CN109676353A - Robot Peg-in-Hole assembles beating type end effector - Google Patents
Robot Peg-in-Hole assembles beating type end effector Download PDFInfo
- Publication number
- CN109676353A CN109676353A CN201811634941.5A CN201811634941A CN109676353A CN 109676353 A CN109676353 A CN 109676353A CN 201811634941 A CN201811634941 A CN 201811634941A CN 109676353 A CN109676353 A CN 109676353A
- Authority
- CN
- China
- Prior art keywords
- oil inlet
- oil return
- groove
- control valve
- oil
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
- B23P19/027—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Actuator (AREA)
Abstract
The invention discloses a kind of Robot Peg-in-Holes to assemble beating type end effector, including actuator ontology, and the front end of actuator ontology is equipped with assembly cylinder；The rear end of actuator ontology is equipped with valve group；Valve group includes two and beats control valve, and beating control valve includes valve body, and valve body inner sleeve is installed with spool；Valve body is equipped with the first oil inlet, the second oil inlet, the first oil return opening and the second oil return opening；Oil inlet passage and drainback passage are equipped in actuator ontology；One of them is beaten the second oil inlet of control valve and the second oil return opening and is connected with the rodless cavity of assembly cylinder, another is beaten the second oil inlet of control valve and the second oil return opening and is connected with the rod chamber of assembly cylinder；One end of spool is equipped with spline, and spline inner sleeve is installed with drive rod, and installation is equipped with the linear motor for driving spool to move axially along drive rod in actuator ontology, and the driving mechanism for driving two drive rods to rotate synchronously is equipped in actuator ontology.
Description
Technical field
The present invention relates to a kind of end effector of robot, specifically assemble beating type end for a kind of Robot Peg-in-Hole and hold
Row device.
Background technique
The Chinese patent of Publication No. CN206966980U discloses a kind of pin shaft assemble mechanism, specifically, its technical side
Case are as follows: including pedestal, bottom plate；It further include material fetching mechanism, feeding pressure mechanism, guiding mechanism, pusher；The feeding pressure mechanism includes
The linear mould group of press cylinder, binder fixed block, binder；The press cylinder is fixed on the linear mould group of binder by binder pedestal
On；The press cylinder pushes binder fixed block mobile by binder floating junction；The pusher includes ejection cylinder, top
The linear mould group of rod fixed block, knock-pin, pusher；The ejection cylinder is fixed in the linear mould group of pusher；The ejection cylinder
Push the knock-pin being fixed on the knock-pin fixed block mobile；The guiding mechanism include be oriented to linear mould group, guiding axis,
Motor；The motor is fixed in the linear mould group of guiding, and the motor drives the guiding axis to rotate by transmission mechanism；It is described
The linear mould group of binder, material fetching mechanism, the linear mould group of guiding, the linear mould group of pusher are fixed on the bottom plate, the pusher
It is located at the two sides of feeding pressure mechanism with guiding mechanism；The bottom plate is fixed on the base by displacement mechanism.
Pin shaft is directly assembled in hole by the pin shaft assemble mechanism using cylinder, for clearance fit between pin shaft and hole
Situation can satisfy the requirement of assembly, and still, if pin shaft and hole are interference fitted, which is unable to satisfy dress
With requirement.When axis and hole are interference fitted, generally assembled by the way of artificial in the prior art, when manual assembly, one
As gradually axis is assembled in hole by the way of beating.Similarly, for robot, the dress of existing peg-in-hole assembly mechanism
Requirement can not be fully met with mode, thus needs a kind of new end effector to simulate artificial beating type assembly side
Formula.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of Robot Peg-in-Holes to assemble beating type end effector, it can
Meet clearance fit between axis and hole and matching requirements when being interference fitted.
