CN204450535U - A kind of multiple degrees of freedom hydraulic mechanical arm - Google Patents
A kind of multiple degrees of freedom hydraulic mechanical arm Download PDFInfo
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- CN204450535U CN204450535U CN201420841973.3U CN201420841973U CN204450535U CN 204450535 U CN204450535 U CN 204450535U CN 201420841973 U CN201420841973 U CN 201420841973U CN 204450535 U CN204450535 U CN 204450535U
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- oil cylinder
- oscillating oil
- mechanical arm
- cursor
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Abstract
The utility model discloses a kind of multiple degrees of freedom hydraulic mechanical arm, it comprises bracing frame, to connect in turn before and after bracing frame is connected with and can independent pivotal multiple rotating unit, the cursor that each rotating unit comprises oscillating oil cylinder respectively and is connected with rotor or the housing of oscillating oil cylinder, housing or the rotor of the oscillating oil cylinder of a rear rotating unit are connected with the cursor of last rotating unit, the cursor of the rotating unit of rearmost is connected with support, support is equipped with end effector mechanism.The utility model has higher redundancy, and more flexibly, precision is high, response is fast, also possesses the feature of large rigidity, heavy load simultaneously, is applicable to the AUTONOMOUS TASK such as robot transport, selection, flexible assembly.
Description
Technical field
The utility model relates to a kind of multiple degrees of freedom hydraulic mechanical arm.
Background technology
Mechanical arm is a kind of device being applied to field in intelligent robotics, has flexible operation, repeatable accuracy advantages of higher is widely used on the production lines such as assembling, welding, loading and unloading.In manufacturing industry; a lot of at the selection of multistation, the repeated complex job such as carrying and flexible assembly towards large-mass workpiece; in these operations; the alternative space of mechanical arm is very large; during the operation such as crawl, assembling to large-mass workpiece; mechanical arm need meet the requirement of high accuracy, heavy load, large rigidity, also needs satisfied good compliance and end static state, to guarantee the precision of operation and to protect workpiece simultaneously.At present, the mechanical arm widely applied is generally the mechanical arm of simple function, namely it comprises the angling cylinder or telescopic oil cylinder that are connected to bracing frame, the piston rod of telescopic oil cylinder or angling cylinder is equipped with end effector mechanism, end effector mechanism comprises such as catching robot, spot welding manipulator or positioning mechanical arm etc., but, for comparatively complicated operation, or when space is comparatively narrow and small, to the flexibility of mechanical arm, motion redundancy degree is had higher requirement, such as, when auto-body assembly, first its inner top is clamped, again to its outside portion or exterior bottom clamping, the above-mentioned mechanical arm of many covers is needed to realize, also do not have now a kind of mechanical arm can realize multiple directions revolution thus in the narrow and small local operation of space.
Utility model content
The utility model for the problems referred to above provide a kind of realize multiple directions revolution thus at the multiple degrees of freedom hydraulic mechanical arm of the narrow and small local operation of space.
In order to solve the problems of the technologies described above, the utility model provides a kind of multiple degrees of freedom hydraulic mechanical arm of following structure, it comprises bracing frame, its design feature is: connect in turn before and after bracing frame is connected with and can independent pivotal multiple rotating unit, the cursor that each rotating unit comprises oscillating oil cylinder respectively and is connected with rotor or the housing of oscillating oil cylinder, housing or the rotor of the oscillating oil cylinder of a rear rotating unit are connected with the cursor of last rotating unit, the cursor of the rotating unit of rearmost is connected with support, support is equipped with end effector mechanism.
The centre of gyration line of last rotating unit is vertical with the centre of gyration line of a rear rotating unit to be arranged.
End effector mechanism is clamping mechanical hand or spot welding manipulator or positioning mechanical arm.
From going to rear six groups of rotating units are set altogether, wherein from going to rear several 3rd rotating unit to comprise two oscillating oil cylinders be arranged in parallel and two cursors, the front end of one of them cursor is connected on the rotor of last oscillating oil cylinder, rear end is connected on the housing of a rear oscillating oil cylinder.
The cursor of partial turn unit is provided with the stopper slot of arc, and the housing of the oscillating oil cylinder of this partial turn unit is provided with the positive stop being arranged in stopper slot.
After adopting said structure, due to be provided with multiple can independent pivotal multiple rotating unit, respective cursor is driven to rotate by oscillating oil cylinder, before and after the rotating unit that sets gradually can each autorotation, thus making whole mechanical arm be the bending of kneed multiple angle, end effector mechanism can clamp vehicle body or the action such as spot welding or location.
