CN105128006A - Hydraulic rotary and telescopic manipulator - Google Patents
Hydraulic rotary and telescopic manipulator Download PDFInfo
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- CN105128006A CN105128006A CN201510492913.4A CN201510492913A CN105128006A CN 105128006 A CN105128006 A CN 105128006A CN 201510492913 A CN201510492913 A CN 201510492913A CN 105128006 A CN105128006 A CN 105128006A
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- telescopic oil
- telescopic
- transverse arm
- holder
- fixed
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Abstract
The invention discloses a hydraulic rotary and telescopic manipulator which comprises a base, a rotating table arranged on the top of the base, and a manipulator device arranged on the rotating table. The manipulator device comprises a lifting mechanism arranged on the top of the rotating table, a rotating mechanism arranged on the lifting mechanism, and a clamping mechanism connected with the rotating mechanism. The hydraulic rotary and telescopic manipulator is convenient to use, simple in overall structure, high in work efficiency and flexible and reliable in workpiece clamping.
Description
Technical field
The present invention relates to manipulator technical field, is specifically a kind of hydraulic rotating telescopic magic hand.
Background technology
Manipulator is some holding function imitating staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.Manipulator is the industrial robot occurred the earliest; also be the modern machines people occurred the earliest; it can replace the heavy labor of people to realize mechanization and the automation of production; can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
The hydraulic efficiency manipulator of prior art in use often exists that device structure is more complicated, inefficiency, the reliable problem of clamping underaction to workpiece.
Summary of the invention
In view of the defect of above-mentioned prior art, the object of the invention is to: a kind of hydraulic rotating telescopic magic hand is provided, its structure is simple, operating efficiency is high and holding workpiece time flexibility and reliability.
Technical solution of the present invention is: hydraulic rotating telescopic magic hand, the robot device comprising base, be arranged on the turntable of base top and arrange on a spinstand, described robot device comprises the elevating mechanism being arranged on turntable top, the clamp system being arranged on the rotating mechanism on elevating mechanism and being connected with rotating mechanism.
Further, described elevating mechanism comprises the transverse arm that is arranged on turntable top and to be fixed in the middle of transverse arm and two the first telescopic oil cylinders for driving transverse arm to move up and down, the bottom of described transverse arm is rotationally connected with the first fixed station being arranged on base top, and two described the first telescopic oil cylinders are fixedly connected with the second fixed station being arranged on base top.
Further, the bottom of described transverse arm is by being arranged on the first rotating shaft on the first fixed station and the first fixed station is rotatably assorted, and the free end of the first piston bar that two described the first telescopic oil cylinders have is by being fixed on the first fixed axis in the middle of transverse arm and transverse arm is fixed.
Further, described rotating mechanism comprises the holder that is rotatably connected on transverse arm top and is connected with holder and second telescopic oil cylinder that holder can be driven to rotate.
Further, described holder is rotatably assorted by the top being arranged on the second rotating shaft on holder and transverse arm, described second telescopic oil cylinder is fixedly connected with the 3rd fixed station being fixed on transverse arm top, the free end of the second piston rod that described second telescopic oil cylinder has is fixedly connected with holder by the second fixed axis be arranged on holder, and described second fixed axis is positioned at the top of the second rotating shaft.
Further, described holder is connected with clamp system by the 3rd telescopic oil cylinder being arranged on its bottom.
Further, described clamp system comprises two jig arm, is provided with the first connecting plate between two described jig arm, and the two ends of described first connecting plate are equipped with the 3rd rotating shaft, and described jig arm is rotatably assorted by the 3rd rotating shaft and the first connecting plate; Described clamp system also comprises two the 4th telescopic oil cylinders, and the top of two described the 4th telescopic oil cylinders is connected by the second connecting plate, and makes angulation between two the 4th telescopic oil cylinders be the angle of 60 degree to 120 degree.
Further, described jig arm comprises connecting portion and kink, and the end of described first connecting plate is arranged on the junction of connecting portion and kink.
Further, the free end of the 3rd piston rod that described 3rd telescopic oil cylinder has and the second connecting plate are fixed, and the free end of the 4th piston rod that described 4th telescopic oil cylinder has is fixedly connected with connecting portion by the 3rd fixed axis be arranged on connecting portion.
Further, the internal face of described kink is arc-shaped concave, and outside wall surface is arc convex.
Apply hydraulic rotating telescopic magic hand provided by the present invention, its beneficial effect is: turntable can 360 degree of rotations, transverse arm can be moved up and down by two the first telescopic oil cylinders, holder can be rotated within the specific limits by the second telescopic oil cylinder, clamp system can be moved up and down by the 3rd telescopic oil cylinder, clamp system grips or lays down workpiece by two the 4th telescopic oil cylinders, so the height of transverse arm and the angle of holder can be regulated according to demand when using, by the 3rd telescopic oil cylinder and the 4th telescopic oil cylinder with the use of conveniently gripping or laying down workpiece, easy to use, and overall structure is simple, flexibility and reliability during operating efficiency high and holding workpiece.
Accompanying drawing explanation
Fig. 1 is an overall structure schematic diagram of the present invention;
Fig. 2 is another overall structure schematic diagram of the present invention;
Fig. 3 is the enlarged diagram of a-quadrant in Fig. 1.
Shown in figure: 1-base, 2-turntable, 3-transverse arm, 4-first telescopic oil cylinder, 4.1-first piston bar, 5-first fixed station, 6-second fixed station, 7-first rotating shaft, 8-first fixed axis, 9-holder, 10-second telescopic oil cylinder, 10.1-the second piston rod, 11-second rotating shaft, 12-the 3rd fixed station, 13-second fixed axis, 14-the 3rd telescopic oil cylinder, 14.1-the 3rd piston rod, 15-jig arm, 15.1-connecting portion, 15.2-kink, 16-first connecting plate, 17-the 3rd rotating shaft, 18-the 4th telescopic oil cylinder, 18.1-the 4th piston rod, 19-second connecting plate, 20-the 3rd fixed axis, 21-the 4th rotating shaft.
Detailed description of the invention
For more intuitively, intactly understanding technical scheme of the present invention, existing just to carry out nonrestrictive feature description in conjunction with accompanying drawing of the present invention as follows:
As shown in Figure 1-Figure 3, hydraulic rotating telescopic magic hand, the turntable 2 comprise base 1, being arranged on base 1 top and the robot device be arranged on turntable 2, robot device comprises the elevating mechanism being arranged on turntable 2 top, the clamp system being arranged on the rotating mechanism on elevating mechanism and being connected with rotating mechanism.
Elevating mechanism comprises the transverse arm 3 that is arranged on turntable 2 top and to be fixed in the middle of transverse arm 3 and two the first telescopic oil cylinders 4 for driving transverse arm 3 to move up and down, the bottom of transverse arm 3 is rotationally connected with the first fixed station 5 being arranged on base 1 top, and two the first telescopic oil cylinders 4 are fixedly connected with the second fixed station 6 being arranged on base 1 top.
The bottom of transverse arm 3 is by being arranged on the first rotating shaft 7 on the first fixed station 5 and the first fixed station 5 is rotatably assorted, and the free end of the first piston bar 4.1 that two the first telescopic oil cylinders 4 have is fixed with transverse arm 3 by the first fixed axis 8 be fixed in the middle of transverse arm 3.
Rotating mechanism comprises the holder 9 that is rotatably connected on transverse arm 3 top and is connected with holder 9 and second telescopic oil cylinder 10 that holder 9 can be driven to rotate.
Holder 9 is rotatably assorted with the top of transverse arm 3 by the second rotating shaft 11 be arranged on holder 9, second telescopic oil cylinder 10 is fixedly connected with the 3rd fixed station 12 being fixed on transverse arm 3 top, the free end of the second piston rod 10.1 that the second telescopic oil cylinder 10 has is fixedly connected with holder 9 by the second fixed axis 13 be arranged on holder 9, and the second fixed axis 13 is positioned at the top of the second rotating shaft 11.
Holder 9 is connected with clamp system by the 3rd telescopic oil cylinder 14 being arranged on its bottom.
Clamp system comprises the two ends being provided with the first connecting plate 16, first connecting plate 16 between two jig arm, 15, two jig arm 15 and is equipped with the 3rd rotating shaft 17, and jig arm 15 is rotatably assorted by the 3rd rotating shaft 17 and the first connecting plate 16; Clamp system also comprises two the 4th telescopic oil cylinders 18, the top of two the 4th telescopic oil cylinders 18 is connected by the second connecting plate 19, and make angulation between two the 4th telescopic oil cylinders 18 be the angle of 60 degree to 120 degree, be rotatably assorted by the 4th rotating shaft 21 and the second connecting plate 19 between two the 4th telescopic oil cylinders 18 and the second connecting plate 19.
The end that jig arm 15 comprises connecting portion 15.1 and kink 15.2, first connecting plate 16 is arranged on the junction of connecting portion 15.1 and kink 15.2.
Free end and second connecting plate 19 of the 3rd piston rod 14.1 that the 3rd telescopic oil cylinder 14 has are fixed, and the free end of the 4th piston rod 18.1 that the 4th telescopic oil cylinder 18 has is fixedly connected with connecting portion 15.1 by the 3rd fixed axis 20 be arranged on connecting portion 15.1.
