are provided with double finger grips, and the finger of handgrip is pressed from both sides by linkage and one
Hand oil cylinder connects；The oil circuit of each hydraulic cylinder is connected with Hydraulic Conirol Unit.
The structure of first connecting rod component 1 as shown in Figures 2 and 3, connects including pedestal 101, the first oscillating oil cylinder 102, first
104 and first encoder 106 of bar.Pedestal 101 is used to mechanical arm being fixed on ground or other mobile vehicles.First swings oil
Cylinder 102 is fixed on by its outer ring on pedestal 101.First connecting rod 104 is connected to the inner shaft upper end of the first oscillating oil cylinder 102.The
The inner shaft lower end of one oscillating oil cylinder 102 first encoder 106 is installed by encoder locating shaft 105.Encoder locating shaft 105 is logical
Bearing 108 is crossed in encoder mounting shell 109, encoder mounting shell 109 is fixed on pedestal 101.First encoder 106
Rotor be mounted on encoder locating shaft 105 on, the stator of the first encoder 106 is fixed on volume by encoder installing ring 107
In code device mounting shell 109.The connector 103 of oil inlet and outlet and the electro-hydraulic servo in Hydraulic Conirol Unit 7 on first oscillating oil cylinder 102
Valve 702 is corresponding.It is straight by axis 110 and spacer 111 and second in second connecting rod component 2 on first connecting rod 104 referring to Fig. 2
Line oil cylinder 215 connects.
The course of work of above-mentioned first connecting rod component is as follows：
The outer ring of first oscillating oil cylinder 102 is fixed at work, when electrohydraulic servo valve 702 receives peripheral control unit
During instruction, the hydraulic oil in certain flow and direction is supplied to oscillating oil cylinder 102, drive the first oscillating oil cylinder 102 inner shaft and with
The component (encoder 106, connecting rod 104, axis 110 etc.) connected in inner shaft generates corresponding with respect to the outer ring of the first oscillating oil cylinder 102
Rotary motion, the first encoder 106 detection angular displacement of 102 inner shaft of the first oscillating oil cylinder with respect to outer ring rotating and feedback in real time
To peripheral control unit, Close loop servo control is formed.
The structure of second connecting rod component 2 is as shown in figure 4, including second connecting rod 201, second encoder 209, first straight line oil
Cylinder 214,215 and the 3rd encoder 219 of second straight line oil cylinder.One end of second connecting rod 201 is mounted on the by first rotating shaft 222
On first connecting rod 104 in one link assembly 1, the both ends of first rotating shaft 222 are mounted on second by bearing 221 and spacer 217
On connecting rod 201.One end of first rotating shaft 222 is connected with the 3rd encoder 219, and the rotor of the 3rd encoder 219 passes through encoder
Installing plate 220 is fixed in first rotating shaft 222, and the stator of the 3rd encoder 219 is fixed on second by encoder installing ring 216
On connecting rod 201.3rd encoder 219 is isolated from the outside by capping 218.Two side bearings 221 have bearing boring cover 202 and coding respectively
216 axial restraint of device installing ring.The other end of second connecting rod 201 is equipped with second by a pair of bearings 206 and two spacers 207
Shaft 212.Second shaft 212 is used to install the third connecting rod 301 in third connecting rod component 3.One end of second shaft 212 and the
Two encoders 209 connect, and the rotor of second encoder 209 is fixed on by encoder installing plate 210 on axis 212, the second coding
209 stator of device is fixed on by encoder installing ring 208 on second connecting rod 201.211 are covered by second encoder 209 and the external world
Isolation.Two side bearings 206 have 208 axial restraint of bearing boring cover 205 and encoder installing ring respectively.214 He of first straight line oil cylinder
The rodless cavity end of second straight line oil cylinder 215 is located by connecting on first connecting rod by hinge shaft 213 and hinge shaft 203 by axle sleeve 204 respectively
201 middle part.The oil inlet and outlet of second straight line oil cylinder 215 and first straight line oil cylinder 214 respectively with the electricity in Hydraulic Conirol Unit 7
The 704 corresponding connection of hydraulic servo 703 and electrohydraulic servo valve.