In sum, the utility model has higher redundancy, and more flexibly, precision is high, response is fast, also possesses the feature of large rigidity, heavy load simultaneously, is applicable to the AUTONOMOUS TASK such as robot transport, selection, flexible assembly.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of embodiment of the present utility model;
Fig. 2 is the assembly structure schematic diagram of one of them rotating unit;
Fig. 3 is the structural representation of the another kind of embodiment of the utility model;
Fig. 4 is the structural representation of the third embodiment of the utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described in further detail:
As depicted in figs. 1 and 2, the utility model provides a kind of multiple degrees of freedom hydraulic mechanical arm, it comprises bracing frame 1, bracing frame 1 can be connected on the holder of robot, to connect in turn before and after bracing frame 1 is connected with and can pivotal six rotating units separately, the cursor 3 that each rotating unit comprises oscillating oil cylinder 2 respectively and is connected with the rotor of oscillating oil cylinder 2, the housing of the oscillating oil cylinder 2 of a rear rotating unit is connected with the cursor 3 of last rotating unit, the centre of gyration line of last rotating unit is vertical with the centre of gyration line of a rear rotating unit to be arranged, wherein from going to the rear several 1st, the cursor 3 of 3 and 6 rotating units is provided with the stopper slot 6 of arc, the housing of the oscillating oil cylinder 2 of above-mentioned rotating unit is provided with the positive stop 7 being arranged in stopper slot 6, the formation of stopper slot 6 adopts this structure in the present embodiment, the position that the oscillating oil cylinder 2 of cursor 3 is connected with cursor is provided with the baffle ring of arc, the breach that the baffle ring of arc stays forms above-mentioned stopper slot 6, after above-mentioned oscillating oil cylinder 2 assembles with cursor, positive stop 7 is arranged in above-mentioned breach, make the oscillating oil cylinder of this partial turn unit can not realize 360 degree of revolutions, different rotating units can be set as required there is said structure, thus control the angle of revolution of oscillating oil cylinder, mechanical arm is made to have the maximum free degree, above-mentioned stopper slot 6 also can adopt the structure arranging deep gouge on cursor, namely positive stop 7 stretches in above-mentioned deep gouge.The cursor 3 of the rotating unit of rearmost is connected with support 4, support 4 is equipped with end effector mechanism 5, end execution machine 5 is clamping mechanical hand or spot welding manipulator or positioning mechanical arm, and it is clamping mechanical hand in the present embodiment.
As shown in Figure 3, the utility model provides another kind of embodiment, its basic structure is identical with the structure of above-described embodiment, difference is, wherein from going to rear several 3rd rotating unit to comprise two oscillating oil cylinders be arranged in parallel 2 and two cursors 3, the front end of the cursor 3 of its middle and upper part is connected on the rotor of last oscillating oil cylinder 2, rear end is connected on the housing of a rear oscillating oil cylinder 2.As shown in Figure 4, the utility model provides the third embodiment, its basic structure is identical with the structure of above-described embodiment, difference is, wherein from going to rear several 3rd rotating unit to comprise two oscillating oil cylinders be arranged in parallel 2 and two cursors 3, the front end of the cursor 3 of its middle and upper part is connected on the rotor of last oscillating oil cylinder 2, rear end is connected on the housing of a rear oscillating oil cylinder 2.
Shown in composition graphs 1, Fig. 3 and Fig. 4, at the Functional Design according to different robots, the above-mentioned rotating unit of different number can be set, and each rotating unit can arrange the oscillating oil cylinder of different number and corresponding cursor, for the equivalent variations of said structure, do not repeat one by one at this.
The above is specific constructive form of the present utility model, and the utility model is not restricted to the described embodiments, and the art personnel, replaces all in protection domain of the present utility model based on the equivalent variations of the utility model concrete structure and parts.
Claims (5)
1. a multiple degrees of freedom hydraulic mechanical arm, comprise bracing frame, it is characterized in that: to connect in turn before and after bracing frame is connected with and can independent pivotal multiple rotating unit, the cursor that each rotating unit comprises oscillating oil cylinder respectively and is connected with the rotor of oscillating oil cylinder, the housing of the oscillating oil cylinder of a rear rotating unit is connected with the cursor of last rotating unit, the cursor of the rotating unit of rearmost is connected with support, support is equipped with end effector mechanism.
2. multiple degrees of freedom hydraulic mechanical arm as claimed in claim 1, is characterized in that: the centre of gyration line of described last rotating unit is vertical with the centre of gyration line of a rear rotating unit to be arranged.
3. multiple degrees of freedom hydraulic mechanical arm as claimed in claim 1, is characterized in that: described end effector mechanism is clamping mechanical hand or spot welding manipulator or positioning mechanical arm.
4. the multiple degrees of freedom hydraulic mechanical arm according to any one of claim 1-3, it is characterized in that: certainly go to and rear six groups of rotating units are set altogether, wherein from going to rear several 3rd rotating unit to comprise two oscillating oil cylinders be arranged in parallel and two cursors, the front end of one of them cursor is connected on the rotor of last oscillating oil cylinder, rear end is connected on the housing of a rear oscillating oil cylinder.
5. multiple degrees of freedom hydraulic mechanical arm as claimed in claim 4, is characterized in that: the cursor of partial turn unit is provided with the stopper slot of arc, and the housing of the oscillating oil cylinder of this partial turn unit is provided with the positive stop being arranged in stopper slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420841973.3U CN204450535U (en) | 2014-12-28 | 2014-12-28 | A kind of multiple degrees of freedom hydraulic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420841973.3U CN204450535U (en) | 2014-12-28 | 2014-12-28 | A kind of multiple degrees of freedom hydraulic mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204450535U true CN204450535U (en) | 2015-07-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420841973.3U Active CN204450535U (en) | 2014-12-28 | 2014-12-28 | A kind of multiple degrees of freedom hydraulic mechanical arm |
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| CN (1) | CN204450535U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150338A (en) * | 2017-05-19 | 2017-09-12 | 山东建筑大学 | Hydraulic pipeline structure and multiple degrees of freedom hydraulic manipulator |
| CN107448213A (en) * | 2017-08-17 | 2017-12-08 | 四川汇智众创科技有限公司 | Self-propelled engineer machinery hand |
-
2014
- 2014-12-28 CN CN201420841973.3U patent/CN204450535U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150338A (en) * | 2017-05-19 | 2017-09-12 | 山东建筑大学 | Hydraulic pipeline structure and multiple degrees of freedom hydraulic manipulator |
| CN107150338B (en) * | 2017-05-19 | 2019-04-02 | 山东建筑大学 | Hydraulic pipeline structure and multiple degrees of freedom hydraulic manipulator |
| CN107448213A (en) * | 2017-08-17 | 2017-12-08 | 四川汇智众创科技有限公司 | Self-propelled engineer machinery hand |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |