CN112963390A - Hydraulic unit for integrated robot - Google Patents
Hydraulic unit for integrated robot Download PDFInfo
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- CN112963390A CN112963390A CN202110151474.6A CN202110151474A CN112963390A CN 112963390 A CN112963390 A CN 112963390A CN 202110151474 A CN202110151474 A CN 202110151474A CN 112963390 A CN112963390 A CN 112963390A
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- oil
- pipe
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- side wall
- oil pipe
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Mechanical Engineering (AREA)
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- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
The invention relates to the technical field of robot hydraulic units, in particular to a hydraulic unit for an integrated robot, which comprises a support sleeve, wherein an oil cylinder is fixedly connected inside the support sleeve, the outer side wall of the output end of the oil cylinder is communicated with an oil pipe I, the outer side wall of one end, deviating from the oil pipe, of the oil cylinder is communicated with an oil pipe II, one ends, deviating from the support sleeve, of the oil pipe I and the oil pipe II are communicated with a positioning sleeve, a regulating and controlling device is arranged inside the positioning sleeve and comprises a shaft rod, and a piston I is fixedly connected to the outer side wall of one end of the. According to the invention, the fixed rod is pulled through the output end of the oil cylinder to clamp the object by the clamping block on the clamping manipulator, oil at the other end of the oil cylinder flows to the positioning sleeve from the oil pipe and then flows to the oil tank from the oil pipe, the object can be accurately clamped by the clamping block through manually regulating and controlling the operation of the oil cylinder, the clamping action of the clamping block can be conveniently controlled, and the utilization rate of the integrated robot is improved.
Description
Technical Field
The invention relates to the technical field of robot hydraulic units, in particular to a hydraulic unit for an integrated robot.
Background
The integrated robot is an intelligent machine capable of semi-autonomous or fully-autonomous working, historically the earliest robot is found in puppet robots built by Ministry tradesmen in the souls of the souls according to the image of Liu 2529, a mechanism is applied, the puppet robot has the capabilities of sitting, standing, bailing, lying and the like, the integrated robot has the basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improve the working efficiency and quality, serve human life, expand or extend the range of the activity and the capability of the human beings, a hydraulic unit is used as an oil supply device, the hydraulic unit is connected with a hydraulic oil cylinder through an external pipeline system to control the action of the integrated robot, an oil tank, an oil pump and a pipeline form an independent closed power oil source system for the integrated robot to use, part of the integrated robot has the grabbing action simulating the human, and the robot needs to control the grabbing speed when grabbing different articles, when the thing of some soft materials is snatched to needs, snatch speed is more slowly, the manipulator is got with article contact clamp gradually, when getting some steel parts on the production line, can be sometime through the clamp speed of accelerating the manipulator, improve work efficiency, but traditional robotic arm snatchs the speed of article and is difficult for nimble control, lead to sometimes snatching article speed at excessive speed or slow, influence the efficiency that integrated robot snatchs work, and the clamp that gets on the part integrated robot robotic arm needs a plurality of hydro-cylinders and oil pump drive, the work of hydro-cylinder is difficult manual regulation and control also, maintenance cost is high, thereby influence the rate of utilization of integrated robot.
Disclosure of Invention
In order to overcome the technical problems, the invention aims to provide a hydraulic unit for an integrated robot, which is characterized in that oil is conveyed into an oil pipe four through an oil pump, the oil is conveyed into an oil cylinder through an oil pipe two after reaching a positioning sleeve, the output end of the oil cylinder pushes a fixed rod to realize that a clamping block on a clamping manipulator is unfolded to prepare for clamping an object, the oil at the output end of the oil cylinder flows to the positioning sleeve from the oil pipe one, then flows back to the oil tank through an oil pipe three, a shaft rod is moved in the direction back from the positioning sleeve, a piston I, a piston II and a piston III in the positioning sleeve are moved simultaneously, the end part of the oil pipe four is positioned between the piston II and the piston III, the oil in the oil pipe four is conveyed to the output end of the oil cylinder through the oil pipe one, the output end of the oil cylinder pulls the fixed rod, the oil pipe five flows to the oil tank, so that the clamping manipulator can accurately grab the object by manually regulating and controlling the work of the oil cylinder, the grabbing action of the clamping block is convenient to control, and the utilization rate of the integrated robot is improved;
make the threaded rod move down through rotating the nut, the current-limiting ball of threaded rod bottom blocks the velocity of flow of oil in four the insides of oil pipe, because the oil pump is in operating condition always, so oil pipe four is close to the oil pressure of oil pump one end great, buffer spring shrink this moment, the sliding block removes to the buffer spring direction, some fluid flows to the oil extraction pipe through draining the hole and flows to the oil tank again, the confession integrated robot that makes oil source system safer uses, because the transport speed of fluid reduces, the speed that makes the hydro-cylinder output promote dead lever and pulling dead lever reduces, the realization slows down and presss from both sides the speed that the manipulator snatchs the article, be favorable to improving the speed that.
The purpose of the invention can be realized by the following technical scheme:
a hydraulic unit for an integrated robot comprises a support sleeve, wherein one end of the support sleeve is fixedly connected with a connecting sleeve, an oil cylinder is fixedly connected inside the supporting sleeve, the outer side wall of the output end of the oil cylinder is communicated with a first oil pipe, the outer side wall of one end of the oil cylinder, which is far away from the oil pipe, is communicated with an oil pipe II, the oil pipe I and the oil pipe II both penetrate through the supporting sleeve, one ends of the first oil pipe and the second oil pipe, which are far away from the support sleeve, are communicated with a positioning sleeve, a regulating device is arranged inside the positioning sleeve, the regulating device comprises a shaft lever, the outer side wall of one end of the shaft lever is fixedly connected with a piston I, the outer side wall of the other end of the shaft lever is fixedly connected with a piston II, the outer side wall of the middle part of the shaft lever is fixedly connected with a piston III, and the outer side walls of the piston I, the piston II and the piston III are all in sliding fit with the inner side wall of the positioning sleeve;
the oil pipe is communicated with the outer side wall of the positioning sleeve, the connecting pipe is communicated with the middle of the outer side wall of the positioning sleeve, the connecting pipe is communicated with the oil pipe II, the connecting pipe is communicated with the oil pipe III, the connecting pipe is communicated with the oil pipe V, the current limiting device is arranged at one end of the oil pipe IV, the current limiting device comprises a current limiting pipe, one end of the current limiting pipe is fixedly connected with the end part of the corresponding position of the connecting pipe, the other end of the current limiting pipe is fixedly connected with the end part of the corresponding position of the oil pipe IV, the connecting pipe, the current limiting pipe and the oil pipe are communicated with each other, the outer side wall of the top of the current limiting pipe is screwed with a threaded rod, the low end of the threaded rod penetrates through the current limiting pipe and is fixedly connected with a current limiting ball, the oil drainage, Oil tanks are arranged at the bottom ends of the oil pipe IV and the oil pipe V, and one end of the connecting sleeve, which is far away from the supporting sleeve, is fixedly connected with a clamping manipulator;
the oil pump is used for conveying oil to the oil pipe four, the oil is conveyed to the oil cylinder through the oil pipe two after reaching the positioning sleeve, the output end of the oil cylinder pushes the fixed rod to realize that the clamping blocks on the clamping manipulator are unfolded to prepare for clamping objects, the oil at the output end of the oil cylinder flows to the positioning sleeve through the oil pipe one and then flows back to the oil tank through the oil pipe three, the shaft rod is moved in the direction away from the positioning sleeve, the piston one, the piston two and the piston three in the positioning sleeve are moved simultaneously, the end part of the oil pipe four is positioned between the piston two and the piston three, the oil in the oil pipe four is conveyed to the output end of the oil cylinder through the oil pipe one, the output end of the oil cylinder pulls the fixed rod to realize that the clamping blocks on the clamping manipulator clamp the objects, the oil at the other end of the oil cylinder flows to the positioning sleeve, the grabbing action of the clamping block is convenient to control, and the utilization rate of the integrated robot is improved.
Further, the method comprises the following steps: the oil drainage device comprises an oil drainage barrel, the open end of the oil drainage barrel is communicated with the middle of four oil pipes, the inner side wall of the open end of the oil drainage barrel is connected with a sliding block in a sliding mode, a buffer spring is fixedly connected between the sliding block and the inner bottom surface of the oil drainage barrel, an oil drainage hole is formed in the inner side wall of the bottom of the oil drainage barrel, an oil receiving box is fixedly connected to the outer side wall of the bottom of the oil drainage barrel, the bottom surface of the oil receiving box is communicated with an oil drainage pipe, a threaded rod moves downwards by rotating a screw cap, a flow limiting ball at the bottom end of the threaded rod blocks the flow velocity of oil in the four oil pipes, the oil pump is always in a working state, so that the oil pressure of the four oil pipes close to one end of the oil pump is large, the buffer spring shrinks at the moment, the sliding block moves towards the buffer spring, part of the oil flows to, the speed of the output end of the oil cylinder for pushing the fixed rod and pulling the fixed rod is reduced, the speed of the clamping manipulator for grabbing the object is reduced, and the flexible control of the speed of grabbing the object is facilitated.
Further, the method comprises the following steps: the draining hole includes hole one, hole two, hole three and hole four that set gradually from the opening end of draining section of thick bamboo to the sliding block direction, just the diameter of hole two is greater than the diameter of hole one, be greater than the diameter of hole two between the hole three, the diameter of hole four is greater than the diameter of hole three and is convenient for along with the sliding block gradually removes to the buffer spring direction by the fluid that the oil drain pipe was returned to in the draining hole gradually increases.
Further, the method comprises the following steps: the clamping manipulator comprises a positioning ring, one side of the positioning ring deviates from one end fixed connection of the supporting sleeve with the connecting sleeve, the other side of the positioning ring is a plurality of fixed blocks of angle fixed connection such as rings, the first connecting blocks and the second connecting blocks are fixedly connected with one sides of the first connecting blocks, the first connecting blocks are connected with the clamping block in a rotating mode, the two sides of the clamping block close to one end of the connecting block are connected with a second connecting block in a rotating mode, the second connecting block deviates from the first connecting block and pushes the clamping block to push the block in a rotating mode, the fixing rod pushes the fixing rod between the pushing blocks, the output end of the oil cylinder pushes the fixing rod, and the fixing.
Further, the method comprises the following steps: the utility model discloses a clamping device, including the dead lever, the dead lever is connected with the output end fixed connection of hydro-cylinder, the lateral wall that promotes the piece and the inside wall sliding connection of holding ring, the dead lever deviates from one side that promotes the piece and the output fixed connection of hydro-cylinder, is convenient for to promote the piece through the lateral wall that promotes the piece and the inside wall sliding connection of holding ring and drives to press from both sides and.
Further, the method comprises the following steps: and one end of the shaft rod is fixedly sleeved with a handle, and the two ends of the positioning sleeve are fixedly connected with circular sealing blocks, so that the shaft rod can be moved through the handle to control the work of the output end of the oil cylinder.
Further, the method comprises the following steps: the outer side wall of one end of the shaft rod is in sliding connection with the middle of the circular sealing block, so that the shaft rod can conveniently slide in the positioning sleeve to change the positions of the first piston, the second piston and the third piston.
Further, the method comprises the following steps: the lateral wall on threaded rod top cup joints and is fixed with the nut, and the lateral wall of nut cup joints and is fixed with the rubber sleeve, and the flow of four inside fluid of oil pipe is hindered to the current-limiting ball that makes the threaded rod bottom through rotating the nut.
Further, the method comprises the following steps: the top surface fixedly connected with case lid of oil tank, just the case lid is run through to the bottom of oil extraction pipe, avoids the fluid of external environment pollution oil tank the inside through the top surface fixedly connected with case lid at the oil tank.
The invention has the beneficial effects that:
1. the oil pump is used for conveying oil to the oil pipe four, the oil is conveyed to the oil cylinder through the oil pipe two after reaching the positioning sleeve, the output end of the oil cylinder pushes the fixed rod to realize that the clamping blocks on the clamping manipulator are unfolded to prepare for clamping objects, the oil at the output end of the oil cylinder flows to the positioning sleeve through the oil pipe one and then flows back to the oil tank through the oil pipe three, the shaft rod is moved in the direction away from the positioning sleeve, the piston one, the piston two and the piston three in the positioning sleeve are moved simultaneously, the end part of the oil pipe four is positioned between the piston two and the piston three, the oil in the oil pipe four is conveyed to the output end of the oil cylinder through the oil pipe one, the output end of the oil cylinder pulls the fixed rod to realize that the clamping blocks on the clamping manipulator clamp the objects, the oil at the other end of the oil cylinder flows to the positioning sleeve, the grabbing action of the clamping block is convenient to control, and the utilization rate of the integrated robot is improved;
2. make the threaded rod move down through rotating the nut, the current-limiting ball of threaded rod bottom blocks the velocity of flow of oil in four the insides of oil pipe, because the oil pump is in operating condition always, so oil pipe four is close to the oil pressure of oil pump one end great, buffer spring shrink this moment, the sliding block removes to the buffer spring direction, some fluid flows to the oil extraction pipe through draining the hole and flows to the oil tank again, the confession integrated robot that makes oil source system safer uses, because the transport speed of fluid reduces, the speed that makes the hydro-cylinder output promote dead lever and pulling dead lever reduces, the realization slows down and presss from both sides the speed that the manipulator snatchs the article, be favorable to improving the speed that.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the hydraulic unit according to the present invention;
FIG. 3 is a schematic view of the structure of the regulating device of the present invention;
FIG. 4 is a schematic view of a current limiting device according to the present invention;
FIG. 5 is a schematic view of the structure of the oil drainage device of the present invention;
FIG. 6 is a schematic view of the internal structure of the oil drain cylinder according to the present invention;
fig. 7 is a schematic view of the gripping robot according to the present invention.
In the figure: 100. a support sleeve; 110. connecting a sleeve; 200. an oil cylinder; 210. an oil pipe I; 220. an oil pipe II; 300. positioning the sleeve; 331. a connecting pipe; 400. a regulating device; 410. a shaft lever; 420. a first piston; 430. a second piston; 440. a piston III; 450. a handle; 500. an oil pipe III; 600. an oil pipe IV; 610. a current limiting device; 611. a current limiting pipe; 612. a threaded rod; 613. a nut; 614. a current limiting ball; 620. an oil drainage device; 621. an oil discharge cylinder; 622. a slider; 623. a buffer spring; 624. an oil drainage hole; 625. an oil receiving box; 626. an oil discharge pipe; 700. an oil pipe five; 800. an oil tank; 810. a box cover; 900. a gripping manipulator; 910. a positioning ring; 920. a fixed block; 921. a first connecting block; 930. a gripping block; 931. a second connecting block; 940. a pushing block; 950. and (5) fixing the rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, a hydraulic unit for an integrated robot includes a support sleeve 100, a connection sleeve 110 is fixedly connected to one end of the support sleeve 100, an oil cylinder 200 is fixedly connected to the inside of the support sleeve 100, an oil tube one 210 is connected to an outer side wall of an output end of the oil cylinder 200, an oil tube two 220 is connected to an outer side wall of one end of the oil cylinder 200, which is far away from the oil tube one 210, both the oil tube one 210 and the oil tube two 220 penetrate the support sleeve 100, one ends of the oil tube one 210 and the oil tube two 220, which are far away from the support sleeve 100, are connected to a positioning sleeve 300, a control device 400 is arranged inside the positioning sleeve 300, the control device 400 includes a shaft lever 410, a piston one 420 is fixedly connected to an outer side wall of one end of the shaft lever 410, a piston two, the outer side walls of the second piston 430 and the third piston 440 are in sliding contact with the inner side wall of the positioning sleeve 300;
one end of the outer side wall of the positioning sleeve 300 is communicated with an oil pipe III 500, the middle part of the outer side wall of the positioning sleeve 300 is communicated with a connecting pipe 331, one end of the connecting pipe 331, which is far away from the positioning sleeve 300, is communicated with an oil pipe IV 600, one end of the outer side wall of the positioning sleeve 300, which is far away from the oil pipe III 500, is provided with a flow limiting device 610, the flow limiting device 610 comprises a flow limiting pipe 611, one end of the flow limiting pipe 611 is fixedly connected with the end part of the corresponding position of the connecting pipe 331, the other end of the flow limiting pipe 611 is fixedly connected with the end part of the corresponding position of the oil pipe IV 600, the connecting pipe 331, the flow limiting pipe 611 and the oil pipe IV 600 are communicated, the outer side wall of the top of the flow limiting pipe 611 is screwed and connected with a threaded rod 612, the lower end of the threaded rod 612 penetrates, The oil tanks 800 are arranged at the bottom ends of the oil pipe four 600 and the oil pipe five 700, and one end of the connecting sleeve 110 departing from the supporting sleeve 100 is fixedly connected with the clamping manipulator 900;
the oil is delivered into the oil pipe four 600 by the oil pump, the oil is delivered to the oil cylinder 200 by the oil pipe two 220 after reaching the positioning sleeve 300, the output end of the oil cylinder 200 pushes the fixing rod 950 to realize that the clamping block 930 on the clamping manipulator 900 is unfolded to prepare for clamping the object, the oil at the output end of the oil cylinder 200 flows to the positioning sleeve 300 from the oil pipe one 210, and then flows back to the oil tank 800 by the oil pipe three 500, the position of the piston one 420, the piston two 430 and the piston three 440 in the positioning sleeve 300 is simultaneously moved by moving the shaft lever 410 in the direction away from the positioning sleeve 300, the end of the oil pipe four 600 is positioned between the piston two 430 and the piston three 440, at this time, the oil in the oil pipe four 600 is delivered to the output end of the oil cylinder 200 through the oil pipe one 210, the output end of the oil cylinder 200 pulls the fixing rod 950 to realize that the clamping, and then flows to the oil tank 800 through the oil pipe five 700, so that the clamping manipulator 900 can accurately grab the object by manually regulating and controlling the work of the oil cylinder 200, the grabbing action of the clamping block 930 can be conveniently controlled, and the utilization rate of the integrated robot is improved.
The oil drainage device 620 comprises an oil drainage cylinder 621, the open end of the oil drainage cylinder 621 is communicated with the middle part of an oil pipe four 600, the inner side wall of the open end of the oil drainage cylinder 621 is slidably connected with a sliding block 622, a buffer spring 623 is fixedly connected between the sliding block 622 and the inner bottom surface of the oil drainage cylinder 621, the inner side wall of the bottom of the oil drainage cylinder 621 is provided with an oil drainage hole 624, the outer side wall of the bottom of the oil drainage cylinder 621 is fixedly connected with an oil receiving box 625, the bottom surface of the oil receiving box 625 is communicated with an oil drainage pipe 626, the threaded rod 612 moves downwards by rotating a screw cap 613, the flow rate of oil in the oil pipe four 600 is blocked by a flow limiting ball 614 at the bottom end of the threaded rod 612, the oil pump is always in a working state, so that the oil pressure of the oil pipe four 600 close to one end of the oil pump is larger, at the moment, the buffer spring 623 contracts, the sliding block, because the conveying speed of the oil is reduced, the speed of pushing the fixing rod 950 and pulling the fixing rod 950 by the output end of the oil cylinder 200 is reduced, the speed of grabbing the object by the clamping manipulator 900 is reduced, and the flexible control of the speed of grabbing the object is facilitated.
The oil drainage hole 624 comprises a first hole, a second hole, a third hole and a fourth hole which are sequentially formed from the open end of the oil drainage cylinder 621 to the sliding block 622, the diameter of the second hole is larger than that of the first hole, the diameter of the third hole is larger than that of the second hole, and the diameter of the fourth hole is larger than that of the third hole, so that oil which flows back to the oil drainage pipe 626 from the oil drainage hole 624 is gradually increased along with the gradual movement of the sliding block 622 to the direction of the buffer spring 623; the clamping manipulator 900 comprises a positioning ring 910, one side of the positioning ring 910 deviates from one end of the supporting sleeve 100 with the connecting sleeve 110, the other side of the positioning ring 910 is provided with a plurality of fixing blocks 920 which are fixedly connected with angles such as an annular shape, the two sides of the fixing block 920 are respectively and fixedly connected with a first connecting block 921, the two connecting blocks 921 are connected with a first clamping block 930 in a rotating mode, the clamping block 930 is connected with a second connecting block 931 in a rotating mode close to the end portion of the first connecting block 921, the two second connecting blocks 931 deviate from the end portion of the clamping block 930 and are connected with a pushing block 940 in a rotating mode, a plurality of fixing rods 950 fixedly connected with the pushing blocks 940, the fixing rods 950 are pushed through the output end of.
The outer side wall of the pushing block 940 is connected with the inner side wall of the positioning ring 910 in a sliding manner, one side of the fixing rod 950, which is far away from the pushing block 940, is fixedly connected with the output end of the oil cylinder 200, and the pushing block 940 drives the clamping block 930 to move to clamp an object through the sliding connection of the outer side wall of the pushing block 940 and the inner side wall of the positioning ring 910; a handle 450 is fixedly sleeved at one end of the shaft rod 410, and circular sealing blocks are fixedly connected to both ends of the positioning sleeve 300, so that the operation of the output end of the oil cylinder 200 is controlled by moving the shaft rod 410 through the handle 450; the outer side wall of one end of the shaft rod 410 is connected with the middle part of the circular sealing block in a sliding manner, so that the shaft rod 410 can conveniently slide in the positioning sleeve 300 to change the positions of the first piston 420, the second piston 430 and the third piston 440;
a nut 613 is fixedly sleeved on the outer side wall of the top end of the threaded rod 612, a rubber sleeve is fixedly sleeved on the outer side wall of the nut 613, and the flow limiting ball 614 at the bottom of the threaded rod 612 blocks the flow of oil in the oil pipe four 600 by rotating the nut 613; the top surface fixedly connected with case lid 810 of oil tank 800, and the bottom of oil extraction pipe 626 runs through case lid 810, avoids the fluid of external environment pollution oil tank 800 the inside through the top surface fixedly connected with case lid 810 at oil tank 800.
The working principle is as follows: when the oil pump is used, the oil pump is started, the oil pump conveys oil into the oil pipe IV 600, the oil is conveyed to the oil cylinder 200 through the oil pipe II 220 after reaching the positioning sleeve 300, the output end of the oil cylinder 200 pushes the fixing rod 950, the fixing rod 950 drives the pushing block 940 to slide on the inner side wall of the positioning ring 910, the clamping block 930 is opened to be ready to grab an article, the oil at the output end of the oil cylinder 200 flows to the positioning sleeve 300 from the oil pipe I210 and then flows back to the oil tank 800 through the oil pipe III 500, the shaft rod 410 is moved in the direction away from the positioning sleeve 300, the piston I420, the piston II 430 and the piston III 440 in the positioning sleeve 300 are moved simultaneously, the end of the oil pipe IV 600 is positioned at the position between the piston II 430 and the piston III 440 close to the piston III 440, the oil pipe III 500 is positioned at the side of the piston II 430 away from the, at this time, oil in the oil pipe four 600 is delivered to the output end of the oil cylinder 200 through the oil pipe one 210, so that the output end of the oil cylinder 200 pulls the fixing rod 950 to realize that the clamping block 930 on the clamping manipulator 900 clamps the object, the oil at the other end of the oil cylinder 200 flows back to the positioning sleeve 300 through the oil pipe two 220, and then flows back to the oil tank 800 through the oil pipe five 700, and thus the object can be precisely clamped by the clamping manipulator 900 through manual regulation and control of the work of the oil cylinder 200;
when the speed of grabbing an object by the grabbing manipulator 900 needs to be slowed down, the screw cap 613 is rotated to move the threaded rod 612 downwards, the flow limiting ball 614 at the bottom end of the threaded rod 612 blocks the flow rate of oil in the oil pipe IV 600, the oil pump is always in a working state, so that the oil pressure at one end, close to the oil pump, of the oil pipe IV 600 is large, the buffer spring 623 contracts, the sliding block 622 moves towards the direction of the buffer spring 623, part of the oil flows to the oil discharge pipe 626 through the oil discharge hole 624 and then flows to the oil tank 800, the oil source system is safer for the integrated robot to use, the speed of pushing the fixing rod 950 and pulling the fixing rod 950 by the output end of the oil cylinder 200 is reduced due to the reduction of.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is illustrative and explanatory only and is not intended to be exhaustive or to limit the invention to the precise embodiments described, and various modifications, additions, and substitutions may be made by those skilled in the art without departing from the scope of the invention or exceeding the scope of the claims.
Claims (9)
1. A hydraulic unit for an integrated robot comprises a support sleeve (100) and is characterized in that one end of the support sleeve (100) is fixedly connected with a connecting sleeve (110), an oil cylinder (200) is fixedly connected inside the support sleeve (100), the outer side wall of the output end of the oil cylinder (200) is communicated with a first oil pipe (210), the outer side wall of one end, deviating from the first oil pipe (210), of the oil cylinder (200) is communicated with a second oil pipe (220), the first oil pipe (210) and the second oil pipe (220) both penetrate through the support sleeve (100), one ends, deviating from the support sleeve (100), of the first oil pipe (210) and the second oil pipe (220) are communicated with a positioning sleeve (300), a regulating device (400) is arranged inside the positioning sleeve (300), the regulating device (400) comprises a shaft rod (410), and the outer side wall of one end of the shaft rod (410) is fixedly connected, the outer side wall of the other end of the shaft lever (410) is fixedly connected with a second piston (430), the outer side wall of the middle part of the shaft lever (410) is fixedly connected with a third piston (440), and the outer side walls of the first piston (420), the second piston (430) and the third piston (440) are in sliding fit with the inner side wall of the positioning sleeve (300);
one end of the outer side wall of the positioning sleeve (300) is communicated with a third oil pipe (500), the middle of the outer side wall of the positioning sleeve (300) is communicated with a connecting pipe (331), one end, deviating from the positioning sleeve (300), of the connecting pipe (331) is communicated with a fourth oil pipe (600), one end, deviating from the third oil pipe (500), of the outer side wall of the positioning sleeve (300) is communicated with a fifth oil pipe (700), one end of the fourth oil pipe (600) is provided with a current limiting device (610), the current limiting device (610) comprises a current limiting pipe (611), one end of the current limiting pipe (611) is fixedly connected with the end part of the corresponding position of the connecting pipe (331), the current limiting pipe (611) and the fourth oil pipe (600), the other end of the current limiting pipe (611) is fixedly connected with the end part of the corresponding position of the fourth oil pipe (600), the connecting pipe (331), the current, the lower end of the threaded rod (612) penetrates through the flow limiting pipe (611) and is fixedly connected with the flow limiting ball (614), the middle of the oil pipe four (600) is provided with an oil drainage device (620), the bottom end of the oil pipe four (600) is fixedly connected with an oil pump, the bottom ends of the oil pipe three (500), the oil pipe four (600) and the oil pipe five (700) are provided with oil tanks (800), and one end, away from the support sleeve (100), of the connecting sleeve (110) is fixedly connected with a clamping manipulator (900).
