CN210148091U

CN210148091U - Hydraulic drive manipulator

Info

Publication number: CN210148091U
Application number: CN201921116912.XU
Authority: CN
Inventors: 许熙童
Original assignee: Guangdong University of Technology
Current assignee: Guangdong University of Technology
Priority date: 2019-07-15
Filing date: 2019-07-15
Publication date: 2020-03-17
Anticipated expiration: 2029-07-15

Abstract

The utility model discloses a hydraulic drive manipulator, include: the support can rotate in a first plane and is arranged on the base, and a first hydraulic system for driving the support to rotate is arranged on the base; the support is hinged with a mechanical arm which can swing in any second plane vertical to the first plane, and a second hydraulic system for driving the mechanical arm to swing around a hinge point of the mechanical arm hinged to the support is arranged on the support; the mechanical arm is provided with a mechanical claw, and a third hydraulic system for driving the mechanical claw to clamp and open is arranged on the mechanical arm; the first hydraulic system, the second hydraulic system and the third hydraulic system are all connected with the control system. Adopt first hydraulic system, second hydraulic system, third hydraulic system to carry out drive control to hydraulic drive manipulator, because every hydraulic system's drive power is big, can promote output load effectively, make hydraulic drive manipulator can snatch heavier object, and compare the pneumatic drive mode, through hydraulic drive more stable.

Description

Hydraulic drive manipulator

Technical Field

The utility model relates to a manipulator technical field, more specifically say, relate to a hydraulic drive manipulator.

Background

The mechanical arm is the most widely applied automation device in the robot technical field, plays a very important role in industrial manufacturing, medical health, space exploration and military, can replace heavy labor of people to realize automatic and efficient production, can be operated in a dangerous environment to ensure life safety, has a common characteristic that the mechanical arm can be timely and accurately positioned to a certain fixed point in three dimensions or two dimensions for operation through corresponding instructions despite different shapes and different purposes, and also provides corresponding requirements for the design of the mechanical arm.

The existing mechanical hand can be divided into an electric type, a mechanical type and a pneumatic driving type according to different driving modes. The driving modes not only can output low load, but also the whole system is relatively unstable in operation and is easily influenced by the outside.

In summary, how to provide a manipulator with higher output load and stable operation is an urgent problem to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a hydraulic drive manipulator, this manipulator can stabilize the output higher load.

In order to achieve the above object, the present invention provides the following technical solutions:

a hydraulically driven manipulator comprising: the support frame comprises a base and a support frame, wherein the support frame can rotate in a first plane and is arranged on the base;

a mechanical arm capable of swinging in any second plane perpendicular to the first plane is hinged to the support, and a second hydraulic system for driving the mechanical arm to swing around a hinge point of the mechanical arm hinged to the support is arranged on the support;

the mechanical arm is provided with a mechanical claw, and a third hydraulic system for driving the mechanical claw to clamp and open is arranged on the mechanical arm;

the first hydraulic system, the second hydraulic system and the third hydraulic system are all connected with a control system.

Preferably, the mechanical arm comprises a lower arm hinged to the support and an upper arm hinged to the lower arm, the support is provided with a second hydraulic cylinder for driving the lower arm to swing around a hinge point of the lower arm hinged to the support, the lower arm is provided with a fourth hydraulic cylinder for driving the upper arm to swing around the hinge point, and the gripper is arranged on the upper arm.

Preferably, one end of the lower arm is hinged to the top end of the support, the other end of the lower arm is hinged to the arm body of the upper arm, one end of the second hydraulic cylinder is hinged to the frame body of the support, the other end of the second hydraulic cylinder is hinged to the lower arm, one end of the fourth hydraulic cylinder is hinged to the lower arm, the other end of the fourth hydraulic cylinder is hinged to one end of the upper arm, and the gripper is arranged at the other end of the upper arm.