In order to achieve the above objectives, the invention provides the following technical scheme:
A kind of Robot Peg-in-Hole assembles beating type end effector, including actuator ontology, before the actuator ontology
End is equipped with assembly cylinder, and the piston rod of the assembly cylinder, which extends, to be stretched out except the front end of the actuator ontology；The execution
The rear end of device ontology is equipped with the valve group that movement is beaten for controlling the assembly cylinder；
The valve group includes two and beats control valve, and the control valve of beating includes valve body, and the valve body inner sleeve is installed with
Rotate the spool of cooperation；
The valve body be equipped with the first oil inlet, the second oil inlet, the first oil return opening and the second oil return opening, described first into
The axis of hydraulic fluid port and the second oil inlet is respectively positioned on the same radial section of the valve body, first oil return opening and second time
The axis of hydraulic fluid port is respectively positioned on the same radial section of the valve body；
The spool includes poppet shaft, and the poppet shaft is equipped with the first valve core housing and the second valve core housing, first valve
Annular groove is respectively equipped between core retainer plate and the second valve core housing and the poppet shaft；First valve core housing is equipped with the first oil inlet ditch
Slot and the second oil inlet groove, and when the first oil inlet groove is connected with first oil inlet, the second oil inlet ditch
Slot is connected with second oil inlet；Second valve core housing is equipped with the first oil return groove and the second oil return groove, and works as
When the first oil return groove is connected with first oil return opening, the second oil return groove is connected with second oil return opening
It is logical；And when being connected between the first oil inlet groove and first oil inlet, the first oil return groove and described first
Oil return opening it is separated；When being connected between the first oil return groove and first oil return opening, the first oil inlet groove
It is separated with first oil inlet；
It is beaten in control valve described in two, the first oil inlet groove and described first of control valve is beaten described in one of them
It beats when being connected between oil inlet, described in another and is connected between the first oil return groove of control valve and first oil return opening；
It beats described in one of them when being connected between the first oil return groove of control valve and first oil return opening, beats described in another
It beats between the first oil inlet groove and first oil inlet of control valve and is connected to；
The oil inlet passage that the first oil inlet of control valve is beaten described in being used to be connected to two is equipped in the actuator ontology
With the drainback passage of the first oil return opening for beating control valve described in being connected to two；The of control valve is beaten described in one of them
Two oil inlets and the second oil return opening are connected with the rodless cavity of the assembly cylinder, and the second of control valve is beaten described in another
Oil inlet and the second oil return opening are connected with the rod chamber of the assembly cylinder；
One end of the spool is equipped with spline, and the spline inner sleeve is installed with the biography being slidably matched with its single-degree-of-freedom
Lever, the interior installation of the actuator ontology are equipped with the straight-line electric for driving the spool to move axially along the drive rod
Machine, the interior driving mechanism being equipped with for driving two drive rods to rotate synchronously of the actuator ontology.
Further, the driving mechanism includes being fixedly mounted on the intrinsic decelerating motor of the actuator, the deceleration
The output shaft of motor is equipped with driving gear, is respectively equipped with the passive tooth engaged with the driving gear on two drive rods
Wheel, and two driven gears are equal with the transmission ratio between the driving gear.
Further, be equipped in the actuator ontology rodless cavity for being connected to the assembly cylinder and one of them described in
First communicating passage of the second oil inlet and the second oil return opening of beating control valve has bar with for being connected to the assembly cylinder
Chamber and another described in beat the second oil inlet of control valve and the second communicating passage of the second oil return opening.
Further, the rear end of the spool is arranged in the spline.
Further, the periphery wall of the spline is equipped with the collar to extend radially outwardly, the output of the linear motor
Axis is equipped with the shift fork cooperated with the collar.
Further, the rear end of the actuator ontology is equipped with rear end cap, the rear end face of the rear end cap be equipped with for
The connector of robot connection.
Further, the front end of the actuator ontology is equipped with drive end bearing bracket, on the drive end bearing bracket with the work of the assembly cylinder
Stopper rod is correspondingly provided with through-hole.
Further, it is fixedly mounted on the drive end bearing bracket and is equipped with finger cylinder, on two fingers of the finger cylinder respectively
Installation is equipped with clamping limb, two clamping limbs it is opposite be correspondingly provided with holding tank on one side, and when two holding tanks closures
When formed coaxial with the piston rod of the assembly cylinder and be used to clamp the holding holes of shaft forgings.
Further, installation is equipped with beating head on the piston rod of the assembly cylinder.
Further, the axis co-axial for belonging to same first oil inlet and the second oil inlet for beating control valve, belongs to
In the axis co-axial of same first oil return opening for beating control valve and the second oil return opening, and belong to same described beat
The axis of the axis of first oil inlet of control valve and first oil return opening is located on the same axial cross section of the valve body；
The first oil inlet groove and the second oil inlet groove annular be arranged at first valve core housing it is same in the radial direction, institute
State the first oil return groove and the second oil return groove annular be uniformly arranged the second valve core housing it is same in the radial direction, and in institute
It states on the axial view direction of spool, the radial direction and described first where the first oil inlet groove and the second oil inlet groove
Radial direction where oil return groove and the second oil return groove is vertical.
