CN112963390B - Hydraulic unit for integrated robot - Google Patents
Hydraulic unit for integrated robot Download PDFInfo
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- CN112963390B CN112963390B CN202110151474.6A CN202110151474A CN112963390B CN 112963390 B CN112963390 B CN 112963390B CN 202110151474 A CN202110151474 A CN 202110151474A CN 112963390 B CN112963390 B CN 112963390B
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- oil
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- sleeve
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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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- General Engineering & Computer Science (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, an oil pipe I is communicated with the outer side wall of the output end of the oil cylinder, an oil pipe II is communicated with the outer side wall of one end of the oil cylinder, which is far away from the oil pipe I, an oil pipe I and one end of the oil pipe II, which is far away from the support sleeve, are communicated with a positioning sleeve, a regulating and controlling device is arranged inside the positioning sleeve, the regulating and controlling device comprises a shaft lever, and a piston I is fixedly connected with the outer side wall of one end of the shaft lever. According to the invention, the clamping block on the clamping manipulator is clamped by pulling the fixing rod through the output end of the oil cylinder, oil at the other end of the oil cylinder flows to the positioning sleeve through the oil pipe and then flows to the oil tank through the oil pipe, and the accurate object clamping of the clamping block is realized through manually regulating and controlling the work of the oil cylinder, so that the clamping action of the clamping block is controlled conveniently, 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 robot capable of working semi-autonomously or fully autonomously, historically earliest robots are seen in puppet robots built by a worker in a line with a life of Liu, the integrated robot has the capabilities of sitting, lifting, worrying, lying and the like, the integrated robot has the basic characteristics of sensing, deciding, executing and the like, dangerous, heavy and complex work can be assisted or even replaced by people, the working efficiency and the quality are improved, the life of the human is served, the activity and the capacity range of the robot are enlarged or extended, a hydraulic unit is used as an oil supply device, the hydraulic unit is connected with a hydraulic 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 airtight power oil source system to be used by the integrated robot, part of the integrated robot has the grabbing action of imitating a robot, the robot needs to control the speed when grabbing different objects, when the soft objects need to be grabbed, the grabbing speed is relatively slow, the robot gradually contacts with the objects to be clamped, when the soft objects need to be grabbed, the mechanical arm is easy to clamp some parts on a production line, the grabbing efficiency is increased, the grabbing efficiency is easy to be improved, the whole robot is easy to be maintained, the whole robot is difficult to control the working efficiency, the mechanical arm is easy to be easily grabbed, the integrated robot is easy to be high, and the integrated robot is easy to control the mechanical arm is easy to be high, or the integrated, and the mechanical arm is easy to be maintained, and the integrated, and the robot is easy to be required to be easy to be used to be grabbed, and high, and the integrated.
Disclosure of Invention
In order to overcome the technical problems, the invention aims to provide a hydraulic unit for an integrated robot, oil is conveyed into an oil pipe IV through an oil pump, the oil is conveyed to an oil cylinder through an oil pipe II after reaching a positioning sleeve, an output end of the oil cylinder pushes a fixed rod to realize that a clamping block on a clamping manipulator is unfolded to prepare a clamping object, the oil at the output end of the oil cylinder flows to the positioning sleeve through the oil pipe III and flows back to an oil tank through the oil pipe III, the piston I, the piston II and the piston III in the positioning sleeve move in the direction away from the positioning sleeve at the same time, the end part of the oil pipe IV is positioned between the piston II and the piston III, at the moment, the oil in the oil pipe IV is conveyed to the output end of the oil cylinder through the oil pipe I, the oil pipe II is pulled by the output end of the oil cylinder to realize that the clamping block on the clamping manipulator clamps the object, the oil at the other end of the oil cylinder flows to the positioning sleeve through the oil pipe III, and then flows to the oil tank V, so that the accurate object clamping of the clamping manipulator is realized through the work of the manual regulation and control of the oil cylinder, the clamping action of the clamping block is convenient to control, and the use rate of the integrated robot is improved;
the flow-limiting ball at the bottom end of the threaded rod stops the flow speed of oil in the oil pipe four, the oil pump is always in a working state, so that the oil pressure of the oil pipe four close to one end of the oil pump is large, the buffer spring is contracted, the sliding block moves towards the direction of the buffer spring, part of oil flows to the oil discharge pipe and flows to the oil tank through the oil drain hole, the oil source system is safer to be used by an integrated robot, the speed of pushing the fixed rod by the oil cylinder output end and pulling the fixed rod is reduced due to the reduction of the conveying speed of the oil, the speed of grabbing objects by the clamping manipulator is reduced, and the speed of flexibly controlling the grabbing objects is improved.
