CN209903207U - Full-direct-acting hydraulic cylinder driving mechanical arm - Google Patents
Full-direct-acting hydraulic cylinder driving mechanical arm Download PDFInfo
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- CN209903207U CN209903207U CN201920136387.1U CN201920136387U CN209903207U CN 209903207 U CN209903207 U CN 209903207U CN 201920136387 U CN201920136387 U CN 201920136387U CN 209903207 U CN209903207 U CN 209903207U
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- 239000003921 oil Substances 0.000 description 24
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model discloses a full-direct-acting hydraulic cylinder driving mechanical arm, which comprises a base component, a big arm component, a middle arm component, a small arm component and a terminal clamping mechanism; the base component comprises a base trunk, a crank, a connecting rod, a rocker, a crank retainer, a first action oil cylinder, a first piston rod and a first shaft seat; the large arm assembly comprises a large arm trunk, a second action oil cylinder, a second piston rod, a third action oil cylinder, a third piston rod, a second shaft seat and a third shaft seat; the middle arm assembly comprises a middle arm main stem, a fourth acting oil cylinder, a fourth piston rod, a fourth shaft seat, a fifth shaft seat and a sixth shaft seat; the small arm assembly comprises a small arm main stem, a fifth acting oil cylinder, a fifth piston rod, a seventh shaft seat, an eighth shaft seat, a ninth shaft seat and a tenth shaft seat. The utility model discloses a five pneumatic cylinder full linear motion drive arms move, make the nimble action of arm realization in the space, have compact structure, advantage that positioning accuracy is high.
Description
Technical Field
The utility model relates to a hydraulic mechanical arm field especially relates to a full direct action pneumatic cylinder drive arm.
Background
The mechanical arm is a mechanical device which is most widely applied in the field of robots at present, is used for replacing manual operation in industries such as automobile manufacturing, electronics and electricity and the like, greatly reduces labor cost, improves production efficiency and effectively improves product production quality. The application of single form is considered more in traditional arm design, generally only for accomplishing specific task, and the variable ability of specific joint and degree of freedom is relatively poor, and adopts the mode of motor with the speed reducer more, and bearing capacity is less relatively, therefore the urgent need develops the arm that has great bearing capacity of a novel drive mode.
To this kind of demand, the utility model discloses the design of hydraulic drive arm has been carried out, because hydraulic drive has the outstanding advantage that exert oneself greatly, light in weight, inertia are little and output rigidity is big, and simultaneously, hydraulic system can improve output through the pressure that improves the system, and its power-to-weight ratio has huge advantage, especially has great bearing capacity's arm.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to prior art not enough, provide a full direct action pneumatic cylinder driving mechanical arm, adopt five hydraulic cylinder subassemblies to realize that the arm can realize nimble motion under space angle at rotation, the luffing motion of level and vertical direction, and can realize nimble action under the operating condition of heavy load, have that drive moment is big, the action is nimble, advantage that positioning accuracy is high.
The purpose of the utility model is realized through the following technical scheme: a full-direct-acting hydraulic cylinder driving mechanical arm comprises a base assembly, a large arm assembly, a middle arm assembly, a small arm assembly and a tail end clamping mechanism;
the base component comprises a base trunk, a crank, a connecting rod, a rocker, a crank retainer, a first action oil cylinder, a first piston rod and a first shaft seat; the tail end of the main part of the base and the crank form a rotating pair through a first shaft seat; the crank and the connecting rod form a rotating pair and are fixedly connected with the crank retainer; the connecting rod, the rocker and the first piston rod jointly form a rotating pair; the rocker and the tail end of the base main body form a revolute pair; one end of the first action oil cylinder and the front end of the base main body form a revolute pair, and the other end of the first action oil cylinder is connected with the first piston rod; the base trunk, the crank, the connecting rod and the rocker form a crank-connecting rod mechanism;
the large arm assembly comprises a large arm trunk, a second action oil cylinder, a second piston rod, a third action oil cylinder, a third piston rod, a second shaft seat and a third shaft seat; the front end of the large arm trunk is rotationally connected with the crank retainer through a second shaft seat, and the tail end of the large arm trunk is rotationally connected with the middle arm trunk through a third shaft seat; one end of the second actuating oil cylinder is rotatably connected with the tail end of the main body of the large arm, and the other end of the second actuating oil cylinder is connected with the second piston rod; the second piston rod is rotationally connected with the crank retainer; one end of the third actuating oil cylinder is rotatably connected with the front end of the large arm main body, and the other end of the third actuating oil cylinder is connected with a third piston rod; the third piston rod is rotatably connected with the middle arm trunk through a fifth shaft seat;
the middle arm assembly comprises a middle arm trunk, a fourth action oil cylinder and a fourth piston rod; the middle arm main body is of a triangular structure, a fourth shaft seat, a fifth shaft seat and a sixth shaft seat are respectively designed at three vertexes, an edge extends out of the fifth shaft seat, and a third shaft seat is designed at the tail end of the edge; the middle arm trunk is rotatably connected with the small arm trunk through a fourth shaft seat; one end of the fourth actuating oil cylinder is rotatably connected with the middle arm trunk through a sixth shaft seat, and the other end of the fourth actuating oil cylinder is connected with a fourth piston rod;
the small arm assembly comprises a small arm trunk, a fifth acting oil cylinder, a fifth piston rod, a seventh shaft seat, an eighth shaft seat, a ninth shaft seat and a tenth shaft seat; the front end of the small arm main body is provided with an eighth shaft seat in rotary connection with the fourth piston rod, a tenth shaft seat matched with the fourth shaft seat, a ninth shaft seat in rotary connection with the fifth action oil cylinder, and the tail end of the small arm main body is provided with a seventh shaft seat which forms a rotary pair together with the fifth piston rod and the tail end clamping mechanism; the fifth action oil cylinder is connected with a fifth piston rod; the axes of the seventh shaft seat and the ninth shaft seat are parallel and are vertical to the axes of the eighth shaft seat and the tenth shaft seat.
Further, the crank holder of the base assembly is composed of two parallel support plates, the crank is of a plate-shaped structure, and the support plates are perpendicular to the crank.
Furthermore, three revolute pair centers of the base main stem of the base component form a triangular structure.
The utility model discloses a beneficial result is: the full-direct-acting hydraulic cylinder driving mechanical arm of the utility model directly drives the mechanical arm to perform actions such as translation, pitching and grabbing by utilizing five hydraulic cylinders, and the length of the piston of the hydraulic cylinder can be adjusted according to different instruction requirements, so that the mechanical arm moves under a space angle, and the full-direct-acting hydraulic cylinder driving mechanical arm has high positioning precision and flexible movement; integrates the machinery and the hydraulic pressure into a whole, and has the characteristic of high energy density.
Drawings
FIG. 1 is a structural view of a mechanical arm of a complete full-linear hydraulic cylinder;
FIG. 2 is a block diagram of the base assembly;
FIG. 3 is a block diagram of a large arm assembly and a medium arm assembly;
FIG. 4 is a view of the middle arm stem;
fig. 5 is a structural view of the forearm and the gripping mechanism.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The utility model provides a full-direct-acting hydraulic cylinder driving mechanical arm, which utilizes five hydraulic cylinder components to drive the mechanical arm to perform pitching and bending actions; as shown in fig. 1, the robot arm includes a base assembly 1, a large arm assembly 2, a middle arm assembly 3, a small arm assembly 4, and a tip grip 5 mechanism.
As shown in fig. 2, the base assembly 1 includes a base trunk 1.1, a crank 1.2, a connecting rod 1.3, a rocker 1.4, a crank holder 1.5, a first actuating cylinder 1.6, a first piston rod 1.7, and a first shaft base 1.8; the tail end of the base trunk 1.1 and a crank 1.2 form a revolute pair through a first shaft seat 1.8; the crank 1.2 and the connecting rod 1.3 form a rotating pair and are fixedly connected with a crank retainer 1.5; the connecting rod 1.3, the rocker 1.4 and the first piston rod 1.7 together form a revolute pair; the rocker 1.4 and the tail end of the base trunk 1.1 form a revolute pair; one end of the first actuating oil cylinder 1.6 and the front end of the base main stem 1.1 form a revolute pair, and the other end of the first actuating oil cylinder is connected with a first piston rod 1.7; the base main body 1.1, the crank 1.2, the connecting rod 1.3 and the rocker 1.4 form a crank-connecting rod mechanism; when the first piston rod 1.7 stretches out and draws back, the mechanical arm is driven to rotate around the first shaft seat 1.8, and horizontal rotation is achieved.
