CN208961590U - Hydraulic mechanical arm and lathe load and unload part - Google Patents
Hydraulic mechanical arm and lathe load and unload part Download PDFInfo
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- CN208961590U CN208961590U CN201821622766.3U CN201821622766U CN208961590U CN 208961590 U CN208961590 U CN 208961590U CN 201821622766 U CN201821622766 U CN 201821622766U CN 208961590 U CN208961590 U CN 208961590U
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- arm
- hinged
- forearm
- connector sleeve
- hydraulic mechanical
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Abstract
The utility model discloses a kind of hydraulic mechanical arms, including pedestal, three joint fluid pressure arms and gripper；The end tail portion of the three joint fluids pressure arm is mounted on the base, the end head of the three joint fluids pressure arm is equipped with connector sleeve, the gripper is rotatably installed on the connector sleeve, and the three joint fluids pressure arm is equipped with the bar-link drive connecting with the connector sleeve.It can be realized in narrow space and Machinetool workpiece is installed and uninstalled, the dress for improving workpiece changes efficiency, reduces the operation difficulty and labor intensity of worker.By installing the hydraulic mechanical arm of the application, space utilization rate and processing speed are improved.This is that a kind of structure is simple, easy to operate, the robotic device of lower-cost lathe handling part.On this basis, present invention also provides a kind of lathes to load and unload part.
Description
Technical field
The utility model relates to a kind of hydraulic mechanical arms and lathe to load and unload part.
Background technique
The disadvantages of existing boom has volume excessively huge, and occupied space is big, and operating flexibility is poor, and installation cost is high.
The workpiece big for volume or weight is practical, but be not for some quality it is very heavy, manual handling is taken very much again
The workpiece of power, flexibility and practicability do not reach requirement, and working efficiency is low.Present workshop is suspension arm mostly, and a boom is several
Platform lathe shares, and in the case where producing nervous, influences workshop and changes part speed, and then influence processing efficiency.
In addition machine tooling room is higher, and worker, which needs to remove several steps on heavy workpiece, to be placed on lathe workpiece
In interior tooling, there is worker's personal safety hidden danger and workpiece surface bump injury hidden danger for this process.
Utility model content
The purpose of this utility model is to provide a kind of hydraulic mechanical arms, existing in the prior art above-mentioned to solve
Technical problem.
Hydraulic mechanical arm provided by the utility model, including pedestal, three joint fluid pressure arms and gripper；
The end tail portion of the three joint fluids pressure arm is mounted on the base, the end head installation of the three joint fluids pressure arm
There is connector sleeve, the gripper is rotatably installed on the connector sleeve, and the three joint fluids pressure arm is equipped with to be connected with the connector sleeve
The bar-link drive connect.
Further, the three joint fluids pressure arm includes large arm, middle arm and forearm, and the large arm is hinged on the pedestal
On, the middle arm connects the large arm with the forearm, and the end head of the forearm is equipped with connector sleeve, sets on the forearm
There is the bar-link drive connecting with the connector sleeve, the large arm is connect with the pedestal by hydraulically extensible part, described big
Arm is connect with the middle arm by hydraulically extensible part, and the middle arm is connect with the forearm by hydraulically extensible part.
Further, the end tail portion of the forearm is equipped with the bar-link drive connecting with the connector sleeve.
Further, the bar-link drive includes first connecting rod, second connecting rod and flexible actuator, and described first connects
Bar is hinged on the end head of the forearm, and described second connecting rod one end and the first connecting rod are hinged, and the second connecting rod is another
Hold it is hinged with the connector sleeve, described flexible actuator one end is hinged on the forearm, the flexible actuator other end and
The first connecting rod is hinged.
Further, the gripper includes basic arm, driving cog, clamping jaw arm and kinematic link, the basic arm rotation peace
It is hinged there are two the driving cog being meshed on the basic arm on the connector sleeve, the clamping jaw arm be two simultaneously
It is hinged with two driving cogs respectively, it is equipped on the basic arm described in hinged with two clamping jaw arms respectively two
Kinematic link.
Further, the hydraulically extensible part is hydraulic cylinder.