The course of work of above-mentioned second connecting rod component 2 is as follows：
Second connecting rod 201, second straight line oil cylinder 215 and first connecting rod 104 form linkage, when electrohydraulic servo valve 703
When receiving the instruction of peripheral control unit, the hydraulic oil in certain flow and direction, driving straight line oil are supplied to second straight line oil cylinder 215
Cylinder 215 generates corresponding stretching motion, and the stretching motion of second straight line oil cylinder 215 drives second connecting rod 201 and connects in succession with it
Hinge shaft 203, second encoder 209, hinge shaft 213 and first straight line oil cylinder 214 for connecing etc. generate accordingly with respect to first connecting rod 104
Rotary motion, the angular displacement of 2 opposite first connecting rod component 1 of detection second connecting rod component in real time of the 3rd encoder 219 are simultaneously fed back to
Peripheral control unit forms Close loop servo control.
The structure of third connecting rod component 3 as shown in Figure 5 and Figure 6, including third connecting rod 301, the second oscillating oil cylinder 307 and
Four encoders 304.Third connecting rod 301 is connected with the second shaft 212 in second connecting rod group 2.First in second connecting rod component 2
The cylinder rod end of linear oil cylinder 214 is connected to by axis 308 and spacer 309 on third connecting rod 301.It is installed on third connecting rod 301
There is the second oscillating oil cylinder 307.The rotor of 4th encoder 304 is fixed on the second oscillating oil cylinder 307 by encoder fixing axle 306
In inner shaft, the stator of the 4th encoder 304 is fixed on by encoder retainer plate 305 on third connecting rod 301.Encoder fixing axle
It is connected between 306 and third connecting rod 301 by bearing 302.4th encoder, 304 cable is pierced by by connector 303 through walls sealing.
The oil inlet and outlet of second oscillating oil cylinder 307 and the 705 corresponding connection of electrohydraulic servo valve in Hydraulic Conirol Unit 7.
The course of work of above-mentioned third connecting rod component 3 is as follows：
Third connecting rod 301 forms connecting rod with the second connecting rod 201 in second connecting rod component part 2 and first straight line oil cylinder 214
When electrohydraulic servo valve 704 receives the instruction of peripheral control unit, certain flow and side are supplied to first straight line oil cylinder 214 for mechanism
To hydraulic oil, driving first straight line oil cylinder 214 generates corresponding stretching motion, the stretching motion band of first straight line oil cylinder 214
Dynamic third connecting rod 301 and the axis 308 being connected in succession with it, spacer 309, the second oscillating oil cylinder 307, the 4th encoder 304 and after
Continuous linkage component generates corresponding rotary motion with respect to second connecting rod 201, and second encoder 209 detects third connecting rod component in real time
The angular displacement of 3 opposite second connecting rod components 2 simultaneously feeds back to peripheral control unit, forms Close loop servo control.
The structure of fourth link component 4 is as shown in fig. 7, comprises fourth link 401, the 3rd linear oil cylinder 402 and the 5th are compiled
Code device 409.Fourth link 401 is connected in 307 inner shaft of the second oscillating oil cylinder in third connecting rod component 3.3rd linear oil cylinder
402 rodless cavity end is connected to 401 top of fourth link by hinge shaft 406 and axle sleeve 405.401 lower end of fourth link passes through one
It is connected to 411, two spacers 412 of bearing with the 3rd shaft 413.The 5th in 3rd shaft 413 and the 5th link assembly 5 connects
Bar 501 connects.5th encoder, 409 rotor is fixed on by encoder installing plate 410 in the 3rd shaft 413；5th encoder
409 stators are fixed on by encoder installing ring 407 on connecting rod 401.5th encoder 409 is isolated from the outside by capping 408.Axis
Hold 411 has 414 axial restraint of encoder installing ring 407 and bearing boring cover respectively.401 side of fourth link is equipped with sealing plate 404
With hinge shaft baffle 403.
The course of work of above-mentioned fourth link component 4 is as follows：
When electrohydraulic servo valve 705 receives the instruction of peripheral control unit, to the second oscillating oil cylinder 307 supply certain flow and
The hydraulic oil in direction, the second oscillating oil cylinder 307 of driving generate corresponding rotary motion, the rotary motion of the second oscillating oil cylinder 307
Drive fourth link 401 and be connected in succession with it axis 406, the 3rd linear oil cylinder 402, the 5th encoder 409, axis 413 and after
Continuous linkage component generates corresponding rotary motion with respect to the third connecting rod 301 in third connecting rod component 3, and the 4th encoder 304 is real
When detect the angular displacement of the opposite third connecting rod component 3 of fourth link component 4 and feed back to peripheral control unit, form closed loop servo control
System.
5th link assembly, including the 5th connecting rod, the 3rd oscillating oil cylinder 505, the 6th encoder 503 and multi-dimension force sensor
507.5th connecting rod 501 is connected by the 3rd shaft 413 in fourth link component 4 with fourth link 401.3rd oscillating oil cylinder
505 outer rings are fixed on the 5th connecting rod 501.6th encoder, 503 rotor is mounted on the 3rd by encoder fixing axle 504 and swings
In 505 inner shaft of oil cylinder；6th encoder, 503 stator is mounted on by encoder retainer plate 508 on the 5th connecting rod 501.Encoder
It is connected between 504 and the 5th connecting rod 501 of fixing axle with bearing 509.6th encoder, 503 cable is sealed by connector 502 through walls
It is pierced by.The cylinder rod end of the 3rd linear oil cylinder 402 in fourth link component 4 is connected to the 5th connecting rod by axis 510 and spacer 511
On 501.Connecting flange 506 is mounted on axial end in the 3rd oscillating oil cylinder 505.Multi-dimension force sensor 507 passes through connecting flange 506
It is fixed on axial end in the 3rd oscillating oil cylinder 505.The oil inlet and outlet of 3rd oscillating oil cylinder 505 and the electricity in Hydraulic Conirol Unit 7
707 corresponding connection of hydraulic servo.
The course of work of above-mentioned 5th link assembly 5 is as follows：
5th connecting rod 501,401 and the 3rd linear oil cylinder 402 of fourth link composition linkage, when electrohydraulic servo valve 706
When receiving the instruction of peripheral control unit, the hydraulic oil in certain flow and direction is supplied to the 3rd linear oil cylinder 402, driving the 3rd is straight
Line oil cylinder 402 generates corresponding stretching motion, the stretching motion of the 3rd linear oil cylinder 402 drive the 5th connecting rod 501 and with its phase
After the axis 510 of connection, spacer 511, the 3rd oscillating oil cylinder 505, the 6th encoder 503 and follow-up linkage component with respect to fourth link
Fourth link 401 in component 4 generates corresponding rotary motion, and the 5th link assembly 5 of the 5th detection in real time of encoder 409 is opposite
The angular displacement of fourth link component 4 simultaneously feeds back to peripheral control unit, forms Close loop servo control.
Six-bar linkage component, including clamp hand set casing 601, clamp hand oil cylinder 602, substrate 603, straight-bar 604, paw 605, curved
Bar 606 and square axis 609.Clamp hand set casing 601 is connected by axial end in 507 and the 3rd oscillating oil cylinder 505 of multi-dimension force sensor
It connects.Clamp hand oil cylinder 602 is mounted on clamp hand set casing 601, and the cylinder rod end of clamp hand oil cylinder 602 passes through 610 side of being connected with of axle sleeve
Block axis 609, and pass through floor clip 608 and nut 607 and carry out circumferential and axial and fix..Substrate 603 is screwed in clamp hand
On set casing 601, hinged straight-bar 604 on substrate 603.Paw 605 is hinged with straight-bar 604, and paw 605 is hinged with curved bar 606, curved
Bar 606 is hinged with square axis 609.Paw 605 by straight-bar 604 and 606 mounted in pairs of curved bar on a substrate 603, and paw
605th, straight-bar 604, curved bar 606 and substrate 603 form parallelogram lindage.Cylinder rod supporting sleeve 611 is mounted on substrate 603 and clamp hand
Between set casing 601.The oil inlet and outlet of clamp hand oil cylinder 602 and the 708 corresponding company of electrohydraulic servo valve in Hydraulic Conirol Unit 7
It connects.
6 courses of work of above-mentioned six-bar linkage component are as follows：
Substrate 603, straight-bar 604, paw 605 and curved bar 606 form four-bar linkage, square axis 609, clamp hand oil cylinder
602nd, curved bar 606 and substrate 603 form another four-bar linkage, and two four-bar linkages are made up of compound curved bar 606
When electrohydraulic servo valve 708 receives the instruction of peripheral control unit, certain flow and side are supplied to clamp hand oil cylinder 602 for multi-bar linkage
To hydraulic oil, driving clamp hand oil cylinder 602 generates corresponding stretching motion, so as to pass through a pair of of paw of compound multi-bar linkage driving
605 opening or closure.
Hydraulic Conirol Unit 7 is fixed on 101 rear portion of pedestal, and structure is as shown in figure 11, electro-hydraulic including valve block 701 and seven
Servo valve (the first electrohydraulic servo valve 702, the second electrohydraulic servo valve 703, the 3rd electrohydraulic servo valve 704, the 4th electrohydraulic servo valve
705th, the 5th electrohydraulic servo valve 706, the 6th electrohydraulic servo valve 707 and the 7th electrohydraulic servo valve 708).It is machined with inside valve block 701
High-pressure oil passage and low pressure oil way, high-pressure oil passage and low pressure oil way pass through high-pressure oil passage fittings body 711 and low pressure oil way connector respectively
Body 710 is connected with external oil supply system.Accurate filter 712 is housed at high-pressure inlet.701 side surface of valve block is machined with first
Electrohydraulic servo valve 702, the second electrohydraulic servo valve 703, the 3rd electrohydraulic servo valve 704, the 4th electrohydraulic servo valve the 705, the 5th are electro-hydraulic
Oil circuit hole and the fixing screwed hole of servo valve 706, the 6th electrohydraulic servo valve 707 and the 7th electrohydraulic servo valve 708, seven electro-hydraulic to watch
It takes valve and passes sequentially through the end face that corresponding threaded hole is mounted on valve block 701.Plug screw 709 is used for the high pressure of 701 end face of plugging valve block
The processing technology hole of oil circuit and low pressure oil way.The connector for being connected with the oil circuit of each hydraulic cylinder is additionally provided on valve block 701
Body 713.
Claims (8)
1. a kind of multi-joint hydraulic manipulator, including Hydraulic Conirol Unit and link assembly, it is characterized in that：Link assembly includes six
It is a pass sequentially through rotary joint connection first connecting rod component, second connecting rod component, third connecting rod component, fourth link component,
5th link assembly and six-bar linkage component, each rotary joint are connected with a hydraulic cylinder, on each rotary joint
Encoder is installed；The front end of 5th link assembly is equipped with force snesor, and the front end of six-bar linkage component, which is provided with both hands and refers to, grabs
Hand, the finger of handgrip are connected by linkage with a clamp hand oil cylinder；The oil circuit of each hydraulic cylinder is and Hydraulic Conirol Unit
Connection.
2. multi-joint hydraulic manipulator according to claim 1, it is characterized in that：The first connecting rod component, including pedestal,
First oscillating oil cylinder, first connecting rod and the first encoder, the first oscillating oil cylinder are fixedly mounted on pedestal, first connecting rod and first
Oscillating oil cylinder connects, and the first encoder is fixedly mounted on pedestal, and first connecting rod is connected with second straight line oil cylinder；First swings oil
Cylinder electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit.
3. multi-joint hydraulic manipulator according to claim 1, it is characterized in that：The second connecting rod component, including second
Connecting rod, second encoder, first straight line oil cylinder, second straight line oil cylinder and the 3rd encoder；One end of second connecting rod passes through first
Shaft is mounted on the first connecting rod in first connecting rod component, and first rotating shaft is connected with the 3rd encoder, and the 3rd encoder is fixed
On second connecting rod；The other end of second connecting rod is equipped with the second shaft；Second shaft is connected with second encoder, the second coding
Device is fixed on second connecting rod；First straight line oil cylinder and second straight line oil cylinder are respectively by stud connection on second connecting rod；The
One linear oil cylinder and the electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit respectively of second straight line oil cylinder.
4. multi-joint hydraulic manipulator according to claim 1, it is characterized in that：The third connecting rod component, including the 3rd
Connecting rod, the second oscillating oil cylinder and the 4th encoder；Third connecting rod is connected in the second shaft of second connecting rod, third connecting rod and
One linear oil cylinder connects, and the second oscillating oil cylinder and the 4th encoder are equipped on third connecting rod, and the second oscillating oil cylinder and the 4th compile
Code device connection；The electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit of second oscillating oil cylinder.
5. multi-joint hydraulic manipulator according to claim 1, it is characterized in that：The fourth link component, including the 4th
Connecting rod, the 3rd linear oil cylinder and the 5th encoder；Fourth link is connected with the second oscillating oil cylinder, and the 3rd is equipped in fourth link
Linear oil cylinder, the lower end of fourth link are equipped with the 3rd shaft；3rd shaft is connected with the 5th encoder, the installation of the 5th encoder
In fourth link.
6. multi-joint hydraulic manipulator according to claim 1, it is characterized in that：5th link assembly, including the 5th
Connecting rod, the 3rd oscillating oil cylinder, the 6th encoder and force snesor, the 5th connecting rod are connected by the 3rd shaft with fourth link；The
Three oscillating oil cylinders are mounted on the 5th connecting rod, and axial end is equipped with force snesor in the 3rd oscillating oil cylinder, the 3rd oscillating oil cylinder with
6th encoder connects；6th encoder is mounted on the 5th connecting rod, and the 5th connecting rod is connected with the 3rd linear oil cylinder；3rd swings
Oil cylinder electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit.
7. multi-joint hydraulic manipulator according to claim 1, it is characterized in that：The six-bar linkage component, including clamp hand
Set casing, clamp hand oil cylinder, substrate, straight-bar, paw, curved bar and square axis；Clamp hand set casing passes through multi-dimension force sensor and the 3rd
Oscillating oil cylinder connects, and clamp hand oil cylinder is mounted on clamp hand set casing, and the cylinder rod end of clamp hand oil cylinder is connected with square axis, and substrate is solid
It is scheduled on clamp hand set casing, hinged straight-bar, paw are hinged with straight-bar on substrate, and paw is hinged with curved bar, and curved bar is cut with scissors with square axis
It connects, paw mounted in pairs is on substrate, and paw, straight-bar, curved bar and substrate composition parallelogram lindage；Clamp hand oil cylinder and hydraulic pressure
Corresponding electrohydraulic servo valve connection in control assembly.
8. multi-joint hydraulic manipulator according to claim 1, it is characterized in that：The Hydraulic Conirol Unit, including valve block,
High-pressure oil passage and low pressure oil way are machined with inside valve block, seven electrohydraulic servo valves are installed on valve block and is provided with and each hydraulic oil
The fittings body of cylinder connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721480892.5U CN207387662U (en) | 2017-11-08 | 2017-11-08 | A kind of multi-joint hydraulic manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721480892.5U CN207387662U (en) | 2017-11-08 | 2017-11-08 | A kind of multi-joint hydraulic manipulator |
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| Publication Number | Publication Date |
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| CN207387662U true CN207387662U (en) | 2018-05-22 |
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| CN201721480892.5U Active CN207387662U (en) | 2017-11-08 | 2017-11-08 | A kind of multi-joint hydraulic manipulator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803830A (en) * | 2017-11-08 | 2018-03-16 | 山东优宝特智能机器人有限公司 | A kind of seven freedom force feedback fro hydraulic driving machinery arm |
| 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 |
| CN115041713A (en) * | 2022-06-24 | 2022-09-13 | 汕头大学 | Processing head quick-change device and material-increasing and material-decreasing composite repair system |
| CN116985180A (en) * | 2023-09-26 | 2023-11-03 | 贵州航天控制技术有限公司 | High-irradiation-resistance hydraulic joint |
| CN117068618A (en) * | 2023-10-16 | 2023-11-17 | 江苏新月新型节能科技有限公司 | Refrigerator article stacking device |
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2017
- 2017-11-08 CN CN201721480892.5U patent/CN207387662U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803830A (en) * | 2017-11-08 | 2018-03-16 | 山东优宝特智能机器人有限公司 | A kind of seven freedom force feedback fro hydraulic driving machinery arm |
| 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 |
| CN115041713A (en) * | 2022-06-24 | 2022-09-13 | 汕头大学 | Processing head quick-change device and material-increasing and material-decreasing composite repair system |
| CN115041713B (en) * | 2022-06-24 | 2023-07-25 | 汕头大学 | Machining head quick-change device and increase-decrease material composite repair system |
| CN116985180A (en) * | 2023-09-26 | 2023-11-03 | 贵州航天控制技术有限公司 | High-irradiation-resistance hydraulic joint |
| CN117068618A (en) * | 2023-10-16 | 2023-11-17 | 江苏新月新型节能科技有限公司 | Refrigerator article stacking device |
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