Preferably, the first hydraulic system comprises a first hydraulic cylinder with one end hinged to the base and the other end hinged to the lower end of the support, and a first hydraulic pipeline with one end connected with the first hydraulic cylinder, the other end of the first hydraulic pipeline is connected to a hydraulic pump, the hydraulic pump is connected to a liquid tank, a first valve body used for controlling the flow rate of liquid in the first hydraulic pipeline is arranged on the first hydraulic pipeline, and the hydraulic pump is in control connection with the control system.

Preferably, the second hydraulic system comprises the liquid tank and the hydraulic pump connected to the liquid tank, the hydraulic pump is connected to the second hydraulic cylinder through a second hydraulic pipeline, the hydraulic pump is connected to the fourth hydraulic cylinder through a fourth hydraulic pipeline, a second valve body for controlling the flow rate of liquid in the second hydraulic pipeline is arranged on the second hydraulic pipeline, and a fourth valve body for controlling the flow rate of liquid in the fourth hydraulic pipeline is arranged on the fourth hydraulic pipeline.

Preferably, the third hydraulic system includes the liquid tank, the hydraulic pump connected to the liquid tank, and a third hydraulic cylinder disposed on the upper arm along the length direction of the upper arm, the third hydraulic cylinder is connected to the hydraulic pump through a third hydraulic pipeline, and a third valve body for controlling the flow rate of liquid in the third hydraulic pipeline is disposed on the third hydraulic pipeline.

Preferably, the first valve body, the second valve body, the third valve body and the fourth valve body are throttle valves.

Preferably, the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder and the fourth hydraulic cylinder are multi-stage hydraulic cylinders, three-position four-way electro-hydraulic directional valves are arranged between the first hydraulic cylinder and the first valve body, between the second hydraulic cylinder and the second valve body, between the third hydraulic cylinder and the third valve body and between the fourth hydraulic cylinder and the fourth valve body, and the three-position four-way electro-hydraulic directional valves are in control connection with the control system.

Preferably, the cylinder barrel of the third hydraulic cylinder is fixed on the upper arm, the gripper comprises two L-shaped fingers hinged to the upper arm, the two L-shaped fingers are symmetrically arranged about the upper arm, longitudinal rods of the two L-shaped fingers are hinged to the upper arm respectively, end portions of the two longitudinal rods are hinged to connecting rods respectively, the other ends of the two connecting rods are hinged to hydraulic rods of the third hydraulic cylinder respectively, the hydraulic rods of the third hydraulic cylinder extend out to drive end portions of cross rods of the two L-shaped fingers to be separated, and the hydraulic rods of the third hydraulic cylinder retract to drive end portions of the cross rods of the two L-shaped fingers to be attached.

Preferably, the ends of the cross bars of the two L-shaped fingers are sleeved with glue heads.

The base is used for supporting the support and the first hydraulic system, the control system can control the support to rotate in a first plane by controlling the first hydraulic system so as to drive the mechanical arm arranged on the support to rotate in the first plane and further drive the mechanical claw to rotate in the first plane, and the rotation range can be set according to actual needs; the control system can control the mechanical arm to swing around a hinge point of the mechanical arm hinged on the support in any second plane by controlling the second hydraulic system, so as to drive the mechanical claw to swing in any second plane; the control system can control the clamping and the opening of the mechanical claw by controlling the third hydraulic system.

The control system respectively controls the first hydraulic system, the second hydraulic system and the third hydraulic system to control the mechanical claw to grab at any point in the space which can be touched, in addition, the first hydraulic system, the second hydraulic system and the third hydraulic system are adopted to drive and control the hydraulic driving manipulator, and as each hydraulic system is small in size, light in weight, large in rigidity and large in driving force, the output load can be effectively improved, so that the hydraulic driving manipulator can grab heavier objects, and compared with a pneumatic driving mode, the hydraulic driving is more stable through hydraulic driving.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic view of a hydraulic drive manipulator provided by the present invention;

fig. 2 is a schematic view of a third hydraulic cylinder driving the L-shaped finger to close;

fig. 3 is a schematic diagram illustrating driving of a robot arm according to the present invention;

fig. 4 is a schematic view of the rotation of the bracket provided by the present invention;

fig. 5 is a schematic diagram of the first hydraulic system, the second hydraulic system, and the third hydraulic system provided by the present invention.

