CN217020442U

CN217020442U - Rotary hydraulic manipulator of hydraulic large-scale manipulator

Info

Publication number: CN217020442U
Application number: CN202123428185.0U
Authority: CN
Inventors: 赵宇
Original assignee: Wuxi Xinjinyu Intelligent Manufacturing Co ltd
Current assignee: Wuxi Xinjinyu Intelligent Manufacturing Co ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-07-22
Anticipated expiration: 2031-12-31

Abstract

The utility model discloses a rotary hydraulic manipulator of a hydraulic large-scale manipulator, which comprises a horizontal linear ground rail and a walking seat movably arranged on the horizontal linear ground rail, wherein the top of the walking seat is provided with a rotating table, the top of the rotating table is provided with a rack, one side of the rack is provided with a longitudinal linear module, one end of the longitudinal linear module is provided with a transverse linear module, the bottom of the transverse linear module is connected with a hydraulic cylinder through a base, one end of the hydraulic cylinder is provided with a support, one side of the support is provided with two mechanical arms, the two mechanical arms are connected with the hydraulic cylinder through a linkage mechanism, one ends of the two mechanical arms are respectively provided with a switching mechanism, and the two mechanical arms are respectively connected with a clamping plate through the switching mechanism. The clamping plate is provided with a series of structures, the clamping plates are switched to be used by various clamping surfaces, the manipulator is high in adaptability and wide in application range, the equipment cost of workpiece production is reduced, and the clamping plates are kept stable due to self-locking of the worm wheel and the worm, higher in reliability and flexible in movement.

Description

Rotary hydraulic manipulator of hydraulic large-scale manipulator

Technical Field

The utility model relates to the technical field of hydraulic manipulators, in particular to a rotary hydraulic manipulator of a hydraulic large-scale manipulator.

Background

The hydraulic manipulator is a common manipulator device for workpiece production, and the manipulator is an automatic operating device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying an object or operating a tool according to a fixed program, and can be divided into a hydraulic type, a pneumatic type, an electric type and a mechanical type according to a driving mode.

The clamping face fixed design on the hydraulic manipulator at present leads to not high degree of laminating degree between manipulator clamping face and the work piece face because of difference in workpiece clamping face structural shape, and if planar design's manipulator clamping face is used for arcwall face work piece, pipe fitting clamping, the manipulator is relatively poor to work piece clamping stability, increases clamping effort and then can cause the loss to the work piece, and work piece production adopts the setting of many manipulators, increases equipment cost, and the practicality is relatively poor.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to a rotary hydraulic manipulator of a hydraulic large-scale manipulator, so as to solve the problems set forth in the background art.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a rotation type hydraulic pressure manipulator of large-scale manipulator of fluid pressure type, includes horizontal straight line ground rail and removes the walking seat of locating on the horizontal straight line ground rail, the top of walking seat is equipped with the revolving stage, the top of revolving stage is equipped with the frame, one side of frame is equipped with vertical sharp module, the one end of vertical sharp module is equipped with horizontal sharp module, the bottom of horizontal sharp module is passed through the base and is connected with the pneumatic cylinder, the one end of pneumatic cylinder is equipped with the support, one side of support is equipped with two arms, two the arm passes through the link gear and is connected, two the one end of arm all is equipped with switching mechanism, two the arm all is connected with the clamping board through switching mechanism.

Preferably, the switching mechanism comprises a support frame, a rotating shaft and a driving mechanism, wherein the support frame of a U-shaped structure is arranged at one end of each of the two mechanical arms, the inside of the support frame is rotatably connected with the clamping plate through the rotating shaft, the driving mechanism is arranged on one side of the support frame, and one end of one rotating shaft penetrates through the support frame and is connected with the driving mechanism.

Preferably, one side of the clamping plate is set as a first clamping face, the other side of the clamping plate is set as a second clamping face, two opposite sides of the clamping plate between the first clamping face and the second clamping face are set as third clamping faces, and the outer surface of one of the third clamping faces is provided with convex teeth.

Preferably, the link gear includes drive lever and sliding sleeve, and the inboard of support is equipped with the drive lever, and the output of pneumatic cylinder passes through the middle fixed connection of hydraulic stem and drive lever one side, and the cover is equipped with two sliding sleeves on the drive lever, and the both ends of support one side all are equipped with the slide opening, and the one end of two arms all slides and locates in the slide opening of support, all rotates through the axis of rotation between the top of two sliding sleeves and the support and is equipped with the connecting rod No. one, all rotates through the axis of rotation between the bottom of two sliding sleeves and two arms and is equipped with the connecting rod No. two.

Preferably, the longitudinal linear module and the transverse linear module are driven by a linear guide rail, a threaded rod, a threaded seat and a motor.

Preferably, be equipped with the linear toothed plate on the horizontal straight line ground rail, the bottom of walking seat is equipped with the gear with the meshing of linear toothed plate, and the gear passes through shaft coupling and the last motor output fixed mounting of walking seat, the bottom of revolving stage is through shaft coupling and the last No. two motor output fixed mounting of walking seat.

Preferably, the driving mechanism comprises a turbine, a worm and a servo motor, the turbine and the worm are arranged on one side of the supporting frame in a rotating mode through the box body, one end of the turbine is connected with one end of one rotating shaft, one end of the worm is fixedly installed with the output end of the servo motor through a coupler, and the turbine and the worm are arranged in a meshed mode.

Compared with the prior art, the utility model has the beneficial effects that:

1. this rotation type hydraulic pressure manipulator of large-scale manipulator of fluid pressure type, through pneumatic cylinder, link gear and two clamping board cooperations of setting on the support, constitute the clamping operation that the manipulator is arranged in the production work piece, degree of mechanization is high, has improved production efficiency effectively to reduce the intensity of labour and the human cost of production, this manipulator adaptation degree is high, application scope is wide, reduces the equipment cost of work piece production.

2. This rotation type hydraulic pressure manipulator of large-scale manipulator of fluid pressure type through setting up switching mechanism and the clamping plate on the arm, is equipped with the contained surface of a plurality of different grade types on the clamping plate to can switch the contained surface on the clamping plate according to the needs of work piece clamping, the clamping laminating between clamping plate and the work piece, manipulator stability is better, saves work piece production manipulator.

3. This rotation type hydraulic pressure manipulator of large-scale manipulator of fluid pressure type through setting up turbine and the worm on the support frame, utilizes the face that presss from both sides of turbine, worm meshing drive clamping board to switch, under the auto-lock of turbine, worm for the clamping board after switching keeps firm, and the reliability is higher.

4. This rotation type hydraulic pressure manipulator of large-scale manipulator of fluid pressure type, through the horizontal straight line ground rail and the cooperation of walking seat that set up, the last rotation of walking seat has set up the frame, and vertical sharp module and the cooperation of horizontal sharp module in the frame for the nimble removal operation of manipulator and work piece, the practicality is stronger.

Drawings

FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;

FIG. 2 is a schematic structural view of a stent according to the present invention;

FIG. 3 is a schematic structural diagram of the switching mechanism of the present invention;

FIG. 4 is a schematic structural view of a robot of the present invention;

fig. 5 is a schematic structural diagram of embodiment 2 of the present invention.

In the figure: 1. a horizontal linear ground rail; 2. a walking seat; 21. a rotating table; 3. a frame; 31. a longitudinal linear module; 32. a transverse straight line module; 4. a support; 5. installing a clamping plate; 51. a first clamp surface; 52. a second clamp surface; 53. clamp surface III; 6. a switching mechanism; 61. a support frame; 62. a rotating shaft; 63. a turbine; 64. a worm; 65. a servo motor; 7. a hydraulic cylinder; 71. a base; 8. a driving lever; 9. a sliding sleeve; 10. a robotic arm.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

Example 1

As shown in fig. 1 to 4, the rotary hydraulic manipulator of the hydraulic large-scale manipulator of the present embodiment includes a horizontal linear ground rail 1 and a traveling base 2 movably disposed on the horizontal linear ground rail 1, a rotary table 21 is disposed on the top of the traveling base 2, a frame 3 is disposed on the top of the rotary table 21, a longitudinal linear module 31 is disposed on one side of the frame 3, a transverse linear module 32 is disposed at one end of the longitudinal linear module 31, the bottom of the transverse linear module 32 is connected to a hydraulic cylinder 7 through a base 71, a bracket 4 is disposed at one end of the hydraulic cylinder 7, two mechanical arms 10 are disposed on one side of the bracket 4, the two mechanical arms 10 are connected to the hydraulic cylinder 7 through a linkage mechanism, a switching mechanism 6 is disposed at one end of each of the two mechanical arms 10, the two mechanical arms 10 are connected to a clamping plate 5 through the switching mechanism 6, the hydraulic cylinder 7 and the linkage mechanism on the bracket 4 are matched with the two clamping plates 5, the manipulator is used for clamping the workpieces in production, the degree of mechanization is high, the production efficiency is effectively improved, the labor intensity and the labor cost of production are reduced, the manipulator is high in adaptation degree and wide in application range, the equipment cost of workpiece production is reduced, the clamping loss is low, and the practicability is higher.

Specifically, the switching mechanism 6 comprises a support frame 61, a rotating shaft 62 and a driving mechanism, one end of each of the two mechanical arms 10 is provided with the support frame 61 of a U-shaped structure, the inside of the support frame 61 is rotatably connected with the clamping plate 5 through the rotating shaft 62, one side of the support frame 61 is provided with the driving mechanism, one end of one rotating shaft 62 penetrates through the support frame 61 and is connected with the driving mechanism, a clamping surface on the clamping plate 5 can be switched according to the requirement of workpiece clamping, the clamping fit degree between the clamping plate 5 and the workpiece is higher, the stability of the mechanical arm is better, and the number of the mechanical arms for workpiece production is reduced.

Furthermore, one side of the clamping plate 5 is provided with a first clamping face 51, the other side of the clamping plate 5 is provided with a second clamping face 52, two opposite sides of the clamping plate 5 between the first clamping face 51 and the second clamping face 52 are provided with third clamping faces 53, the outer surface of one third clamping face 53 is provided with convex teeth, the first clamping face 51 is arranged in a V-shaped structure, the second clamping face 52 is arranged in an arc-shaped structure, one third clamping face 53 is a smooth plane, and the other third clamping face 53 is arranged in a rough plane.

Further, the link gear includes active lever 8 and slip cap 9, the inboard of support 4 is equipped with active lever 8, the output of pneumatic cylinder 7 passes through the middle fixed connection of hydraulic stem and active lever 8 one side, the cover is equipped with two slip caps 9 on the active lever 8, the both ends of support 4 one side all are equipped with the slide opening, the one end of two arms 10 all slides and locates in the slide opening of support 4, all be equipped with the connecting rod No. one through the axis of rotation between the top of two slip caps 9 and the support 4, all be equipped with the connecting rod No. two through the axis of rotation between the bottom of two slip caps 9 and two arms 10, the motion of active lever 8 passes through the connecting rod and drives two arms 10 and slide in the slide opening of support 4 tip, realize two arms 10 on the support 4, splint 5 keep away from mutually or are close to the operation, the clamping of splint 5 clamping action is more stable.

Furthermore, the longitudinal linear module 31 and the transverse linear module 32 are driven by a linear guide rail, a threaded rod, a threaded seat and a motor, the motor drives the threaded rod in the linear guide rail to rotate, the threaded seat is installed on the threaded rod in a threaded manner, and longitudinal and transverse operation is realized by the movement of the threaded seat on the threaded rod.

Furthermore, a linear toothed plate is arranged on the horizontal linear ground rail 1, a gear meshed with the linear toothed plate is arranged at the bottom of the walking seat 2, the gear is fixedly installed with a first motor output end on the walking seat 2 through a coupler, and a second motor output end on the rotating seat 21 is fixedly installed with a second motor output end on the walking seat 2 through a coupler.

The application method of the embodiment comprises the following steps: a first motor on a walking seat 2 drives a gear at the bottom of the walking seat 2 to rotate, the gear is meshed with a linear toothed plate on a horizontal linear ground rail 1, so that the walking seat 2 can be driven to horizontally reciprocate on the horizontal linear ground rail 1, a second motor on the walking seat 2 drives a rotary table 21 to rotate, a rack 3, a longitudinal linear module 31, a transverse linear module 32 and a manipulator on the rotary table 21 are driven to rotate, the longitudinal linear module 31 on a support 4 can drive the transverse linear module 32 and the manipulator to perform lifting height motion, the transverse linear module 32 can drive the manipulator to horizontally move, flexible moving operation of the manipulator and workpieces is met, two sliding sleeves 9 are sleeved on a driving rod 8, a first connecting rod is arranged between the tops of the two sliding sleeves 9 and the support 4 through rotation of a rotating shaft, a second connecting rod is arranged between the bottoms of the two sliding sleeves 9 and the two mechanical arms 10 through rotation of the rotating shaft, one end of each of the two mechanical arms 10 is slidably arranged in a sliding hole at the end of the support 4, a hydraulic cylinder 7 on the base 71 drives a driving rod 8 in the support 4 to move through a hydraulic rod, the movement of the driving rod 8 drives the two mechanical arms 10 to slide in the sliding holes at the end of the support 4 through a connecting rod, so that the two mechanical arms 10 and the clamping plate 5 on the support 4 move away from or close to each other, the clamping plate 5 is used for clamping operation of workpieces in production, the degree of mechanization is high, the production efficiency is effectively improved, and the labor intensity and the labor cost of production are reduced, a first clamping surface 51 arranged in a V-shaped structure, a second clamping surface 52 arranged in an arc-shaped structure, and two third clamping surfaces 53 arranged in a rough surface are arranged on the clamping plate 5, a rotating shaft 62 is driven by a driving mechanism to rotate the clamping plate 5 on the support 61, so that the clamping surfaces on the clamping plate 5 can be switched according to the requirements of workpiece clamping, the clamping plate 5 is clamped and attached to the workpiece, the stability of the manipulator is better, the number of manipulators for workpiece production is reduced, the manipulator has high adaptability and wide application range, and the equipment cost for workpiece production is reduced.

Example 2

The structure of the rotary hydraulic manipulator of the hydraulic large manipulator of the present embodiment is basically the same as that of the rotary hydraulic manipulator of the hydraulic large manipulator of embodiment 1, and the difference is that: the drive mechanism includes a worm wheel 63, a worm 64, and a servo motor 65 (see fig. 5). One side of support frame 61 is equipped with worm wheel 63 and worm 64 through the box rotation, the one end of worm wheel 63 is connected with the one end of one of them pivot 62, the output fixed mounting of shaft coupling and servo motor 65 is passed through to the one end of worm 64, the meshing sets up between worm wheel 63 and the worm 64, worm 64 in the servo motor 65 drive box rotates, the drive rotates rather than the worm wheel 63 that meshes, worm wheel 63 drives clamping plate 5 on the support frame 61 rotatory through pivot 62, thereby to the clamping operation of face switching, and at worm wheel 63, under the self-locking action of worm 64, make clamping plate 5 after the switching keep firm, the reliability is higher.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a rotation type hydraulic pressure manipulator of large-scale manipulator of fluid pressure type, includes walking seat (2) on horizontal straight line ground rail (1) are located with the removal to horizontal straight line ground rail (1), its characterized in that: the top of walking seat (2) is equipped with revolving stage (21), the top of revolving stage (21) is equipped with frame (3), one side of frame (3) is equipped with vertical sharp module (31), the one end of vertical sharp module (31) is equipped with horizontal sharp module (32), the bottom of horizontal sharp module (32) is passed through base (71) and is connected with pneumatic cylinder (7), the one end of pneumatic cylinder (7) is equipped with support (4), one side of support (4) is equipped with two arms (10), two arm (10) are connected with pneumatic cylinder (7) through link gear, two the one end of arm (10) all is equipped with switching mechanism (6), two arm (10) all are connected with clamping board (5) through switching mechanism (6).

2. The rotary hydraulic robot of a hydraulic large-sized robot according to claim 1, wherein: switching mechanism (6) are including support frame (61), pivot (62) and actuating mechanism, and the one end of two arms (10) all is equipped with support frame (61) of U type structure, and the inside of support frame (61) is rotated through pivot (62) and clamping plate (5) and is connected, and one side of support frame (61) is equipped with actuating mechanism, and one end of one of them pivot (62) runs through support frame (61) and is connected with actuating mechanism.

3. A rotary hydraulic manipulator of a hydraulic large-sized manipulator according to claim 2, characterized in that: one side of clamping plate (5) is established as a clamping face (51), the other side of clamping plate (5) is established as No. two clamping faces (52), the relative both sides of clamping plate (5) between a clamping face (51) and No. two clamping faces (52) are established as No. three clamping faces (53), one of them the surface of No. three clamping faces (53) is equipped with the dogtooth.

4. The rotary hydraulic robot of a hydraulic large-sized robot according to claim 1, wherein: link gear includes drive lever (8) and sliding sleeve (9), the inboard of support (4) is equipped with drive lever (8), the output of pneumatic cylinder (7) passes through the middle fixed connection of hydraulic stem and drive lever (8) one side, the cover is equipped with two sliding sleeve (9) on drive lever (8), the both ends of support (4) one side all are equipped with the slide opening, the one end of two arms (10) all slides and locates in the slide opening of support (4), all rotate through the axis of rotation between the top of two sliding sleeve (9) and support (4) and be equipped with the connecting rod No. one, all rotate through the axis of rotation between the bottom of two sliding sleeve (9) and two arms (10) and be equipped with the connecting rod No. two.

5. The rotary hydraulic robot of a hydraulic large-sized robot according to claim 1, wherein: and the longitudinal linear module (31) and the transverse linear module (32) are driven by a linear guide rail, a threaded rod, a threaded seat and a motor.

6. The rotary hydraulic robot of a hydraulic large-sized robot according to claim 1, wherein: be equipped with linear tooth plate on horizontal straight line ground rail (1), the bottom of walking seat (2) is equipped with the gear with linear tooth plate meshing, and the gear passes through shaft coupling and the first motor output end fixed mounting on walking seat (2), the bottom of revolving stage (21) passes through the shaft coupling and the second motor output end fixed mounting on walking seat (2).

7. The rotary hydraulic robot of a hydraulic large-sized robot according to claim 2, wherein: drive mechanism includes turbine (63), worm (64) and servo motor (65), and one side of support frame (61) is equipped with turbine (63) and worm (64) through the box rotation, and the one end of turbine (63) is connected with the one end of one of them pivot (62), and the output fixed mounting of shaft coupling and servo motor (65) is passed through to the one end of worm (64), and the meshing sets up between turbine (63) and worm (64).