CN204450535U - A kind of multiple degrees of freedom hydraulic mechanical arm - Google Patents

Abstract

The utility model discloses a multi-degree-of-freedom hydraulic mechanical arm, which comprises a support frame connected with a plurality of rotating units which are sequentially connected front and rear and can be rotated independently, and each rotating unit includes a swing oil cylinder and a swing cylinder respectively. The rotor or casing of the oil cylinder is connected to the rotating arm, the casing or rotor of the swing cylinder of the latter rotating unit is connected to the rotating arm of the previous rotating unit, and the rotating arm of the rearmost rotating unit is connected with a bracket, and the end is installed on the bracket. executive body. The utility model has higher redundancy, more flexibility, high precision, fast response, and also has the characteristics of large rigidity and large load, and is suitable for autonomous operations such as robot handling, picking, and flexible assembly.

Description

A multi-degree-of-freedom hydraulic manipulator

technical field

The utility model relates to a multi-degree-of-freedom hydraulic mechanical arm.

Background technique

The mechanical arm is a device used in the field of intelligent robots. It has the advantages of flexible operation and high repeatability and is widely used in assembly, welding, loading and unloading and other production lines. In the manufacturing industry, there are many repetitive and complex operations such as picking, handling and flexible assembly of large-quality workpieces at multiple stations. During operation, the robotic arm needs to meet the requirements of high precision, large load, and high rigidity. At the same time, it also needs to meet the requirements of good compliance and end static to ensure the accuracy of the operation and protect the workpiece. At present, the mechanical arms used in a large number are generally single-function mechanical arms, that is, they include a rotary cylinder or a telescopic cylinder connected to a support frame, and an end effector is installed on the piston rod of the telescopic cylinder or rotary cylinder. The end effector includes, for example, a grab Take manipulators, spot welding manipulators or positioning manipulators, etc. However, for more complex operations, or when the movement space is relatively narrow, higher requirements are put forward for the flexibility and motion redundancy of the manipulator, for example, during body assembly , first clamp the inner top, and then clamp the outer part or the outer bottom, which requires multiple sets of the above-mentioned mechanical arms to realize. At present, there is no mechanical arm that can realize rotation in multiple directions, so that it can be used in a narrow movement space. local work.

Utility model content

Aiming at the above problems, the utility model provides a multi-degree-of-freedom hydraulic mechanical arm that realizes rotation in multiple directions so as to work in a place with a narrow movement space.

In order to solve the above-mentioned technical problems, the utility model provides a multi-degree-of-freedom hydraulic mechanical arm with the following structure, which includes a support frame. Each rotating unit includes a swing cylinder and a swing arm connected with the rotor or housing of the swing cylinder, the housing or rotor of the swing cylinder of the latter rotation unit is connected with the rotation arm of the previous rotation unit, and the last The rotating arm of the rotating unit is connected with a bracket, and the end actuator is installed on the bracket.

The center line of rotation of the preceding rotating unit is perpendicular to the center line of rotating of the following rotating unit.

The end effector is clamping manipulator or spot welding manipulator or positioning manipulator.

A total of six sets of rotating units are arranged from the front to the rear, and the third rotating unit from the front to the rear includes two swing cylinders and two swing arms arranged in parallel, and the front end of one of the swing arms is connected to the rotor of the previous swing cylinder. The rear end is connected on the housing of the last swing cylinder.

The rotating arm of a part of the rotating unit is provided with an arc-shaped limiting groove, and the housing of the swing cylinder of the part of rotating unit is provided with a limiting stopper located in the limiting groove.

After the above-mentioned structure is adopted, since a plurality of rotating units that can rotate independently are provided, the respective rotating arms can be driven to rotate through the swing cylinder, and the rotating units arranged in sequence at the front and rear will rotate respectively, so that the entire mechanical arm is multi-jointed. Bending at an angle, the end effector can perform actions such as clamping or spot welding or positioning of the body.

In summary, the utility model has higher redundancy, more flexibility, high precision, fast response, and also has the characteristics of large rigidity and large load, and is suitable for autonomous operations such as robot handling, picking, and flexible assembly.

Description of drawings

Fig. 1 is the structural representation of a kind of embodiment of the utility model;

Fig. 2 is a schematic diagram of the assembly structure of one of the rotating units;

Fig. 3 is the structural representation of another embodiment of the utility model;

Fig. 4 is a schematic structural view of the third embodiment of the utility model.

Detailed ways

Below in conjunction with accompanying drawing, the specific embodiment of the present utility model is described in further detail:

As shown in Figure 1 and Figure 2, the utility model provides a multi-degree-of-freedom hydraulic mechanical arm, which includes a support frame 1, which can be connected to the fixed seat of the robot, and the support frame 1 is connected with forward and backward Six rotating units that are secondary connected and can rotate independently, each rotating unit includes a swing cylinder 2 and a rotating arm 3 connected with the rotor of the swing cylinder 2, the housing of the swing cylinder 2 of the latter rotation unit is connected with the previous rotation unit The rotating arm 3 of the rotating unit is connected, and the rotating center line of the previous rotating unit is perpendicular to the rotating center line of the following rotating unit, wherein the rotating arms 3 of the 1st, 3rd and 6th rotating units from the front to the rear are provided with arc-shaped The limiting groove 6, the housing of the swing cylinder 2 of the above-mentioned rotating unit is provided with a limiting block 7 located in the limiting groove 6, the formation of the limiting groove 6 adopts this structure in this embodiment, and the rotating arm 3. An arc-shaped retaining ring is arranged on the part where the swing cylinder 2 and the rotating arm are connected, and the gap left by the arc-shaped retaining ring forms the above-mentioned limit groove 6. After the above-mentioned swing cylinder 2 is assembled with the rotating arm, the limit stop The block 7 is located in the above-mentioned gap, so that the swing cylinder of this part of the rotary unit cannot be rotated 360 degrees. According to the needs, different rotary units can be provided with the above structure, so as to control the rotation angle of the swing cylinder, so that the mechanical arm has the greatest degree of freedom. The above-mentioned limit groove 6 may also adopt a structure in which a sunken groove is provided on the rotating arm, that is, the limit block 7 extends into the above-mentioned sunken groove. The rotating arm 3 of the rearmost rotating unit is connected with a support 4, and an end effector 5 is installed on the support 4. The end effector 5 is a clamping manipulator or a spot welding manipulator or a positioning manipulator, which is a clamping manipulator in this embodiment. .

As shown in Figure 3, the utility model provides another embodiment, the basic structure of which is the same as that of the above embodiment, the difference is that the third rotating unit from the front to the rear includes two swing cylinders arranged in parallel 2 and two swivel arms 3, wherein the front end of the swivel arm 3 on the top is connected on the rotor of the previous swing cylinder 2, and the rear end is connected on the housing of the rear swing cylinder 2. As shown in Figure 4, the utility model provides a third embodiment, the basic structure of which is the same as that of the above embodiment, the difference is that the third rotating unit from the front to the rear includes two swing cylinders arranged in parallel 2 and two swivel arms 3, wherein the front end of the swivel arm 3 on the top is connected on the rotor of the previous swing cylinder 2, and the rear end is connected on the housing of the rear swing cylinder 2.

As shown in Figure 1, Figure 3 and Figure 4, according to the functional design of different robots, different numbers of the above-mentioned rotating units can be provided, and each rotating unit can be provided with different numbers of swing cylinders and corresponding rotating arms , the equivalent changes of the above structure will not be described here one by one.

The above is the specific structural form of the present utility model, and the present utility model is not limited by the foregoing embodiments. For those skilled in the art, equivalent changes based on the specific structure of the present utility model and parts replacement are all within the protection of the present utility model. within range.

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.