In FIGS. 1-5:

the hydraulic control system comprises a hydraulic control system and is characterized by comprising a first hydraulic cylinder 1, a rubber head 2, a 3-L-shaped finger, a 4-connecting rod, an upper arm 5, a third hydraulic cylinder 6, a lower arm 7, a fourth hydraulic cylinder 8, a support 9, a second hydraulic cylinder 10, a parallel rod 11, a three-position four-way electro-hydraulic reversing valve 12, a first valve body 13, a second valve body 14, a third valve body 15, a fourth valve body 16, a motor 17, a hydraulic pump 18, an oil filter 19, an overflow valve 20 and a liquid tank 21.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The core of the utility model is to provide a hydraulic drive manipulator, this manipulator can stable output higher load.

Referring to fig. 1 to 5, fig. 1 is a schematic view of a hydraulic drive manipulator provided in the present invention; fig. 2 is a schematic view of a third hydraulic cylinder driving the L-shaped finger to close; fig. 3 is a schematic diagram illustrating driving of a robot arm according to the present invention; fig. 4 is a schematic view of the rotation of the bracket provided by the present invention; fig. 5 is a schematic diagram of the first hydraulic system, the second hydraulic system, and the third hydraulic system provided by the present invention.

A hydraulically driven manipulator comprising: the device comprises a base and a support 9 which can rotate in a first plane and is arranged on the base, wherein a first hydraulic system for driving the support 9 to rotate is arranged on the base; a mechanical arm capable of swinging in any second plane vertical to the first plane is hinged to the support 9, and a second hydraulic system for driving the mechanical arm to swing around a hinge point of the mechanical arm hinged to the support 9 is arranged on the support 9; the mechanical arm is provided with a mechanical claw, and a third hydraulic system for driving the mechanical claw to clamp and open is arranged on the mechanical arm; the first hydraulic system, the second hydraulic system and the third hydraulic system are all connected with the control system.

It should be noted that the base can be a workbench and can be set in any working environment, the bracket 9 is mounted on the workbench and can rotate on a first plane, and in order to ensure that the bracket 9 is not hindered by the workbench when rotating, the rotating plane of the bracket 9 can be set to be parallel to the top surface of the base, for example, when a horizontal workbench is set, the first plane is a horizontal plane, and since the first plane is perpendicular to any second plane, the second plane is a vertical plane in any direction.

The first hydraulic system, the second hydraulic system and the third hydraulic system are all composed of five parts, namely a power element, an execution element, a control element, an auxiliary element and hydraulic oil.

The power element functions to convert the mechanical energy of the prime mover into hydraulic pressure energy, commonly referred to as a hydraulic pump 18 in the hydraulic system, which provides power to the entire hydraulic system. The hydraulic pump 18 is generally configured in the form of a gear pump, a vane pump, a plunger pump, and a screw pump, and the hydraulic pump 18 is connected to the motor 17 for supplying power.

The actuator is used for converting pressure energy of liquid into mechanical energy to drive a load to do linear reciprocating motion or rotary motion, such as a hydraulic cylinder and a hydraulic motor.

The control elements control and regulate the pressure, flow and direction of the liquid in the hydraulic system, i.e. various hydraulic valves. The hydraulic valve may be divided into a pressure control valve, a flow control valve and a directional control valve according to the control function. The pressure control valve includes an overflow valve 20, a pressure reducing valve, a sequence valve, etc.; the flow control valve comprises a throttle valve, a regulating valve and the like; the directional control valve comprises a one-way valve, a hydraulic control one-way valve, a shuttle valve, a reversing valve and the like. The hydraulic valves may be divided into on-off control valves, fixed value control valves and proportional control valves according to the control mode.

The auxiliary components include a hydraulic tank, an oil filter 19, oil pipes and pipe joints, a packing, and the like.

Hydraulic oil is a working medium for transferring energy in a hydraulic system, and includes various mineral oils, emulsion, synthetic hydraulic oil and the like.