Conveniently gripping workpiece, the internal face of kink 15.2 is arc-shaped concave, and outside wall surface is arc convex.
When the first piston bar 4.1 of the first telescopic oil cylinder 4 stretches, bottom and first fixed station 5 of transverse arm 3 are rotatably assorted, and when first piston bar 4.1 stretches out, transverse arm 3 rises, and when first piston bar 4.1 shrinks, transverse arm 3 declines; When the second piston rod 10.1 of the second telescopic oil cylinder 10 stretches out, holder 9 is rotated counterclockwise, and when the second piston rod 10.1 shrinks, holder 9 turns clockwise; When the 3rd piston rod 14.1 of the 3rd telescopic oil cylinder 14 stretches out, clamp system height reduction, when the 3rd piston rod 14.1 shrinks, clamp system height rises; When the 4th piston rod 18.1 of two the 4th telescopic oil cylinders 18 stretches out, two jig arm 15 are drawn close, when two the 4th piston rods 18.1 shrink, two jig arm 15 away from.
Hydraulic rotating telescopic magic hand provided by the present invention, turntable 2 can 360 degree of rotations, transverse arm 3 can be moved up and down by two the first telescopic oil cylinders 4, holder 9 can be rotated within the specific limits by the second telescopic oil cylinder 10, clamp system can be moved up and down by the 3rd telescopic oil cylinder 14, clamp system grips or lays down workpiece by two the 4th telescopic oil cylinders 18, so the height of transverse arm 3 and the angle of holder 9 can be regulated according to demand when using, by the 3rd telescopic oil cylinder 14 and the 4th telescopic oil cylinder 18 with the use of conveniently gripping or laying down workpiece, easy to use, and overall structure is simple, flexibility and reliability during operating efficiency high and holding workpiece.
Certainly; these are only preferred embodiment of the present invention; non-ly therefore namely limit to the scope of the claims of the present invention, all utilizations description of the present invention and graphic content institute be simple and easy modification and equivalent structure change for it, all should in like manner be contained within scope of patent protection of the present invention.
Claims (10)
1. hydraulic rotating telescopic magic hand, the robot device comprising base, be arranged on the turntable of base top and arrange on a spinstand, is characterized in that: described robot device comprises the elevating mechanism being arranged on turntable top, the clamp system being arranged on the rotating mechanism on elevating mechanism and being connected with rotating mechanism.
2. hydraulic rotating telescopic magic hand according to claim 1, it is characterized in that: described elevating mechanism comprises the transverse arm that is arranged on turntable top and to be fixed in the middle of transverse arm and two the first telescopic oil cylinders for driving transverse arm to move up and down, the bottom of described transverse arm is rotationally connected with the first fixed station being arranged on base top, and two described the first telescopic oil cylinders are fixedly connected with the second fixed station being arranged on base top.
3. hydraulic rotating telescopic magic hand according to claim 2, it is characterized in that: the bottom of described transverse arm is by being arranged on the first rotating shaft on the first fixed station and the first fixed station is rotatably assorted, and the free end of the first piston bar that two described the first telescopic oil cylinders have is by being fixed on the first fixed axis in the middle of transverse arm and transverse arm is fixed.
4. hydraulic rotating telescopic magic hand according to claim 3, is characterized in that: described rotating mechanism comprises the holder that is rotatably connected on transverse arm top and is connected with holder and second telescopic oil cylinder that holder can be driven to rotate.
5. hydraulic rotating telescopic magic hand according to claim 4, it is characterized in that: described holder is rotatably assorted by the top being arranged on the second rotating shaft on holder and transverse arm, described second telescopic oil cylinder is fixedly connected with the 3rd fixed station being fixed on transverse arm top, the free end of the second piston rod that described second telescopic oil cylinder has is fixedly connected with holder by the second fixed axis be arranged on holder, and described second fixed axis is positioned at the top of the second rotating shaft.
6. hydraulic rotating telescopic magic hand according to claim 5, is characterized in that: described holder is connected with clamp system by the 3rd telescopic oil cylinder being arranged on its bottom.
7. hydraulic rotating telescopic magic hand according to claim 6, it is characterized in that: described clamp system comprises two jig arm, the first connecting plate is provided with between two described jig arm, the two ends of described first connecting plate are equipped with the 3rd rotating shaft, and described jig arm is rotatably assorted by the 3rd rotating shaft and the first connecting plate; Described clamp system also comprises two the 4th telescopic oil cylinders, and the top of two described the 4th telescopic oil cylinders is connected by the second connecting plate, and makes angulation between two the 4th telescopic oil cylinders be the angle of 60 degree to 120 degree.
8. hydraulic rotating telescopic magic hand according to claim 7, is characterized in that: described jig arm comprises connecting portion and kink, and the end of described first connecting plate is arranged on the junction of connecting portion and kink.
9. hydraulic rotating telescopic magic hand according to claim 8, it is characterized in that: the free end of the 3rd piston rod that described 3rd telescopic oil cylinder has and the second connecting plate are fixed, the free end of the 4th piston rod that described 4th telescopic oil cylinder has is fixedly connected with connecting portion by the 3rd fixed axis be arranged on connecting portion.
10. hydraulic rotating telescopic magic hand according to claim 8, is characterized in that: the internal face of described kink is arc-shaped concave, and outside wall surface is arc convex.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510492913.4A CN105128006A (en) | 2015-08-03 | 2015-08-03 | Hydraulic rotary and telescopic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510492913.4A CN105128006A (en) | 2015-08-03 | 2015-08-03 | Hydraulic rotary and telescopic manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105128006A true CN105128006A (en) | 2015-12-09 |
Family
ID=54713746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510492913.4A Pending CN105128006A (en) | 2015-08-03 | 2015-08-03 | Hydraulic rotary and telescopic manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105128006A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109580267A (en) * | 2018-12-10 | 2019-04-05 | 天津工业大学 | A kind of linear expansion mechanism |
| CN110562732A (en) * | 2019-09-06 | 2019-12-13 | 西安航空职业技术学院 | Environment-friendly hydraulic manipulator |
| CN112875593A (en) * | 2021-01-25 | 2021-06-01 | 金丽丽 | Power communication maintenance equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0621111A1 (en) * | 1993-04-20 | 1994-10-26 | UNIVER S.p.A. | Hydropneumatically controlled multi-axis manipulator |
| CN201960566U (en) * | 2010-12-18 | 2011-09-07 | 如皋市江海技工学校 | Adjustable manipulator for numerical control machine |
| CN203156750U (en) * | 2013-04-12 | 2013-08-28 | 山东电力建设第二工程公司 | Multipurpose mechanical gripper |
| CN203357446U (en) * | 2013-07-12 | 2013-12-25 | 中国石油大学(华东) | Drill rod handling mechanical arm |
| CN203919056U (en) * | 2014-05-27 | 2014-11-05 | 高浩哲 | A kind of rotating liquid cylinder pressure drives paw |
| CN204382284U (en) * | 2015-01-09 | 2015-06-10 | 哈尔滨职业技术学院 | Car body catching robot is used in Sucked type vehicle assembling |
| CN204450557U (en) * | 2014-12-28 | 2015-07-08 | 程保星 | Grabbing device |
| CN204450537U (en) * | 2014-12-28 | 2015-07-08 | 程保星 | Catching robot |
-
2015
- 2015-08-03 CN CN201510492913.4A patent/CN105128006A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0621111A1 (en) * | 1993-04-20 | 1994-10-26 | UNIVER S.p.A. | Hydropneumatically controlled multi-axis manipulator |
| CN201960566U (en) * | 2010-12-18 | 2011-09-07 | 如皋市江海技工学校 | Adjustable manipulator for numerical control machine |
| CN203156750U (en) * | 2013-04-12 | 2013-08-28 | 山东电力建设第二工程公司 | Multipurpose mechanical gripper |
| CN203357446U (en) * | 2013-07-12 | 2013-12-25 | 中国石油大学(华东) | Drill rod handling mechanical arm |
| CN203919056U (en) * | 2014-05-27 | 2014-11-05 | 高浩哲 | A kind of rotating liquid cylinder pressure drives paw |
| CN204450557U (en) * | 2014-12-28 | 2015-07-08 | 程保星 | Grabbing device |
| CN204450537U (en) * | 2014-12-28 | 2015-07-08 | 程保星 | Catching robot |
| CN204382284U (en) * | 2015-01-09 | 2015-06-10 | 哈尔滨职业技术学院 | Car body catching robot is used in Sucked type vehicle assembling |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109580267A (en) * | 2018-12-10 | 2019-04-05 | 天津工业大学 | A kind of linear expansion mechanism |
| CN109580267B (en) * | 2018-12-10 | 2020-12-11 | 天津工业大学 | Linear telescopic mechanism |
| CN110562732A (en) * | 2019-09-06 | 2019-12-13 | 西安航空职业技术学院 | Environment-friendly hydraulic manipulator |
| CN112875593A (en) * | 2021-01-25 | 2021-06-01 | 金丽丽 | Power communication maintenance equipment |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151209 |
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| RJ01 | Rejection of invention patent application after publication |