The aim of the invention can be achieved by the following technical scheme:
the hydraulic unit for the integrated robot comprises a support sleeve, wherein one end of the support sleeve is fixedly connected with a connecting sleeve, the inside of the support sleeve is fixedly connected with an oil cylinder, the outer side wall of the output end of the oil cylinder is communicated with an oil pipe I, the outer side wall of the oil cylinder, which is far away from one end of the oil pipe I, is communicated with an oil pipe II, the oil pipe I and the oil pipe II penetrate through the support sleeve, one end of the oil pipe I, which is far away from the support sleeve, is communicated with a positioning sleeve, a regulating device is arranged in the positioning sleeve, the regulating device comprises a shaft rod, the outer side wall of one end of the shaft rod is fixedly connected with a piston I, the outer side wall of the other end of the shaft rod is fixedly connected with a piston II, the outer side walls of the middle part of the shaft rod are fixedly connected with a piston III, and the outer side walls of the piston I, the piston II and the piston III are in sliding contact with the inner side wall of the positioning sleeve;
the oil pipe three is communicated with one end of 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, one end of the connecting pipe, which deviates from the positioning sleeve, is communicated with the oil pipe four, one end of the positioning sleeve, which deviates from the oil pipe three, is communicated with the oil pipe five, one end of the oil pipe four is provided with a flow limiting device, the flow limiting device comprises a flow limiting pipe, one end of the flow limiting pipe is fixedly connected with the end of the connecting pipe, which corresponds to the position, the other end of the flow limiting pipe is fixedly connected with the end of the oil pipe four, the connecting pipe, the flow limiting pipe and the oil pipe four are communicated, the outer side wall at the top of the flow limiting pipe is screwed with a threaded rod, the lower end of the threaded rod penetrates through the flow limiting pipe and is fixedly connected with a flow limiting ball, the middle of the oil pipe four is provided with an oil drain device, the bottom ends of the oil pipe three, the oil pipe four and the bottom of the oil pipe five are provided with an oil tank, and one end of the connecting sleeve, which deviates from the supporting sleeve is fixedly connected with a clamping manipulator;
the oil is conveyed to the oil pipe four through the oil pump, 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 fixing rod to realize that the clamping block on the clamping manipulator is unfolded to clamp the object, the oil at the output end of the oil cylinder flows to the positioning sleeve from the oil pipe three and flows back to the oil tank from the oil pipe three, the piston I, the piston II and the piston III in the positioning sleeve move simultaneously by moving the shaft rod in the direction deviating from the positioning sleeve, 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 I at the moment, the output end of the oil cylinder pulls the fixing rod to realize that the clamping block on the clamping manipulator clamps the object, the oil at the other end of the oil cylinder flows to the positioning sleeve from the oil pipe five to the oil tank, so that the accurate grabbing object of the clamping manipulator is realized through the work of the manual regulation and control oil cylinder, the grabbing action of the clamping block is convenient, and the utilization rate of an integrated robot is improved.
