CN208575863U - A kind of automatic liquid press mechanical pressing arm - Google Patents

Abstract

The utility model discloses a kind of automatic liquid press mechanical pressing arms, the mechanical arm includes executive device and controlling terminal, the executive device includes pedestal, rotating part, lifting column, telescopic arm, wrist revolution and hand, the pedestal, rotating part, lifting column, telescopic arm, wrist revolution and hand are electrically connected with controlling terminal respectively, the rotating part is mounted on the base, the lifting column is mounted on rotating part, the telescopic arm is mounted on lifting column, the wrist turns round one end and is flexibly connected with telescopic arm, the other end is connect with hand activities.The utility model devises a kind of automatic liquid press mechanical pressing arm, structure is simple, the pressure that generates keeps the smooth working of mechanical arm when reducing mechanical arm movement using spring assembly, multi-faceted, multi-angle operation is realized using structures such as wrist revolution, telescopic arms simultaneously, a large amount of cost of labor and labour are saved, production efficiency is greatly improved.

Description

A kind of automatic liquid press mechanical pressing arm

Technical field

The utility model relates to manipulator arm art, specifically a kind of automatic liquid press mechanical pressing arm.

Background technique

In recent years, robotics development is very rapid, robot is led in industry, agricultural, service, medical treatment, military affairs etc. Domain is applied widely.And mechanical arm is then a critically important branch for robot technology, mechanical arm can be divided into electricity Driving, pneumatic and three kinds of driving methods of hydraulic-driven, wherein hydraulic driving mechanical arm is steady with movement, load capacity is big, Rapidity is good, the advantages that variable speed can be achieved, and is extensively applied to various load different areas of activity always.

And hydraulic driving mechanical arm currently on the market is not only bulky, but also flexibility is not high when arm motion, The angle and working range rolled over are limited, simultaneously as the design shape of chela is not enough bonded, are easy in operation There is the case where can not closely firmly grasping workpiece, and because producing huge pressure when the work of these hydraulic machinery arms, from And unstable when mechanical arm being caused to operate, part situations such as being easily damaged.

For mechanical arm, keep the stability of operation, realize the multi-faceted movement of multi-angle to be one extremely heavy The thing wanted, therefore, design a kind of more flexible smoothly automatic liquid press mechanical pressing arm be we one urgently to be resolved Problem.

Utility model content

The purpose of this utility model is to provide a kind of automatic liquid press mechanical pressing arms, to solve in the prior art ask Topic.

To achieve the above object, the utility model provides the following technical solutions: a kind of automatic liquid press mechanical pressing arm is a kind of Automatic liquid press mechanical pressing arm, the mechanical arm include executive device and controlling terminal, and the executive device includes pedestal, rotation Transfer part, lifting column, telescopic arm, wrist revolution and hand, the pedestal, rotating part, lifting column, telescopic arm, wrist Revolution and hand are electrically connected with controlling terminal respectively, and the rotating part is mounted on the base, and the lifting column is mounted on rotation In portion, the telescopic arm is mounted on lifting column, and the wrist turns round one end and is flexibly connected with telescopic arm, the other end with Hand activities connection.

The utility model devises controlling terminal and executive device, and when controlling terminal, which issues, to be instructed, mechanical arm is held Luggage is set to receive and instructs and make specified operation by hydraulicdriven mode, wherein rotating part, lifting column, telescopic arm Freely turning round for mechanical arm is realized with the structure of wrist revolution, so that the working range of mechanical arm is wider, operation is more just It is prompt.

Further, the hand includes the first hydraulic cylinder, sleeve and chela, described sleeve one end and the first hydraulic oil Cylinder is fixed, and the sleeve other end is flexibly connected with chela, and piston hole, the piston hole are provided in first hydraulic cylinder Two sides are provided with the first positioning pin, and the piston hole is fixed by the first positioning pin and the first hydraulic cylinder, in the piston hole It is provided with rack piston, described rack piston one end is fixed in piston hole, and the other end is fixed in sleeve, the rack piston Upper and lower ends are respectively arranged with rack gear, and the rack piston is provided with sector gear, described sector gear one end and tooth up and down Piston is engaged by rack pinion and is installed, and the sector gear other end is fixed with chela, first hydraulic cylinder with cover It is provided with limited block between cylinder, the sleeve is mounted between two limited blocks, sets between the limited block and chela It is equipped with connecting shaft, the one end of the connecting shaft is fixed on limited block, and the other end is fixed on chela.

