Airframe is to support the part with drive arm directly. The circumgyrate that realizes an arm commonly and litre fall motion, how is the main transfer machinery of these motion on airframe, the trunk that perhaps forms airframe directly and base are linked together. Accordingly, the exercise of brachial ministry is more, the orgnaization of airframe and case getting power is more complex. Airframe can be secured, also can walk, can move along the ground or orbit of built on stilts already. According to design requirement, manipulator should realize an arm the circumgyrate of 1800 moves, athletic orgnaization designs the circumgyrate that realizes an arm to be in in airframe commonly. Give reasonable athletic orgnaization for the design, be about to consider integratedly, analysis. Airframe is bearing the weight of arm, make turn, litre fall motion, it is the main component of manipulator. Commonly used airframe structure has the following kinds: (1) circumgyrate crock park rises fall the structure under. Advantage of this kind of structure is to be able to bear moment of force of bigger lay particular stress on. Its defect is to answer have a change of luck to move transmission line to grow, of spline axis be out of shape bigger to the influence of circumgyrate precision. (2) circumgyrate crock park rises fall the structure over. This kind of structure uses one-cylinder piston rod, in-house and oriented, the structure is compact. But circumgyrate crock and brachial ministry rise together fall, athletic part is larger. (3) piston crock and rack gear orgnaization. The circumgyrate motion of the arm is to pass rack gear orgnaization to come true: The reciprocate of rack is driven make turn of move back and forth with arm connective gear, make arm left and right sides swings thereby. Analysis: Through integrated consideration, this design chooses circumgyrate crock park to rise fall the structure over the crock. This design airframe includes two campaign, the circumgyrate of airframe and litre fall. Following plan institute are shown, circumgyrate orgnaization park rises fall the airframe structure over the crock. Of arm part and circumgyrate crock go up the join that carry a lid, the rotor of circumgyrate crock and cylinder body join, drive arm circumgyrate to move by cylinder body. The runner shaft of circumgyrate crock and litre fall the piston lever of the crock is an organic whole. Piston lever is used hollow, one spline is installed to cover inside cooperate with spline axis, the piston rises fall to be directed by spline axis. Spline axis and with litre fall the lower end top of the crock is secured with key, next short lids the base with what connect ground plane is fixed. Secured spline shaft so, also secured piston lever through spline axis. This kind of structure is oriented lever interiorly, the structure is compact. Particular structure sees figure below. Circumgyrate crock park rises fall the actuating device of airframe structure sketch map over the crock is hydraulic pressure drive, circumgyrate crock passes two oily aperture, an inlet port, one discharges oily aperture, the two side that lead to circumgyrate lamina respectively will realize blade circumgyrate. Circumgyrate angle relies on mechanical link stopper to decide commonly, to be designed originally even if considering the point of view that can turn between two lamina, to satisfy design requirement, the rotor in the design and static piece between can circumgyrate 1800. CNC MillingCNC Machining