CN209350274U - A kind of overload hydraulic gripper with double freedom - Google Patents
A kind of overload hydraulic gripper with double freedom Download PDFInfo
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- CN209350274U CN209350274U CN201822219929.XU CN201822219929U CN209350274U CN 209350274 U CN209350274 U CN 209350274U CN 201822219929 U CN201822219929 U CN 201822219929U CN 209350274 U CN209350274 U CN 209350274U
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- direct acting
- oil ring
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Abstract
The utility model discloses a kind of overload hydraulic gripper with double freedom, including clamp assemblies, direct acting driving assembly and rotary drive assembly；Clamp assemblies provide chucking power for directly contacting with the object to be operated；Direct acting driving assembly realizes direct acting freedom degree；Rotary drive assembly realizes revolution freedom degree；Clamp assemblies include two parts symmetrical above and below, and every part includes collet, collet connecting rod and the auxiliary bar of collet, are connected between two parts by direct acting connecting rod；Direct acting driving assembly is mounted in direct acting driving shell, includes bracket, quiet oil ring, dynamic oil ring, piston and piston rod；Rotary drive assembly includes oscillating cylinder, oscillating cylinder drive shaft, revolution driving shell；The utility model resists entirety by moment of flexure, by the big torque of spline drived, suitable for severe duty by two groups of bearings with direct acting and revolution double freedom for power using hydraulic.The utility model gripper is compact-sized, complete function, has splendid future in engineering applications.
Description
Technical field
The utility model belongs to oilhydraulic engineering field, is related to the grippers such as hydraulic robot, hydraulic manipulator position, especially
It is related to a kind of overload hydraulic gripper with double freedom.
Background technique
Hydraulic manipulator is widely used in various engineering fields, is particularly suitable for severe duty.Gripper is as hydraulic press
The ability of the least significant end of tool arm executive item, bending resistance square, torque resistant and transmitting heavy duty is particularly important.Existing machinery pawl is mostly only
With folding freedom degree, revolution freedom degree will lean on mechanical arm auxiliary to realize, and a small number of grippers with double freedom are then equal
Using nonstandard customization, the interchangeability without component, higher cost.
Utility model content
The purpose of this utility model is that in view of the deficiencies of the prior art, proposing a kind of overload hydraulic with double freedom
Gripper.
The purpose of this utility model is achieved through the following technical solutions: a kind of overload hydraulic with double freedom
Gripper, including clamp assemblies, direct acting driving assembly and rotary drive assembly；The clamp assemblies include two symmetrical above and below
Point, every part includes collet, collet connecting rod and the auxiliary bar of collet, is connected between two parts by direct acting connecting rod；Collet and collet connect
Bar constitutes revolute pair；Collet connecting rod and direct acting driving assembly constitute revolute pair；Collet connecting rod and direct acting connecting rod constitute revolute pair；Folder
Head constitutes revolute pair with the auxiliary bar of collet；The auxiliary bar of collet and direct acting driving assembly constitute revolute pair；The direct acting driving assembly installation
In direct acting driving shell, include bracket, quiet oil ring, dynamic oil ring, piston and piston rod；Have on direct acting driving shell with
The hydraulic fluid port of the oil communication of direct acting driving assembly；The front and rear end of direct acting driving assembly is installed by one group of bearing respectively；Quiet oil ring
Both shells are driven to remain stationary with direct acting；The outer surface of quiet oil ring is equipped with several static sealing ring grooves circumferentially, quiet
Static seal is realized by the sealing ring being mounted in static sealing ring groove between oil ring and direct acting driving shell；Dynamic oil ring passes through flower
Key is connected with rotary drive assembly, and dynamic oil ring is fixedly connected with bracket；Piston is located on the central axis of dynamic oil ring, piston rod and straight
Dynamic connecting rod is fixedly connected；The inner surface of quiet oil ring is equipped with several dynamic sealing grooves circumferentially；Dynamic oil ring and quiet oil ring it
Between dynamic sealing realized by the combination seal that is installed in dynamic sealing groove；Piston motion extreme position in the dynamic oil ring
Place's setting buffering boss；Design is respectively used to input the high pressure oil of extraneous supply there are two quiet oil ring hydraulic fluid port on the quiet oil ring
Liquid exports low pressure oil liquid to the external world；Quiet oil ring inner surface is equipped with two oil grooves circumferentially, and position corresponds respectively to two
A quiet oil ring hydraulic fluid port；There are two outer hydraulic fluid port, the oil liquid in two oil grooves of quiet oil ring passes through two respectively for design on the dynamic oil ring
A outer hydraulic fluid port enters inside dynamic oil ring；The rotary drive assembly includes oscillating cylinder, oscillating cylinder drive shaft, revolution driving shell；
Spline is processed in oscillating cylinder drive shaft, and revolution driving shell is fixedly connected with direct acting driving shell by oscillating cylinder connecting plate；
Revolution driving shell realizes the oil liquid oil inlet, oil return and extraneous connection of oscillating cylinder.
Further, one group of bearing that the front end installation of the direct acting driving assembly is formed top by two bearing biserials.
Further, the lubricating oil of the bearing of direct acting driving assembly front end installation passes through oil sealing sealing.
Further, two are designed on dynamic oil ring for processing the processing mouth of oil passage, processing mouth leads to when in use
Cross the stifled sealing of oil.
Further, the rotary drive assembly further includes angular encoder, angular encoder and oscillating cylinder drive shaft phase
Even.
The beneficial effects of the utility model are: leaning on rotary drive assembly and direct acting driving assembly by hydraulic offer power
Realize the movement of gripper revolution and two freedom degrees of direct acting, the folding of gripper may be implemented in direct acting driving assembly.Revolution is driven
Dynamic component is connected by spline with direct acting driving assembly, and biggish torque is provided.By being located at two groups of bearings in the middle part of gripper,
It ensure that the integrally-built rigidity of gripper, the moment of flexure generated when heavily loaded operation can be resisted, internal withdraw type cushion chamber realizes directly
The buffering of dynamic driving assembly extreme position prevents piston from blocking hydraulic fluid port simultaneously, ensure that gripper is integrally-built compact.The machine
Machinery claw has revolution and direct acting double freedom and is suitable for severe duty, has splendid future in engineering applications.
Detailed description of the invention
Fig. 1 is the overload hydraulic gripper entirety axonometric drawing with double freedom；
Fig. 2 is gripper cross-sectional view；
Fig. 3 is quiet oil ring cross-sectional view；
Fig. 4 is oil ring cross-sectional view；
Fig. 5 is freedom degree realization principle figure.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments.
A kind of overload hydraulic gripper with double freedom provided by the utility model, including clamp assemblies 1, direct acting are driven
Dynamic component 2 and rotary drive assembly 3；Wherein, clamp assemblies 1 provide chucking power for directly contacting with the object to be operated；Direct acting
Driving assembly 2 realizes direct acting freedom degree；Rotary drive assembly 3 realizes revolution freedom degree.
As shown in Figure 1, 2, the clamp assemblies 1 include two parts symmetrical above and below, and every part includes collet 1.1, first
Collet shaft 1.2, first bearing 1.3, collet connecting rod 1.4, second bearing 1.5, connecting rod shaft 1.6,3rd bearing 1.7, second
The auxiliary bar 1.9 of collet shaft 1.8, collet, direct acting connecting rod shaft 1.10 are connected by direct acting connecting rod 1.11 between two parts.Folder
First 1.1 constitute revolute pair by the first collet shaft 1.2 and first bearing 1.3, with collet connecting rod 1.4.Similarly, collet connecting rod
1.4 constitute revolute pair by second bearing 1.5 and connecting rod shaft 1.6, with direct acting driving assembly 2；Collet 1.1 passes through 3rd bearing
1.7 and the second collet shaft 1.8, revolute pair is constituted with the auxiliary bar 1.9 of collet；Collet connecting rod 1.4 passes through direct acting connecting rod shaft 1.10
Revolute pair is constituted with direct acting connecting rod 1.11.The auxiliary bar 1.9 of collet constitutes revolute pair with direct acting driving assembly 2.The revolute pair can be with
Realize that the relative rotation motion of driving system of clamp assemblies each section, the linear motion that piston rod 2.8 can be generated pass through each revolute pair
Rotational motion is changed into the opening and closing motion of entire clamp assemblies.
As shown in Figure 1, 2, 3, the direct acting driving assembly 2 realizes direct acting freedom degree, wherein direct acting drives shell 2.4
Entire direct acting driving assembly 2 is included, drives the hydraulic fluid port on shell 2.4 that can realize in direct acting driving assembly 2 by direct acting
Portion's oil liquid and extraneous circulation, fourth bearing 2.2 and 2.3 biserial of 5th bearing are used as first group of bearing, 6th bearing 2.5 to top
Separately as second group of bearing, two groups of bearings are distributed in 2 front and rear end of direct acting driving assembly respectively, and are located at entire gripper
Middle section front and back end, the moment of flexure that gripper entirety is applied to when heavily loaded operation can be effective against.Oil sealing 2.1 is for sealing bearing
Lubricating oil.Both quiet oil ring 2.6 and direct acting driving shell 2.4 are remain stationary, and do not do rotary motion.Outside quiet oil ring 2.6
Surface sets that there are three the first static sealing ring groove 2.6.1 circumferentially, the second static sealing ring groove 2.6.3, third are quiet close
Seal groove 2.6.5, quiet oil ring 2.6 and direct acting driving shell 2.4 between by be mounted on the first static sealing ring groove 2.6.1,
Sealing ring in second static sealing ring groove 2.6.3, third static sealing ring groove 2.6.5 realizes static seal.Dynamic oil ring 2.7 passes through
Spline 3.4 and rotary drive assembly 3 connect, and spline 3.4 can transmit big torque, to realize the overturning after gripper clamping weight
Function etc., dynamic oil ring 2.7 and bracket 2.10 are bolted to connection, and the collet of bracket 2.10 and gripper clamp assemblies 1 connects
Bar 1.4 constitutes revolute pair by second bearing 1.5 and connecting rod shaft 1.6；Piston 2.9 is located on the central axis of dynamic oil ring 2.7,
Piston rod 2.8 is fixedly connected by bolt with direct acting connecting rod 1.11；Spline 3.4 drives dynamic 2.7 rotary motion of oil ring, to drive
Entire gripper clamp assemblies 1 and piston rod 2.8, piston 2.9 do rotary motion.The inner surface of quiet oil ring 2.6 is set there are three edge
The first dynamic sealing groove 2.6.6, the second dynamic sealing groove 2.6.7, third dynamic sealing groove 2.6.8 circumferentially；Dynamic oil ring
By being installed on quiet oil ring the first dynamic sealing groove 2.6.6, the second dynamic sealing groove 2.6.7, between 2.7 and quiet oil ring 2.6
Combination seal in three dynamic sealing groove 2.6.8 realizes dynamic sealing.
As shown in figure 3, on quiet oil ring 2.6 in the direct acting driving assembly 2 design have the first quiet oil ring hydraulic fluid port 2.6.2,
Second quiet oil ring hydraulic fluid port 2.6.4, the two function are the high-voltage oil liquid of the extraneous supply direct acting driving assembly 2 of input and direct acting are driven
Low pressure oil liquid in dynamic component 2 is exported to the external world.Quiet 2.6 inner surface of oil ring be equipped with the first oil groove 2.6.9 circumferentially and
Second oil groove 2.6.10, position correspond respectively to the first quiet oil ring hydraulic fluid port 2.6.2, the second quiet oil ring hydraulic fluid port 2.6.4, can be by oil liquid
Dispensing and quiet oil ring do the dynamic oil ring of opposite rotary motion.
As shown in figure 4, design has the outer hydraulic fluid port of the first dynamic oil ring on dynamic oil ring 2.7 in the direct acting driving assembly 2
2.7.3, in the outer hydraulic fluid port 2.7.8, the first oil groove 2.6.9 and the second oil groove 2.6.10 in quiet oil ring 2.6 of the second dynamic oil ring
Oil liquid can be entered inside dynamic oil ring 2.7 by hydraulic fluid port 2.7.8 outside the dynamic oil ring of hydraulic fluid port 2.7.3 and second outside the first dynamic oil ring, point
The first oil passage 2.7.2 and the second oil passage 2.7.7 are not formed.In process, in order to facilitate the first oil passage
2.7.2 processing designs the first processing mouth 2.7.1 and the second processing mouth 2.7.4, in actual use by two on dynamic oil ring 2.7
A processing mouth oil blocks.Setting buffering boss 2.7.6 can be at the 2.9 limit of sports record position of piston in dynamic oil ring 2.7
The buffer function of extreme position when playing gripper closure, while oil liquid enters dynamic oil ring and mentions when being gripper closed limit
Certain space has been supplied, has prevented piston 2.9 from blocking hydraulic fluid port when being located at extreme position and the situation of the oil effect area deficiency is gone out
It is existing.
As shown in Fig. 2,3,4,5, it is as follows that gripper makees oil circuit connection situation when open and close movement in direct acting driving assembly 2:
Piston 2.9 can make movement of advancing and retract in dynamic oil ring 2.7, when piston 2.9 makees forward travel, be advanced by piston rod 2.8
Direct acting connecting rod 1.11 is pushed to advance, collet connecting rod 1.4 is rotated with connecting rod shaft 1.6 for the centre of gyration at this time, is pressed from both sides at this time
First 1.1 under the pulling of the auxiliary bar 1.9 of collet, rotates around the first collet shaft 1.2, so that collet 1.1 remains clamping face water
Level state is interacted by each revolute pair in clamp assemblies 1, realizes gripper expansion action；Piston 2.9 makees the fortune that retracts
It when dynamic, retracted by piston rod 2.8 and direct acting connecting rod 1.11 is pulled back, collet connecting rod 1.4 is in revolution with connecting rod shaft 1.6 at this time
The heart rotates, and collet 1.1 rotates, so that collet under the pulling of the auxiliary bar 1.9 of collet around the first collet shaft 1.2 at this time
1.1 remain clamping face horizontality, are interacted by each revolute pair in clamp assemblies 1, realize gripper closure
Movement.In gripper closing course, high-voltage oil liquid enters the first oil groove 2.6.9 from the first quiet oil ring hydraulic fluid port 2.6.2, passes through first
The dynamic outer hydraulic fluid port 2.7.3 of oil ring, by the first oil passage 2.7.2, hydraulic fluid port 2.7.5 enters dynamic oil ring 2.7 out of first dynamic oil ring
Interior, acting on dynamic oil ring inner piston 2.9 has bar one end, and low pressure oil liquid is through the second oil passage 2.7.7 by oily outside the second dynamic oil ring
Mouth 2.7.8 enters quiet the second oil groove of oil ring 2.6.10, is exported by the second quiet oil ring hydraulic fluid port 2.6.4 to the external world.Gripper opened
Cheng Zhong, high-voltage oil liquid enter the second oil groove 2.6.10 from the second quiet oil ring hydraulic fluid port 2.6.4, pass through hydraulic fluid port outside the second dynamic oil ring
2.7.8 entering east through the second oil passage 2.7.7 has in ring, acts on dynamic oil ring inner piston 2.9 without bar one end, low pressure oil liquid warp
First oil passage 2.7.2 hydraulic fluid port 2.7.3 outside the first dynamic oil ring enters quiet the first oil groove of oil ring 2.6.9, passes through the first quiet oil
Ring hydraulic fluid port 2.6.2 is exported to the external world.
As shown in Figure 1, 2, the rotary drive assembly 3 realizes revolution freedom degree comprising oscillating cylinder 3.3, oscillating cylinder
Drive shaft 3.5, revolution driving shell 3.2 and angular encoder 3.6.Spline 3.4 is processed in oscillating cylinder drive shaft 3.5, is returned
Turn driving shell 3.2 and direct acting driving shell 2.4 is bolted to connection by oscillating cylinder connecting plate 3.1；Angular encoder
3.6 are connected with oscillating cylinder drive shaft 3.5, monitor oscillating cylinder angle of revolution.Revolution driving shell 3.2 can realize oscillating cylinder 3.3
Oil liquid oil inlet, oil return and extraneous connection.
It is finally noted that above description is a kind of specific application example of the utility model, it can be according to need
Want, design the form of a variety of direct acting driving assemblies and rotary drive assembly, it is clear that it is identical with the utility model basic principle its
He should also belong to the protection scope of the utility model application example.
Claims (5)
1. a kind of overload hydraulic gripper with double freedom, which is characterized in that including clamp assemblies (1), direct acting driving group
Part (2) and rotary drive assembly (3)；
The clamp assemblies (1) include two parts symmetrical above and below, and every part includes collet (1.1), collet connecting rod (1.4) and folder
Auxiliary bar (1.9) is connected by direct acting connecting rod (1.11) between two parts；Collet (1.1) and collet connecting rod (1.4), which are constituted, to be rotated
It is secondary；Collet connecting rod (1.4) and direct acting driving assembly (2) constitute revolute pair；Collet connecting rod (1.4) and direct acting connecting rod (1.11) are constituted
Revolute pair；Collet (1.1) and the auxiliary bar of collet (1.9) constitute revolute pair；The auxiliary bar of collet (1.9) and direct acting driving assembly (2) are constituted
Revolute pair；
The direct acting driving assembly (2) be mounted on direct acting driving shell (2.4) in, comprising bracket (2.10), quiet oil ring (2.6),
Dynamic oil ring (2.7), piston (2.9) and piston rod (2.8)；Have and direct acting driving assembly on direct acting driving shell (2.4)
(2) hydraulic fluid port of oil communication；The front and rear end of direct acting driving assembly (2) is installed by one group of bearing respectively；Quiet oil ring (2.6) and
Both direct acting drivings shell (2.4) are remain stationary；The outer surface of quiet oil ring (2.6) is equipped with several static sealing rings circumferentially
Groove, it is quiet by the sealing ring realization being mounted in static sealing ring groove between quiet oil ring (2.6) and direct acting driving shell (2.4)
Sealing；Dynamic oil ring (2.7) are connected by spline (3.4) and rotary drive assembly (3), move oil ring (2.7) and bracket (2.10) is solid
Fixed connection；Piston (2.9) is located on the central axis of dynamic oil ring (2.7), piston rod (2.8) and direct acting connecting rod (1.11) fixed company
It connects；The inner surface of quiet oil ring (2.6) is equipped with several dynamic sealing grooves circumferentially；Dynamic oil ring (2.7) and quiet oil ring (2.6)
Between dynamic sealing realized by the combination seal that is installed in dynamic sealing groove；Piston (2.9) in the dynamic oil ring (2.7)
Setting buffering boss (2.7.6) at limit of sports record position；
It is designed on the quiet oil ring (2.6) and is respectively used to input the high-voltage oil liquid of extraneous supply there are two quiet oil ring hydraulic fluid port, low
Pressure oil liquid is exported to the external world；Quiet oil ring (2.6) inner surface is equipped with two oil grooves circumferentially, and position corresponds respectively to two
Quiet oil ring hydraulic fluid port；
There are two outer hydraulic fluid port, the oil liquid in two oil grooves of quiet oil ring (2.6) passes through two respectively for design on the dynamic oil ring (2.7)
It is internal that a outer hydraulic fluid port enters dynamic oil ring (2.7)；
The rotary drive assembly (3) includes oscillating cylinder (3.3), oscillating cylinder drive shaft (3.5), revolution driving shell (3.2)；Flower
Key (3.4) is processed on oscillating cylinder drive shaft (3.5), and revolution driving shell (3.2) and direct acting driving shell (2.4) pass through swing
Cylinder connecting plate (3.1) is fixedly connected.
2. a kind of overload hydraulic gripper with double freedom according to claim 1, which is characterized in that the direct acting
One group of bearing that the front end installation of driving assembly (2) is formed top by two bearing biserials.
3. a kind of overload hydraulic gripper with double freedom according to claim 1, which is characterized in that the direct acting
The lubricating oil of the bearing of driving assembly (2) front end installation is sealed by oil sealing (2.1).
4. a kind of overload hydraulic gripper with double freedom according to claim 1, which is characterized in that in dynamic oil ring
(2.7) two are designed on for processing the processing mouth of oil passage, processing mouth passes through the stifled sealing of oil when in use.
5. a kind of overload hydraulic gripper with double freedom according to claim 1, which is characterized in that the revolution
Driving assembly (3) further includes angular encoder (3.6), and angular encoder (3.6) is connected with oscillating cylinder drive shaft (3.5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822219929.XU CN209350274U (en) | 2018-12-27 | 2018-12-27 | A kind of overload hydraulic gripper with double freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822219929.XU CN209350274U (en) | 2018-12-27 | 2018-12-27 | A kind of overload hydraulic gripper with double freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209350274U true CN209350274U (en) | 2019-09-06 |
Family
ID=67801069
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822219929.XU Active CN209350274U (en) | 2018-12-27 | 2018-12-27 | A kind of overload hydraulic gripper with double freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209350274U (en) |
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2018
- 2018-12-27 CN CN201822219929.XU patent/CN209350274U/en active Active
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