Further, the sleeve upper surface and lower end surface are respectively arranged with guide rod, and described guide rod one end is provided with Second positioning pin, the guide rod are fixed by the second positioning pin with sleeve, and the sleeve right end is provided with cushion, described slow It is provided between punching pad and sleeve right side and adjusts screw and the first locking nut, the cushion and sleeve are by adjusting screw It is fixedly mounted with the first locking nut.

Hand in the utility model by controlling the fuel-displaced movement to control rack piston of oil inlet of the first hydraulic cylinder, Sector gear is driven to be moved after rack piston movement, to control the opening and closing situation of chela, chela designs forming V-shape, can be with Better grabbing workpiece.

Cushion is devised in sleeve, slows down when rack piston can be made to move to barrel end and speed is close to zero, The inertia force for reducing rack piston alleviates the mechanical collision of rack piston and sleeve, so that hand work is more stable, increases The service life of sleeve is added.

Further, the telescopic arm includes cylinder assembly, piston component, sealing ring, cushion collar and gas vent, described Cylinder assembly includes cylinder barrel, drive end bearing bracket and rear end cap, and the drive end bearing bracket, rear end cap side are respectively arranged with pull rod, the cylinder barrel It is installed respectively by pull rod and drive end bearing bracket, rear end cap fastening, the gas vent is mounted on cylinder barrel upper left side, the cylinder barrel upper right side It is provided with oil inlet and outlet, the piston component includes piston and piston rod, and the piston is mounted in cylinder barrel, the piston rod one End is fixed across piston, and the piston rod other end is flexibly connected across rear end cap.

Further, semi-ring, axle sleeve and shaft block ring, the piston are provided between the piston rod and piston left side Bar one end is fixed by semi-ring, axle sleeve and shaft block ring and piston, is provided with and is led between the piston rod other end and rear end cap It is sequentially sleeved on piston rod to set and dustband, the guide sleeve, dustband, the sealing ring includes that O-ring seals and Y shape are close Seal, the O-ring seals are separately mounted between drive end bearing bracket and cylinder barrel, rear end cap and cylinder barrel, piston and piston rod, the Y Shape sealing ring is separately mounted between piston and cylinder barrel；The cushion collar is mounted on piston right side, and the piston rod is located at two Between a cushion collar.

Further, the second locking nut is respectively arranged between the pull rod and drive end bearing bracket, rear end cap.

A kind of telescopic arm is devised in the utility model, and piston motion is mainly controlled by control hydraulic oil, thus Piston rod is driven, telescopic arm is made to carry out stretching motion, piston rod connects by the way that semi-ring, axle sleeve and shaft block ring and piston are fixed It connects, so that the movement between piston and piston rod more fastens steadily, O-ring seals and y-shaped ring has also been devised in structure, Reduce oil cylinder draining situation, so that cylinder barrel has good leakproofness, cushion collar can reduce the inertia force of piston, make to live Stopper rod is more steady when moving, and gas vent is mounted on cylinder barrel upper left side, oil inlet and outlet is arranged in cylinder barrel upper right side, is not only convenient for The a small amount of air being mingled in oil liquid band oil return box is overflowed when oil return, and gas vent can use oil return for the air in fuel tank Occur axis offset situation when discharge, guide sleeve can prevent piston rod movement, dustband can prevent dirty dirt and dust into Enter cylinder barrel.

Further, load-bearing pillar is provided in the pedestal, the load-bearing pillar is mounted on pedestal inner bottom surface, the load-bearing Dampening assembly is provided on column, the dampening assembly includes lower seat, spring, the first damping sheet, the seat of honour and fixing bolt, the bullet Spring is mounted on lower seat, and first damping sheet is mounted on spring, and the spring one end is fixed with lower seat, the other end and first Damping sheet bottom surface is fixed；The seat of honour is mounted on the first damping sheet, and is respectively arranged on the seat of honour and the first damping sheet One adjusting nut, the second adjusting nut, described fixing bolt one end are fixed on the seat of honour by the first adjusting nut, and the other end is logical The second adjusting nut is crossed to be fixed on the first damping sheet；Be additionally provided between the lower seat and the seat of honour partition, the second damping sheet and Limit plate, the partition and the second damping sheet are installed on lower seat, and second damping sheet is fixedly mounted on partition side, institute Limit plate one end is stated to fix with seat of honour bottom, it is fixed in the middle part of the other end and the second damping sheet side；The lower seat bottom surface and the seat of honour Upper surface is provided with non-slip mat.

The utility model devises a kind of pedestal of damping, and the load-bearing pillar in pedestal can bear entire mechanical arm movement When the pressure that generates, and dampening assembly can reduce pressure when arm works using components such as spring and damping sheets, so that whole More steady, the practicability and effectiveness of a mechanical arm work.

Further, it is provided with the second hydraulic cylinder in the wrist revolution, second hydraulic cylinder includes cylinder body, determines Piece, movable plate and rotating shaft, the cylinder body two sides are respectively arranged with the first hydraulic fluid port and the second hydraulic fluid port, and the stator, movable plate are pacified respectively Between rotating shaft and cylinder body, folded obtuse angle a is 90-150 ° between the stator and movable plate.

Further, the movable plate both ends are provided with seal.

Single blade hydraulic cylinder is utilized to carry out revolution operation in wrist revolution in the utility model, when oil is from the first hydraulic fluid port Into when, due to it is hydraulic can push rotating shaft carry out counter clockwise direction revolution, then low pressure chamber oil from the second hydraulic fluid port be discharged, instead Then rotating shaft carry out clockwise direction revolution.

Further, the telescopic arm left end is provided with balancing device, the telescopic arm, wrist revolution and hand it Between be provided with active connection, passes sequentially through active connection activity between the telescopic arm, wrist revolution and hand and connects It connects.

Counterweight is provided in balancing device, the pressure generated when using balancing device balancing machine arm motion makes to go smoothly Arm work can be carried out steadily.

Fasteners and the connectors such as the first positioning pin, the second positioning pin, connecting shaft are devised in entire mechanical arm, if There is damaged condition in mechanical arm part, as long as we unload the connection fixture of corresponding position, can more quickly more Part is changed, it is convenient and practical, while saving manpower.

Compared with prior art, the utility model has the beneficial effects that the utility model devise it is a kind of automation it is hydraulic Mechanical arm, pedestal can support and bear the pressure generated when mechanical arm work, wherein being reduced using spring and damping sheet The concussion that pressure generates, realizes mechanically actuated steadily.

Controlling terminal can according to need transmission instruction in the utility model, and executive device, which receives, immediately instructs and open fortune Dynamic, rotating part can make mechanical arm carry out 360 degree rotation around pedestal, wait slack after adjusting to certain angle, rise simultaneously Column drops to control the height of mechanical arm, and telescopic arm and wrist revolution can control length and the angle of hand after height is certain Then degree is moved by rack piston band moving gear, the closure and unlatching of chela is controlled with this.

In telescopic arm structure, when hydraulic oil enters cylinder barrel, since the effect of pressure pushes piston that can stretch Movement；In wrist revolving structure, when hydraulic oil enters from the first hydraulic fluid port, rotating shaft can be pushed to carry out counterclockwise due to hydraulic Direction revolution, then the oil of low pressure chamber is discharged from the second hydraulic fluid port, and on the contrary then rotating shaft carries out clockwise direction revolution；Hand structure In, hydraulic oil enters piston hole, and pressure pushes rack piston to move right, and rack piston drives sector gear to be moved, together When chela open, after hydraulic oil leaves piston hole, rack piston drive sector gear carry out counter motion, chela closure, object Firmly firmly grasp.

The utility model devises a kind of automatic liquid press mechanical pressing arm, and structure is simple, reduces machine using spring assembly The pressure generated when tool arm motion keeps the smooth working of mechanical arm, while utilizing the knot such as wrist revolution, telescopic arm Structure realizes multi-faceted, multi-angle operation to realize, saves a large amount of cost of labor and labour, greatly improves production effect Rate.

Detailed description of the invention

In order to make the content of the utility model be easier to be clearly understood, below according to specific embodiment and combine attached Figure, is described in further detail the utility model.