Further, the flexible actuator is hydraulic cylinder.
Further, running gear is installed on the pedestal.
Further, the opening angle of two clamping jaw arms is 150 °.
Hydraulic mechanical arm provided by the utility model, has the advantages that
It can be realized in narrow space and Machinetool workpiece is installed and uninstalled, the dress for improving workpiece changes efficiency, reduces work
The operation difficulty and labor intensity of people.
By installing the hydraulic mechanical arm of the application, space utilization rate and processing speed are improved.This is a kind of
Structure is simple, easy to operate, the robotic device of lower-cost lathe handling part.
In addition, present invention also provides a kind of lathes to load and unload part, including above-mentioned hydraulic mechanical arm.
Part is loaded and unloaded using the lathe of above-mentioned hydraulic mechanical arm, it is easy to use, quick, reliable and stable.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram for the hydraulic mechanical arm that the utility model embodiment one provides.
Fig. 2 is the structural schematic diagram for the gripper that the utility model embodiment one provides.
Fig. 3 is the structural schematic diagram for the forearm that the utility model embodiment one provides.
Fig. 4 is the structural schematic diagram for the middle arm that the utility model embodiment one provides.
Fig. 5 is the structural schematic diagram for the large arm that the utility model embodiment one provides.
Fig. 6 is the structural schematic diagram for the driving cog that the utility model embodiment one provides.
Appended drawing reference: 1- pedestal；Tri- joint fluid pressure arm of 2-；3- gripper；4- connector sleeve；5- bar-link drive；21- is big
Arm；Arm in 22-；23- forearm；6- hydraulically extensible part；51- first connecting rod；52- second connecting rod；53- contracting actuator；31- is basic
Arm；32- driving cog；33- clamping jaw arm；34- kinematic link.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on can understanding as the case may be
State the concrete meaning of term in the present invention.
Embodiment one:
Fig. 1 is the structural schematic diagram for the hydraulic mechanical arm that the utility model embodiment one provides；Fig. 2 is that this is practical new
The structural schematic diagram for the gripper that type embodiment one provides；Fig. 3 is the structural representation for the forearm that the utility model embodiment one provides
Figure；Fig. 4 is the structural schematic diagram for the middle arm that the utility model embodiment one provides；Fig. 5 is that the utility model embodiment one provides
Large arm structural schematic diagram；Fig. 6 is the structural schematic diagram for the driving cog that the utility model embodiment one provides；Such as Fig. 1-Fig. 6
Hydraulic mechanical arm shown, that the utility model embodiment one provides, including pedestal 1, three joint fluid pressure arms 2 and gripper 3；
The end tail portion of the three joint fluids pressure arm 2 is mounted on the pedestal 1, the end head of the three joint fluids pressure arm 2
Connector sleeve 4 is installed, the gripper 3 is rotatably installed on the connector sleeve 4, the three joint fluids pressure arm 2 be equipped with it is described
The bar-link drive 5 that connector sleeve 4 connects.
Specifically, the three joint fluids pressure arm 2 includes large arm 21, middle arm 22 and forearm 23, and the large arm 21 is hinged on institute
It states on pedestal 1, the middle arm 22 connects the large arm 21 and the forearm 23, and the end head of the forearm 23 is equipped with connection
Set 4, the forearm 23 are equipped with the bar-link drive 5 connecting with the connector sleeve 4, and the large arm 21 and the pedestal 1 are logical
Cross the connection of hydraulically extensible part 6, the large arm 21 and the middle arm 22 pass through hydraulically extensible part 6 and connect, the middle arm 22 with it is described
Forearm 23 is connected by hydraulically extensible part 6.
Specifically, the end tail portion of the forearm 23 is equipped with the bar-link drive 5 connecting with the connector sleeve 4.
Specifically, the bar-link drive 5 includes first connecting rod 51, second connecting rod 52 and flexible actuator 53, described
First connecting rod 51 is hinged on the end head of the forearm 23, and described 52 one end of second connecting rod and the first connecting rod 51 are hinged, institute
It states 52 other end of second connecting rod and the connector sleeve 4 is hinged, described flexible 53 one end of actuator is hinged on the forearm 23, institute
It states flexible 53 other end of actuator and the first connecting rod 51 is hinged.
