CN105082178B - Manipulator power assisting device - Google Patents
Manipulator power assisting device Download PDFInfo
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- CN105082178B CN105082178B CN201410192380.3A CN201410192380A CN105082178B CN 105082178 B CN105082178 B CN 105082178B CN 201410192380 A CN201410192380 A CN 201410192380A CN 105082178 B CN105082178 B CN 105082178B
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- pipeline
- assisting device
- power assisting
- skirtboard
- flexible
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Abstract
The invention discloses a manipulator power assisting device. The manipulator power assisting device comprises a case, wherein the case is connected with a liquid inlet pipeline, a first pipeline and a second pipeline are arranged on the case, the first pipeline is connected to a driving mechanism, the second pipeline is connected to a braking mechanism, two elastic diaphragms are arranged in the first pipeline, through holes are formed in the centers of the elastic diaphragms, two spring bodies which are crossly connected are arranged between the spring diaphragms, an ellipsoidal buffer portion is arranged on the second pipeline, a plurality of baffles are arranged in parallel in the ellipsoidal buffer portion, a first skirt plate and a second skirt plate are respectively arranged between the liquid inlet pipeline and the first pipeline and between the liquid inlet pipeline and the second pipeline, a throttling valve is arranged on the first skirt plate, a notch is formed in one end of the second skirt plate, and the notch is located in one side of the first pipeline. The manipulator power assisting device can improve the defect of the prior art, obviously weaken the nonlinear distortion of the power assisting device and improve the power boosting accuracy.
Description
Technical field
The present invention relates to manipulator technical field, especially a kind of mechanical arm power assisting device.
Background technology
In mechanical arm operation process, need frequently to carry out start-stop.Under case of heavy load, need to use power-assisted to fill
Put and be driven.Chinese invention patent CN101201086B discloses a kind of tandem pneumatic brake booster, solves braking late
Stagnant problem.But, during power-assisted, especially there is obvious nonlinear distortion in initial segment and ending segment to this structure
Become, if using the accuracy on precision equipment, influencing whether its motion and positioning.
Content of the invention
The technical problem to be solved in the present invention is to provide a kind of mechanical arm power assisting device, can solve the problem that prior art not
Foot, hence it is evident that weakening the nonlinear distortion of power assisting device, improves power-assisted precision.
For solving above-mentioned technical problem, the technical scheme that type of the present invention is taken is as follows.
A kind of mechanical arm power assisting device, including housing, housing is connected with water influent pipeline, and described housing is provided with first pipe
Road and the second pipeline, the first pipeline connects to drive mechanism, and the second pipeline connects to arrestment mechanism, is provided with two in the first pipeline
Individual flexible sheet, flexible sheet is provided centrally with through hole, is provided with cross-coupled two spring bodies between two flexible sheets,
Elliposoidal buffer part is provided with the second pipeline, in elliposoidal buffer part, is arranged with several dividing plates, described water influent pipeline in parallel
It is provided with the first skirtboard and the second skirtboard and the first pipeline, the second pipeline between, the first skirtboard is provided with choke valve, the second skirt
One end setting of plate is jagged, and breach is located at the first pipeline side.
Preferably, being provided with necking in described first pipeline, necking is located at the downstream of two flexible sheets.
Preferably, several grooves are evenly arranged with described dividing plate.
Preferably, being provided with the guiding gutter running through dividing plate in described groove.
Preferably, the entrance of described first pipeline is tiltedly installed with baffle plate.
Preferably, being connected by the flexible sleeve of right-angled intersection between two spring bodies, in flexible sleeve, it is provided with two
Individual separate, and orthogonal accommodating chamber.
Using having the beneficial effects that technique scheme is brought：It is of the prior art that the present invention uses hydraulic oil to substitute
Compressed air, as power-assisted Transfer Medium, reduces the power-assisted change that the compression of medium itself is brought.In addition, by driving circuit
With brake circuit concentrated setting on a fluid pressure drive device, it is possible to use it is mutual that two loops produce to running of hydraulic power oil
Negative pressure absorbing effect, reduce hydraulic oil start flow and end before impulsive force.Connect to the first pipeline of driving structure
The flexible sheet of interior setting produces deformation with the change of hydraulic pressure, and on two flexible sheets, the distance of through hole produces change therewith
Change, smoothing effect can be produced to hydraulic pressure curve, it is to avoid pressure curve produces " burr ".The bullet being connected by flexible sleeve
Spring body can limit to the deformation of flexible sheet, it is to avoid flexible sheet deformation excessively produces disturbance to hydraulic pressure.Even
It is connected on the second pipeline of arrestment mechanism the elliposoidal buffer part of setting, can effectively reduce the braking initial stage and that latter stage produces is disorderly
Flow disturbance, dividing plate can improve the ride comfort of running of hydraulic power oil further, and the groove with guiding gutter can reduce dividing plate to liquid
The decay of pressure transmission.Because the breach of the second skirtboard is arranged on the first pipeline side, baffle plate can reduce breach feed liquor effectively
The impact to the first pipeline feed liquor for the process.
Brief description
Fig. 1 is the schematic diagram of embodiments of the invention 1.
In figure：1st, housing；2nd, the first pipeline；3rd, the second pipeline；4th, flexible sheet；5th, through hole；6th, spring body；7th, elliposoidal
Buffer part；8th, dividing plate；9th, water influent pipeline；10th, the first skirtboard；11st, the second skirtboard；12nd, choke valve；13rd, breach；14th, necking；
15th, groove；16th, guiding gutter；17th, baffle plate；18th, flexible sleeve；19th, arcuate projections.
Specific embodiment
With reference to Fig. 1, the present embodiment includes housing 1, and housing 1 is connected with water influent pipeline 9, and described housing 1 is provided with first
Pipeline 2 and the second pipeline 3, the first pipeline 2 connects to drive mechanism, and the second pipeline 3 connects to arrestment mechanism, in the first pipeline 2
It is provided with two flexible sheets 4, flexible sheet 4 is provided centrally with through hole 5, is provided with interconnection between two flexible sheets 4
Two spring bodies 6, the second pipeline 3 is provided with elliposoidal buffer part 7, in elliposoidal buffer part 7, is arranged with several in parallel
Dividing plate 8, is provided with the first skirtboard 10 and the second skirtboard 11 between described water influent pipeline 9 and the first pipeline 2, the second pipeline 3, and first
Choke valve 12, one end setting jagged 13 of the second skirtboard 11 are provided with skirtboard 10, breach 13 is located at the first pipeline 2 side.
The present embodiment is used hydraulic oil to substitute compressed air of the prior art as power-assisted Transfer Medium, reduces the pressure of medium itself
The power-assisted change contracting brought.In addition, by driving circuit and brake circuit concentrated setting on a fluid pressure drive device, permissible
Mutual negative pressure absorbing effect running of hydraulic power oil being produced using two loops, reduces hydraulic oil before starting flowing and ending
Impulsive force.Connect and produce shape to the flexible sheet 4 of setting in the first pipeline 2 of driving structure with the change of hydraulic pressure
Become, on two flexible sheets 4, the distance of through hole 5 produces change therewith, smoothing effect can be produced to hydraulic pressure curve, it is to avoid
Pressure curve produces " burr ".Flexible sheet is preferably the stainless steel substrates of 0.5mm thickness.It is provided with contracting in described first pipeline 2
Mouth 14, necking 14 is located at the downstream of two flexible sheets 4.Necking 14 can reduce because through hole runner internal diameter diminishes suddenly
The backflow phenomena occurring.Several grooves 15 are evenly arranged with described dividing plate 8.It is provided with described groove 15 and run through dividing plate
8 guiding gutter 16.Connect to the second pipeline 3 of arrestment mechanism the elliposoidal buffer part 7 of setting, braking can be effectively reduced just
Phase and the turbulence prediction of latter stage generation, dividing plate 8 can improve the ride comfort of running of hydraulic power oil further, recessed with guiding gutter 16
Groove 15 can reduce the decay to hydraulic pressure transfer for the dividing plate 8.The entrance of described first pipeline 2 is tiltedly installed with baffle plate 17, due to
The breach 13 of the second skirtboard 11 is arranged on the first pipeline 2 side, and baffle plate 17 can reduce breach 13 feed liquor process effectively to
The impact of one pipeline 2 feed liquor.It is connected by the flexible sleeve 18 of right-angled intersection between two spring bodies 6, set in flexible sleeve 18
It is equipped with two separate, and orthogonal accommodating chambers, the spring body 6 connecting by flexible sleeve 18 can be to flexible sheet
4 deformation is limited, it is to avoid flexible sheet 4 deformation excessively produces disturbance to hydraulic pressure.Wherein flexible sleeve 18 is preferred
For silica gel material.
In addition, the ratio of the import internal diameter of the first pipeline 2 and the second pipeline 3 is preferably 2:1, flexible sheet 4 is straight with through hole 5
The ratio in footpath is preferably 4:1.
It should be noted that being additionally provided with arcuate projections 19 in the side of breach 13, arcuate projections 19 are intended for lacking
The curvature of mouth 13 sides is more than the curvature of dorsad breach 13 side.
General principle and principal character and the advantages of the present invention of the present invention have been shown and described above.The technology of the industry
, it should be appreciated that the present invention is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification is originally for personnel
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these
Changes and improvements both fall within scope of the claimed invention.Claimed scope by appending claims and
Its equivalent thereof.
Claims (4)
1. a kind of mechanical arm power assisting device, including housing (1), housing (1) be connected with water influent pipeline (9) it is characterised in that：Described
First pipeline (2) and the second pipeline (3) are provided with housing (1), the first pipeline (2) connects to drive mechanism, the second pipeline (3)
Connect to arrestment mechanism, in the first pipeline (2), be provided with two flexible sheets (4), flexible sheet (4) is provided centrally with through hole
(5), it is provided with cross-coupled two spring bodies (6) between two flexible sheets (4), the second pipeline is provided with ellipsoid on (3)
Shape buffer part (7), is arranged with several dividing plates (8) in parallel in elliposoidal buffer part (7), with water influent pipeline (9) as one end, with
One pipeline (2) and the second pipeline (3) be the other end two ends between be provided with the first skirtboard (10) and the second skirtboard (11), first
Choke valve (12) is provided with skirtboard (10), one end of the second skirtboard (11) arranges jagged (13), and breach (13) is located at first
Pipeline (2) side；It is provided with necking (14), necking (14) is located under two flexible sheets (4) in described first pipeline (2)
Trip；Several grooves (15) are evenly arranged with dividing plate (8).
2. mechanical arm power assisting device according to claim 1 it is characterised in that：It is provided with described groove (15) and run through
The guiding gutter (16) of dividing plate (8).
3. mechanical arm power assisting device according to claim 1 it is characterised in that：Incline in the entrance of described first pipeline (2)
Tiltedly it is provided with baffle plate (17).
4. mechanical arm power assisting device according to claim 1 it is characterised in that：Pass through cross between two spring bodies (6)
The flexible sleeve (18) intersecting is connected, and is provided with two separate, and orthogonal accommodating chambers in flexible sleeve (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410192380.3A CN105082178B (en) | 2014-05-08 | 2014-05-08 | Manipulator power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410192380.3A CN105082178B (en) | 2014-05-08 | 2014-05-08 | Manipulator power assisting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105082178A CN105082178A (en) | 2015-11-25 |
| CN105082178B true CN105082178B (en) | 2017-02-15 |
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ID=54563948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410192380.3A Active CN105082178B (en) | 2014-05-08 | 2014-05-08 | Manipulator power assisting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105082178B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112518800B (en) * | 2020-10-22 | 2022-07-29 | 广东韶钢工程技术有限公司 | Three-state locking device for flexible robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101201086A (en) * | 2006-11-02 | 2008-06-18 | 罗伯特博世有限公司 | Tandem pneumatic brake booster for a vehicle |
| CN102741103A (en) * | 2010-02-02 | 2012-10-17 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Braking force amplifier |
| CN203005406U (en) * | 2012-11-12 | 2013-06-19 | 博世汽车部件(苏州)有限公司 | Booster and brake system |
| CN203818155U (en) * | 2014-05-08 | 2014-09-10 | 宁夏巨能机器人***有限公司 | Mechanical arm power assisting device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007100747A (en) * | 2005-09-30 | 2007-04-19 | Pubot Giken:Kk | Rotation braking device |
-
2014
- 2014-05-08 CN CN201410192380.3A patent/CN105082178B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101201086A (en) * | 2006-11-02 | 2008-06-18 | 罗伯特博世有限公司 | Tandem pneumatic brake booster for a vehicle |
| CN102741103A (en) * | 2010-02-02 | 2012-10-17 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Braking force amplifier |
| CN203005406U (en) * | 2012-11-12 | 2013-06-19 | 博世汽车部件(苏州)有限公司 | Booster and brake system |
| CN203818155U (en) * | 2014-05-08 | 2014-09-10 | 宁夏巨能机器人***有限公司 | Mechanical arm power assisting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105082178A (en) | 2015-11-25 |
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Address after: 750021 the Ningxia Hui Autonomous Region concentric Yinchuan City Development Zone, No. 296 South Street Patentee after: Ningxia giant robot Limited by Share Ltd Address before: 750021 the Ningxia Hui Autonomous Region concentric Yinchuan City Development Zone, No. 296 South Street Patentee before: Ningxia Juneng Robot System Co., Ltd. |