As shown in fig. 3, the large arm assembly 2 includes a large arm trunk 2.1, a second actuating cylinder 2.2, a second piston rod 2.3, a third actuating cylinder 2.4, a third piston rod 2.5, a second shaft base 2.6, and a third shaft base 2.7; the front end of the large arm trunk 2.1 is rotationally connected with a crank retainer 1.5 through a second shaft seat 2.6, and the tail end is rotationally connected with a middle arm trunk 3.1 through a third shaft seat 2.7; one end of the second actuating oil cylinder 2.2 is rotatably connected with the tail end of the large arm trunk 2.1, and the other end of the second actuating oil cylinder is connected with a second piston rod 2.3; the second piston rod 2.3 is rotationally connected with the crank retainer 1.5; one end of the third acting oil cylinder 2.4 is rotatably connected with the front end of the large arm trunk 2.1, and the other end of the third acting oil cylinder is connected with a third piston rod 2.5; the third piston rod 2.5 is rotatably connected with the middle arm trunk 3.1 through a fifth shaft seat 3.5; when the second piston rod 2.3 extends and contracts, the large arm assembly 2 is driven to perform pitching motion around the second shaft seat 2.6, and when the third piston rod 2.5 extends and contracts, the middle arm assembly 3 is driven to perform pitching motion around the third shaft seat 2.7.
As shown in fig. 3 and 4, the middle arm assembly 3 includes a middle arm trunk 3.1, a fourth actuating cylinder 3.2, and a fourth piston rod 3.3; the middle arm trunk 3.1 is of a triangular structure, a fourth shaft seat 3.4, a fifth shaft seat 3.5 and a sixth shaft seat 3.6 are respectively designed at three vertexes, an edge extends from the fifth shaft seat 3.5, and a third shaft seat 2.7 is designed at the tail end of the edge; the middle arm trunk 3.1 is rotatably connected with the small arm trunk 4.1 through a fourth shaft seat 3.4; one end of the fourth acting oil cylinder 3.2 is rotatably connected with the middle arm trunk 3.1 through a sixth shaft seat 3.6, and the other end is connected with a fourth piston rod 3.3; when the fourth piston rod 3.3 extends and contracts, the small arm component 3 is driven to perform pitching motion around the fourth shaft seat 3.4.
As shown in fig. 5, the small arm assembly 4 includes a small arm trunk 4.1, a fifth actuating cylinder 4.2, a fifth piston rod 4.3, a seventh shaft seat 4.4, an eighth shaft seat 4.5, a ninth shaft seat 4.6, and a tenth shaft seat 4.7; the front end of the small arm trunk 4.1 is provided with an eighth shaft seat 4.5 which is rotationally connected with a fourth piston rod 3.3, a tenth shaft seat 4.7 which is matched with the fourth shaft seat 3.4, a ninth shaft seat 4.6 which is rotationally connected with a fifth action oil cylinder 4.2, and the tail end is provided with a seventh shaft seat 4.4 which forms a revolute pair together with the fifth piston rod 4.3 and a tail end clamping mechanism 5; the fifth acting oil cylinder 4.2 is connected with a fifth piston rod 4.3; the axes of the seventh shaft seat 4.4 and the ninth shaft seat 4.6 are parallel and are vertical to the axes of the eighth shaft seat 4.5 and the tenth shaft seat 4.7; when the fifth piston rod 4.3 extends and contracts, the tail end clamping mechanism 5 is driven to perform pitching motion around the seventh shaft seat 4.4.
The working process of the utility model is as follows:
(1) mounting a full-direct-acting hydraulic cylinder driving mechanical arm on a hydraulic robot;
(2) connecting a hydraulic oil pipeline and a control system of the hydraulic robot to each piston cylinder of the mechanical arm;
(3) testing the hydraulic mechanical arm after debugging;
(4) pitching and bending actions of the base assembly, the large arm assembly, the middle arm assembly, the small arm assembly and the clamping mechanism are realized through the extension and retraction of the piston rods.
Finally, it should be noted that the above description is only a specific application example of the present invention, and obviously, other application examples the same as the basic principle of the present invention should also belong to the protection scope of the present invention.