The base is used for supporting the support 9 and the first hydraulic system, the control system can control the support 9 to rotate in a first plane by controlling the first hydraulic system so as to drive the mechanical arm arranged on the support 9 to rotate in the first plane, so as to drive the mechanical claw to rotate in the first plane, and the rotation range can be set according to actual needs; the control system can control the mechanical arm to swing around a hinge point of the mechanical arm hinged on the support 9 in any second plane by controlling the second hydraulic system, so as to drive the mechanical claw to swing in any second plane; the control system can control the clamping and the opening of the mechanical claw by controlling the third hydraulic system.

On the basis of the above embodiment, the mechanical arm comprises a lower arm 7 hinged to a support 9 and an upper arm 5 hinged to the lower arm 7, a second hydraulic cylinder 10 for driving the lower arm 7 to swing around a hinge point of the lower arm 7 hinged to the support 9 is arranged on the support 9, a fourth hydraulic cylinder 8 for driving the upper arm 5 to swing around the hinge point is arranged on the lower arm 7, and the mechanical claw is arranged on the upper arm 5.

It should be noted that, preferably, the support 9 is two parallel strip-shaped plates, the two strip-shaped plates are connected to the base through a rotating plate, and the mechanical arm is hinged between the two strip-shaped plates. The shape of bar shaped plate is trapezoidal, and the corresponding one end of two bar shaped plates is connected in same rotor plate, and devices such as rotor plate accessible pivot set up on the base, realize that rotor plate and support 9 rotate jointly.

The lower arm 7 is hinged to the support 9, the upper arm 5 is hinged to the lower arm 7, the mechanical arm is divided into two sections of mechanical arms of the lower arm 7 and the upper arm 5, the lower arm 7 is driven to swing around a hinge point of the lower arm 7 hinged to the support 9 through the second hydraulic cylinder 10, the upper arm 5 is driven to swing around a hinge point of the upper arm 5 hinged to the lower arm through the fourth hydraulic cylinder 8, and therefore multi-section adjustment of the mechanical arm is achieved, and the moving range of the mechanical arm is enlarged. Of course, the robot arm is not limited to the two-segment robot arm, and may be provided as one or two or more segments.

On the basis of the above embodiment, preferably, one end of the lower arm 7 is hinged to the top end of the bracket 9, the other end of the lower arm 7 is hinged to the arm body of the upper arm 5, one end of the second hydraulic cylinder 10 is hinged to the bracket body of the bracket 9, the other end of the second hydraulic cylinder 10 is hinged to the lower arm 7, one end of the fourth hydraulic cylinder 8 is hinged to the lower arm 7, the other end of the fourth hydraulic cylinder 8 is hinged to one end of the upper arm 5, and the gripper is arranged at the other end of the upper arm 5.

It should be noted that, one end of the lower arm 7 is hinged to the top end of the support 9, so that the range of motion of the lower arm 7 is maximized, the cylinder barrel of the second hydraulic cylinder 10 is hinged to the support 9, the support 9 is provided with a bolt or a pin shaft, the cylinder barrel of the second hydraulic cylinder 10 is externally provided with a rotatable lantern ring sleeved on the bolt or the pin shaft, and the axis of the lantern ring is perpendicular to the axis of the cylinder barrel, so that after the lantern ring is sleeved on the bolt or the pin shaft, the axis of the second hydraulic cylinder 10 is perpendicular to the bolt or the pin shaft.

The lower arm 7 and the upper arm 5 both adopt two parallel plate-shaped structures, and can also adopt a single-plate structure, and only the two parallel plate-shaped structures are arranged to be firmer.

