CN106607873A - Simple type hydraulic manipulator - Google Patents
Simple type hydraulic manipulator Download PDFInfo
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- CN106607873A CN106607873A CN201510695167.9A CN201510695167A CN106607873A CN 106607873 A CN106607873 A CN 106607873A CN 201510695167 A CN201510695167 A CN 201510695167A CN 106607873 A CN106607873 A CN 106607873A
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Abstract
本发明涉及一种简易液压机械手，由底座、廻转液压缸、廻转台、俯仰液压缸、立柱、伸缩液压缸、手爪组成，立柱及俯仰液压缸安装在回转台上，伸缩液压缸通过铰链与立柱及俯仰液压缸相连接，形成四连杆机构，手爪安装在伸缩液压缸的液压缸杆上，回转台与底座中的回转液压缸相连接。控制液压缸的运动和停止，可以实现机械手定位的需要，从而使本发明具有成本低、结构简单的特点。
The invention relates to a simple hydraulic manipulator, which is composed of a base, a swivel hydraulic cylinder, a swivel turntable, a pitch hydraulic cylinder, a column, a telescopic hydraulic cylinder, and a claw. It is connected with the column and the pitching hydraulic cylinder to form a four-bar linkage mechanism, the gripper is installed on the hydraulic cylinder rod of the telescopic hydraulic cylinder, and the rotary table is connected with the rotary hydraulic cylinder in the base. Controlling the movement and stop of the hydraulic cylinder can realize the requirement of manipulator positioning, so that the present invention has the characteristics of low cost and simple structure.
Description
技术领域technical field
本发明涉及机械手技术领域，特别是一种简易型液压机械手。The invention relates to the technical field of manipulators, in particular to a simple hydraulic manipulator.
背景技术Background technique
随着机械手技术的广泛应用，具有独立控制器、动作灵活、适用于中小批量自动化生产的通用机械手得到迅速发展，但目前通用机械手的结构比较复杂。而具有成本低，结构简单的液压机械手符合当今社会高效、低成本、安全、环保的发展理念，因此在现代工业中的中小批量自动化生产的作用越来越重要。With the wide application of manipulator technology, general-purpose manipulators with independent controllers, flexible movements, and suitable for automatic production of small and medium batches have been developed rapidly, but the structure of general-purpose manipulators is relatively complicated at present. The hydraulic manipulator with low cost and simple structure conforms to the development concept of high efficiency, low cost, safety and environmental protection in today's society. Therefore, the role of small and medium batch automated production in modern industry is becoming more and more important.
发明内容Contents of the invention
本发明的目的在于：针对现有机械手结构复杂的不足，提出一种简易液压机械手，可实现俯仰、伸缩、廻转三个自由度的运动，具有成本低，结构简单特点，可用于现代制造业中的中小批量自动化生产。The purpose of the present invention is to propose a simple hydraulic manipulator for the complex structure of the existing manipulator, which can realize the motion of three degrees of freedom of pitching, telescopic and turning, and has the characteristics of low cost and simple structure, and can be used in modern manufacturing Medium and small batch automated production.
本发明提供的技术方案是：一种简易型液压机械手，由底座、廻转液压缸、廻转台、俯仰液压缸、立柱、伸缩液压缸、手爪组成，立柱及俯仰液压缸安装在回转台上，伸缩液压缸通过铰链与立柱及俯仰液压缸相连接，形成四连杆机构，手爪安装在伸缩液压缸的液压缸杆上，回转台与底座中的回转液压缸相连接。The technical solution provided by the invention is: a simple hydraulic manipulator, which is composed of a base, a swivel hydraulic cylinder, a swivel turntable, a pitch hydraulic cylinder, a column, a telescopic hydraulic cylinder, and a hand claw. The column and the pitch hydraulic cylinder are installed on the turntable. , the telescopic hydraulic cylinder is connected with the column and the pitch hydraulic cylinder through a hinge to form a four-bar linkage mechanism, the claw is installed on the hydraulic cylinder rod of the telescopic hydraulic cylinder, and the rotary table is connected with the rotary hydraulic cylinder in the base.
本发明突出优点在于：俯仰液压缸通过连杆机构将液压缸的直线运动转化为机械手绕水平轴的仰俯动作，实现手臂仰俯运动的结构比较简单，从而使本发明具有成本低，结构简单的特点。The outstanding advantage of the present invention is that the pitching hydraulic cylinder converts the linear motion of the hydraulic cylinder into the pitching motion of the manipulator around the horizontal axis through the connecting rod mechanism, and the structure for realizing the pitching motion of the arm is relatively simple, so that the present invention has low cost and simple structure specialty.
附图说明Description of drawings
图1为本发明所述一种简易型液压驱动机械手示意图。Fig. 1 is a schematic diagram of a simple hydraulically driven manipulator according to the present invention.
具体实施方式detailed description
以下通过附图对本发明的技术方案作进一步说明。The technical solution of the present invention will be further described below with reference to the accompanying drawings.
一种简易型液压驱动机械手，由1底座、2廻转液压缸、3廻转台、4俯仰液压缸、6立柱、7伸缩液压缸、8手爪组成，立柱及俯仰液压缸安装在回转台上，伸缩液压缸与立柱及俯仰液压缸通过铰链连接，形成四连杆机构，手爪安装在伸缩液压缸的液压缸杆上，回转台与底座中的回转液压缸相连接。A simple hydraulically driven manipulator, consisting of 1 base, 2 swivel hydraulic cylinders, 3 swivel turntables, 4 pitch hydraulic cylinders, 6 columns, 7 telescopic hydraulic cylinders, and 8 claws. The columns and pitch hydraulic cylinders are installed on the turntable , the telescopic hydraulic cylinder is connected with the column and the pitching hydraulic cylinder through a hinge to form a four-bar linkage mechanism, the claw is installed on the hydraulic cylinder rod of the telescopic hydraulic cylinder, and the rotary table is connected with the rotary hydraulic cylinder in the base.
俯仰液压缸通过连杆机构将液压缸的直线运动转化为机械手绕水平轴的仰俯动作，实现手臂仰俯运动的结构比较简单；然后控制液压缸的运动和停止，可以实现机械手定位的需要，从而使本发明具有成本低、结构简单的特点。The pitching hydraulic cylinder converts the linear motion of the hydraulic cylinder into the pitching motion of the manipulator around the horizontal axis through the linkage mechanism, and the structure of realizing the pitching motion of the arm is relatively simple; then controlling the movement and stop of the hydraulic cylinder can realize the positioning of the manipulator. Therefore, the present invention has the characteristics of low cost and simple structure.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510695167.9A CN106607873A (en) | 2015-10-26 | 2015-10-26 | Simple type hydraulic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510695167.9A CN106607873A (en) | 2015-10-26 | 2015-10-26 | Simple type hydraulic manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN106607873A true CN106607873A (en) | 2017-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510695167.9A Pending CN106607873A (en) | 2015-10-26 | 2015-10-26 | Simple type hydraulic manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098747A (en) * | 2017-12-27 | 2018-06-01 | 华南智能机器人创新研究院 | A kind of wu-zhi-shan pig of the electronic clamping jaw of band |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3428189A (en) * | 1965-06-22 | 1969-02-18 | Atomic Energy Authority Uk | Remote-control manipulator |
| JPS5483270A (en) * | 1977-12-15 | 1979-07-03 | Toshiba Corp | Device for rocking arm of industrial robot |
| CN104647375A (en) * | 2015-01-09 | 2015-05-27 | 广西大学 | Three-degree-of-freedom polar-coordinate hydraulic drive manipulator |
| CN104723337A (en) * | 2013-12-20 | 2015-06-24 | 广西大学 | Three-degree-of-freedom polar coordinate type pneumatic manipulator |
-
2015
- 2015-10-26 CN CN201510695167.9A patent/CN106607873A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3428189A (en) * | 1965-06-22 | 1969-02-18 | Atomic Energy Authority Uk | Remote-control manipulator |
| JPS5483270A (en) * | 1977-12-15 | 1979-07-03 | Toshiba Corp | Device for rocking arm of industrial robot |
| CN104723337A (en) * | 2013-12-20 | 2015-06-24 | 广西大学 | Three-degree-of-freedom polar coordinate type pneumatic manipulator |
| CN104647375A (en) * | 2015-01-09 | 2015-05-27 | 广西大学 | Three-degree-of-freedom polar-coordinate hydraulic drive manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098747A (en) * | 2017-12-27 | 2018-06-01 | 华南智能机器人创新研究院 | A kind of wu-zhi-shan pig of the electronic clamping jaw of band |
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Application publication date: 20170503 |