The beneficial effects of the present invention are:
A kind of Robot Peg-in-Hole of the invention assembles beating type end effector, and the principle is as follows: utilizing sub-linear motor
Not Tiao Jie two spools axial movements for beating control valve, and then adjust two the first oil inlet grooves and first for beating control valve
Area of passage size between oil inlet, and the same mistake beaten between the second oil inlet groove of control valve and the second oil inlet
Between area of passage and the second oil return groove and the second oil return opening between flow area, the first oil return groove and the first oil return opening
Area of passage of the area of passage between the first oil inlet groove and the first oil inlet it is equal (hereinafter referred to as area of passage)；Such as
This, the technical purpose individually adjusted may be implemented in two area of passages for beating control valve；
When shaft forgings and hole interference fit need to beat shaft forgings assembly when, using linear motor adjust the second oil inlet and
The area of passage A for beating control valve that second oil return opening is connected with the rodless cavity of assembly cylinder1With rodless cavity cross-sectional area S1It
Between ratio be greater than the overcurrent for beating control valve that the second oil inlet and the second oil return opening are connected with the rod chamber of assembly cylinder
Area A2With rod chamber cross-sectional area S2Between ratio, i.e. A1/S1> A2/(S1-S0), wherein S2=S1-S0, S0For piston rod
Cross-sectional area, in this way, when the first oil inlet for beating control valve being connected with rodless cavity is connected with the first oil inlet groove,
The first oil return opening for beating control valve being connected with rod chamber is connected with the first oil return groove, assembles the rodless cavity of cylinder at this time
Oil inlet, rod chamber oil return, piston rod move forward, and beat shaft forgings；Driving mechanism drives valve core rotation, is connected when with rodless cavity
The first oil return opening for beating control valve when being connected with the first oil return groove, the first of the rotation control hair being connected with rod chamber
Oil inlet is connected with the first oil inlet groove, assembles the rodless cavity oil return of cylinder, rod chamber oil inlet at this time, and piston rod moves back
Dynamic, i.e., piston rod bounces back after once beating；And the stroke that piston rod is beaten forward is greater than the stroke to bounce back, in this way, driving machine
Structure driving spool continues to rotate, and piston rod can beat forward shaft forgings again and again, until shaft forgings are completely assembled to corresponding hole
It is interior, realize the technical purpose of shaft forgings beating type assembly；
When shaft forgings and interporal lacuna cooperate, directly control the first oil inlet for beating control valve being connected with rodless cavity and
First oil inlet groove is connected, and the first oil return opening for beating control valve being connected with rod chamber is connected with the first oil return groove,
The rodless cavity oil inlet of cylinder, rod chamber oil return are assembled at this time, and piston rod moves forward, directly shaft forgings are assembled in hole；When
So, it can also be assembled at this time using beating type, it is suitable when principle is with interference fit, it is not repeated；
In summary, Robot Peg-in-Hole of the invention assembles beating type end effector, can assemble such as traditional pivot pin
Mechanism equally meets the assembly of the shaft forgings of clearance fit, and controls assembly cylinder by setting valve group and do beating type movement, can
Simulation manually beats movement, meets the technical purpose of the shaft forgings assembly of interference fit.
Detailed description of the invention
In order to keep the purpose of the present invention, technical scheme and beneficial effects clearer, the present invention provides following attached drawing and carries out
Illustrate:
Fig. 1 is the structural schematic diagram that Robot Peg-in-Hole of the present invention assembles beating type end effector embodiment；
Fig. 2 is the A detail drawing of Fig. 1.
Description of symbols:
1- actuator ontology；2- assembles cylinder；3- beats control valve；4- valve body；5- spool；The first oil inlet of 6-；7-
Two oil inlets；The first oil return opening of 8-；The second oil return opening of 9-；The first valve core housing of 10-；The second valve core housing of 11-；12- oil inlet passage；
13- drainback passage；14- spline；15- drive rod；16- linear motor；17- decelerating motor；18- driving gear；19- passive tooth
Wheel；The first communicating passage of 20-；The second communicating passage of 21-；22- collar；23- shift fork；24- rear end cap；25- connector；Before 26-
End cap；27- finger cylinder；28- clamping limb；29- beating head.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It better understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
As shown in Figure 1, assembling the structural schematic diagram of beating type end effector embodiment for Robot Peg-in-Hole of the present invention.This
The Robot Peg-in-Hole of embodiment assembles beating type end effector, including actuator ontology 1, the front end of actuator ontology 1 are equipped with
Cylinder 2 is assembled, the piston rod of assembly cylinder 2, which extends, to be stretched out except the front end of actuator ontology 1, on the piston rod for assembling cylinder 2
Installation is equipped with beating head 29, realizes the technical purpose that shaft forgings are beaten with assembly.The rear end of actuator ontology 1 is equipped with for controlling
Assembly cylinder 2 beats the valve group of movement.Valve group includes two and beats control valve 3, and beating control valve 3 includes valve body 4, valve body 4
Inner sleeve is installed with the spool 5 for rotating cooperation.
Valve body 4 is equipped with the first oil inlet 6, the second oil inlet 7, the first oil return opening 8 and the second oil return opening 9, the first oil inlet
The axis of mouth 6 and the second oil inlet 7 is respectively positioned on the same radial section of valve body 4, the first oil return opening 8 and the second oil return opening 9
Axis be respectively positioned on the same radial section of valve body 4.
Spool 5 includes poppet shaft, and poppet shaft is equipped with the first valve core housing 10 and the second valve core housing 11,10 He of the first valve core housing
Annular groove is respectively equipped between second valve core housing 11 and poppet shaft；First valve core housing 10 be equipped with the first oil inlet groove and second into
Oil groove, and when the first oil inlet groove is connected with the first oil inlet 6, the second oil inlet groove is connected with the second oil inlet 7；
Second valve core housing 11 is equipped with the first oil return groove and the second oil return groove, and when the first oil return groove and 8 phase of the first oil return opening
When connection, the second oil return groove is connected with the second oil return opening 9；And works as and be connected between the first oil inlet groove and the first oil inlet 6
When, the first oil return groove is separated with the first oil return opening 8；When being connected between the first oil return groove and the first oil return opening 8, the
One oil inlet groove is separated with the first oil inlet 6.
Two are beaten in control valve 3, when one of them beat control valve 3 the first oil inlet groove and the first oil inlet 6 it
Between when being connected to, another is beaten and is connected between the first oil return groove of control valve 3 and the first oil return opening 8；When one of them is beaten
When being connected between the first oil return groove of control valve 3 and the first oil return opening 8, another beats the first oil inlet groove of control valve 3
It is connected between the first oil inlet 6.
It is equipped with the oil inlet passage 12 for being connected to the first oil inlet 6 that two are beaten control valve 3 in actuator ontology 1 and uses
The drainback passage 13 of the first oil return opening 8 of control valve 3 is beaten in connection two；One of them beats the second oil inlet of control valve 3
Mouth 7 and the second oil return opening 9 are connected with the rodless cavity of assembly cylinder 2, another beats 7 He of the second oil inlet of control valve 3
Second oil return opening 9 is connected with the rod chamber of assembly cylinder 2.It is used for specifically, being equipped in the actuator ontology 1 of the present embodiment
The rodless cavity of connection assembly cylinder 2 beats the second oil inlet 7 and the first company of the second oil return opening 9 of control valve 3 with one of them
Circulation passage 20 and rod chamber for being connected to assembly cylinder 2 beat with another the second oil inlet 7 and the second oil return of control valve 3
Second communicating passage 21 of mouth 9.
One end of spool 5 is equipped with spline 14, and 14 inner sleeve of spline is installed with the transmission being slidably matched with its single-degree-of-freedom
Bar 15, the interior installation of actuator ontology 1 are equipped with the linear motor 16 for driving spool 5 to move axially along drive rod 15, execute
The driving mechanism for driving two drive rods 15 to rotate synchronously is equipped in device ontology 1.The driving mechanism of the present embodiment includes solid
Decelerating motor 17 of the Dingan County in actuator ontology 1, the output shaft of decelerating motor 17 are equipped with driving gear 18, two transmissions
The driven gear 19 engaged with driving gear 18 is respectively equipped on bar 15, and between two driven gears 19 and driving gear 18
Transmission ratio is equal.Specifically, the rear end of spool 5 is arranged in the spline 14 of the present embodiment, the periphery wall of spline 14 is equipped with
The collar 22 to extend radially outwardly, the output shaft of linear motor 16 are equipped with the shift fork 23 cooperated with collar, and linear motor 16 drives
Dynamic shift fork 23 and then drives spool 5 to move along its axis along the axial movement of spool 5, realizes and adjusts the first oil inlet and the
The technical purpose of area of passage size between one oil inlet groove.