The arm body of the upper arm 5 is hinged to the other end of the lower arm 7, the hinged rear hinging mode is the same as or different from the mode of the hinged support 9 of the lower arm 7, the end part of a telescopic rod of the second hydraulic cylinder 10 is hinged to the arm body of the lower arm 7 in the same or different mode of the hinged support 9 of a cylinder barrel, so as to adjust the angle of the lower arm 7 relative to the support 9, the fourth hydraulic cylinder 8 is hinged to the lower arm 7 in the same hinged structure as the second hydraulic cylinder 10, the fourth hydraulic cylinder 8 and the second hydraulic cylinder 10 are respectively arranged on two sides of the lower arm 7, as the arm body of the upper arm 5 is hinged to the lower arm 7, under the condition that the upper arm 5 and the lower arm 7 are not overlapped, two ends of the upper arm 5 are respectively arranged on two sides of the lower arm 7, one end of the upper arm 5 is located on one side of the lower arm 7 together with the second hydraulic cylinder 10, the other end of the upper arm 5 is located on the other side of the lower arm 7 together And the other end of the upper arm 5 is provided with a mechanical claw.

Optionally, the cylinder barrels of the fourth hydraulic cylinder 8 and the second hydraulic cylinder 10 can be hinged to the support 9, the end portion of the hydraulic rod of the second hydraulic cylinder 10 is hinged to the lower arm 7, the end portion of the hydraulic rod of the fourth hydraulic cylinder 8 is hinged to the lower arm 7, the hinge point of the fourth hydraulic cylinder 8 hinged to the support 9 is required to be lower than the hinge point of the second hydraulic cylinder 10 hinged to the support 9, and the stroke of the fourth hydraulic cylinder 8 required to be adopted is more.

The fourth hydraulic cylinder 8 that sets up in this embodiment drives the structure that upper arm 5 moved, the structure that second hydraulic cylinder 10 drive lower arm 7 moved for second hydraulic cylinder 10 with fourth hydraulic cylinder 8 articulate on support 9 on the same time, the home range is bigger, the stroke of the pneumatic cylinder of adoption is littleer to the structure has been simplified.

On the basis of the above embodiment, the first hydraulic system includes that one end articulates in the base, the other end articulates in the first pneumatic cylinder 1 of the lower extreme of support 9, the first hydraulic line that one end and first pneumatic cylinder 1 are connected, the other end of first hydraulic line is connected in hydraulic pump 18, hydraulic pump 18 is connected in liquid tank 21, be equipped with the first valve body 13 that is used for controlling the interior liquid flow rate of first hydraulic line on the first hydraulic line, hydraulic pump 18 and control system control connection.

It should be noted that the cylinder of the first hydraulic cylinder 1 is hinged to the base, the end of the hydraulic rod of the first hydraulic cylinder 1 is hinged to the lower end of the bracket 9, and since the bracket 9 can rotate in the first plane, the driving direction of the hydraulic rod is required to be in the first plane, preferably, two parallel rods 11 protruding out of the bracket 9 are arranged at the bottom of the bracket 9, a pin shaft or a bolt perpendicular to the first plane is arranged between the two parallel rods 11, and the end of the hydraulic rod is hinged to the pin shaft or the bolt.

The liquid tank 21 is an oil tank and is used for storing oil, the control system controls the motor 17 to drive the hydraulic pump 18 to pump oil to the first hydraulic cylinder 1 from the oil tank, the first valve body 13 is arranged on the first hydraulic pipeline, the flow rate of liquid in the first hydraulic pipeline can be controlled, the extension and retraction of a hydraulic rod in the first hydraulic cylinder 1 can be stably driven, and the rotation of the support 9 can be stably controlled.

On the basis of the above embodiment, the second hydraulic system includes the liquid tank 21 and the hydraulic pump 18 connected with the liquid tank 21, the hydraulic pump 18 is connected to the second hydraulic cylinder 10 through the second hydraulic pipeline, the hydraulic pump 18 is connected to the fourth hydraulic cylinder 8 through the fourth hydraulic pipeline, the second hydraulic pipeline is provided with the second valve body 14 for controlling the flow rate of the liquid in the second hydraulic pipeline, and the fourth hydraulic pipeline is provided with the fourth valve body 16 for controlling the flow rate of the liquid in the fourth hydraulic pipeline.

