Seven-degree-of-freedom force feedback hydraulic driving mechanical arm

A technology for driving machinery and force feedback, applied in the field of robotic arms, it can solve the problems of flexible working space limitations at the end, and achieve the effects of increasing flexible working space, high protection level, and large load/self-weight ratio.

Pending Publication Date: 2018-03-16
SHANDONG YOUBAOTE INTELLIGENT ROBOTICS CO LTD
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Problems solved by technology

[0005] The mechanical arms disclosed in the above documents are all driven by hydraulic pressure and have a strong load capacity, but due

Method used

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  • Seven-degree-of-freedom force feedback hydraulic driving mechanical arm
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  • Seven-degree-of-freedom force feedback hydraulic driving mechanical arm

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Embodiment Construction

[0041] The seven-degree-of-freedom force feedback hydraulically driven mechanical arm of the present invention, such as figure 1As shown, it includes six connecting rod assemblies connected in sequence and a hydraulic control assembly 7 . The six connecting rod components are the first connecting rod assembly 1 , the second connecting rod assembly 2 , the third connecting rod assembly 3 , the fourth connecting rod assembly 4 , the fifth connecting rod assembly 5 and the sixth connecting rod assembly 6 . The six are connected sequentially through rotary joints, and each rotary joint is connected with a hydraulic cylinder, and an encoder is installed on each rotary joint; a force sensor 506 is installed on the front end of the fifth connecting rod assembly 5, and a The front end is provided with a two-finger gripper, and the fingers of the gripper are connected with a clamping oil cylinder through a link mechanism; the oil circuits of each hydraulic cylinder are connected with a...

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Abstract

A seven-degree-of-freedom force feedback hydraulically driven mechanical arm, including a hydraulic control assembly and a connecting rod assembly. The connecting rod assembly includes six first connecting rod assemblies, second connecting rod assemblies, and third connecting rod assemblies connected sequentially through rotary joints , the fourth link assembly, the fifth link assembly and the sixth link assembly, each rotary joint is connected with a hydraulic cylinder, and an encoder is installed on each rotary joint; the front end of the fifth link assembly is equipped with a force For the sensor, the front end of the sixth connecting rod assembly is provided with a two-finger gripper, and the fingers of the gripper are connected to a clamp oil cylinder through a linkage mechanism; the oil circuits of each hydraulic cylinder are connected to the hydraulic control assembly. The mechanical arm adopts a full series structure, has six degrees of freedom of rotation, is hydraulically driven, has a large load/weight ratio, high protection level, large working space and beautiful appearance, all of which broaden the scope of application.

Description

technical field [0001] The invention relates to a multi-joint hydraulically driven mechanical arm, which belongs to the technical field of mechanical arms. Background technique [0002] With the rapid development of industry, industrial robots, especially mechanical arms, have been widely used in assembly, welding, handling and other industries, which has greatly improved the automation level of industrial production and liberated humans from repetitive labor or extremely harsh working environments. come out. [0003] At present, almost all industrial robots are driven by servo motors and RV or harmonic reducers. Although they have high position accuracy and mature technology, their load / weight ratio is small and their environmental adaptability is poor, such as underwater, humidity, nuclear radiation or the presence of Environment with strong electromagnetic interference. [0004] Chinese patent document CN1035380701A discloses a 5-DOF hydraulic servo manipulator, which u...

Claims

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Application Information

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IPC IPC(8): B25J9/14B25J15/02
CPCB25J9/106B25J9/146B25J15/0206
Inventor 荣学文范永葛怀国谢爱珍温刚
Owner SHANDONG YOUBAOTE INTELLIGENT ROBOTICS CO LTD
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