2. The hydraulic unit for the integrated robot of claim 1, wherein the oil drainage device (620) comprises an oil drainage cylinder (621), the open end of the oil drainage cylinder (621) is communicated with the middle of the oil pipe four (600), the inner side wall of the open end of the oil drainage cylinder (621) is slidably connected with a sliding block (622), a buffer spring (623) is fixedly connected between the inner bottom surfaces of the sliding block (622) and the oil drainage cylinder (621), an oil drainage hole (624) is formed in the inner side wall of the bottom of the oil drainage cylinder (621), an oil receiving box (625) is fixedly connected to the outer side wall of the bottom of the oil drainage cylinder (621), and an oil drainage pipe (626) is communicated with the bottom surface of the oil receiving box (625).
3. The hydraulic unit for the integrated robot as claimed in claim 2, wherein the oil drainage hole (624) comprises a first hole, a second hole, a third hole and a fourth hole which are sequentially formed from the open end of the oil drainage cylinder (621) to the direction of the sliding block (622), the diameter of the second hole is larger than that of the first hole, the diameter of the third hole is larger than that of the second hole, and the diameter of the fourth hole is larger than that of the third hole.
4. The hydraulic unit for an integrated robot according to claim 1, the clamping manipulator (900) comprises a positioning ring (910), one side of the positioning ring (910) is fixedly connected with one end of the connecting sleeve (110) departing from the supporting sleeve (100), the other side of the positioning ring (910) is fixedly connected with a plurality of fixing blocks (920) in an annular shape at equal angles, two sides of the fixed block (920) are fixedly connected with a first connecting block (921), a clamping block (930) is rotatably connected between the two first connecting blocks (921), the two sides of the end part, close to the first connecting block (921), of the clamping block (930) are rotatably connected with a second connecting block (931), the end part, away from the clamping block (930), of the second connecting block (931) is rotatably connected with a pushing block (940), and a plurality of fixing rods (950) are fixedly connected between the pushing blocks (940).
5. The hydraulic unit for an integrated robot as claimed in claim 4, wherein the outer side wall of the pushing block (940) is slidably connected with the inner side wall of the positioning ring (910), and the side of the fixing rod (950) facing away from the pushing block (940) is fixedly connected with the output end of the oil cylinder (200).
6. The hydraulic unit for the integrated robot as claimed in claim 1, wherein a handle (450) is fixedly connected to one end of the shaft rod (410), and a circular sealing block is fixedly connected to both ends of the positioning sleeve (300).
7. The hydraulic unit for an integrated robot of claim 6, wherein the outer side wall of one end of the shaft (410) is slidably connected with the middle part of the circular sealing block.
8. The hydraulic unit for the integrated robot as claimed in claim 1, wherein a nut (613) is fixed on an outer side wall of a top end of the threaded rod (612) in a sleeved manner, and a rubber sleeve is fixed on an outer side wall of the nut (613) in a sleeved manner.
9. The hydraulic unit for an integrated robot as claimed in claim 1, wherein a tank cover (810) is fixedly connected to a top surface of the oil tank (800), and a bottom end of the oil drain pipe (626) penetrates through the tank cover (810).
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| CN202110151474.6A CN112963390B (en) | 2021-02-04 | 2021-02-04 | Hydraulic unit for integrated robot |
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| CN202110151474.6A CN112963390B (en) | 2021-02-04 | 2021-02-04 | Hydraulic unit for integrated robot |
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| CN112963390A true CN112963390A (en) | 2021-06-15 |
| CN112963390B CN112963390B (en) | 2023-04-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114533141A (en) * | 2022-02-17 | 2022-05-27 | 梁家敏 | Living body transfer sampling device for oncology department |
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| JPH07190007A (en) * | 1993-12-27 | 1995-07-28 | Sanwa Seiki Co Ltd | Back pressure valve |
| CN106426155A (en) * | 2016-10-26 | 2017-02-22 | 珠海市横琴麒翔科技有限公司 | Hydraulic manipulator |
| CN110193845A (en) * | 2019-05-28 | 2019-09-03 | 安徽德基汇金机械科技有限公司 | A kind of hydraulic clamp that can slow down clamping force destruction |
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| CN112963390B (en) | 2023-04-28 |
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