It should be noted that the second hydraulic cylinder 10 may be connected to the same hydraulic pump 18 through the second hydraulic line, the fourth hydraulic cylinder 8 may be connected to the same hydraulic pump 18 through the fourth hydraulic line, and the same tank 21 may be used to supply the fluid, so that the structure of the second hydraulic system may be simplified and the occupied space may be saved. In addition, the second valve body 14 is provided on the second hydraulic line, and the fourth valve body 16 is provided on the fourth hydraulic line, so that the flow rates of the liquid in the second hydraulic line and the fourth hydraulic line can be controlled respectively, the extension and retraction of the hydraulic rod for stably driving the second hydraulic cylinder 10 and the extension and retraction of the hydraulic rod for stably driving the fourth hydraulic cylinder 8 can be realized, and the swing of the upper arm 5 and the lower arm 7 can be stably controlled.

In addition to the above embodiment, the third hydraulic system includes the liquid tank 21, the hydraulic pump 18 connected to the liquid tank 21, and the third hydraulic cylinder 6 provided on the upper arm 5 along the length direction of the upper arm 5, the third hydraulic cylinder 6 is connected to the hydraulic pump 18 through a third hydraulic line, and the third hydraulic line is provided with the third valve body 15 for controlling the flow rate of the liquid in the third hydraulic line.

It should be noted that the third hydraulic cylinder 6 is provided on the upper arm 5, and the axial direction of the third hydraulic cylinder 6 coincides with the longitudinal direction of the upper arm 5, and the end of the telescopic rod of the third hydraulic cylinder 6 is connected to the gripper and used for driving the gripper to grip and open.

The third hydraulic cylinder 6 is connected to the same hydraulic pump 18 through a third hydraulic pipeline, and the same liquid tank 21 is used for supplying oil, so that the structure of a third hydraulic system can be simplified, and in addition, the third valve body 15 for controlling the flow rate of liquid in the third hydraulic pipeline is arranged on the third hydraulic pipeline, so that the extension and the contraction of a hydraulic rod of the third hydraulic cylinder 6 can be stably controlled, and the opening and the clamping of the mechanical claw can be stably controlled.

Preferably, the first valve body 13, the second valve body 14, the third valve body 15 and the fourth valve body 16 are all throttle valves.

The throttle valve is a valve for controlling the fluid flow by changing the throttle section or the throttle length, the throttle valve has a large flow regulation range, and the flow-pressure difference change is smooth; the adjusting torque is small, and the action is sensitive. The structure is simple, the manufacture and the maintenance are convenient, and the cost is low.

On the basis of the above embodiment, the first hydraulic cylinder 1, the second hydraulic cylinder 10, the third hydraulic cylinder 6 and the fourth hydraulic cylinder 8 are all multi-stage hydraulic cylinders, a three-position four-way electro-hydraulic directional valve 12 is arranged between the first hydraulic cylinder 1 and the first valve body 13, between the second hydraulic cylinder 10 and the second valve body 14, between the third hydraulic cylinder 6 and the third valve body 15, and between the fourth hydraulic cylinder 8 and the fourth valve body 16, and the three-position four-way electro-hydraulic directional valve 12 is in control connection with a control system.

The multistage hydraulic cylinder is formed by sleeving two-stage or multistage piston cylinders and mainly comprises a cylinder cover, a cylinder barrel, a sleeve, a piston and other parts. Preferably, the multi-stage hydraulic cylinder in the present embodiment may be a two-stage hydraulic cylinder.

The bottom of the cylinder barrel of the secondary hydraulic cylinder is provided with a first oil port, the top of the cylinder barrel and the top of the inner sleeve are respectively provided with a second oil port and a third oil port, and when the first oil port is used for feeding oil, and the second oil port and the third oil port return oil, the sleeve is pushed to move firstly, and then the hydraulic rod inside the sleeve is pushed to move. If the second oil port and the third oil port have oil inlets and the first oil port has oil return, the sleeve returns to the end point first, and then the hydraulic rod returns.