Specifically, the gripper 3 includes basic arm 31, driving cog 32, clamping jaw arm 33 and kinematic link 34, the basic arm
31 are rotatably installed on the connector sleeve 4, and hinged on the basic arm 31 there are two the driving cog 32 being meshed, the folders
Pawl arm 33 is two and hinged with two driving cogs 32 respectively, be equipped on the basic arm 31 respectively with two folders
Two hinged kinematic links 34 of pawl arm 33.
Embodiment two:
The hydraulic mechanical arm that the present embodiment two provides is the hydraulic mechanical arm provided embodiment one into one
Step is improved, on the basis of embodiment one and Fig. 1-Fig. 6, the hydraulic mechanical arm that the present embodiment two provides, including pedestal
1, three joint fluid pressure arms 2 and gripper 3；
The end tail portion of the three joint fluids pressure arm 2 is mounted on the pedestal 1, the end head of the three joint fluids pressure arm 2
Connector sleeve 4 is installed, the gripper 3 is rotatably installed on the connector sleeve 4, the three joint fluids pressure arm 2 be equipped with it is described
The bar-link drive 5 that connector sleeve 4 connects.
Specifically, the three joint fluids pressure arm 2 includes large arm 21, middle arm 22 and forearm 23, and the large arm 21 is hinged on institute
It states on pedestal 1, the middle arm 22 connects the large arm 21 and the forearm 23, and the end head of the forearm 23 is equipped with connection
Set 4, the forearm 23 are equipped with the bar-link drive 5 connecting with the connector sleeve 4, and the large arm 21 and the pedestal 1 are logical
Cross the connection of hydraulically extensible part 6, the large arm 21 and the middle arm 22 pass through hydraulically extensible part 6 and connect, the middle arm 22 with it is described
Forearm 23 is connected by hydraulically extensible part 6.
Specifically, the end tail portion of the forearm 23 is equipped with the bar-link drive 5 connecting with the connector sleeve 4.
Specifically, the bar-link drive 5 includes first connecting rod 51, second connecting rod 52 and flexible actuator 53, described
First connecting rod 51 is hinged on the end head of the forearm 23, and described 52 one end of second connecting rod and the first connecting rod 51 are hinged, institute
It states 52 other end of second connecting rod and the connector sleeve 4 is hinged, described flexible 53 one end of actuator is hinged on the forearm 23, institute
It states flexible 53 other end of actuator and the first connecting rod 51 is hinged.
Specifically, the gripper 3 includes basic arm 31, driving cog 32, clamping jaw arm 33 and kinematic link 34, the basic arm
31 are rotatably installed on the connector sleeve 4, and hinged on the basic arm 31 there are two the driving cog 32 being meshed, the folders
Pawl arm 33 is two and hinged with two driving cogs 32 respectively, be equipped on the basic arm 31 respectively with two folders
Two hinged kinematic links 34 of pawl arm 33.
Specifically, the hydraulically extensible part 6 is hydraulic cylinder.
Embodiment three:
The present embodiment three offer hydraulic mechanical arms be to embodiment one provide hydraulic mechanical arm into
One step is improved, on the basis of embodiment one and Fig. 1-Fig. 6, the hydraulic mechanical arm that the present embodiment three provides, including bottom
1, three joint fluid pressure arms 2 of seat and gripper 3；
The end tail portion of the three joint fluids pressure arm 2 is mounted on the pedestal 1, the end head of the three joint fluids pressure arm 2
Connector sleeve 4 is installed, the gripper 3 is rotatably installed on the connector sleeve 4, the three joint fluids pressure arm 2 be equipped with it is described
The bar-link drive 5 that connector sleeve 4 connects.
Specifically, the three joint fluids pressure arm 2 includes large arm 21, middle arm 22 and forearm 23, and the large arm 21 is hinged on institute
It states on pedestal 1, the middle arm 22 connects the large arm 21 and the forearm 23, and the end head of the forearm 23 is equipped with connection
Set 4, the forearm 23 are equipped with the bar-link drive 5 connecting with the connector sleeve 4, and the large arm 21 and the pedestal 1 are logical
Cross the connection of hydraulically extensible part 6, the large arm 21 and the middle arm 22 pass through hydraulically extensible part 6 and connect, the middle arm 22 with it is described
Forearm 23 is connected by hydraulically extensible part 6.
