CN106553192A - A kind of light hydraulic translation conveying robot - Google Patents
A kind of light hydraulic translation conveying robot Download PDFInfo
- Publication number
- CN106553192A CN106553192A CN201510631585.1A CN201510631585A CN106553192A CN 106553192 A CN106553192 A CN 106553192A CN 201510631585 A CN201510631585 A CN 201510631585A CN 106553192 A CN106553192 A CN 106553192A
- Authority
- CN
- China
- Prior art keywords
- hydraulic
- arm
- conveying robot
- manipulator
- translation conveying
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
A kind of light hydraulic translation conveying robot, using finger-type clamper, is connected on arm by flange, provides power by hydraulic cylinder, is fed before and after driving voussoir, so realize finger promptly-loosening up.The mechanical arm holder compact conformation, lightweight, efficiency high；The design of wrist part structure meet compact conformation, rational deployment, condition of work be adapted to etc. require；Manipulator telescopic arm structure meets the requirement such as its adaptability, reliability, security；The design of machine-hand driving system meets its sequence of movement and logical requirements.Whole machine work coordination, efficiency high.
Description
Technical field
The present invention relates to a kind of manipulator, particularly a kind of light hydraulic translation conveying robot.
Background technology
With the needs that industrial automation develops, manipulator in commercial Application more and more extensively, it is especially more extensive in high temperature, high pressure, dust, noise and applications with radioactivity and pollution.Manipulator is constructed and the two-fold advantage for having people and machine in performance concurrently, in terms of being especially embodied in the intelligence and adaptability of people.The ability fulfiled assignment in the accuracy and varying environment of mechanical manual task, has extensive development space in national economy field.On the one hand why it promptly can be recognized by people, be because that it can replace that part is artificial to be operated, still further aspect it can be according to the requirement of production technology, it then follows certain program, time and position are completing the transmission and handling of workpiece.
Additionally, manipulator can operate necessary equipment to be welded and assembled, so as to greatly improve the working condition of workman, labor productivity is significantly improved, accelerate the paces for realizing industrial production mechanization and automation, thus paid attention to by many countries.Also had in China in recent years and developed faster, and obtained certain achievement.
Carry out little structure, lightweight, the research of flexible translation conveying robot on the basis of conveying robot movement mechanism is understood in depth emphatically, determine the basic structure of carrying manipulator system, complete including running part, executable portion, drive part design work, and the mechanical property to conveying robot analyzed.
The content of the invention
The present invention proposes a kind of light hydraulic translation conveying robot, the mechanical arm holder compact conformation, lightweight, efficiency high；The design of wrist part structure meet compact conformation, rational deployment, condition of work be adapted to etc. require；Manipulator telescopic arm structure meets the requirement such as its adaptability, reliability, security；The design of machine-hand driving system meets its sequence of movement and logical requirements.Whole machine work coordination, efficiency high.
The technical solution adopted in the present invention is：
The clamper should have appropriate clamping force and driving force, and finger should have certain folding scope, should ensure that clamp precision of the workpiece in finger, it is desirable to compact conformation, lightweight, efficiency high.The manipulator adopts finger-type clamper, is connected on arm by flange, provides power by hydraulic cylinder, feeds before and after driving voussoir, so realize finger promptly-loosening up.
Compact conformation, lightweight, rational deployment are made every effort in the design of the wrist of the manipulator, as manipulator is that material is carried in workplace indoors, impact of the working environment to which is little, so using the hydraulically powered typical wrist part structure of rotary cylinder with one degree of freedom.
The base plate of the manipulator telescopic arm is fixed in large arm, and front end flange installation manipulator completes linear telescopic action.Using single rod double-act-ing hydraulic J-Horner, meter out speed governing is carried out using one-way speed-regulating valve when arm stretches out, when being close to terminal, send signal, carry out speed governing buffering, position by the oil cylinder stroke limit, being oriented to using guide post prevents from rotating, and controls telescopic direction using electro-hydraulic reversing valve.
The light-duty translation conveying robot adopts hydraulic-driven control mode, and hydraulic drive is the working media using the fluid for having pressure as transmission power.Motor drives fuel pump output pressure oil, and the mechanical energy that motor is supplied is converted into the pressure energy of fluid.Pressure oil enters oil cylinder through pipeline and control and regulation device etc., promotes piston rod movement, so that arm makees the motions such as flexible, lifting, the pressure energy of fluid is converted into mechanical energy again.The frictional resistance that arm can be overcome in motion, and chucking power required during clamper grip finger workpiece, it is relevant with effective work area of the pressure of fluid and piston.Arm do the speed of various motions be decided by flow into sealed cylinder in fluid volume number.This volume change by means of moving pressure oil is referred to as volume hydraulic transmission come the hydraulic drive for transmitting power, and the Hydraulic Power Transmission System of manipulator belongs to volume hydraulic transmission.
The machine-hand driving system adopts blade oil pump feed, and sequence of movement is as follows：From the beginning of original position, --- --- clamp holder clamping --- --- base F.F. is turned round, and --- --- --- telescopic arm stretches out --- clamper release ---, and retract for wrist revolution for base slow-motion for lifting arm rising by telescopic arm for lifting arm decline；It is to be processed finish after, sequence of movement conversely, arrive original position stop, prepare next time circulation.
The invention has the beneficial effects as follows：The mechanical arm holder compact conformation, lightweight, efficiency high；The design of wrist part structure meet compact conformation, rational deployment, condition of work be adapted to etc. require；Manipulator telescopic arm structure meets the requirement such as its adaptability, reliability, security；The design of machine-hand driving system meets its sequence of movement and logical requirements.Whole machine work coordination, efficiency high.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the translation conveying robot principle schematic of the present invention.
Fig. 2 is the mechanical arm holder front view of the present invention.
Fig. 3 is the mechanical arm holder top view of the present invention.
Fig. 4 is the mechanical arm holder sectional view of the present invention.
Fig. 5 is the mechanical wrist part structure front view of the present invention.
Fig. 6 is mechanical wrist part structure section view Fig. 1 of the present invention.
Fig. 7 is mechanical wrist part structure section view Fig. 2 of the present invention.
Fig. 8 is the manipulator telescopic arm structure sketch of the present invention.
In figure：1. clamper hydraulic cylinder；2. roller；3. connecting plate；4. voussoir；5. holding finger；6.V type fingers；7. wrist frame；8. the oil pipe of hand is led to；9. rotating hydraulic cylinder；10. hand driving hydraulic cylinder；11. lead to the oil pipe for swinging thick stick；12. left fuel feed holes；13. right fuel feed holes；14. fix blade；15. cylinder bodies；16. gyroaxises；17. rotary vanes；18. bearings；19. oil cylinders；20. knuckle joints；21. flanges；22. line slideways；23. base plates；24. hands
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As Fig. 1, light-duty translation conveying robot adopt hydraulic-driven control mode, hydraulic drive is the working media using the fluid for having pressure as transmission power.Motor drives fuel pump output pressure oil, and the mechanical energy that motor is supplied is converted into the pressure energy of fluid.Pressure oil enters oil cylinder through pipeline and control and regulation device etc., promotes piston rod movement, so that arm makees the motions such as flexible, lifting, the pressure energy of fluid is converted into mechanical energy again.The frictional resistance that arm can be overcome in motion, and chucking power required during clamper grip finger workpiece, it is relevant with effective work area of the pressure of fluid and piston.Arm do the speed of various motions be decided by flow into sealed cylinder in fluid volume number.This volume change by means of moving pressure oil is referred to as volume hydraulic transmission come the hydraulic drive for transmitting power, and the Hydraulic Power Transmission System of manipulator belongs to volume hydraulic transmission.
Machine-hand driving system adopts blade oil pump feed, and sequence of movement is as follows：From the beginning of original position, --- --- clamp holder clamping --- --- base F.F. is turned round, and --- --- --- telescopic arm stretches out --- clamper release ---, and retract for wrist revolution for base slow-motion for lifting arm rising by telescopic arm for lifting arm decline；It is to be processed finish after, sequence of movement conversely, arrive original position stop, prepare next time circulation.
As Fig. 2, Fig. 3, Fig. 4, clamper should have appropriate clamping force and driving force, finger should have certain folding scope, should ensure that clamp precision of the workpiece in finger, it is desirable to compact conformation, lightweight, efficiency high.The manipulator adopts finger-type clamper, is connected on arm by flange, provides power by hydraulic cylinder, feeds before and after driving voussoir, so realize finger promptly-loosening up.
Such as Fig. 5, Fig. 6, Fig. 7, compact conformation, lightweight, rational deployment are made every effort in the design of the wrist of manipulator, as manipulator is that material is carried in workplace indoors, impact of the working environment to which is little, so using the hydraulically powered typical wrist part structure of rotary cylinder with one degree of freedom.
As Fig. 8, the base plate of manipulator telescopic arm are fixed in large arm, front end flange installation manipulator completes linear telescopic action.Using single rod double-act-ing hydraulic J-Horner, meter out speed governing is carried out using one-way speed-regulating valve when arm stretches out, when being close to terminal, send signal, carry out speed governing buffering, position by the oil cylinder stroke limit, being oriented to using guide post prevents from rotating, and controls telescopic direction using electro-hydraulic reversing valve.
Claims (5)
1. a kind of light hydraulic translation conveying robot, is characterized in that：The manipulator adopts finger-type clamper, is connected on arm by flange, provides power by hydraulic cylinder, feeds before and after driving voussoir, so realize finger promptly-loosening up.
2. a kind of light hydraulic translation conveying robot according to claim 1, is characterized in that：Compact conformation, lightweight, rational deployment are made every effort in the design of the wrist of the manipulator, as manipulator is that material is carried in workplace indoors, impact of the working environment to which is little, so using the hydraulically powered typical wrist part structure of rotary cylinder with one degree of freedom.
3. a kind of light hydraulic translation conveying robot according to claim 1, is characterized in that：The base plate of the manipulator telescopic arm is fixed in large arm, front end flange installation manipulator, complete linear telescopic action, using single rod double-act-ing hydraulic J-Horner, meter out speed governing is carried out using one-way speed-regulating valve when arm stretches out, when being close to terminal, send signal, carry out speed governing buffering, position by the oil cylinder stroke limit, being oriented to using guide post prevents from rotating, and controls telescopic direction using electro-hydraulic reversing valve.
4. a kind of light hydraulic translation conveying robot according to claim 1, is characterized in that：The light-duty translation conveying robot adopts hydraulic-driven control mode, and hydraulic drive is that, using the fluid for having pressure as the working media for transmitting power, motor drives fuel pump output pressure oil, and the mechanical energy that motor is supplied is converted into the pressure energy of fluid.
5. a kind of light hydraulic translation conveying robot according to claim 1, is characterized in that：The machine-hand driving system adopts blade oil pump feed, and sequence of movement is as follows：From the beginning of original position, --- --- clamp holder clamping --- --- base F.F. is turned round, and --- --- --- telescopic arm stretches out --- clamper release ---, and retract for wrist revolution for base slow-motion for lifting arm rising by telescopic arm for lifting arm decline；It is to be processed finish after, sequence of movement conversely, arrive original position stop, prepare next time circulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510631585.1A CN106553192A (en) | 2015-09-29 | 2015-09-29 | A kind of light hydraulic translation conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510631585.1A CN106553192A (en) | 2015-09-29 | 2015-09-29 | A kind of light hydraulic translation conveying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106553192A true CN106553192A (en) | 2017-04-05 |
Family
ID=58417024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510631585.1A Pending CN106553192A (en) | 2015-09-29 | 2015-09-29 | A kind of light hydraulic translation conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106553192A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106975866A (en) * | 2017-04-27 | 2017-07-25 | 安徽大学 | Clamping, releasing and head-reversing device for radioactive seed titanium tube |
| CN114833550A (en) * | 2021-11-03 | 2022-08-02 | 中国电力科学研究院有限公司 | Clamping and screwing device for oil taking valve of transformer |
-
2015
- 2015-09-29 CN CN201510631585.1A patent/CN106553192A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106975866A (en) * | 2017-04-27 | 2017-07-25 | 安徽大学 | Clamping, releasing and head-reversing device for radioactive seed titanium tube |
| CN114833550A (en) * | 2021-11-03 | 2022-08-02 | 中国电力科学研究院有限公司 | Clamping and screwing device for oil taking valve of transformer |
| CN114833550B (en) * | 2021-11-03 | 2024-05-24 | 中国电力科学研究院有限公司 | Clamping screwing device for transformer oil taking valve |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204136061U (en) | A kind of novel automatic pneumatic machinery pawl | |
| CN105269563A (en) | Environment-friendly three-freedom-degree fetching mechanical arm used under dangerous work conditions | |
| CN204997665U (en) | Four degree of freedom low pressure electric appliances transfer robots | |
| EP2570208A3 (en) | Work grip device and work transfer method of lathe turning machine | |
| CN102672713A (en) | Bionic manipulator | |
| CN1701928A (en) | Full pneumatic combined multifunctional industrial manipulator | |
| CN204604331U (en) | A kind of plant produced line material conveying robot hydraulic system | |
| CN203792351U (en) | Robot gripping device | |
| CN202399269U (en) | Bionic mechanical hand | |
| CN206663254U (en) | Switching mechanism for truss manipulator | |
| CN205415676U (en) | Novel hydraulic control of manipulator device | |
| CN106553192A (en) | A kind of light hydraulic translation conveying robot | |
| CN204339434U (en) | A kind of based on hydraulically powered Digit Control Machine Tool loading and unloading manipulator | |
| CN206216716U (en) | Based on the electric manipulator that casing is carried | |
| CN204431241U (en) | A kind of five spindle-type transfer robots | |
| CN110217583B (en) | Robot positioning clamping jaw | |
| CN203409777U (en) | Quick grabbing manipulator for voltage internal-resistance testing machine | |
| CN204692221U (en) | A kind of plant produced line material conveying robot hydraulic system | |
| CN116352740A (en) | Snatch dynamics adjustable manipulator | |
| CN206351456U (en) | A kind of mechanical arm holder | |
| CN204431242U (en) | A kind of tetraxon transfer robot | |
| CN203357449U (en) | Improved dual-directional expanding taking and placing device | |
| CN203906445U (en) | Gear rack cylinder and clamping device comprising same | |
| CN209903207U (en) | Full-direct-acting hydraulic cylinder driving mechanical arm | |
| CN106363620A (en) | Stacking mechanical arm device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170405 |
|
| WD01 | Invention patent application deemed withdrawn after publication |