The three-position four-way electro-hydraulic directional valve 12 is a hydraulic directional valve integrated with an electromagnetically operated pilot valve, and controls the actions of the first hydraulic cylinder 1, the second hydraulic cylinder 10, the third hydraulic cylinder 6 and the fourth hydraulic cylinder 8, that is, controls the flow direction of the oil.

The three-position four-way electro-hydraulic directional valve 12 is controlled by the control system, oil inlet and outlet of each pipeline on each hydraulic cylinder can be controlled, so that the expansion of each hydraulic cylinder is controlled, the expansion of the first hydraulic cylinder 1, the second hydraulic cylinder 10, the third hydraulic cylinder 6 and the fourth hydraulic cylinder 8 can be freely combined, and the hydraulic driving manipulator can do the same or different actions at each position.

On the basis of above-mentioned embodiment, the cylinder of third pneumatic cylinder 6 is fixed in on upper arm 5, the gripper includes that two articulate two L shape fingers 3 in upper arm 5, two L shape fingers 3 set up about upper arm 5 symmetry, two L shape fingers 3's vertical pole articulates respectively on upper arm 5, two vertical pole's tip articulates respectively has connecting rod 4, two connecting rod 4's the other end articulates respectively in the hydraulic stem of third pneumatic cylinder 6, the hydraulic stem of third pneumatic cylinder 6 stretches out the tip separation in order to drive two L shape fingers 3's horizontal pole, the hydraulic stem withdrawal of third pneumatic cylinder 6 is in order to drive the tip laminating of two L shape fingers 3's horizontal pole.

It should be noted that the L-shaped finger 3 includes a longitudinal rod and a cross rod connected with the longitudinal rod at a predetermined angle, the end of the cross rod is connected to the end of the longitudinal rod, the other end of the cross rod and the other end of the longitudinal rod are both free ends, and the two connecting rods 4 are respectively hinged to the end of the hydraulic rod of the third hydraulic cylinder 6.

The two longitudinal rods are hinged to the end portion of the upper arm 5, the bending directions of the two L-shaped fingers 3 are opposite, the two L-shaped fingers 3 move in the same plane, and after the L-shaped fingers 3 are folded, the free ends of the two transverse rods can be in mutual contact to finish clamping.

After the hydraulic stem of third pneumatic cylinder 6 stretched out, drive two connecting rods 4 and move along the length direction of upper arm 5, connecting rod 4 can drive the tip of vertical pole and articulate the pin joint rotation in upper arm 5 around the vertical pole this moment to the tip that drives the horizontal pole is opened or is got to the clamp. This embodiment simple structure, the direct hydraulic stem through third pneumatic cylinder 6 is flexible to be controlled the gripper open and press from both sides and get, can promote clamping-force.

On the basis of the above embodiment, in order to reduce the friction and pressure between the cross bars of the two L-shaped fingers 3 and the object to be clamped, the ends of the cross bars of the two L-shaped fingers 3 may be sleeved with the rubber heads 2. The surfaces of the two glue heads 2 which are mutually attached are planes so as to clamp objects.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

It is right above the utility model provides a hydraulic drive manipulator introduces in detail. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims

1. A hydraulically driven manipulator, comprising: the device comprises a base and a support (9) which can rotate in a first plane and is arranged on the base, wherein a first hydraulic system for driving the support (9) to rotate is arranged on the base;

a mechanical arm capable of swinging in any second plane perpendicular to the first plane is hinged to the support (9), and a second hydraulic system for driving the mechanical arm to swing around a hinge point of the mechanical arm hinged to the support (9) is arranged on the support (9);

2. The hydraulically driven manipulator according to claim 1, characterized in that the manipulator comprises a lower arm (7) hinged to the support (9) and an upper arm (5) hinged to the lower arm (7), a second hydraulic cylinder (10) for driving the lower arm (7) to swing around its hinge point hinged to the support (9) is provided on the support (9), a fourth hydraulic cylinder (8) for driving the upper arm (5) to swing around its hinge point is provided on the lower arm (7), and the gripper is provided on the upper arm (5).