The method is further characterized in that: the oil drainage device comprises an oil drainage cylinder, the open end of the oil drainage cylinder is communicated with the four middle parts of the oil pipe, a sliding block is slidably connected to the inner side wall of the open end of the oil drainage cylinder, a buffer spring is fixedly connected between the sliding block and the inner bottom surface of the oil drainage cylinder, an oil drainage hole is formed in the inner side wall of the bottom of the oil drainage cylinder, an oil receiving box is fixedly connected to the outer side wall of the bottom of the oil drainage cylinder, the bottom surface of the oil receiving box is communicated with an oil drainage pipe, a threaded rod moves downwards through a rotating nut, a flow limiting ball at the bottom end of the threaded rod blocks the flow velocity of oil in the oil pipe, the oil pump is always in a working state, so that the oil pressure of the oil pipe is large near one end of the oil pump, the buffer spring is contracted at the moment, the sliding block moves towards the direction of the buffer spring, part of the oil flows to the oil tank through the oil drainage hole, so that the oil source system is safer to be used by an integrated robot, and the speed of grabbing the mechanical arm is slowed down due to the reduction of the speed of the oil delivery speed of the oil cylinder output end pushing a fixed rod and pulling the fixed rod.
The method is further characterized in that: the oil drainage hole 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 barrel to the direction of the sliding block, 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 as to facilitate gradual increase of oil flowing back to the oil drainage pipe from the oil drainage hole along with gradual movement of the sliding block to the direction of the buffer spring.
The method is further characterized in that: the clamping manipulator comprises a positioning ring, one side of the positioning ring is fixedly connected with one end of a connecting sleeve, which deviates from the supporting sleeve, the other side of the positioning ring is fixedly connected with a plurality of fixing blocks in an annular equal angle, two connecting blocks I are fixedly connected to two sides of the fixing blocks, the clamping blocks I are connected with clamping blocks in a rotating mode, two connecting blocks II are connected to two sides of the clamping blocks, which are close to one end of each connecting block, respectively, the two connecting blocks II deviate from the ends of the clamping blocks, pushing blocks are connected to rotate, a plurality of fixing rods are fixedly connected between the pushing blocks, the fixing rods are pushed through the output ends of the oil cylinders, and the fixing rods push the pushing blocks to realize clamping blocks to open and clamp objects.
The method is further characterized in that: the outer side wall of the pushing block is in sliding connection with the inner side wall of the positioning ring, one side of the fixed rod, deviating from the pushing block, is fixedly connected with the output end of the oil cylinder, and the pushing block is convenient to drive the clamping block to move to clamp the object through the sliding connection between the outer side wall of the pushing block and the inner side wall of the positioning ring.
The method is further characterized in that: the one end of axostylus axostyle cup joints and is fixed with the hand (hold), the equal fixedly connected with circular sealing block in both ends of positioning sleeve, the work of being convenient for remove axostylus axostyle control cylinder output through the hand (hold).
The method is further characterized in that: the outer side wall of one end of the shaft rod is in sliding connection with the middle part of the circular sealing block, so that the position of the first piston, the second piston and the third piston can be changed by sliding the shaft rod in the positioning sleeve.
The method is further characterized in that: the outer side wall at the top end of the threaded rod is sleeved and fixed with a screw cap, the outer side wall of the screw cap is sleeved and fixed with a rubber sleeve, and the flow of oil in the oil pipe four is blocked by rotating the screw cap to enable the flow limiting ball at the bottom of the threaded rod.
The method is further characterized in that: the top surface fixedly connected with case lid of oil tank, just the bottom of oil drain pipe runs through the case lid, 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 is conveyed into the oil pipe IV through the oil pump, the oil is conveyed to the oil cylinder through the oil pipe II after reaching the positioning sleeve, the output end of the oil cylinder pushes the fixing rod to realize that a clamping block on the clamping manipulator is unfolded to clamp an object, the oil at the output end of the oil cylinder flows to the positioning sleeve from the oil pipe III and flows back to the oil tank from the oil pipe III, the piston I, the piston II and the piston III in the positioning sleeve move simultaneously by moving the shaft rod in the direction deviating from the positioning sleeve, the end part of the oil pipe IV is positioned between the piston II and the piston III, at the moment, the oil in the oil pipe IV is conveyed to the output end of the oil cylinder through the oil pipe I, the output end of the oil cylinder pulls the fixing rod to realize that the clamping block on the clamping manipulator clamps the object, the oil at the other end of the oil cylinder flows to the positioning sleeve from the oil pipe IV and then flows to the oil tank from the oil pipe V, so that the accurate grabbing object of the clamping manipulator is realized through the manual regulation of the work of the oil cylinder, the grabbing action of the clamping block is convenient to control, and the utilization rate of an integrated robot is improved;
2. the flow-limiting ball at the bottom end of the threaded rod stops the flow speed of oil in the oil pipe four, the oil pump is always in a working state, so that the oil pressure of the oil pipe four close to one end of the oil pump is large, the buffer spring is contracted, the sliding block moves towards the direction of the buffer spring, part of oil flows to the oil discharge pipe and flows to the oil tank through the oil drain hole, the oil source system is safer to be used by an integrated robot, the speed of pushing the fixed rod by the oil cylinder output end and pulling the fixed rod is reduced due to the reduction of the conveying speed of the oil, the speed of grabbing objects by the clamping manipulator is reduced, and the speed of flexibly controlling the grabbing objects is improved.
Drawings
The invention is further described below 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 diagram of a control device according to the present invention;
FIG. 4 is a schematic view of a flow restrictor device according to the present invention;
FIG. 5 is a schematic diagram of the oil drainage device according to the present invention;
FIG. 6 is a schematic view of the internal structure of the oil drain cylinder of the present invention;
fig. 7 is a schematic view of a clamping manipulator according to the present invention.
In the figure: 100. a support sleeve; 110. a connection 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 third piston; 450. a handle; 500. an oil pipe III; 600. an oil pipe IV; 610. a current limiting device; 611. a flow limiting pipe; 612. a threaded rod; 613. a screw cap; 614. a flow-limiting ball; 620. an oil drainage device; 621. an oil drain cylinder; 622. a sliding block; 623. a buffer spring; 624. an oil drain hole; 625. an oil receiving box; 626. an oil drain pipe; 700. an oil pipe V; 800. an oil tank; 810. a case cover; 900. clamping a manipulator; 910. a positioning ring; 920. a fixed block; 921. a first connecting block; 930. clamping the block; 931. a second connecting block; 940. a pushing block; 950. and a fixing rod.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-7, a hydraulic unit for an integrated robot includes a support sleeve 100, one end of the support sleeve 100 is fixedly connected with a connection sleeve 110, an oil cylinder 200 is fixedly connected in the support sleeve 100, an outer side wall of an output end of the oil cylinder 200 is communicated with an oil pipe one 210, an outer side wall of one end of the oil cylinder 200, which is away from the oil pipe one 210, is communicated with an oil pipe two 220, both the oil pipe one 210 and the oil pipe two 220 penetrate through the support sleeve 100, one end of the oil pipe one 210 and one end of the oil pipe two 220, which is away from the support sleeve 100, are communicated with a positioning sleeve 300, a regulating device 400 is arranged in the positioning sleeve 300, the regulating device 400 includes a shaft 410, the outer side wall of one end of the shaft 410 is fixedly connected with a piston one 420, the outer side wall of the other end of the shaft 410 is fixedly connected with a piston two 430, the outer side wall in the middle of the shaft 410 is fixedly connected with a piston three 440, and the outer side walls of the piston two 430 and the piston three 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 deviating 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 deviating from the oil pipe III 500 is communicated with an oil pipe V700, one end of the oil pipe IV 600 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 through the flow limiting pipe 611 and is fixedly connected with a flow limiting ball 614, the middle part of the oil pipe IV 600 is provided with an oil drain device 620, the bottom end of the oil pipe IV 600 is fixedly connected with an oil pump, the oil tank 500 is placed at the bottom ends of the oil pipe IV 600 and the oil pipe V700, the oil tank 800 is fixedly connected with the end of the connecting pipe V600, and the end of the connecting sleeve 110 deviate from the supporting sleeve 100, and the end of the connecting pipe V100 is fixedly connected with a clamping manipulator 900;
oil is conveyed into the oil pipe IV 600 through the oil pump, the oil reaches the positioning sleeve 300 and then is conveyed to the oil cylinder 200 through the oil pipe II 220, the output end of the oil cylinder 200 pushes the fixing rod 950 to achieve that the clamping block 930 on the clamping manipulator 900 is unfolded to clamp objects, the oil at the output end of the oil cylinder 200 flows to the positioning sleeve 300 from the oil pipe II 210 and flows back to the oil tank 800 from the oil pipe III 500, the piston I420, the piston II 430 and the piston III 440 in the positioning sleeve 300 move to the position at the same time by moving the shaft rod 410 in the direction deviating from the positioning sleeve 300, the end part of the oil pipe IV 600 is positioned between the piston II 430 and the piston III 440, at the moment, the oil at the oil pipe IV 600 is conveyed to the output end of the oil cylinder 200 through the oil pipe I210, the output end of the oil cylinder 200 pulls the fixing rod 950 to achieve that the clamping block 930 on the clamping manipulator 900 clamps objects, the oil at the other end of the oil cylinder 200 flows to the positioning sleeve 300 from the oil pipe II 220 and then flows to the oil tank 800 from the oil tank III 700, the accurate grabbing objects of the clamping manipulator 900 are achieved through the work of the manual oil cylinder 200, the clamping operation of the clamping manipulator 900 is controlled, the grabbing objects of the clamping and the clamping robot is conveniently controlled, and the grabbing operation of the clamping blocks is improved, and the utilization rate of an integrated robot is regulated.
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 an oil pipe IV 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, 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, an oil drain pipe 626 is communicated with the bottom surface of the oil receiving box 625, a threaded rod 612 moves downwards through a rotating nut 613, a 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 an operating state, so that the oil pressure at one end of the oil pipe IV close to the oil pump is large, at the moment, the buffer spring 623 is contracted, the sliding block 622 moves towards the direction of the buffer spring 623, part of the oil flows to the oil drain pipe 626 through the oil drain hole 626, and then flows to the oil tank 800, so that the oil source system is safer to be used by an integrated robot, and the speed of pushing the fixed rod 950 and pulling the fixed rod 950 is reduced due to the reduction of the conveying speed of the oil, the output end of the oil cylinder 200, so that the speed of the object is controlled to be beneficial to the flexible control of the speed of gripping the object.
The oil drain 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 drain cylinder 621 to the direction of the sliding block 622, wherein 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, the diameter of the fourth hole is larger than that of the third hole, and the oil flowing back from the oil drain hole 624 to the oil drain pipe 626 is convenient to gradually increase 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 is fixedly connected with one end of the connecting sleeve 110 deviating from the supporting sleeve 100, the other side of the positioning ring 910 is fixedly connected with a plurality of fixed blocks 920 in an annular equal angle, two sides of the fixed blocks 920 are fixedly connected with first connecting blocks 921, the clamping blocks 930 are connected between the first connecting blocks 921 in a rotating mode, two sides, close to the end portions of the first connecting blocks 921, of the clamping blocks 930 are connected with second connecting blocks 931 in a rotating mode, pushing blocks 940 are connected between the end portions, deviating from the clamping blocks 930, of the second connecting blocks 931, fixing rods 950 are fixedly connected between the pushing blocks 940, the fixing rods 950 are pushed through output ends of the oil cylinders 200, and the pushing blocks 940 are pushed by the fixing rods 950 to realize that the clamping blocks 930 are opened to clamp objects.
The outer side wall of the pushing block 940 is in sliding connection with the inner side wall of the positioning ring 910, one side of the fixing rod 950, which is away from the pushing block 940, is fixedly connected with the output end of the oil cylinder 200, and the sliding connection between the outer side wall of the pushing block 940 and the inner side wall of the positioning ring 910 is convenient for the pushing block 940 to drive the clamping block 930 to move so as to clamp objects; a handle 450 is fixedly sleeved at one end of the shaft lever 410, and round sealing blocks are fixedly connected at two ends of the positioning sleeve 300, so that the shaft lever 410 can be moved by the handle 450 to control the work of the output end of the oil cylinder 200; the outer side wall of one end of the shaft 410 is slidably connected with the middle part of the circular sealing block, so that the shaft 410 can 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 sleeved and fixed on the outer side wall of the top end of the threaded rod 612, a rubber sleeve is sleeved and fixed on the outer side wall of the nut 613, and a flow limiting ball 614 at the bottom of the threaded rod 612 is used for preventing the oil in the oil pipe IV 600 from flowing by rotating the nut 613; the top surface fixedly connected with case lid 810 of oil tank 800, and the bottom of oil drain 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.
Working principle: when the oil pump is used, the oil pump is started to convey oil to the inside of the oil pipe IV 600, the oil is conveyed to the oil cylinder 200 by 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 prepare for grabbing objects, the oil at the output end of the oil cylinder 200 flows to the positioning sleeve 300 from the oil pipe I210, then flows back to the oil tank 800 from the oil pipe III 500, the shaft rod 410 is moved in the direction deviating from the positioning sleeve 300, the piston I420, the piston II 430 and the piston III 440 in the positioning sleeve 300 are simultaneously moved, the end of the oil pipe IV 600 is positioned at a position close to the piston III 440, the oil pipe III 500 is positioned at one side deviating from the piston III 440, and under the blocking effect of the piston III 440, the oil in the oil pipe III 500 does not flow back, at the moment, the oil in the oil pipe IV 600 is conveyed to the output end of the oil cylinder 200 by the oil pipe I210, the oil at the output end of the oil cylinder 200 pulls the fixing rod 950 to realize clamping of the clamping block 930 on the mechanical arm 900, the object 200 is clamped, the object 200 is positioned by the oil pipe II, the oil pipe II is positioned by the oil pipe III 200, and then the object is accurately clamped by the oil tank 900, and the object is accurately clamped by the mechanical arm 900, and the object is clamped by the oil pump 200, and the object is clamped by the hand, and the object is positioned by the hand 200 and the hand, and has been regulated and controlled by the oil pump 200;
when the speed of grabbing the object by the manipulator 900 needs to be slowed down, the nut 613 is rotated to enable the threaded rod 612 to move downwards, the flow rate of oil in the oil pipe four 600 is blocked by the flow limiting ball 614 at the bottom end of the threaded rod 612, and the oil pump is always in a working state, so that the oil pressure of one end of the oil pipe four 600 close to the oil pump is large, at the moment, the buffer spring 623 is contracted, the sliding block 622 moves towards the direction of the buffer spring 623, part of oil flows to the oil drain pipe 626 through the oil drain hole 624 and then flows to the oil tank 800, so that the oil source system is safer for the integrated robot, and the speed of pushing the fixed rod 950 and pulling the fixed rod 950 is reduced by the output end of the oil cylinder 200, so that the speed of grabbing the object by the manipulator 900 is slowed down.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, 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 present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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 merely illustrative and explanatory of the invention, as various modifications and additions may be made to the particular embodiments described, or in a similar manner, by those skilled in the art, without departing from the scope of the invention or exceeding the scope of the invention as defined in the claims.
Claims (7)
1. The utility model provides a hydraulic unit for integrated robot, includes support sleeve (100), its characterized in that, the one end fixedly connected with adapter sleeve (110) of support sleeve (100), the inside fixedly connected with hydro-cylinder (200) of support sleeve (100), the lateral wall intercommunication of hydro-cylinder (200) output has oil pipe one (210), the lateral wall intercommunication of hydro-cylinder (200) one end that deviates from oil pipe one (210) has oil pipe two (220), oil pipe one (210) and oil pipe two (220) all run through support sleeve (100), oil pipe one (210) and oil pipe two (220) one end that deviates from support sleeve (100) communicate locating sleeve (300), the inside of locating sleeve (300) is provided with regulation and control device (400), regulation and control device (400) include axostylus axostyle (410), the lateral wall fixedly connected with piston one (420) of axostylus axostyle (410) one end, the lateral wall fixedly connected with piston two (430) of the other end, the lateral wall fixedly connected with piston three (440) in the middle part of axostylus axostyle (410), piston one (420) and piston three (300) are all located by the inside wall of piston three (440) and the locating 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) deviating 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) deviating from the oil pipe III (500) is communicated with an oil pipe IV (700), one end of the oil pipe IV (600) 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 connecting pipe (331) at the corresponding position, the other end of the flow limiting pipe (611) is fixedly connected with the end part of the oil pipe IV (600), the connecting pipe (331), the flow limiting pipe (611) is communicated with the oil pipe IV (600), the outer side wall of the top of the flow limiting pipe (611) is screwed with a threaded rod (612), the lower end of the threaded rod (612) penetrates through the flow limiting pipe (611) and is fixedly connected with a flow limiting ball (614), the middle part of the oil pipe IV (600) is provided with an oil drain device (620), the bottom end of the oil pump IV (600) is fixedly connected with the oil pump IV (600) and the oil tank (700), one end of the connecting sleeve (110) deviating from the supporting sleeve (100) is fixedly connected with a clamping manipulator (900);
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 an oil pipe IV (600), a sliding block (622) is slidably connected to the inner side wall of the open end of the oil drainage cylinder (621), a buffer spring (623) is fixedly connected between the sliding block (622) and the inner bottom surface of 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), an oil drain pipe (626) is communicated with the bottom surface of the oil receiving box (625), the oil drainage hole (624) comprises a first hole, a second hole, a third hole and a fourth hole, the diameter of the second hole is larger than the diameter of the first hole, the diameter of the third hole is larger than the diameter of the second hole, and the diameter of the fourth hole is larger than the diameter of the third hole.
2. The hydraulic unit for the integrated robot according to claim 1, wherein 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) deviating from the supporting sleeve (100), the other side of the positioning ring (910) is fixedly connected with a plurality of fixed blocks (920) in a ring shape at equal angles, two sides of the fixed blocks (920) are fixedly connected with a first connecting block (921), two connecting blocks (921) are connected between each other in a rotating manner, two sides, close to the end of the first connecting block (921), of the clamping block (930) are respectively connected with a second connecting block (931), two ends, deviating from the clamping block (930), of the second connecting blocks (931) are respectively connected with a pushing block (940) in a rotating manner, and a plurality of fixed rods (950) are fixedly connected between the pushing blocks (940).
3. The hydraulic unit for the integrated robot according to claim 2, wherein the outer side wall of the pushing block (940) is slidably connected with the inner side wall of the positioning ring (910), and one 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).
4. The hydraulic unit for the integrated robot according to claim 1, wherein a handle (450) is fixedly sleeved at one end of the shaft lever (410), and circular sealing blocks are fixedly connected to both ends of the positioning sleeve (300).
5. The hydraulic unit for an integrated robot according to claim 4, wherein an outer sidewall of one end of the shaft (410) is slidably connected to a middle portion of the circular sealing block.
6. The hydraulic unit for the integrated robot according to claim 1, wherein a nut (613) is fixedly sleeved on the outer side wall of the top end of the threaded rod (612), and a rubber sleeve is fixedly sleeved on the outer side wall of the nut (613).
7. The hydraulic unit for an integrated robot according to 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 the tank cover (810).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110151474.6A CN112963390B (en) | 2021-02-04 | 2021-02-04 | Hydraulic unit for integrated robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110151474.6A CN112963390B (en) | 2021-02-04 | 2021-02-04 | Hydraulic unit for integrated robot |
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| CN112963390A CN112963390A (en) | 2021-06-15 |
| CN112963390B true CN112963390B (en) | 2023-04-28 |
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| JP3487623B2 (en) * | 1993-12-27 | 2004-01-19 | 三輪精機株式会社 | 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 |
| CN210389208U (en) * | 2019-05-31 | 2020-04-24 | 西安工程大学 | Manipulator for hanging cut pieces on clothes hanger |
| CN210525138U (en) * | 2019-09-23 | 2020-05-15 | 青岛工学院 | Object taking and grabbing structure of robot |
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Effective date of registration: 20230413 Address after: 4th Floor, Mobie Antenna Company Office Building, No. 7, Longshan 1st Road, Songpingshan Community, Xili Street, Nanshan District, Shenzhen, Guangdong 518000 Applicant after: SHENZHEN NB-INNOVATIONS TECHNOLOGY CO.,LTD. Address before: 451100 Henan kuwei Robot Technology Co., Ltd., building 4, Beili Industrial Park, 107 National Road, Guodian Town, Xinzheng City, Zhengzhou City, Henan Province Applicant before: Xue Donglin |
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