Further, the rear end of actuator ontology 1 is equipped with rear end cap 24, and the rear end face of rear end cap 24, which is equipped with, to be used for and machine
The connector 25 of people's connection.The front end of actuator ontology 1 is equipped with drive end bearing bracket 26, on drive end bearing bracket 26 with the piston rod of assembly cylinder 2
It is correspondingly provided with through-hole.It is fixedly mounted on the drive end bearing bracket 26 of the present embodiment and is equipped with finger cylinder 27, two fingers of finger cylinder 27
Upper installation respectively is equipped with clamping limb 28, two clamping limbs 28 it is opposite be correspondingly provided with holding tank on one side, and when two holding tanks close
The holding holes coaxial and for clamping shaft forgings with the piston rod of assembly cylinder 2 are formed when conjunction, for clamping shaft forgings, and in axis
In like members assembling process, the guiding role being axially moved to shaft forgings is realized.
Specifically, the present embodiment belongs to the axis of same the first oil inlet 6 for beating control valve 3 and the second oil inlet 7
It is coaxial, belong to the axis co-axial of same the first oil return opening 8 for beating control valve 3 and the second oil return opening 9, and belong to same beat
The axis of the first oil inlet 6 and the axis of the first oil return opening 8 for beating control valve 3 are located on the same axial cross section of valve body 4；The
One oil inlet groove and the second oil inlet groove annular be arranged at the first valve core housing 10 it is same in the radial direction, the first oil return ditch
Slot and the second oil return groove annular be uniformly arranged the second valve core housing 11 it is same in the radial direction, and in the axial direction of spool 5
Radial direction and the first oil return groove and the second oil return ditch on view direction, where the first oil inlet groove and the second oil inlet groove
Radial direction where slot is vertical, in this way, the first oil inlet and the second oil inlet can be connected to during spool 5 rotates one week
Twice, similarly, the first oil return opening and the second oil return opening can also be connected to twice, more efficient.
A kind of Robot Peg-in-Hole of the present embodiment assembles beating type end effector, and the principle is as follows: utilizing linear motor
Two spool for beating control valve axial movements are adjusted respectively, and then adjust the first oil inlet groove that two are beaten control valve and the
Area of passage size between one oil inlet, and same beat between the second oil inlet groove of control valve and the second oil inlet
Area of passage and the second oil return groove and the second oil return opening between area of passage, the first oil return groove and the first oil return opening it
Between area of passage of the area of passage between the first oil inlet groove and the first oil inlet it is equal (hereinafter referred to as area of passage)；
In this way, the technical purpose individually adjusted may be implemented in two area of passages for beating control valve；
When shaft forgings and hole interference fit need to beat shaft forgings assembly when, using linear motor adjust the second oil inlet and
The area of passage A for beating control valve that second oil return opening is connected with the rodless cavity of assembly cylinder1With rodless cavity cross-sectional area S1It
Between ratio be greater than the overcurrent for beating control valve that the second oil inlet and the second oil return opening are connected with the rod chamber of assembly cylinder
Area A2With rod chamber cross-sectional area S2Between ratio, i.e. A1/S1> A2/(S1-S0), wherein S2=S1-S0, S0For piston rod
Cross-sectional area.In this way, when the first oil inlet for beating control valve being connected with rodless cavity is connected with the first oil inlet groove,
The first oil return opening for beating control valve being connected with rod chamber is connected with the first oil return groove, assembles the rodless cavity of cylinder at this time
Oil inlet, rod chamber oil return, piston rod move forward, and beat shaft forgings；Driving mechanism drives valve core rotation, is connected when with rodless cavity
The first oil return opening for beating control valve when being connected with the first oil return groove, the first of the rotation control hair being connected with rod chamber
Oil inlet is connected with the first oil inlet groove, assembles the rodless cavity oil return of cylinder, rod chamber oil inlet at this time, and piston rod moves back
Dynamic, i.e., piston rod bounces back after once beating；And the stroke that piston rod is beaten forward is greater than the stroke to bounce back, in this way, driving machine
Structure driving spool continues to rotate, and piston rod can beat forward shaft forgings again and again, until shaft forgings are completely assembled to corresponding hole
It is interior, realize the technical purpose of shaft forgings beating type assembly；
When shaft forgings and interporal lacuna cooperate, directly control the first oil inlet for beating control valve being connected with rodless cavity and
First oil inlet groove is connected, and the first oil return opening for beating control valve being connected with rod chamber is connected with the first oil return groove,
The rodless cavity oil inlet of cylinder, rod chamber oil return are assembled at this time, and piston rod moves forward, directly shaft forgings are assembled in hole；When
So, it can also be assembled at this time using beating type, it is suitable when principle is with interference fit, it is not repeated.
In summary, the Robot Peg-in-Hole of the present embodiment assembles beating type end effector, can fill such as traditional pivot pin
Fitting mechanism equally meets the assembly of the shaft forgings of clearance fit, and controls assembly cylinder by setting valve group and do beating type movement,
Analog manually beats movement, meets the technical purpose of the shaft forgings assembly of interference fit.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in the present invention
Protection scope within.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of Robot Peg-in-Hole assembles beating type end effector, it is characterised in that: described to hold including actuator ontology (1)
The front end of row device ontology (1) is equipped with assembly cylinder (2), and the piston rod of assembly cylinder (2), which extends, stretches out the actuator sheet
Except the front end of body (1)；The rear end of the actuator ontology (1), which is equipped with, beats movement for controlling the assembly cylinder (2)
Valve group；
The valve group includes two and beats control valve (3), and the control valve (3) of beating includes valve body (4), in the valve body (4)
Set is installed with the spool (5) for rotating cooperation；
The valve body (4) is equipped with the first oil inlet (6), the second oil inlet (7), the first oil return opening (8) and the second oil return opening
(9), the axis of first oil inlet (6) and the second oil inlet (7) is respectively positioned on the same radial section of the valve body (4)
On, the axis of first oil return opening (8) and the second oil return opening (9) is respectively positioned on the same radial section of the valve body (4)；
The spool (5) includes poppet shaft, and the poppet shaft is equipped with the first valve core housing (10) and the second valve core housing (11), described
Annular groove is respectively equipped between first valve core housing (10) and the second valve core housing (11) and the poppet shaft；First valve core housing
(10) it is equipped with the first oil inlet groove and the second oil inlet groove, and when the first oil inlet groove and first oil inlet (6)
When being connected, the second oil inlet groove is connected with second oil inlet (7)；Second valve core housing (11) is equipped with the
One oil return groove and the second oil return groove, and when the first oil return groove is connected with first oil return opening (8), it is described
Second oil return groove is connected with second oil return opening (9)；And when the first oil inlet groove and first oil inlet (6)
Between when being connected to, the first oil return groove is separated with first oil return opening (8)；When the first oil return groove and institute
It states when being connected between the first oil return opening (8), the first oil inlet groove is separated with first oil inlet (6)；
It is beaten described in two in control valve (3), the first oil inlet groove and described the of control valve (3) is beaten described in one of them
When being connected between one oil inlet (6), the first oil return groove and first oil return opening of control valve (3) are beaten described in another
(8) it is connected between；It beats between the first oil return groove of control valve (3) and first oil return opening (8) described in one of them
It beats when connection, described in another and is connected between the first oil inlet groove of control valve (3) and first oil inlet (6)；
The oil inlet that the first oil inlet (6) of control valve (3) is beaten described in being used to be connected to two is equipped in the actuator ontology (1)
The drainback passage (13) in channel (12) and the first oil return opening (8) for beating control valve (3) described in being connected to two；One of them
The rodless cavity phase of second oil inlet (7) for beating control valve (3) and the second oil return opening (9) with assembly cylinder (2)
Connection, beaten described in another control valve (3) the second oil inlet (7) and the second oil return opening (9) with the assembly cylinder (2)
Rod chamber be connected；
One end of the spool (5) is equipped with spline (14), and spline (14) inner sleeve is installed with to be slided with its single-degree-of-freedom
The drive rod (15) of cooperation, the interior installation of the actuator ontology (1) are equipped with for driving the spool (5) along the drive rod
(15) linear motor (16) moved axially, the actuator ontology (1) is interior to be equipped with for driving two drive rods (15)
The driving mechanism of synchronous rotation.
2. Robot Peg-in-Hole according to claim 1 assembles beating type end effector, it is characterised in that: the driving machine
Structure includes the decelerating motor (17) that is fixedly mounted in the actuator ontology (1), on the output shaft of the decelerating motor (17)
Equipped with driving gear (18), the driven gear engaged with the driving gear (18) is respectively equipped on two drive rods (15)
(19), and two driven gears (19) are equal with the transmission ratio between the driving gear (18).
3. Robot Peg-in-Hole according to claim 1 assembles beating type end effector, it is characterised in that: the actuator
Be equipped in ontology (1) rodless cavity for being connected to assembly cylinder (2) and one of them described in beat the second of control valve (3)
The first communicating passage (20) of oil inlet (7) and the second oil return opening (9) and rod chamber for being connected to assembly cylinder (2) with
The second oil inlet (7) of control valve (3) and the second communicating passage (21) of the second oil return opening (9) are beaten described in another.
4. Robot Peg-in-Hole according to claim 1 assembles beating type end effector, it is characterised in that: the spline
(14) it is arranged in the rear end of the spool (5).
5. Robot Peg-in-Hole according to claim 4 assembles beating type end effector, it is characterised in that: the spline
(14) periphery wall is equipped with the collar (22) that extends radially outwardly, the output shaft of the linear motor (16) be equipped with it is described
The shift fork (23) of collar cooperation.
6. Robot Peg-in-Hole according to claim 1 assembles beating type end effector, it is characterised in that: the actuator
The rear end of ontology (1) is equipped with rear end cap (24), and the rear end face of the rear end cap (24) is equipped with the company for connecting with robot
Connector (25).
7. Robot Peg-in-Hole according to claim 1 assembles beating type end effector, it is characterised in that: the actuator
The front end of ontology (1) is equipped with drive end bearing bracket (26), and the piston rod on the drive end bearing bracket (26) with assembly cylinder (2) is correspondingly provided with
Through-hole.
8. Robot Peg-in-Hole according to claim 7 assembles beating type end effector, it is characterised in that: the drive end bearing bracket
(26) it is fixedly mounted on and is equipped with finger cylinder (27), installation is equipped with clamping limb respectively on two fingers of the finger cylinder (27)
(28), what two clamping limbs (28) were opposite is correspondingly provided with holding tank on one side, and is formed when two holding tanks are closed
The holding holes coaxial and for clamping shaft forgings with the piston rod of assembly cylinder (2).
9. Robot Peg-in-Hole according to claim 1 assembles beating type end effector, it is characterised in that: the assembly gas
Installation is equipped with beating head (29) on the piston rod of cylinder (2).
10. -9 described in any item Robot Peg-in-Holes assemble beating type end effector according to claim 1, it is characterised in that:
The axis co-axial for belonging to same first oil inlet (6) and the second oil inlet (7) for beating control valve (3), belongs to same
The axis co-axial of a first oil return opening (8) and the second oil return opening (9) for beating control valve (3), and belong to same described
The axis of the axis and first oil return opening (8) of beating the first oil inlet (6) of control valve (3) is located at the valve body (4)
On the same axial cross section；The first oil inlet groove and the second oil inlet groove annular are arranged at first valve core housing (10)
It is same in the radial direction, the first oil return groove and the second oil return groove annular are uniformly arranged in the second valve core housing (11)
It is same in the radial direction, and on the axial view direction of the spool (5), the first oil inlet groove and the second oil inlet
Radial direction where groove is vertical with the radial direction where the first oil return groove and the second oil return groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634941.5A CN109676353B (en) | 2018-12-29 | 2018-12-29 | Hammer type end effector assembled in shaft hole of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634941.5A CN109676353B (en) | 2018-12-29 | 2018-12-29 | Hammer type end effector assembled in shaft hole of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109676353A true CN109676353A (en) | 2019-04-26 |
| CN109676353B CN109676353B (en) | 2020-06-05 |
Family
ID=66191109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811634941.5A Active CN109676353B (en) | 2018-12-29 | 2018-12-29 | Hammer type end effector assembled in shaft hole of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109676353B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002081152A1 (en) * | 2001-04-09 | 2002-10-17 | Rme Holdings Pty Limited | Linerbolt removal tool |
| US20090309078A1 (en) * | 2008-06-11 | 2009-12-17 | Mark Waterman | Power nail extractor |
| CN201872286U (en) * | 2010-12-07 | 2011-06-22 | 苏州恒尔机械制造有限公司 | Pipe ramming device |
| CN103707047A (en) * | 2013-12-30 | 2014-04-09 | 马鞍山博纬机械制造有限公司 | Rapid installation device and method for hydraulic breaking hammer drill rod base assembly drill rod bushing |
| CN107443049A (en) * | 2017-09-20 | 2017-12-08 | 武汉市找礼找我创意礼品有限公司 | A kind of pneumatic hammer device for axle of pulling pin |
| CN108487857A (en) * | 2018-05-19 | 2018-09-04 | 山东胜利石油装备产业技术研究院 | A kind of novel valve-type hydraulic impacter |
| CN108817915A (en) * | 2018-09-26 | 2018-11-16 | 郑州科技学院 | Clamping device is used in a kind of assembly of bearing |
| CN108907676A (en) * | 2018-09-05 | 2018-11-30 | 江苏铁锚明信交通科技有限公司 | Foof weather strip automatic installation apparatus |
-
2018
- 2018-12-29 CN CN201811634941.5A patent/CN109676353B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002081152A1 (en) * | 2001-04-09 | 2002-10-17 | Rme Holdings Pty Limited | Linerbolt removal tool |
| US20090309078A1 (en) * | 2008-06-11 | 2009-12-17 | Mark Waterman | Power nail extractor |
| CN201872286U (en) * | 2010-12-07 | 2011-06-22 | 苏州恒尔机械制造有限公司 | Pipe ramming device |
| CN103707047A (en) * | 2013-12-30 | 2014-04-09 | 马鞍山博纬机械制造有限公司 | Rapid installation device and method for hydraulic breaking hammer drill rod base assembly drill rod bushing |
| CN107443049A (en) * | 2017-09-20 | 2017-12-08 | 武汉市找礼找我创意礼品有限公司 | A kind of pneumatic hammer device for axle of pulling pin |
| CN108487857A (en) * | 2018-05-19 | 2018-09-04 | 山东胜利石油装备产业技术研究院 | A kind of novel valve-type hydraulic impacter |
| CN108907676A (en) * | 2018-09-05 | 2018-11-30 | 江苏铁锚明信交通科技有限公司 | Foof weather strip automatic installation apparatus |
| CN108817915A (en) * | 2018-09-26 | 2018-11-16 | 郑州科技学院 | Clamping device is used in a kind of assembly of bearing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109676353B (en) | 2020-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109990008A (en) | A kind of direct-connected multi-disc friction power takeoff | |
| CN103174490B (en) | Hydraulic pressure variable valve device based on rotor control | |
| CN106050790B (en) | A kind of multirow stroke cylinder | |
| CN109483580A (en) | Shaft forgings assembly cooperation robot system | |
| JPH0570722B2 (en) | ||
| CN100523461C (en) | Load responding engine | |
| CN109676353A (en) | Robot Peg-in-Hole assembles beating type end effector | |
| CN110388474A (en) | A kind of miniaturization guide electromagnetic valve of quick response | |
| CN205823772U (en) | A kind of balanced valve | |
| CN104454803A (en) | Mechanical and hydraulic composite energy-saving cylinder for long idle stroke and short pressure stroke | |
| CN209053651U (en) | It can be changed electro-hydraulic valve gear entirely | |
| CN209671596U (en) | Synchronizer shifting cylinder | |
| CN106939808B (en) | Exhaust valve device with hydraulic rotary valve device applied to low-speed diesel engine | |
| CN106762000B (en) | One kind is based on seperated rocker arm hydraulic stepless variable valve actuator for air | |
| WO2021139564A1 (en) | Fully variable electro-hydraulic valve system | |
| CN109339896A (en) | It can be changed electro-hydraulic valve gear entirely | |
| CN211107375U (en) | Mechanical double-cavity balance brake valve | |
| CN204387006U (en) | A kind of electric hydraulic oil cylinder | |
| CN205136208U (en) | Ally oneself with synchronous pneumatic cylinder more | |
| CN105156168B (en) | Sliding rod type engine brake actuating device | |
| CN211343052U (en) | Fully variable electro-hydraulic valve system | |
| EP2815088B1 (en) | A hydraulic valve arrangement for controllably operating a gas exchange valve of an internal combustion piston engine | |
| CN108561371B (en) | Novel buffer oil cylinder | |
| CN201110224Y (en) | Load response engine | |
| CN202832691U (en) | Hydraulic tappet suitable for variable valve timing mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |