Three-degree-of-freedom polar-coordinate hydraulic drive manipulator

Abstract

The invention relates to a three-degree-of-freedom polar-coordinate hydraulic drive manipulator. The three-degree-of-freedom polar-coordinate hydraulic drive manipulator consists of a base, a rotating hydraulic cylinder, a rotating table, a pitching hydraulic cylinder, a photoelectric detection device, a stand column, a telescopic hydraulic cylinder and a paw, wherein the stand column and the pitching hydraulic cylinder are installed on the rotating table, the telescopic hydraulic cylinder is hinged to the stand column and the pitching hydraulic cylinder, the paw is installed on a hydraulic cylinder rod of the telescopic hydraulic cylinder, the rotating table is connected with the rotating hydraulic cylinder in the base, the photoelectric detection device consists of an infrared photoelectric sensor and a transmission-type grating, the infrared photoelectric sensor is installed on a hydraulic cylinder body, the transmission-type grating is installed on the hydraulic cylinder rod, the grating is driven by the motion of the hydraulic cylinder rod to generate photoelectric signal pulse, whether an arm moves in place or not is judged by the controller according to a photoelectric signal fed back to an input end, then the motion and stopping of the hydraulic cylinder are controlled by the controller, the free positioning requirement of the manipulator can be realized, and the three-degree-of-freedom polar-coordinate hydraulic drive manipulator has characteristics of low cost and high universality.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a three-degree-of-freedom polar coordinate hydraulically driven manipulator. Background technique [0002] With the wide application of manipulator technology, general-purpose manipulators with independent controllers, flexible actions, and suitable for small and medium-sized batches of automated production have developed rapidly. At present, the driving methods of general-purpose manipulators mostly adopt electric drive and hydraulic drive. Motor-driven manipulator control It has good performance, fast response, and accurate positioning, but it is not conducive to fire and explosion protection, and the cost is high; most of the existing hydraulically driven manipulators are special-purpose manipulators, which are designed for special occasions and purposes, and lack versatility. The universal manipulator with low cost and easy maintenance is in line with the development con...

AI Technical Summary

Problems solved by technology

[0003] The object of the present invention is to propose a three-degree-of-freedom polar-coordinate type hydraulically driven manipulator for the high cost and poor versatility of existing manipulators, which can realize three-degree-of-freedom movements of pitch, telescopic, and turn, and has low cost, With strong versatility, it can be used in small and medium batch automated production in modern manufacturing

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