Fig. 1 is a kind of overall structure diagram of automatic liquid press mechanical pressing arm of the utility model；

Fig. 2 is a kind of module declaration figure of automatic liquid press mechanical pressing arm of the utility model；

Fig. 3 is a kind of hand structure schematic diagram of automatic liquid press mechanical pressing arm of the utility model；

Fig. 4 is a kind of partial enlarged view of the hand of automatic liquid press mechanical pressing arm of the utility model；

Fig. 5 is a kind of structural schematic diagram of the telescopic arm of automatic liquid press mechanical pressing arm of the utility model；

Fig. 6 is a kind of schematic diagram of base structure of automatic liquid press mechanical pressing arm of the utility model；

Fig. 7 is a kind of side view of second hydraulic cylinder of automatic liquid press mechanical pressing arm of the utility model.

In figure: 1- pedestal, 2- rotating part, 3- lifting column, 4- balancing device, 5- telescopic arm, the revolution of 6- wrist, 7- hand Portion, the first hydraulic cylinder of 8-, 9- piston hole, the first positioning pin of 10-, 11- rack piston, 12- limited block, 13- connecting shaft, 14- chela, 15- sector gear, 16- sleeve, 17- guide rod, the second positioning pin of 18-, 19- adjust screw, the first locking screw of 20- Mother, 21- cushion, 22- rack gear, the second locking nut of 23-, 24- pull rod, 25- drive end bearing bracket, 26- gas vent, 27- cylinder barrel, 28- Oil inlet and outlet, 29- guide sleeve, 30-Y shape sealing ring, 31- dustband, 32- rear end cap, 33-O shape sealing ring, 34- piston rod, Seat under 35- cushion collar, 36- semi-ring, 37- axle sleeve, 38- shaft block ring, 39- piston, 40-, 41- partition, the second damping sheet of 42-, 43- limit plate, the seat of honour 44-, 45- non-slip mat, 46- fixing bolt, the first adjusting nut of 47-, the second adjusting nut of 48-, 49- One damping sheet, 50- spring, 51- load-bearing pillar, 52- cylinder body, the first hydraulic fluid port of 53-, the second hydraulic fluid port of 54-, 55- stator, 56- rotating shaft, 57- movable plate, 58- seal.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

As shown in Figure 1 and Figure 2, a kind of automatic liquid press mechanical pressing arm, the mechanical arm include that executive device and control are whole End, the executive device include pedestal 1, rotating part 2, lifting column 3, telescopic arm 5, wrist revolution 6 and hand 7, the bottom Seat 1, rotating part 2, lifting column 3, telescopic arm 5, wrist revolution 6 and hand 7 are electrically connected with controlling terminal respectively, the rotation Portion 2 is mounted on pedestal 1, and the lifting column 3 is mounted on rotating part 2, and the telescopic arm 5 is mounted on lifting column 3, The wrist turns round 6 one end and is flexibly connected with telescopic arm 5, and the other end is flexibly connected with hand 7.

The utility model devises controlling terminal and executive device, and when controlling terminal, which issues, to be instructed, mechanical arm is held Luggage is set to receive and instructs and make specified operation by hydraulicdriven mode, wherein rotating part 2, lifting column 3, flexible hand Arm 5 and the structure of wrist revolution 6 realize freely turning round for mechanical arm, so that the working range of mechanical arm is wider, operation It is more convenient.

As shown in figure 3, the hand 7 include the first hydraulic cylinder 8, sleeve 16 and chela 14, described 16 one end of sleeve with First hydraulic cylinder 8 is fixed, and 16 other end of sleeve is flexibly connected with chela 14, is provided in first hydraulic cylinder 8 Piston hole 9,9 two sides of piston hole are provided with the first positioning pin 10, and the piston hole 9 passes through the first positioning pin 10 and the first liquid Compressing cylinder 8 is fixed, is provided with rack piston 11 in the piston hole 9, and described 11 one end of rack piston is fixed in piston hole 9, The other end is fixed in sleeve 16, and 11 upper and lower ends of rack piston are respectively arranged with rack gear 22, on the rack piston 11 Under be provided with sector gear 15, installation is engaged by rack pinion with rack piston 11 in described 15 one end of sector gear, described 15 other end of sector gear and chela 14 are fixed, and limited block 12, institute are provided between first hydraulic cylinder 8 and sleeve 16 It states sleeve 16 to be mounted between two limited blocks 12, connecting shaft 13, institute is provided between the limited block 12 and chela 14 It states 13 one end of connecting shaft to be fixed on limited block 12, the other end is fixed on chela 14.

As shown in figure 4,16 upper surface of sleeve and lower end surface are respectively arranged with guide rod 17, described 17 one end of guide rod It is provided with the second positioning pin 18, the guide rod 17 is fixed with sleeve 16 by the second positioning pin 18, and 16 right end of sleeve is set It is equipped with cushion 21, is provided between 16 right side of the cushion 21 and sleeve and adjusts screw 19 and the first locking nut 20, The cushion 21 is fixedly mounted with sleeve 16 by adjusting screw 19 and the first locking nut 20.

Hand 7 in the utility model controls rack piston 11 by the way that the oil inlet that controls the first hydraulic cylinder 8 is fuel-displaced Movement, rack piston 11 drive sector gear 15 to be moved after moving, to control the opening and closing situation of chela 14, chela 14 is set Forming V-shape is counted, it can better grabbing workpiece.

Cushion 21 is devised in sleeve 16, slows down when rack piston 11 can be made to move to 16 end of sleeve and speed connects It is bordering on zero, reduces the inertia force of rack piston 11, alleviates the mechanical collision of rack piston 11 Yu sleeve 16, so that hand 7 It works more stable, increases the service life of sleeve 16.

As shown in figure 5, the telescopic arm 5 includes cylinder assembly, piston component, sealing ring, cushion collar 35 and gas vent 26, the cylinder assembly includes cylinder barrel 27, drive end bearing bracket 25 and rear end cap 32, and the drive end bearing bracket 25,32 side of rear end cap are set respectively It is equipped with pull rod 24, the cylinder barrel 27 is installed by pull rod 24 and drive end bearing bracket 25, the fastening of rear end cap 32 respectively, and the gas vent 26 is pacified Mounted in 27 upper left side of cylinder barrel, 27 upper right side of cylinder barrel is provided with oil inlet and outlet 28, and the piston component includes piston 39 and lives Stopper rod 34, the piston 39 are mounted in cylinder barrel 27, and described 34 one end of piston rod is fixed across piston 39, and the piston rod 34 is another One end is flexibly connected across rear end cap 32.

The piston rod 34 and piston are provided with semi-ring 36, axle sleeve 37 and shaft block ring 38, the work between 39 left side 34 one end of stopper rod is fixed by semi-ring 36, axle sleeve 37 and shaft block ring 38 and piston 39,34 other end of piston rod and rear end Guide sleeve 29 and dustband 31 are provided between lid 32, the guide sleeve 29, dustband 31 are sequentially sleeved on piston rod 34, described Sealing ring includes O-ring seals 33 and y-shaped ring 30, the O-ring seals 33 be separately mounted to drive end bearing bracket 25 and cylinder barrel 27, Between rear end cap 32 and cylinder barrel 27, piston 39 and piston rod 34, the y-shaped ring 30 is separately mounted to piston 39 and cylinder barrel 27 Between；The cushion collar 35 is mounted on 39 right side of piston, and the piston rod 34 is located between two cushion collars 35.

The second locking nut 23 is respectively arranged between the pull rod 24 and drive end bearing bracket 25, rear end cap 32.

A kind of telescopic arm 5 is devised in the utility model, and piston 39 is mainly controlled by control hydraulic oil and is moved, from And piston rod 34 is driven, so that telescopic arm 5 is carried out stretching motion, piston rod 34 passes through semi-ring 36, axle sleeve 37 and shaft block ring 38 It is fixedly connected with piston 39, so that the movement between piston 39 and piston rod 34 more fastens steadily, O shape has also been devised in structure Sealing ring 33 and y-shaped ring 30 reduce oil cylinder draining situation, so that cylinder barrel 27 has good leakproofness, cushion collar 35 The inertia force that piston 39 can be reduced keeps piston rod 34 more steady when moving, gas vent 26 is mounted on 27 upper left of cylinder barrel Side, oil inlet and outlet 28 are arranged in 27 upper right side of cylinder barrel, by a small amount of air being mingled in oil liquid band oil return box when being not only convenient for oil return It overflows, and gas vent 26 can use oil return and the air in fuel tank is discharged, guide sleeve 29 can prevent piston rod 34 from moving Shi Fasheng axis offset situation, dustband 31 can prevent dirty dirt and dust from entering cylinder barrel 27.

As shown in fig. 6, being provided with load-bearing pillar 51 in the pedestal 1, the load-bearing pillar 51 is mounted on 1 inner bottom surface of pedestal, Dampening assembly is provided on the load-bearing pillar 51, the dampening assembly includes lower seat 40, spring 50, the first damping sheet 49, the seat of honour 44 and fixing bolt 46, the spring 50 be mounted on lower seat 40, first damping sheet 49 is mounted on spring 50, the bullet 50 one end of spring and lower seat 40 are fixed, and the other end is fixed with 49 bottom surface of the first damping sheet；The seat of honour 44 is mounted on the first damping sheet On 49, the first adjusting nut 47, the second adjusting nut 48 are respectively arranged on the seat of honour 44 and the first damping sheet 49, it is described solid Determine 46 one end of bolt and be fixed on the seat of honour 44 by the first adjusting nut 47, the other end is fixed on the by the second adjusting nut 48 On one damping sheet 49；Partition 41, the second damping sheet 42 and limit plate 43 are additionally provided between the lower seat 40 and the seat of honour 44, it is described Partition 41 and the second damping sheet 42 are installed on lower seat 40, and second damping sheet 42 is fixedly mounted on 41 side of partition, institute 43 one end of limit plate is stated to fix with 44 bottom of the seat of honour, it is fixed in the middle part of the other end and 42 side of the second damping sheet；40 bottom of lower seat Face and 44 upper surface of the seat of honour are provided with non-slip mat 45.

The utility model devise it is a kind of can be with the pedestal 1 of damping, the load-bearing pillar 51 in pedestal 1 can bear entire machinery The pressure generated when arm motion, and dampening assembly can reduce pressure when arm works using components such as spring 50 and damping sheets Power, more steady, the practicability and effectiveness so that entire mechanical arm works.

As shown in fig. 7, being provided with the second hydraulic cylinder in the wrist revolution 6, second hydraulic cylinder includes cylinder body 52, stator 55, movable plate 57 and rotating shaft 56,52 two sides of cylinder body are respectively arranged with the first hydraulic fluid port 53 and the second hydraulic fluid port 54, institute State stator 55, movable plate 57 is separately mounted between rotating shaft 56 and cylinder body 52, folded blunt between the stator 55 and movable plate 57 Angle a is 90-150 °.

57 both ends of movable plate are provided with seal 58.

Single blade hydraulic cylinder is utilized to carry out revolution operation, when oil is oily from first in wrist revolution 6 in the utility model When mouth 53 enters, rotating shaft 56 can be pushed to carry out counter clockwise direction revolution due to hydraulic, then low pressure chamber is oily from the second hydraulic fluid port 54 discharges, on the contrary then rotating shaft 56 carry out clockwise direction revolution.

5 left end of telescopic arm is provided with balancing device 4, between the telescopic arm 5, wrist revolution 6 and hand 7 It is provided with active connection, passes sequentially through active connection activity company between the telescopic arm 5, wrist revolution 6 and hand 7 It connects.

It is provided with counterweight in balancing device 4, the pressure generated when using 4 balancing machine arm motion of balancing device, so that Arm work can be carried out steadily.

Fasteners and the connections such as the first positioning pin 10, the second positioning pin 18, connecting shaft 13 are devised in entire mechanical arm Part, as long as we unload the connection fixture of corresponding position, can more be accelerated if damaged condition occurs in mechanical arm part The renewal part of speed, it is convenient and practical, while saving manpower.

The utility model devises a kind of automatic liquid press mechanical pressing arm, and pedestal 1 can support and bear mechanical arm work As when the pressure that generates wherein reducing the concussion of pressure generation using spring assembly and damping sheet put down mechanically actuated It is steady to realize.

Controlling terminal can according to need transmission instruction in the utility model, and executive device, which receives, immediately instructs and open fortune Dynamic, rotating part 2 can make mechanical arm carry out 360 degree rotation around pedestal 1, wait it is slack after adjusting to certain angle, simultaneously Lifting column 3 controls the height of mechanical arm, and after height is certain telescopic arm 5 and wrist revolution 6 can control the length of hand 7 Degree and angle, are then moved with moving gear by rack piston 11, the closure and unlatching of chela 14 are controlled with this.

In 5 structure of telescopic arm, when hydraulic oil enters cylinder barrel 27, since the effect of pressure pushes piston 39 that can carry out Stretching motion；Wrist turns round in 6 structures, when hydraulic oil enters from the first hydraulic fluid port 53, can push rotating shaft 56 due to hydraulic Counter clockwise direction revolution is carried out, then the oil of low pressure chamber is discharged from the second hydraulic fluid port 54, and on the contrary then rotating shaft 56 carries out clockwise Revolution；In 7 structure of hand, hydraulic oil enters piston hole 9, and pressure pushes rack piston 11 to move right, and rack piston 11 drives Sector gear 15 is moved, while chela 14 opens, and after hydraulic oil leaves piston hole 9, rack piston 11 drives sector gear 15 carry out counter motion, and chela 14 is closed, and object is firmly firmly grasped.

The utility model devises a kind of automatic liquid press mechanical pressing arm, and structure is simple, reduces machine using spring assembly The pressure generated when tool arm motion keeps the smooth working of mechanical arm, while utilizing wrist revolution 6, telescopic arm 5 etc. Structure realizes multi-faceted, multi-angle operation to realize, saves a large amount of cost of labor and labour, greatly improves production effect Rate.

It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting Related claim.

Claims (10)

1. a kind of automatic liquid press mechanical pressing arm, it is characterised in that: the mechanical arm includes executive device and controlling terminal, institute Stating executive device includes pedestal (1), rotating part (2), lifting column (3), telescopic arm (5), wrist revolution (6) and hand (7), The pedestal (1), rotating part (2), lifting column (3), telescopic arm (5), wrist revolution (6) and hand (7) respectively with control Terminal electrical connection, the rotating part (2) are mounted on pedestal (1), and the lifting column (3) is mounted on rotating part (2), described Telescopic arm (5) is mounted on lifting column (3), and the wrist revolution (6) one end is flexibly connected with telescopic arm (5), another End is flexibly connected with hand (7).

2. a kind of automatic liquid press mechanical pressing arm according to claim 1, it is characterised in that: the hand (7) includes the One hydraulic cylinder (8), sleeve (16) and chela (14), described sleeve (16) one end and the first hydraulic cylinder (8) are fixed, the set Cylinder (16) other end is flexibly connected with chela (14), is provided with piston hole (9), the piston in first hydraulic cylinder (8) Hole (9) two sides are provided with the first positioning pin (10), and the piston hole (9) passes through the first positioning pin (10) and the first hydraulic cylinder (8) fixed, it is provided with rack piston (11) in the piston hole (9), described rack piston (11) one end is fixed on piston hole (9) Interior, the other end is fixed in sleeve (16), and rack piston (11) upper and lower ends are respectively arranged with rack gear (22), the rack gear Piston (11) is provided with sector gear (15) up and down, and described sector gear (15) one end and rack piston (11) pass through rack tooth Wheel engagement installation, sector gear (15) other end and chela (14) are fixed, first hydraulic cylinder (8) and sleeve (16) Between be provided with limited block (12), the sleeve (16) is mounted between two limited blocks (12), the limited block (12) it is provided between chela (14) connecting shaft (13), described connecting shaft (13) one end is fixed on limited block (12), separately One end is fixed on chela (14).

3. a kind of automatic liquid press mechanical pressing arm according to claim 2, it is characterised in that: sleeve (16) upper surface It is respectively arranged with guide rod (17) with lower end surface, described guide rod (17) one end is provided with the second positioning pin (18), the guiding Bar (17) is fixed by the second positioning pin (18) and sleeve (16), and sleeve (16) right end is provided with cushion (21), described It is provided between cushion (21) and sleeve (16) right side and adjusts screw (19) and the first locking nut (20), the cushion (21) it is fixedly mounted with sleeve (16) by adjusting screw (19) and the first locking nut (20).

4. a kind of automatic liquid press mechanical pressing arm according to claim 3, it is characterised in that: telescopic arm (5) packet Include cylinder assembly, piston component, sealing ring, cushion collar (35) and gas vent (26), the cylinder assembly includes cylinder barrel (27), preceding End cap (25) and rear end cap (32), the drive end bearing bracket (25), rear end cap (32) side are respectively arranged with pull rod (24), the cylinder barrel (27) it is installed respectively by pull rod (24) and drive end bearing bracket (25), rear end cap (32) fastening, the gas vent (26) is mounted on cylinder barrel (27) upper left side, cylinder barrel (27) upper right side are provided with oil inlet and outlet (28), and the piston component includes piston (39) and lives Stopper rod (34), the piston (39) are mounted in cylinder barrel (27), and described piston rod (34) one end is fixed across piston (39), described Piston rod (34) other end is flexibly connected across rear end cap (32).

5. a kind of automatic liquid press mechanical pressing arm according to claim 4, it is characterised in that: the piston rod (34) and work Plug is provided with semi-ring (36), axle sleeve (37) and shaft block ring (38) between (39) left side, and described piston rod (34) one end passes through Semi-ring (36), axle sleeve (37) and shaft block ring (38) and piston (39) are fixed, piston rod (34) other end and rear end cap (32) guide sleeve (29) and dustband (31) are provided between, the guide sleeve (29), dustband (31) are sequentially sleeved in piston rod (34) on, the sealing ring includes O-ring seals (33) and y-shaped ring (30), and the O-ring seals (33) are separately mounted to Between drive end bearing bracket (25) and cylinder barrel (27), rear end cap (32) and cylinder barrel (27), piston (39) and piston rod (34), the Y shape is close Seal (30) is separately mounted between piston (39) and cylinder barrel (27)；The cushion collar (35) is mounted on piston (39) right side, The piston rod (34) is located between two cushion collars (35).

6. a kind of automatic liquid press mechanical pressing arm according to claim 5, it is characterised in that: the pull rod (24) and front end The second locking nut (23) are respectively arranged between lid (25), rear end cap (32).

7. a kind of automatic liquid press mechanical pressing arm according to claim 6, it is characterised in that: setting in the pedestal (1) Have load-bearing pillar (51), the load-bearing pillar (51) is mounted on pedestal (1) inner bottom surface, is provided with damping group on the load-bearing pillar (51) Part, the dampening assembly include lower seat (40), spring (50), the first damping sheet (49), the seat of honour (44) and fixing bolt (46), institute It states spring (50) to be mounted on lower seat (40), first damping sheet (49) is mounted on spring (50), the spring (50) one End is fixed with lower seat (40), and the other end is fixed with the first damping sheet (49) bottom surface；The seat of honour (44) is mounted on the first damping sheet (49) on, the first adjusting nut (47), the second adjusting nut are respectively arranged on the seat of honour (44) and the first damping sheet (49) (48), described fixing bolt (46) one end is fixed on the seat of honour (44) by the first adjusting nut (47), and the other end passes through second Adjusting nut (48) is fixed on the first damping sheet (49)；Partition is additionally provided between the lower seat (40) and the seat of honour (44) (41), the second damping sheet (42) and limit plate (43), the partition (41) and the second damping sheet (42) are installed in lower seat (40) On, second damping sheet (42) is fixedly mounted on partition (41) side, described limit plate (43) one end and the seat of honour (44) bottom It is fixed, it is fixed in the middle part of the other end and the second damping sheet (42) side；Lower seat (40) bottom surface and the seat of honour (44) upper surface are all provided with It is equipped with non-slip mat (45).

8. a kind of automatic liquid press mechanical pressing arm according to claim 7, it is characterised in that: in the wrist revolution (6) It is provided with the second hydraulic cylinder, second hydraulic cylinder includes cylinder body (52), stator (55), movable plate (57) and rotating shaft (56), cylinder body (52) two sides are respectively arranged with the first hydraulic fluid port (53) and the second hydraulic fluid port (54), the stator (55), movable plate (57) it is separately mounted between rotating shaft (56) and cylinder body (52), folded obtuse angle a between the stator (55) and movable plate (57) It is 90-150 °.

9. a kind of automatic liquid press mechanical pressing arm according to claim 8, it is characterised in that: movable plate (57) both ends are equal It is provided with seal (58).

10. a kind of automatic liquid press mechanical pressing arm according to claim 9, it is characterised in that: the telescopic arm (5) is left End is provided with balancing device (4), is provided with flexible connection between the telescopic arm (5), wrist revolution (6) and hand (7) Part passes sequentially through active connection flexible connection between the telescopic arm (5), wrist revolution (6) and hand (7).