Specifically, the end tail portion of the forearm 23 is equipped with the bar-link drive 5 connecting with the connector sleeve 4.
Specifically, the bar-link drive 5 includes first connecting rod 51, second connecting rod 52 and flexible actuator 53, described
First connecting rod 51 is hinged on the end head of the forearm 23, and described 52 one end of second connecting rod and the first connecting rod 51 are hinged, institute
It states 52 other end of second connecting rod and the connector sleeve 4 is hinged, described flexible 53 one end of actuator is hinged on the forearm 23, institute
It states flexible 53 other end of actuator and the first connecting rod 51 is hinged.
Specifically, the gripper 3 includes basic arm 31, driving cog 32, clamping jaw arm 33 and kinematic link 34, the basic arm
31 are rotatably installed on the connector sleeve 4, and hinged on the basic arm 31 there are two the driving cog 32 being meshed, the folders
Pawl arm 33 is two and hinged with two driving cogs 32 respectively, be equipped on the basic arm 31 respectively with two folders
Two hinged kinematic links 34 of pawl arm 33.
Specifically, the hydraulically extensible part 6 is hydraulic cylinder.
Specifically, the flexible actuator 53 is hydraulic cylinder.
Example IV:
The hydraulic mechanical arm that the present embodiment four provides is the hydraulic mechanical arm provided embodiment one into one
Step is improved, on the basis of embodiment one and Fig. 1-Fig. 6, the hydraulic mechanical arm that the present embodiment four provides, including pedestal
1, three joint fluid pressure arms 2 and gripper 3；
The end tail portion of the three joint fluids pressure arm 2 is mounted on the pedestal 1, the end head of the three joint fluids pressure arm 2
Connector sleeve 4 is installed, the gripper 3 is rotatably installed on the connector sleeve 4, the three joint fluids pressure arm 2 be equipped with it is described
The bar-link drive 5 that connector sleeve 4 connects.
Specifically, the three joint fluids pressure arm 2 includes large arm 21, middle arm 22 and forearm 23, and the large arm 21 is hinged on institute
It states on pedestal 1, the middle arm 22 connects the large arm 21 and the forearm 23, and the end head of the forearm 23 is equipped with connection
Set 4, the forearm 23 are equipped with the bar-link drive 5 connecting with the connector sleeve 4, and the large arm 21 and the pedestal 1 are logical
Cross the connection of hydraulically extensible part 6, the large arm 21 and the middle arm 22 pass through hydraulically extensible part 6 and connect, the middle arm 22 with it is described
Forearm 23 is connected by hydraulically extensible part 6.
Specifically, the end tail portion of the forearm 23 is equipped with the bar-link drive 5 connecting with the connector sleeve 4.
Specifically, the bar-link drive 5 includes first connecting rod 51, second connecting rod 52 and flexible actuator 53, described
First connecting rod 51 is hinged on the end head of the forearm 23, and described 52 one end of second connecting rod and the first connecting rod 51 are hinged, institute
It states 52 other end of second connecting rod and the connector sleeve 4 is hinged, described flexible 53 one end of actuator is hinged on the forearm 23, institute
It states flexible 53 other end of actuator and the first connecting rod 51 is hinged.
Specifically, the gripper 3 includes basic arm 31, driving cog 32, clamping jaw arm 33 and kinematic link 34, the basic arm
31 are rotatably installed on the connector sleeve 4, and hinged on the basic arm 31 there are two the driving cog 32 being meshed, the folders
Pawl arm 33 is two and hinged with two driving cogs 32 respectively, be equipped on the basic arm 31 respectively with two folders
Two hinged kinematic links 34 of pawl arm 33.
Specifically, the hydraulically extensible part 6 is hydraulic cylinder.
Specifically, running gear is installed on the pedestal 1.
May be implemented to fast move between each lathe by running gear, according to machine tool processing workpiece time adjustment its
In time gap, several lathes share a mechanical arm, complete the work of lathe upper and lower pieces, in addition increase running gear very
Good avoids the problem of every lathe will install a manipulator, saves equipment input cost, improves equipment utilization
Rate.
Specifically, the opening angle of two clamping jaw arms 33 is 150 °.
Embodiment five:
Present invention also provides a kind of lathes to load and unload part, including above-mentioned hydraulic mechanical arm.
Part is loaded and unloaded using the lathe of above-mentioned hydraulic mechanical arm, it is easy to use, quick, reliable and stable.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of hydraulic mechanical arm, which is characterized in that including pedestal, three joint fluid pressure arms and gripper；
The end tail portion of the three joint fluids pressure arm is mounted on the base, and the end head of the three joint fluids pressure arm is equipped with company
Female connector, the gripper are rotatably installed on the connector sleeve, and the three joint fluids pressure arm is equipped with and connect with the connector sleeve
Bar-link drive.
2. hydraulic mechanical arm according to claim 1, which is characterized in that the three joint fluids pressure arm include large arm,
Middle arm and forearm, hingedly on the base, the middle arm connects the large arm with the forearm to the large arm, the forearm
End head connector sleeve is installed, the forearm is equipped with bar-link drive connect with the connector sleeve, the large arm and
The pedestal is connected by hydraulically extensible part, and the large arm is connect with the middle arm by hydraulically extensible part, the middle arm and institute
Forearm is stated to connect by hydraulically extensible part.
3. hydraulic mechanical arm according to claim 2, which is characterized in that the end tail portion of the forearm is equipped with and institute
State the bar-link drive of connector sleeve connection.
4. hydraulic mechanical arm according to claim 2, which is characterized in that the bar-link drive includes the first company
Bar, second connecting rod and flexible actuator, the first connecting rod are hinged on the end head of the forearm, described second connecting rod one end with
The first connecting rod is hinged, and the second connecting rod other end and the connector sleeve are hinged, and described flexible actuator one end is hinged on
On the forearm, the flexible actuator other end and the first connecting rod are hinged.
5. hydraulic mechanical arm according to claim 1, which is characterized in that the gripper include basic arm, driving cog,
Clamping jaw arm and kinematic link, the basic arm are rotatably installed on the connector sleeve, and hinged on the basic arm there are two mutually nibble
The driving cog closed, the clamping jaw arm is for two and hinged with two driving cogs respectively, is equipped on the basic arm
Two kinematic links hinged with two clamping jaw arms respectively.
6. hydraulic mechanical arm according to claim 2, which is characterized in that the hydraulically extensible part is hydraulic cylinder.
7. hydraulic mechanical arm according to claim 4, which is characterized in that the flexible actuator is hydraulic cylinder.
8. hydraulic mechanical arm according to claim 1, which is characterized in that be equipped with running gear on the pedestal.
9. hydraulic mechanical arm according to claim 5, which is characterized in that the opening angle of two clamping jaw arms is
150°。
10. a kind of lathe loads and unloads part, which is characterized in that including hydraulic mechanical arm of any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821622766.3U CN208961590U (en) | 2018-09-30 | 2018-09-30 | Hydraulic mechanical arm and lathe load and unload part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821622766.3U CN208961590U (en) | 2018-09-30 | 2018-09-30 | Hydraulic mechanical arm and lathe load and unload part |
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| Publication Number | Publication Date |
|---|---|
| CN208961590U true CN208961590U (en) | 2019-06-11 |
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ID=66758163
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821622766.3U Active CN208961590U (en) | 2018-09-30 | 2018-09-30 | Hydraulic mechanical arm and lathe load and unload part |
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| CN (1) | CN208961590U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994658A (en) * | 2018-09-30 | 2018-12-14 | 杭州力龙液压有限公司 | Hydraulic mechanical arm and lathe load and unload part |
-
2018
- 2018-09-30 CN CN201821622766.3U patent/CN208961590U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994658A (en) * | 2018-09-30 | 2018-12-14 | 杭州力龙液压有限公司 | Hydraulic mechanical arm and lathe load and unload part |
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