3. The hydraulically driven manipulator according to claim 2, characterized in that one end of the lower arm (7) is hinged to the top end of the support (9), the other end of the lower arm (7) is hinged to the body of the upper arm (5), one end of the second hydraulic cylinder (10) is hinged to the body of the support (9), the other end of the second hydraulic cylinder (10) is hinged to the lower arm (7), one end of the fourth hydraulic cylinder (8) is hinged to the lower arm (7), the other end of the fourth hydraulic cylinder (8) is hinged to one end of the upper arm (5), and the gripper is arranged at the other end of the upper arm (5).

4. The hydraulic drive manipulator of claim 3, wherein the first hydraulic system comprises a first hydraulic cylinder (1) with one end hinged to the base and the other end hinged to the lower end of the support (9), a first hydraulic pipeline with one end connected with the first hydraulic cylinder (1), the other end of the first hydraulic pipeline is connected with a hydraulic pump (18), the hydraulic pump (18) is connected with a liquid tank (21), a first valve body (13) for controlling the flow rate of liquid in the first hydraulic pipeline is arranged on the first hydraulic pipeline, and the hydraulic pump (18) is in control connection with the control system.

5. The hydraulic drive manipulator of claim 4, wherein the second hydraulic system comprises the liquid tank (21) and the hydraulic pump (18) connected to the liquid tank (21), the hydraulic pump (18) is connected to the second hydraulic cylinder (10) through a second hydraulic line, the hydraulic pump (18) is connected to the fourth hydraulic cylinder (8) through a fourth hydraulic line, a second valve body (14) for controlling the flow rate of the liquid in the second hydraulic line is arranged on the second hydraulic line, and a fourth valve body (16) for controlling the flow rate of the liquid in the fourth hydraulic line is arranged on the fourth hydraulic line.

6. The hydraulically driven manipulator according to claim 5, characterized in that the third hydraulic system comprises the fluid tank (21), the hydraulic pump (18) connected to the fluid tank (21), and a third hydraulic cylinder (6) arranged on the upper arm (5) along the length of the upper arm (5), the third hydraulic cylinder (6) being connected to the hydraulic pump (18) via a third hydraulic line, the third hydraulic line being provided with a third valve body (15) for controlling the flow rate of fluid in the third hydraulic line.

7. The hydraulically driven manipulator according to claim 6, characterized in that the first valve body (13), the second valve body (14), the third valve body (15), the fourth valve body (16) are throttle valves.

8. The hydraulic drive manipulator of claim 7, wherein the first hydraulic cylinder (1), the second hydraulic cylinder (10), the third hydraulic cylinder (6) and the fourth hydraulic cylinder (8) are all multi-stage hydraulic cylinders, three-position four-way electro-hydraulic directional valves (12) are arranged between the first hydraulic cylinder (1) and the first valve body (13), between the second hydraulic cylinder (10) and the second valve body (14), between the third hydraulic cylinder (6) and the third valve body (15) and between the fourth hydraulic cylinder (8) and the fourth valve body (16), and the three-position four-way electro-hydraulic directional valves (12) are in control connection with the control system.

9. The hydraulic drive manipulator of claim 8, wherein a cylinder barrel of the third hydraulic cylinder (6) is fixed on the upper arm (5), the gripper comprises two L-shaped fingers hinged to the upper arm (5), the two L-shaped fingers are symmetrically arranged about the upper arm (5), longitudinal rods of the two L-shaped fingers are hinged to the upper arm (5) respectively, end portions of the two longitudinal rods are hinged to connecting rods (4) respectively, the other ends of the two connecting rods (4) are hinged to hydraulic rods of the third hydraulic cylinder (6) respectively, the hydraulic rods of the third hydraulic cylinder (6) extend out to drive end portions of cross rods of the two L-shaped fingers to separate, and the hydraulic rods of the third hydraulic cylinder (6) retract to drive end portions of cross rods of the two L-shaped fingers to fit.

10. The hydraulically driven manipulator according to claim 9, characterized in that the ends of the crossbar of the two L-shaped fingers are fitted with glue heads (2).