Claims (3)
1. The utility model provides a full direct-acting hydraulic cylinder drive arm which characterized in that: comprises a base component (1), a big arm component (2), a middle arm component (3), a small arm component (4) and a tail end clamping mechanism (5);
the base component (1) comprises a base main body (1.1), a crank (1.2), a connecting rod (1.3), a rocker (1.4), a crank retainer (1.5), a first action oil cylinder (1.6), a first piston rod (1.7) and a first shaft seat (1.8); the tail end of the base main body (1.1) forms a rotating pair with the crank (1.2) through a first shaft seat (1.8); the crank (1.2) and the connecting rod (1.3) form a rotating pair and are fixedly connected with a crank retainer (1.5); the connecting rod (1.3), the rocker (1.4) and the first piston rod (1.7) jointly form a revolute pair; the rocker (1.4) and the tail end of the base main body (1.1) form a revolute pair; one end of the first action oil cylinder (1.6) and the front end of the base main body (1.1) form a revolute pair, and the other end of the first action oil cylinder is connected with a first piston rod (1.7); the base main body (1.1), the crank (1.2), the connecting rod (1.3) and the rocker (1.4) form a crank-connecting rod mechanism;
the large arm assembly (2) comprises a large arm trunk (2.1), a second action oil cylinder (2.2), a second piston rod (2.3), a third action oil cylinder (2.4), a third piston rod (2.5), a second shaft seat (2.6) and a third shaft seat (2.7); the front end of the large arm trunk (2.1) is rotationally connected with a crank retainer (1.5) through a second shaft seat (2.6), and the tail end of the large arm trunk is rotationally connected with the middle arm trunk (3.1) through a third shaft seat (2.7); one end of the second actuating oil cylinder (2.2) is rotatably connected with the tail end of the large arm trunk (2.1), and the other end of the second actuating oil cylinder is connected with a second piston rod (2.3); the second piston rod (2.3) is rotationally connected with the crank retainer (1.5); one end of the third acting oil cylinder (2.4) is rotatably connected with the front end of the large arm trunk (2.1), and the other end of the third acting oil cylinder is connected with a third piston rod (2.5); the third piston rod (2.5) is rotatably connected with the middle arm trunk (3.1) through a fifth shaft seat (3.5);
the middle arm assembly (3) comprises a middle arm trunk (3.1), a fourth acting oil cylinder (3.2) and a fourth piston rod (3.3); the middle arm main stem (3.1) is of a triangular structure, a fourth shaft seat (3.4), a fifth shaft seat (3.5) and a sixth shaft seat (3.6) are respectively designed at three vertexes, an edge extends out of the fifth shaft seat (3.5), and a third shaft seat (2.7) is designed at the tail end of the edge; the middle arm trunk (3.1) is rotatably connected with the small arm trunk (4.1) through a fourth shaft seat (3.4); one end of the fourth acting oil cylinder (3.2) is rotatably connected with the middle arm trunk (3.1) through a sixth shaft seat (3.6), and the other end of the fourth acting oil cylinder is connected with a fourth piston rod (3.3);
the small arm assembly (4) comprises a small arm main stem (4.1), a fifth acting oil cylinder (4.2), a fifth piston rod (4.3), a seventh shaft seat (4.4), an eighth shaft seat (4.5), a ninth shaft seat (4.6) and a tenth shaft seat (4.7); the front end of the small arm main body (4.1) is provided with an eighth shaft seat (4.5) which is rotationally connected with a fourth piston rod (3.3), a tenth shaft seat (4.7) which is matched with the fourth shaft seat (3.4), a ninth shaft seat (4.6) which is rotationally connected with a fifth action oil cylinder (4.2), and the tail end is provided with a seventh shaft seat (4.4) which forms a revolute pair together with the fifth piston rod (4.3) and a tail end clamping mechanism (5); the fifth action oil cylinder (4.2) is connected with a fifth piston rod (4.3); the axes of the seventh shaft seat (4.4) and the ninth shaft seat (4.6) are parallel and vertical to the axes of the eighth shaft seat (4.5) and the tenth shaft seat (4.7).
2. The full direct acting hydraulic cylinder driven mechanical arm of claim 1, wherein: the crank holder (1.5) of the base component (1) is composed of two parallel supporting plates, the crank (1.2) is of a plate-shaped structure, and the supporting plates are perpendicular to the crank (1.2).
3. The full direct acting hydraulic cylinder driven mechanical arm of claim 1, wherein: the three revolute pair centers of the base main body (1.1) of the base component (1) form a triangular structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920136387.1U CN209903207U (en) | 2019-01-27 | 2019-01-27 | Full-direct-acting hydraulic cylinder driving mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920136387.1U CN209903207U (en) | 2019-01-27 | 2019-01-27 | Full-direct-acting hydraulic cylinder driving mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN209903207U true CN209903207U (en) | 2020-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920136387.1U Withdrawn - After Issue CN209903207U (en) | 2019-01-27 | 2019-01-27 | Full-direct-acting hydraulic cylinder driving mechanical arm |
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| CN (1) | CN209903207U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664277A (en) * | 2019-01-27 | 2019-04-23 | 浙江大学 | A kind of full direct acting Driven by Hydraulic Cylinder mechanical arm |
-
2019
- 2019-01-27 CN CN201920136387.1U patent/CN209903207U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664277A (en) * | 2019-01-27 | 2019-04-23 | 浙江大学 | A kind of full direct acting Driven by Hydraulic Cylinder mechanical arm |
| CN109664277B (en) * | 2019-01-27 | 2024-01-09 | 浙江大学 | Full-direct-acting hydraulic cylinder driving mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20200107 Effective date of abandoning: 20240109 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20200107 Effective date of abandoning: 20240109 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |