CN212601929U - Crank arm and gripper structure of all-carbon fiber robot - Google Patents
Crank arm and gripper structure of all-carbon fiber robot Download PDFInfo
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- CN212601929U CN212601929U CN201920338989.5U CN201920338989U CN212601929U CN 212601929 U CN212601929 U CN 212601929U CN 201920338989 U CN201920338989 U CN 201920338989U CN 212601929 U CN212601929 U CN 212601929U
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Abstract
A crank arm and paw structure of an all-carbon fiber robot comprises a base plate, a main vertical arm, a long cross arm, a swing arm and a paw which are sequentially connected; the bottom plate is provided with a vertical arm oil cylinder connected with the main vertical arm, and the vertical arm oil cylinder drives the main vertical arm to rotate on the bottom plate; a cross arm oil cylinder is arranged between the main vertical arm and the long cross arm and drives the long cross arm to rotate on the main vertical arm; a swing oil cylinder is arranged between the long cross arm and the swing arm, and the swing oil cylinder drives the swing arm to rotate on the long cross arm; compared with the prior art, through the setting of grudging post hydro-cylinder, xarm hydro-cylinder and swing hydro-cylinder for main grudging post, long xarm and swing arm can make the removal of hand claw freedom alone, thereby make the manipulator have better flexibility, and overall structure is simple, stable simultaneously, the work of the hand claw of being convenient for.
Description
Technical Field
The utility model belongs to the technical field of the arm, especially, relate to a crank arm and hand claw structure of full carbon fiber robot.
Background
The mechanical arm is a high-precision and high-speed dispensing robot hand, is a complex system with multiple inputs and multiple outputs, high nonlinearity and strong coupling, has been widely applied in the fields of industrial assembly, safety, explosion prevention and the like due to unique operation flexibility, and is an automatic operation device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.
In the modern life, the most advanced technology is in the form of a new moon, and the most important difference between the mechanical arm and the human arm is in flexibility and endurance. The maximum advantage of the mechanical arm can be repeatedly performed, the same action can be repeatedly performed under the normal condition of the mechanical arm, the mechanical arm can not feel tired, the application of the mechanical arm is more and more extensive, the mechanical arm is high-tech automatic production equipment developed in recent decades, the operation accuracy and the operation completing capability in the environment are an important branch of an industrial mechanical arm robot.
The mechanical arm can be divided into hydraulic type, pneumatic type, electric type and mechanical type according to the driving mode, and is characterized in that various expected operations can be completed through programming, and the mechanical arm has the advantages of both human and mechanical arm machines in structure and performance.
Chinese patent No. CN105437257A discloses a robot arm, which includes a base; an operation section; the arm body is arranged between the base and the operating part, the base is connected with the arm body through a first joint structure, and the operating part is connected with the arm body through a second joint structure; the first driving device is connected with the first joint structure to drive the first joint structure to move; the second driving device is connected with the second joint structure to drive the second joint structure to move; the arm body is characterized by comprising an accommodating cavity, and the first driving device and the second driving device are arranged in the accommodating cavity.
The mechanical arm disclosed above drives the motion of the first joint structure and the second joint structure through the first driving device and the second driving device respectively, but the mechanical arm is complex in structure, low in flexibility, difficult to realize accurate extraction of objects, and affects working efficiency.
SUMMERY OF THE UTILITY MODEL
The utility model relates to an overcome the defect among the above-mentioned prior art, provide a control is nimble, simple structure, practical convenient full carbon fiber robot cranks arm and hand claw structure.
In order to achieve the above purpose, the utility model adopts the technical scheme that: a crank arm and paw structure of an all-carbon fiber robot comprises a base plate, a main vertical arm, a long cross arm, a swing arm and a paw which are sequentially connected; the bottom plate is provided with a vertical arm oil cylinder connected with the main vertical arm, and the vertical arm oil cylinder drives the main vertical arm to rotate on the bottom plate; a cross arm oil cylinder is arranged between the main vertical arm and the long cross arm and drives the long cross arm to rotate on the main vertical arm; and a swing oil cylinder is arranged between the long cross arm and the swing arm, and the swing oil cylinder drives the swing arm to rotate on the long cross arm.
As a preferred scheme of the utility model, the bottom plate is equipped with first base with main upright arm junction, and first base rotates with main upright arm to be connected, and the same reason bottom plate is equipped with the second base with upright arm hydro-cylinder junction, and the second base rotates with upright arm hydro-cylinder to be connected.
As a preferred scheme of the utility model, the cylinder body bottom and the second base of grudging post hydro-cylinder rotate to be connected, and the flexible head and the main grudging post of grudging post hydro-cylinder rotate to be connected.
As a preferred scheme of the utility model, the cylinder body bottom and the main vertical arm of xarm hydro-cylinder rotate to be connected, and the flexible head and the long xarm of xarm hydro-cylinder rotate to be connected.
As a preferred scheme of the utility model, swing cylinder's cylinder body bottom is rotated with long xarm and is connected, and swing cylinder's flexible head rotates with the swing arm to be connected.
As a preferred scheme of the utility model, the swing arm is bending mechanism, and swing arm one end is rotated with long xarm and is connected, and swing cylinder connects in the middle part of swing arm, and the other end of swing arm is towards the hand claw direction.
As a preferred scheme of the utility model, be equipped with connecting rod, hand claw seat and the hand claw hydro-cylinder that connects gradually between swing arm and the hand claw, the swing arm is connected with the connecting rod, and the hand claw hydro-cylinder is connected with the hand claw.
As an optimized scheme of the utility model, the hand claw seat rotates with long xarm to be connected, and the hand claw hydro-cylinder is located the hand claw seat, and the motion of hand claw hydro-cylinder control hand claw.
As a preferred scheme of the utility model, the bottom plate below is equipped with the tracked vehicle chassis, and the bottom plate rotates with the tracked vehicle chassis to be connected.
As a preferred scheme of the utility model, be equipped with the hydraulic pressure station on the bottom plate, the hydraulic pressure station is connected with vertical arm hydro-cylinder, xarm hydro-cylinder and swing hydro-cylinder.
The beneficial effects of the utility model are that, compare with prior art: through the setting of vertical arm hydro-cylinder, xarm hydro-cylinder and swing hydro-cylinder for main vertical arm, long xarm and swing arm can be independent free removal, thereby make the manipulator have better flexibility, and overall structure is simple, stable simultaneously, the work of the hand claw of being convenient for.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic structural view of the main boom;
FIG. 3 is a schematic view of the construction of the arm cylinder;
FIG. 4 is a schematic structural view of a long crossbar;
FIG. 5 is a schematic view of the connection of the swing cylinder and the swing arm;
reference numbers in the figures: the crawler-type crawler crane comprises a base plate 1, a first base 1-1, a second base 1-2, a main vertical arm 2, a first rotating shaft 2-1, a vertical arm oil cylinder supporting hole 2-2, a first cross arm oil cylinder mounting hole 2-3, a vertical arm supporting seat 2-4, a second rotating shaft 2-5, a long cross arm 3, a shaft hole 3-1, a swinging oil cylinder supporting hole 3-2, a second cross arm oil cylinder mounting hole 3-3, a third rotating shaft 3-4, a cross arm supporting seat 3-5, a swinging arm 4, a paw 5, a vertical arm oil cylinder 6, a cross arm oil cylinder 7, a swinging arm oil cylinder 8, a connecting rod 9, a paw seat 10, a paw oil cylinder 11 and a crawler chassis 12.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the accompanying drawings.
As shown in fig. 1-5, an all-carbon fiber robot crank arm and gripper structure comprises a base plate 1, a main vertical arm 2, a long cross arm 3, a swing arm 4 and a gripper 5 which are connected in sequence; the bottom plate 1 is provided with a vertical arm oil cylinder 6 connected with the main vertical arm 2, and the vertical arm oil cylinder 6 drives the main vertical arm 2 to rotate on the bottom plate 1; a cross arm oil cylinder 7 is arranged between the main vertical arm 2 and the long cross arm 3, and the cross arm oil cylinder 7 drives the long cross arm 3 to rotate on the main vertical arm 2; a swing oil cylinder 8 is arranged between the long cross arm 3 and the swing arm 4, and the swing oil cylinder 8 drives the swing arm 4 to rotate on the long cross arm 3.
The vertical arm oil cylinder 6 drives the main vertical arm 2 to rotate on the bottom plate 1, so that the adjusting paw 5 moves along the moving direction of the main vertical arm 2, the cross arm oil cylinder 7 drives the long cross arm 3 to rotate on the main vertical arm 2, the adjusting paw 5 moves along the moving direction of the long cross arm 3, the swinging oil cylinder 8 drives the swinging arm 4 to rotate on the long cross arm 3, the adjusting paw 5 rotates on the long cross arm 3, and the horizontal arm oil cylinder 7, the swinging oil cylinder 8 and the vertical arm oil cylinder 6 drive the paws 5 to move on the same plane.
Meanwhile, a crawler chassis 12 is arranged below the bottom plate 1, and the bottom plate 1 is in rigid connection with the crawler chassis 12 through bolts to drive the cross arm oil cylinder 7, the swing oil cylinder 8 and the vertical arm oil cylinder 6 to move, so that the paw 5 can move on different planes, and the paw 5 can grab articles in different directions and positions.
The connection part of the bottom plate 1 and the main vertical arm 2 is provided with a first base 1-1, the first base 1-1 is rotatably connected with the main vertical arm 2, similarly, the connection part of the bottom plate 1 and the vertical arm oil cylinder 6 is provided with a second base 1-2, the second base 1-2 is rotatably connected with the vertical arm oil cylinder 6, the bottom of the vertical arm oil cylinder 6 is rotatably connected with the second base 1-2, the telescopic head of the vertical arm oil cylinder 6 is rotatably connected with the main vertical arm 2, when the vertical arm oil cylinder 6 performs telescopic motion, the bottom of the vertical arm oil cylinder 6 is kept still, and the telescopic head of the vertical arm oil cylinder 6 is telescopic so as to drive the main vertical arm 2 to move.
The first base 1-1 and the second base 1-2 are fixedly connected to the bottom plate 1, the first base 1-1 and the second base 1-2 are triangular seats, a first rotating shaft 2-1 is arranged between the first base 1-1 and the main vertical arm 2, the first base 1-1 is rotatably connected with the main vertical arm 2 under the action of the first rotating shaft 2-1, and a rotating shaft is also arranged between the second base 1-2 and the vertical arm oil cylinder 6, so that the second base 1-2 is rotatably connected with the vertical arm oil cylinder 6.
The main vertical arm 2 and the long cross arm 3 are both of a double-plate middle support column H-shaped structure, a plurality of vertical arm support seats 2-4 are arranged on the main vertical arm 2, the vertical arm support seats 2-4 are positioned in the main vertical arm 2, and a plurality of vertical arm supporting seats 2-4 are spanned in the H-shaped structure of the main vertical arm 2, the plurality of vertical arm supporting seats 2-4 are arranged in parallel, the vertical arm supporting seats 2-4 are used for reinforcing the structure of the main vertical arm 2, so that the main vertical arm 2 has better stability, a plurality of cross arm supporting seats 3-5 are arranged on the long cross arm 3 in the same way, the cross arm supporting seats 3-5 are positioned in the long cross arm 3, and a plurality of cross arm supporting seats 3-5 cross in the H-shaped structure of the long cross arm 3, a plurality of cross arm supporting seats 3-5 are arranged in parallel, and the cross arm supporting seats 3-5 are used for reinforcing the structure of the long cross arm 3, so that the long cross arm 3 has better stability.
The main vertical arm 2 is provided with a vertical arm oil cylinder supporting hole 2-2 and a first cross arm oil cylinder mounting hole 2-3, a rotating shaft is arranged in the vertical arm oil cylinder supporting hole 2-2, the vertical arm oil cylinder supporting hole 2-2 is used for connecting the main vertical arm 2 with the vertical arm oil cylinder 6, so that the main vertical arm 2 is rotatably connected with the vertical arm oil cylinder 6, the rotating shaft is also arranged in the first cross arm oil cylinder mounting hole 2-3, the first cross arm oil cylinder mounting hole 2-3 is used for connecting a cross arm oil cylinder 7, so that the cross arm oil cylinder 7 is rotatably connected with the main vertical arm 2, and meanwhile, a second rotating shaft 2-5 is arranged at the joint of the main vertical arm 2 and the long cross arm 3, so that the main vertical arm 2 is rotatably connected with.
The long cross arm 3 is provided with a swing oil cylinder supporting hole 3-2 and a second cross arm oil cylinder mounting hole 3-3, a rotating shaft is arranged in the swing oil cylinder supporting hole 3-2, the swing oil cylinder supporting hole 3-2 is used for connecting the long cross arm 3 with a swing oil cylinder 8, so that the long cross arm 3 is rotatably connected with the swing oil cylinder 8, the rotating shaft is also arranged in the second cross arm oil cylinder mounting hole 3-3, the second cross arm oil cylinder mounting hole 3-3 is used for connecting a cross arm oil cylinder 7, so that the cross arm oil cylinder 7 is rotatably connected with the long cross arm 3, meanwhile, two ends of the long cross arm 3 are provided with a shaft hole 3-1 and a third rotating shaft 3-4, the shaft hole 3-1 is matched with the second rotating shaft 2-5, connection between the long cross arm 3 and the main vertical arm 2 is achieved, and the third rotating shaft 3.
The bottom of the cylinder body of the cross arm oil cylinder 7 is rotatably connected with the main vertical arm 2, the telescopic head of the cross arm oil cylinder 7 is rotatably connected with the long cross arm 3, when the cross arm oil cylinder 7 performs telescopic motion, the bottom of the cylinder body of the cross arm oil cylinder 7 is kept still, so that the main vertical arm 2 is kept still, and the telescopic head of the cross arm oil cylinder 7 is stretched to drive the long cross arm 3 to move.
The bottom of the cylinder body of the swing oil cylinder 8 is rotatably connected with the long cross arm 3, the telescopic head of the swing oil cylinder 8 is rotatably connected with the swing arm 4, when the swing oil cylinder 8 performs telescopic motion, the bottom of the cylinder body of the swing oil cylinder 8 is kept still, so that the long cross arm 3 is kept still, and the telescopic head of the swing oil cylinder 8 is stretched to drive the swing arm 4 to move.
The swing arm 4 is a bending mechanism, one end of the swing arm 4 is rotatably connected with the long cross arm 3, the swing oil cylinder 8 is connected to the middle of the swing arm 4, the other end of the swing arm 4 faces the direction of the paw 5, a connecting rod 9, a paw seat 10 and a paw oil cylinder 11 which are sequentially connected are arranged between the swing arm 4 and the paw 5, the swing arm 4 is connected with the connecting rod 9, the paw oil cylinder 11 is connected with the paw 5, the paw seat 10 is rotatably connected with the long cross arm 3, the paw oil cylinder 11 is located on the paw seat 10, and the paw oil cylinder 11 controls the opening and closing movement of the paw 5.
The connecting rod 9 is used for connecting the swing arm 4 and the paw seat 10, the connecting rod 9 is connected with the swing arm 4 and the paw seat 10 in a rotating mode, the swing arm 4 rotates to drive the paw seat 10 to rotate, and therefore rotation of the paw 5 is achieved.
The base plate 1 is provided with hydraulic stations 1-3, the hydraulic stations 1-3 are connected with a vertical arm oil cylinder 6, a cross arm oil cylinder 7, a swing oil cylinder 8 and a paw oil cylinder 11, and the vertical arm oil cylinder 6, the cross arm oil cylinder 7, the swing oil cylinder 8 and the paw oil cylinder 11 are controlled through the hydraulic stations 1-3, so that the paw 5 is controlled.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention; thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Although the reference numerals in the figures are used more here: the base plate 1, the first base 1-1, the second base 1-2, the main vertical arm 2, the first rotating shaft 2-1, the vertical arm cylinder support hole 2-2, the first cross arm cylinder mounting hole 2-3, the vertical arm support base 2-4, the second rotating shaft 2-5, the long cross arm 3, the shaft hole 3-1, the swing cylinder support hole 3-2, the second cross arm cylinder mounting hole 3-3, the third rotating shaft 3-4, the cross arm support base 3-5, the swing arm 4, the gripper 5, the vertical arm cylinder 6, the cross arm cylinder 7, the swing arm cylinder 8, the connecting rod 9, the gripper seat 10, the gripper cylinder 11, the crawler chassis 12 and other terms, but the possibility of using other terms is not excluded; these terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed in a manner that is inconsistent with the spirit of the invention.
Claims (10)
1. A crank arm and paw structure of an all-carbon fiber robot is characterized by comprising a bottom plate (1), a main vertical arm (2), a long cross arm (3), a swing arm (4) and a paw (5) which are sequentially connected; the bottom plate (1) is provided with a vertical arm oil cylinder (6) connected with the main vertical arm (2), and the vertical arm oil cylinder (6) drives the main vertical arm (2) to rotate on the bottom plate (1); a cross arm oil cylinder (7) is arranged between the main vertical arm (2) and the long cross arm (3), and the cross arm oil cylinder (7) drives the long cross arm (3) to rotate on the main vertical arm (2); a swing oil cylinder (8) is arranged between the long cross arm (3) and the swing arm (4), and the swing oil cylinder (8) drives the swing arm (4) to rotate on the long cross arm (3).
2. The crank arm and gripper structure of the all-carbon fiber robot according to claim 1, wherein a first base (1-1) is arranged at the joint of the bottom plate (1) and the main vertical arm (2), the first base (1-1) is rotatably connected with the main vertical arm (2), similarly, a second base (1-2) is arranged at the joint of the bottom plate (1) and the vertical arm cylinder (6), and the second base (1-2) is rotatably connected with the vertical arm cylinder (6).
3. The crank arm and gripper structure of the all-carbon fiber robot according to claim 2, wherein the cylinder body of the vertical arm cylinder (6) is rotatably connected to the second base (1-2), and the telescopic part of the vertical arm cylinder (6) is rotatably connected to the main vertical arm (2).
4. The crank arm and gripper structure of the all-carbon fiber robot according to claim 1, wherein the cylinder body of the cross arm cylinder (7) is rotatably connected with the main vertical arm (2), and the telescopic part of the cross arm cylinder (7) is rotatably connected with the long cross arm (3).
5. The crank arm and gripper structure of the all-carbon fiber robot according to claim 1, wherein the cylinder body of the swing cylinder (8) is rotatably connected with the long cross arm (3), and the telescopic part of the swing cylinder (8) is rotatably connected with the swing arm (4).
6. The all-carbon-fiber robot crank arm and gripper structure according to claim 1, wherein the swing arm (4) is a bending mechanism, one end of the swing arm (4) is rotatably connected with the long cross arm (3), the swing oil cylinder (8) is connected to the middle of the swing arm (4), and the other end of the swing arm (4) faces the gripper (5).
7. The crank arm and gripper structure of the all-carbon fiber robot according to claim 6, wherein a connecting rod (9), a gripper seat (10) and a gripper cylinder (11) are sequentially connected between the swing arm (4) and the gripper (5), the swing arm (4) is connected with the connecting rod (9), and the gripper cylinder (11) is connected with the gripper (5).
8. The crank arm and gripper structure of the all-carbon fiber robot according to claim 7, wherein the gripper seat (10) is rotatably connected with the long cross arm (3), the gripper cylinder (11) is located on the gripper seat (10), and the gripper cylinder (11) controls the opening and closing movement of the gripper (5).
9. The crank arm and gripper structure of the all-carbon fiber robot as claimed in claim 1, wherein a tracked vehicle chassis (12) is arranged below the base plate (1), and the base plate (1) is rigidly connected with the tracked vehicle chassis (12) through bolts.
10. The crank arm and gripper structure of the all-carbon fiber robot according to claim 9, wherein the base plate (1) is provided with hydraulic stations (1-3), and the hydraulic stations (1-3) are connected with the vertical arm cylinder (6), the cross arm cylinder (7) and the swing cylinder (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920338989.5U CN212601929U (en) | 2019-03-18 | 2019-03-18 | Crank arm and gripper structure of all-carbon fiber robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920338989.5U CN212601929U (en) | 2019-03-18 | 2019-03-18 | Crank arm and gripper structure of all-carbon fiber robot |
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| CN212601929U true CN212601929U (en) | 2021-02-26 |
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| CN201920338989.5U Active CN212601929U (en) | 2019-03-18 | 2019-03-18 | Crank arm and gripper structure of all-carbon fiber robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910054A (en) * | 2019-03-18 | 2019-06-21 | 科大方诚(杭州)智能科技有限公司 | A kind of full carbon fiber robot cranks arm and gripper structure |
-
2019
- 2019-03-18 CN CN201920338989.5U patent/CN212601929U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910054A (en) * | 2019-03-18 | 2019-06-21 | 科大方诚(杭州)智能科技有限公司 | A kind of full carbon fiber robot cranks arm and gripper structure |
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