CN213532667U

CN213532667U - Hydraulic manipulator device for assisting teaching

Info

Publication number: CN213532667U
Application number: CN202022246662.0U
Authority: CN
Inventors: 颜倩; 张萌; 张若楠; 孙振宇
Original assignee: China University of Geosciences
Current assignee: China University of Geosciences
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2021-06-25
Anticipated expiration: 2030-10-10

Abstract

The utility model provides a hydraulic press manipulator device for assisting teaching, which comprises a base, first motor, the revolving stage, first hydraulic cylinder, the shoulder, the second hydraulic cylinder, the big arm, third hydraulic cylinder, the forearm, fourth hydraulic cylinder, the wrist part, second motor and gripper, first motor is connected with the revolving stage, first hydraulic cylinder and shoulder all articulate on the revolving stage, and first hydraulic cylinder is articulated with the shoulder upper end, the second hydraulic cylinder is articulated with the shoulder, big arm rear end is articulated with the shoulder, third hydraulic cylinder articulates at the middle part of big arm, the forearm front end is connected with the wrist part, fourth hydraulic cylinder is articulated with the forearm, the gripper is installed on the power output shaft of second motor. The utility model has the advantages that: the utility model has the characteristics of small, the range of movement is wide, be convenient for remove and carry etc, both can use as experimental teaching's application example device in the laboratory, can carry the classroom again and use as the teaching aid.

Description

Hydraulic manipulator device for assisting teaching

Technical Field

The utility model relates to a hydraulic manipulator technical field especially relates to a hydraulic manipulator device for assisting teaching.

Background

Under the current industrial background, innovation and innovation of strengthening the experimental teaching mode meet the culture requirements of the modern generations on innovative talents. The electric drive system is a common driver in the field of robots, but has the problems of low output power and easy abrasion of transmission parts such as reduction gears. Compared with an electric driving system, the hydraulic driving system has higher output power, high load, quick response and certain accuracy. The hydraulic manipulator is generally composed of a hydraulic pump, a hydraulic valve, a hydraulic oil cylinder and the like, and the hydraulically-driven manipulator is simple in structure, strong in power, convenient to operate and high in reliability.

However, most hydraulic manipulators on the market at present have the problems of large volume, wide occupied area, poor mobility, high cost and the like, so that the hydraulic manipulators are not suitable for students to learn the hydraulic manipulators and are used as auxiliary teaching tools for practical training.

SUMMERY OF THE UTILITY MODEL

In view of this, the embodiment of the present invention provides a hydraulic manipulator device for assisting teaching.

The embodiment of the utility model provides a hydraulic manipulator device for assisting teaching, including base, first motor, revolving stage, first hydraulic cylinder, shoulder, second hydraulic cylinder, big arm, third hydraulic cylinder, forearm, fourth hydraulic cylinder, wrist part, second motor and gripper, first motor is installed on the base, and its power output shaft with the revolving stage is connected, first hydraulic cylinder with the lower extreme of shoulder all articulates on the revolving stage, just first hydraulic cylinder's power output shaft with the shoulder upper end articulates, second hydraulic cylinder lower extreme with the shoulder lower extreme articulates, and its upper end articulates in the middle part of big arm, big arm rear end with the shoulder upper end articulates, its front end with the rear end of forearm articulates, third hydraulic cylinder rear end articulates in the middle part of big arm, the front end of the hydraulic cylinder is hinged with the middle of the small arm, the front end of the small arm is movably connected with the wrist part, the rear end of the fourth hydraulic cylinder is hinged with the rear end of the small arm, the front end of the fourth hydraulic cylinder is hinged with the rear end of the wrist part, the second motor is installed on the wrist part, and the mechanical gripper is installed on a power output shaft of the second motor.

Further, the device comprises a pneumatic sliding table component guide rail and a sliding table, wherein the sliding table is slidably mounted on the pneumatic sliding table component guide rail, and the base is fixed on the sliding table.

Further, wrist part includes first stock, second stock and quarter butt, first stock the second stock the quarter butt with forearm front end is swing joint in proper order, forms two pendulum rod four-bar linkage, just first stock with the quarter butt sets up relatively, the second stock with the forearm sets up relatively.

Furthermore, a first base support and a second base support are arranged above the base, the first base support and the second base support are arranged oppositely, the lower end of the first hydraulic oil cylinder is hinged to the first base support, and the lower end of the shoulder is hinged to the second base support.

Furthermore, a first connecting lug and a second connecting lug are respectively arranged at the upper end and the lower end of the shoulder, the first connecting lug and the second connecting lug are arranged in a central symmetry manner, the lower end of the first hydraulic cylinder is hinged to the first connecting lug, and the lower end of the second hydraulic cylinder is hinged to the second connecting lug.

Furthermore, a third connecting lug and a fourth connecting lug are respectively arranged in the middle of the large arm and the middle of the small arm, the power output shaft of the second hydraulic cylinder and the rear end of the third hydraulic cylinder are hinged to the third connecting lug, and the power output shaft of the third hydraulic cylinder is hinged to the fourth connecting lug.

Furthermore, a U-shaped motor support is connected to the short rod, and the second motor is installed on the U-shaped motor support.

Furthermore, the mechanical gripper is a double-gear rotary mechanical gripper, and a third motor for driving the mechanical gripper to work is arranged above the mechanical gripper.

Furthermore, the hydraulic oil pump is sequentially connected with the first hydraulic oil cylinder, the second hydraulic oil cylinder, the third hydraulic oil cylinder and the fourth hydraulic oil cylinder, and the first hydraulic oil cylinder, the second hydraulic oil cylinder, the third hydraulic oil cylinder and the fourth hydraulic oil cylinder are respectively connected with a three-position four-way electromagnetic control valve.

Furthermore, a pressure regulating valve for controlling the pressure of the oil output by the hydraulic oil pump and a speed regulating valve for regulating the output flow of the hydraulic oil pump are arranged on a connecting pipeline of the hydraulic oil pump, and an independent throttle valve is arranged between each hydraulic oil cylinder and the corresponding three-position four-way electromagnetic control valve.

The embodiment of the utility model provides a beneficial effect that technical scheme brought is:

1. the utility model has the functions of carrying and stacking the industrial hydraulic robot with six degrees of freedom, has the characteristics of small volume, wide moving range, convenient movement and carrying and the like, can be used as an application example device for experimental teaching in a laboratory, and can be carried to a classroom for use as a teaching aid;

2. the utility model discloses the model is small, and operation control is convenient, has better combination embedding ability, can conveniently make up into one set of comparatively complete simulation production line including hydraulic pressure and pneumatic mechanical model with other mechanical models such as hydraulic ram model, pneumatic material sorting model to make things convenient for the student to carry out the study of typical hydraulic pressure mechanical structure and theory of motion, and develop the experiment that has novelty and exploration nature.

Drawings

Fig. 1 is a schematic structural diagram of a hydraulic manipulator device for assisting teaching of the present invention.

Fig. 2 is a schematic structural diagram of a hydraulic manipulator device for assisting teaching of the present invention.

Fig. 3 is a schematic diagram of the connection relationship between each hydraulic oil cylinder and the hydraulic oil pump in fig. 1.

In the figure: 1-a base, 2-a first motor, 3-a rotating table, 4-a first hydraulic cylinder, 5-a shoulder, 6-a second hydraulic cylinder, 7-a big arm, 8-a third hydraulic cylinder, 9-a small arm, 10-a fourth hydraulic cylinder, 11-a wrist component, 12-a second motor, 13-a mechanical gripper, 14-a pneumatic sliding table component guide rail, 15-a sliding table, 16-a first long rod, 17-a second long rod, 18-a short rod, 19-a first base support, 20-a second base support, 21-a first connecting lug, 22-a second connecting lug, 23-a third connecting lug, 24-a fourth connecting lug, 25-a fifth connecting lug, 26-a U-shaped motor support, 27-a third motor and 28-a hydraulic oil pump, 29-three-position four-way electromagnetic control valve, 30-pressure regulating valve, 31-speed regulating valve and 32-throttle valve.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be further described below with reference to the accompanying drawings.

Referring to fig. 1 and 2, an embodiment of the present invention provides a hydraulic manipulator device for assisting teaching, including a base 1, a first motor 2, a rotary table 3, a first hydraulic cylinder 4, a shoulder 5, a second hydraulic cylinder 6, a big arm 7, a third hydraulic cylinder 8, a small arm 9, a fourth hydraulic cylinder 10, a wrist component 11, a second motor 12, and a gripper 13.

The first motor 2 is installed on the base 1, a power output shaft of the first motor is connected with the rotating platform 3, the first motor 2 is used for driving the rotating platform 3 to rotate, the lower ends of the first hydraulic oil cylinder 4 and the shoulder portion 5 are hinged to the rotating platform 3, specifically, a first base support 19 and a second base support 20 are arranged above the base 1, the first base support 19 and the second base support 20 are arranged oppositely, the lower end of the first hydraulic oil cylinder 4 is hinged to the first base support 19, and the lower end of the shoulder portion 5 is hinged to the second base support 20.

The power output shaft of the first hydraulic oil cylinder 4 is hinged to the upper end of the shoulder part 5, the lower end of the second hydraulic oil cylinder 6 is hinged to the lower end of the shoulder part 5, specifically, a first connecting lug 21 and a second connecting lug 22 are arranged at the upper end and the lower end of the shoulder part 5 respectively, the first connecting lug 21 and the second connecting lug 22 are arranged in a central symmetry mode, the lower end of the first hydraulic oil cylinder 4 is hinged to the first connecting lug 21, and the lower end of the second hydraulic oil cylinder 6 is hinged to the second connecting lug 22.

The upper end of the second hydraulic cylinder 6 is hinged to the middle of the large arm 7, the rear end of the large arm 7 is hinged to the upper end of the shoulder 5, the front end of the large arm is hinged to the rear end of the small arm 9, the rear end of the third hydraulic cylinder 8 is hinged to the middle of the large arm 7, the front end of the third hydraulic cylinder is hinged to the middle of the small arm 9, specifically, the middle of the large arm 7 and the middle of the small arm 9 are respectively provided with a third connecting lug 23 and a fourth connecting lug 24, the power output shaft of the second hydraulic cylinder 6 and the rear end of the third hydraulic cylinder 8 are hinged to the third connecting lug 23, and the power output shaft of the third hydraulic cylinder 8 is hinged to the fourth connecting lug 24.

The forearm 9 front end with 11 swing joint of wrist part, the utility model discloses in wrist part 11 includes first stock 16, second stock 17 and quarter butt 18, first stock 16 the second stock 17 the quarter butt 18 with forearm 9 front end swing joint in proper order forms two pendulum rod four-bar linkage, just first stock 16 with quarter butt 18 sets up relatively, second stock 17 with forearm 9 sets up relatively.

The rear end of the fourth hydraulic oil cylinder 10 is hinged with the rear end of the small arm 9, the front end of the fourth hydraulic oil cylinder is hinged with the rear end of the wrist part 11, specifically, the rear end of the small arm 9 is provided with a fifth connecting lug 25, the rear end of the fourth hydraulic oil cylinder 10 is hinged on the fifth connecting lug 25, and a power output shaft of the fourth hydraulic oil cylinder 10 is connected with the joint of the first long rod 16 and the second long rod 17.

Second motor 12 is installed on wrist part 11, specifically, be connected with U-shaped motor support 26 on the quarter butt 18, second motor 12 is installed on U-shaped motor support 26, manipulator 13 is installed on the power output shaft of second motor 12, the utility model discloses in manipulator 13 is double gear rotation manipulator, and is equipped with above that and is used for the drive third motor 27 of manipulator 13 work, in this embodiment manipulator 13 by third motor 27 drives, transmits the moment of torsion through two meshing gears, just manipulator 13 adopts parallelogram mechanism, and two stock motions are parallel all the time, can keep to snatch to move as the clamp formula and snatch, and the face of snatching has carried out the line and has handled, has increased the frictional force when snatching to the messenger snatchs more steadily.

The utility model discloses in hydraulic pressure manipulator device still includes pneumatic slip table part guide rail 14 and slip table 15, slip table 15 slidable mounting be in on the pneumatic slip table part guide rail 14, base 1 is fixed on the slip table 15, thereby can make base 1 moves on the horizontal direction, increases gripper 13's activity space.

Please refer to fig. 3, in the present invention, the hydraulic manipulator device further includes a hydraulic oil pump 28 for providing power for each of the hydraulic oil cylinders, the hydraulic oil pump 28 is connected in sequence to the first hydraulic oil cylinder 4, the second hydraulic oil cylinder 6, the third hydraulic oil cylinder 8 and the fourth hydraulic oil cylinder 10, and the first hydraulic oil cylinder 4, the second hydraulic oil cylinder 6, the third hydraulic oil cylinder 8 and the fourth hydraulic oil cylinder 10 are respectively connected to a three-position four-way electromagnetic control valve 29, preferably, a pressure regulating valve 30 for controlling the hydraulic oil pump 28 to output the oil pressure and a speed regulating valve 31 for regulating the output flow of the hydraulic oil pump 28 are arranged on the connecting pipeline of the hydraulic oil pump 28, and an independent throttle valve 32 is arranged between each of the hydraulic oil cylinders and the three-position four-way electromagnetic control valve 29.

In the utility model, the control of multiple degrees of freedom of the mechanical gripper 13 can be realized through the matching of each hydraulic oil cylinder and each motor, specifically, 1) the overall rotation of each hydraulic oil cylinder and the mechanical gripper 13 can be driven through the first motor 2; 2) the included angle between the shoulder part 5 and the base 1 can be adjusted by controlling the extension and retraction of the first hydraulic oil cylinder 4 and the second hydraulic oil cylinder 6; 3) the included angle between the shoulder part 5 and the large arm 7 can be adjusted by controlling the extension and retraction of the first hydraulic oil cylinder 4 and the second hydraulic oil cylinder 6; 4) the included angle between the large arm 7 and the small arm 9 can be adjusted by controlling the extension and retraction of the third hydraulic oil cylinder 8; 5) the connection angle of the wrist part 11 can be adjusted by controlling the extension and retraction of the fourth hydraulic oil cylinder 10; 6) the second motor 12 can drive the mechanical gripper 13 to rotate.

In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.

The features of the embodiments and embodiments described herein above may be combined with each other without conflict.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. The utility model provides a hydraulic manipulator device for assisting teaching which characterized in that: the hydraulic manipulator comprises a base, a first motor, a rotating platform, a first hydraulic oil cylinder, a shoulder, a second hydraulic oil cylinder, a large arm, a third hydraulic oil cylinder, a small arm, a fourth hydraulic oil cylinder, a wrist part, a second motor and a mechanical gripper, wherein the first motor is arranged on the base, a power output shaft of the first motor is connected with the rotating platform, the lower ends of the first hydraulic oil cylinder and the shoulder are hinged on the rotating platform, the power output shaft of the first hydraulic oil cylinder is hinged with the upper end of the shoulder, the lower end of the second hydraulic oil cylinder is hinged with the lower end of the shoulder, the upper end of the second hydraulic oil cylinder is hinged with the middle part of the large arm, the rear end of the large arm is hinged with the upper end of the shoulder, the front end of the large arm is hinged with the rear end of the small arm, the rear end of the third hydraulic oil cylinder is hinged with the middle part of the large arm, the front end of, the rear end of the fourth hydraulic oil cylinder is hinged with the rear end of the small arm, the front end of the fourth hydraulic oil cylinder is hinged with the rear end of the wrist part, the second motor is installed on the wrist part, and the mechanical gripper is installed on a power output shaft of the second motor.

2. A hydraulic manipulator device for teaching assistance according to claim 1, wherein: the device comprises a pneumatic sliding table component guide rail and a sliding table, wherein the sliding table is slidably mounted on the pneumatic sliding table component guide rail, and the base is fixed on the sliding table.

3. A hydraulic manipulator device for teaching assistance according to claim 1, wherein: the wrist part comprises a first long rod, a second long rod and a short rod, the first long rod, the second long rod, the short rod and the forearm front end are movably connected end to end in sequence to form a double-swing-rod four-bar mechanism, the first long rod and the short rod are arranged relatively, and the second long rod and the forearm are arranged relatively.

4. A hydraulic manipulator device for teaching assistance according to claim 1, wherein: the hydraulic support device is characterized in that a first base support and a second base support are arranged above the base, the first base support and the second base support are arranged oppositely, the lower end of the first hydraulic oil cylinder is hinged to the first base support, and the lower end of the shoulder is hinged to the second base support.

5. A hydraulic manipulator device for teaching assistance according to claim 1, wherein: the upper end and the lower end of the shoulder are respectively provided with a first connecting lug and a second connecting lug, the first connecting lug and the second connecting lug are arranged in a central symmetry manner, the lower end of the first hydraulic cylinder is hinged to the first connecting lug, and the lower end of the second hydraulic cylinder is hinged to the second connecting lug.

6. A hydraulic manipulator device for teaching assistance according to claim 1, wherein: the middle parts of the large arm and the small arm are respectively provided with a third connecting lug and a fourth connecting lug, the power output shaft of the second hydraulic cylinder and the rear end of the third hydraulic cylinder are hinged on the third connecting lug, and the power output shaft of the third hydraulic cylinder is hinged on the fourth connecting lug.

7. A hydraulic manipulator device for teaching assistance according to claim 3, wherein: the short rod is connected with a U-shaped motor support, and the second motor is installed on the U-shaped motor support.

8. A hydraulic manipulator device for teaching assistance according to claim 1, wherein: the mechanical claw is a double-gear rotary mechanical claw, and a third motor for driving the mechanical claw to work is arranged above the mechanical claw.

9. A hydraulic manipulator device for teaching assistance according to claim 1, wherein: the hydraulic oil pump is sequentially connected with the first hydraulic oil cylinder, the second hydraulic oil cylinder, the third hydraulic oil cylinder and the fourth hydraulic oil cylinder, and the first hydraulic oil cylinder, the second hydraulic oil cylinder, the third hydraulic oil cylinder and the fourth hydraulic oil cylinder are respectively connected with a three-position four-way electromagnetic control valve.

10. A hydraulic manipulator device for teaching assistance according to claim 9, wherein: and a pressure regulating valve for controlling the pressure of the oil output by the hydraulic oil pump and a speed regulating valve for regulating the output flow of the hydraulic oil pump are arranged on a connecting pipeline of the hydraulic oil pump, and an independent throttle valve is arranged between each hydraulic oil cylinder and the corresponding three-position four-way electromagnetic control valve.