CN113696205A

CN113696205A - Servo manipulator

Info

Publication number: CN113696205A
Application number: CN202110920016.4A
Authority: CN
Inventors: 李书阳; 杨灿圭
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-08-11
Filing date: 2021-08-11
Publication date: 2021-11-26

Abstract

The invention discloses a servo manipulator which comprises a moving part, wherein a rack is fixedly arranged in the middle of the outer surface of one side of the moving part, and a guide part is fixedly arranged on the outer surface of the lower end of the rack close to the edge. The sealing mechanism is arranged, oil can conveniently enter the cavity through the opening when the manipulator works, when the manipulator enters the cavity under pressure, the pressure of the oil can enable the elastic sleeve to expand towards the direction close to the inner surface of the hydraulic cylinder to generate uniform radial elastic deformation, and the abutting plug in contact with the outer surface of the elastic sleeve also moves radially, so that the gap between the outer surface of the abutting plug and the inner surface of the hydraulic cylinder is reduced, the leakage amount is reduced, meanwhile, the gap between the outer surface of the abutting plug and the inner surface of the hydraulic cylinder is reduced along with the increase of the pressure of the oil, and the problem of the increase of the leakage amount caused by the increase of the pressure is solved.

Description

Servo manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a servo manipulator.

Background

The servo manipulator is an automatic production device which can imitate the functions of the limb parts of the human body and can automatically control the robot to convey workpieces or hold tools to perform production operation according to preset requirements. In the injection molding market, manipulator products of all kinds should be complete, and the user can select for use the manipulator product that corresponds the specification according to actual demand.

The Chinese patent discloses a steel ladle hydraulic cylinder manipulator, the patent application number is CN202021265647.4, which comprises a base, an upright post, a hydraulic cylinder, a link rod, a lifting bottom plate and a lifting guide rod, wherein the lower end of the upright post is fixedly connected with the base, the top end of the upright post is fixedly connected with a transparent cover, a rolling bearing is arranged in the upright post, the lifting guide rod is connected with the upright post through the rolling bearing, the top end of the lifting guide rod is provided with a groove and a pin hole, and the lifting guide rod is hinged with the lifting bottom plate through a pin shaft; a hydraulic cylinder is connected between the two ends of the lifting bottom plate and the base; the lifting bottom plate is connected with the link rod; the slide is fixed at lifting bottom plate upper surface, and slide upper surface is fixed with pneumatic cylinder, guide slot, and the pneumatic cylinder drives hand cylinder, and hand cylinder is connected with hand mechanism, and then realizes that hand mechanism drives the ladle pneumatic cylinder and slides on the guide slot.

Although the multi freedom motion of manipulator can be realized through utilizing a plurality of pneumatic cylinders to above-mentioned contrast patent, make things convenient for the dismouting work of ladle pneumatic cylinder, and the production efficiency is improved, but the pneumatic cylinder in the above-mentioned contrast patent, because the influence of environment and time, rubber seal in hydrovalve and the pneumatic cylinder can take place ageing and qualitative change, thereby it is serious to lead to hydraulic oil to reveal, the appearance of the condition such as loss of pressure, and the maintenance cost is higher relatively, and let out leakage quantity and can increase along with the rising of hydraulic pressure power, make the volumetric efficiency reduce, be difficult to satisfy practical application's demand.

To this end, a servo robot is proposed.

Disclosure of Invention

The present invention is directed to a servo manipulator to solve the above problems.

In order to achieve the purpose, the invention provides the following technical scheme: a servo manipulator comprises a moving part, a rack is fixedly arranged at the middle position of the outer surface of one side of the moving part, a guide part is fixedly arranged on the outer surface of the lower end of the rack close to the edge position, the outer surface of one end of the guide part is rotatably connected with the moving part, a rotating part is movably connected with the outer surface of the other end of the guide part, a hydraulic cylinder is arranged on the outer surface of one side of the rotating part, a mechanical palm is slidably connected with the outer surface of the lower end of the rotating part, the outer surface of one end of the hydraulic cylinder is fixedly connected with the mechanical palm, a piston rod penetrates through the middle position of the outer surface of the lower end of the hydraulic cylinder, a guide sleeve is fixedly arranged on the outer surface of the piston rod close to the edge position of the lower end, the guide sleeve is positioned inside the hydraulic cylinder, a piston body is fixedly arranged on the outer surface of the piston rod close to the upper end position of the piston body, a fixing head is arranged on the outer surface of the piston rod close to the upper end position of the piston body, a first inlet and a first outlet are formed in the outer surface of one side of the hydraulic cylinder in a penetrating mode at the position close to the upper end, a second inlet and a second outlet are formed in the outer surface of the hydraulic cylinder at the position close to the lower end of the first inlet and the second inlet in a penetrating mode, sealing mechanisms are arranged in the piston body at the middle positions, close to the two sides of the piston rod, of the inner part of the piston body, and first self-locking mechanisms are arranged at the middle positions, close to the two sides of the piston rod, of the outer surface of the upper end of the piston body;

the sealing mechanism comprises an opening, an auxiliary mechanism, a cavity, an elastic sleeve and a butting plug, wherein the auxiliary mechanism is arranged at the position, close to the upper end, of the inner surface of the opening, the cavity is formed in the piston body and close to the upper end of the auxiliary mechanism, the elastic sleeve is arranged at one side, close to the cavity, of the inner part of the piston body, and the butting plug is arranged at the position, close to the elastic sleeve, of the side surface of the piston body;

the auxiliary mechanism comprises an auxiliary body, a first oil inlet, a supporting plate, a spring, a protection box and an oil outlet, wherein the spring is fixedly installed at the middle position of the inner surface of one side of the auxiliary body, the upper end of the spring is fixedly connected with the supporting plate, the protection box is arranged around the spring inside the auxiliary body, one end of the protection box is fixedly connected with the auxiliary body, the other end of the protection box is fixedly connected with the supporting plate, the position, close to the supporting plate, of the inner top surface of the auxiliary body penetrates through the first oil inlet, the supporting plate supports against the first oil inlet, and oil outlets are formed in the positions, close to the two sides of the protection box, of the inner bottom surface of the auxiliary body.

Although the hydraulic cylinders in the comparison patent can realize the multi-degree-of-freedom movement of the manipulator by utilizing the plurality of hydraulic cylinders, the disassembly and assembly work of the ladle hydraulic cylinders is facilitated, and the production efficiency is improved, because the hydraulic cylinders in the comparison patent are influenced by environment and time, the hydraulic valves and rubber sealing rings in the hydraulic cylinders can be aged and changed in quality, so that the hydraulic oil is seriously leaked, the hydraulic cylinders in the comparison patent are provided with the sealing mechanisms, when the manipulator works, oil can conveniently enter the cavity through the opening, because the elastic sleeve adopts the tin bronze alloy, the elastic sleeve has good elastic deformation and recovery performance, when the oil enters the cavity under pressure, the pressure of the oil can expand the elastic sleeve to the direction close to the inner surface of the hydraulic cylinder to generate uniform radial elastic deformation, so that the clamping plug in contact with the outer surface of the elastic sleeve also generates radial movement, and the gap amount between the outer surface of the clamping plug and the inner surface of the hydraulic cylinder is reduced, the purpose of reducing leakage amount is achieved, and simultaneously, along with the rising of the pressure of oil liquid, the clearance between the outer surface of the abutting plug and the inner surface of the hydraulic cylinder is reduced, so that the problem of increasing leakage amount caused by the increase of pressure is solved, by arranging the auxiliary mechanism, when the piston rod needs to move downwards, oil enters from the first inlet and the second outlet, the oil enters the auxiliary mechanism from the first oil inlet on the outer surface of the upper end of the piston body, overcomes the elastic force of the spring by pressing the abutting plate through the pressure of the oil, and then enters the cavity from the oil outlet, at the moment, when the oil enters the auxiliary mechanism at the lower end of the piston body, the oil with pressure and the spring abut against the abutting plate together, so that the sealing condition of the inner part of the cavity during oil entering is ensured, the oil can be better extruded to the elastic sleeve, when the piston rod needs to move upwards, the oil enters from the second inlet and the second inlet, when returning oil from the first inlet and the first outlet, the oil passes through the first oil inlet of the auxiliary mechanism at the lower end of the piston body, the oil is extruded by the pressure to press the supporting plate to overcome the elasticity of the spring to enter the auxiliary mechanism, and then enters the cavity from the oil outlet.

Preferably, the outer surface of the abutting plug is provided with a plurality of annular grooves in a surrounding mode, the radial stress of the abutting plug is more balanced, the radius size of each annular groove is from zero point two millimeters to zero point four millimeters, and the depth of each annular groove is from zero point five millimeters to zero point eight millimeters.

During operation, support when taking place to take place radial movement to pneumatic cylinder inner wall direction in the jam, the balanced effect of radial atress of emergence is poor, through setting up the annular groove, makes to support more balanced of radial atress of jam, because the radius size and the degree of depth of annular groove are too big or the undersize, all can reduce to support the balanced degree of radial atress of jam, be two millimeters at zero point to four millimeters at zero point through the radius size that sets up the annular groove, the degree of depth of annular groove is five millimeters at zero point to eight millimeters at zero point, is favorable to reducing phenomenons such as fluid turbulent flow, swirl, reduces energy loss, reduces the fluid and generates heat the adverse effect to the annular groove, improves the practicality of totality.

Preferably, the protection box includes first protection sleeve, second protection sleeve and sealing ring, the first protection sleeve of inside swing joint of second protection sleeve, first protection sleeve and second protection sleeve junction fixed mounting sealing ring.

The during operation, under the condition of long-time use, the spring soaks can receive the erosion of oil in the oil of high temperature area pressure, lead to the spring to damage or elasticity decline to reach the requirement of not supporting the board, thereby make complementary unit reach original requirement, thereby need change the spring, increase use cost, influence the normal work of pneumatic cylinder, through setting up the cooperation of stretching out and drawing back each other of first protective sleeve and second protective sleeve, when not influencing the spring performance, can play the guard action to the spring, guarantee the leakproofness of first protective sleeve and second protective sleeve junction through setting up the sealing ring, thereby improve the life of spring, reduce cost of maintenance, guarantee the normal operating time of pneumatic cylinder.

Preferably, first self-locking mechanism is including moving about chamber, second oil inlet, movable block, sealed semicircle ball, half slot, second self-locking mechanism and ejector pad, one side internal surface intermediate position in activity chamber runs through and sets up the second oil inlet, the inside intermediate position swing joint movable block in activity chamber, the sealed semicircle ball of one side surface intermediate position fixed mounting of movable block, the semicircle slot is seted up to the position that the internal surface of pneumatic cylinder is close to the activity chamber, one side swing joint that the intracavity portion of moving about is close to the second oil inlet has the ejector pad, ejector pad and movable block fixed connection.

When the hydraulic cylinder works, although the problem that the leakage amount is increased due to the increase of pressure is solved, when the hydraulic cylinder is used for a long time, the working effect of the sealing mechanism is inevitably reduced, so that the working pressure is reduced, and at the moment, the piston rod can generate certain displacement, so that a clamped part falls off, and the working efficiency and the safety of the mechanical arm during working are influenced. Because the extrusion force that the oil was full of the activity chamber makes sealed semicircle ball inside the half slot with pressure itself, it removes to hinder the piston body to take place inside the pneumatic cylinder, thereby prevent that the piston rod from taking place to remove, avoid the emergence of the part of firmly grasping to drop, guarantee the work efficiency of manipulator and the security of during operation, need rebound when the piston rod, oil from the second import and export oil feed, when importing and exporting the oil return from first, the oil pressure of activity intracavity portion disappears with the extrusion force that the oil was full of the activity chamber, the oil pressure of piston body lower extreme risees the extrusion upward movement this moment, thereby make sealed semicircle ball separate at the half slot, untie the auto-lock, improve holistic practicality.

Preferably, the second self-locking mechanism comprises a mounting cavity, a stop block, an oil inlet pipeline and elastic blocks, the stop block is movably connected to the middle position inside the mounting cavity, the oil inlet pipeline is arranged at a position close to the mounting position inside the piston body, one end of the oil inlet pipeline is in through connection with the mounting cavity, the other end of the oil inlet pipeline is in through connection with the movable cavity, and the plurality of elastic blocks are fixedly mounted on the inner surface of the mounting cavity close to the upper end of the stop block in a surrounding mode.

When the sealing mechanism works, when the working effect of the sealing mechanism is seriously reduced, and the working pressure is seriously reduced, the extrusion force which causes the oil to fill the movable cavity and the pressure of the sealing semi-sphere are not enough to cause the sealing semi-sphere to be in the semi-circular groove, so that the piston body is prevented from moving in the hydraulic cylinder, and the gripped parts can be caused to fall off, through arranging the oil inlet pipeline, the piston rod needs to move downwards, the oil is fed from the first inlet and the first outlet, when the oil is fed from the second inlet and the second outlet, the oil can push the push block to move towards the direction close to the semi-circular groove to lift the oil inlet pipeline, the oil enters the mounting cavity from the oil inlet pipeline to extrude the stop block to enable the stop block to overcome the elastic resistance of the elastic block to enter the movable cavity, the working effect of the sealing semi-sphere at the sealing mechanism is seriously reduced, when the working pressure is seriously reduced, the oil is moved towards the second inlet to prevent the sealing semi-sphere from being separated from the semi-circular groove, the normal operation of auto-lock work is guaranteed, and the practicality of totality is improved.

Preferably, the position of the inner surface of the movable cavity, which is close to the movable block, is surrounded by a plurality of limiting blocks for limiting the movable block.

During operation, when the dog stretches out to get into the movable chamber and carry out spacingly to sealed semicircle ball, long-time use, the movable block can make dog and installation cavity contact department take place to warp to the extrusion force of dog direction, influence the working effect of dog, through setting up the stopper, and the distance between the stopper and the movable block after accomplishing the auto-lock slightly is greater than the diameter of the lower extreme surface of dog, stretch out to get into the movable chamber at the dog and carry out spacingly to sealed semicircle ball, the dog surpasss the position of installation cavity, the stopper can produce spacing supporting role to it, thereby guarantee the working effect of dog, improve holistic practicality.

Compared with the prior art, the invention has the beneficial effects that:

1. the sealing mechanism is arranged, oil can conveniently enter the cavity through the opening when the manipulator works, the elastic sleeve is made of tin bronze alloy and has good elastic deformation and recovery performance, when the oil enters the cavity under pressure, the pressure of the oil can enable the elastic sleeve to expand towards the direction close to the inner surface of the hydraulic cylinder to generate uniform radial elastic deformation, and the abutting plug in contact with the outer surface of the elastic sleeve also moves radially, so that the gap between the outer surface of the abutting plug and the inner surface of the hydraulic cylinder is reduced, the leakage amount is reduced, meanwhile, along with the rising of the oil pressure, the gap between the outer surface of the abutting plug and the inner surface of the hydraulic cylinder is also reduced, and the problem of the increase of the leakage amount caused by the increase of the pressure is solved.

2. According to the invention, the first self-locking mechanism is arranged, the piston rod needs to move downwards, oil is fed from the first inlet and outlet, when oil is returned from the second inlet and outlet, the oil with pressure can extrude the push block to drive the movable block to move towards the direction close to the semicircular groove in the movable cavity when the oil with pressure enters the movable cavity from the second oil inlet, and self-locking is completed until the sealed semicircular ball enters the semicircular groove.

Drawings

FIG. 1 is a schematic view of the complete structure of the present invention;

FIG. 2 is a cross-sectional structural view of the hydraulic cylinder of the present invention;

FIG. 3 is an enlarged view of the structure at A of the present invention;

FIG. 4 is an enlarged view of the structure of the present invention at B;

FIG. 5 is an enlarged view of the structure at C of the present invention;

fig. 6 is a sectional structural view of a second self-locking mechanism of the present invention.

In the figure: 1. a moving member; 2. a rack; 3. a guide member; 5. a rotating member; 6. a hydraulic cylinder; 7. a mechanical palm; 8. a piston rod; 9. a guide sleeve; 10. a piston body; 11. a fixed head; 12. a first inlet/outlet; 13. a second inlet/outlet; 14. a sealing mechanism; 141. an opening; 142. an auxiliary mechanism; 1421. an auxiliary body; 1422. a first oil inlet; 1423. a resisting plate; 1424. a spring; 1425. a protection box; 14251. a first protective sleeve; 14252. a second protective sleeve; 14253. a seal ring; 1426. an oil outlet; 143. a cavity; 144. an elastic sleeve; 145. abutting the plug; 146. an annular groove; 15. a first self-locking mechanism; 151. a movable cavity; 152. a second oil inlet; 153. a movable block; 154. sealing the semi-spherical ball; 156. a semicircular groove; 157. a second self-locking mechanism; 1571. a mounting cavity; 1572. a stopper; 1573. an oil inlet pipeline; 1574. an elastic block; 1575. a limiting block; 158. and (7) pushing the block.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in 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.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 6, the present invention provides a servo manipulator, comprising:

a servo manipulator, as shown in figures 1 to 3, comprises a moving part 1, a rack 2 is fixedly arranged at the middle position of the outer surface of one side of the moving part 1, a guide part 3 is fixedly arranged at the outer surface of the lower end of the rack 2 close to the edge position, one end outer surface of the guide part 3 is rotatably connected with the moving part 1, a rotating part 5 is movably connected with the outer surface of the other end of the guide part 3, a hydraulic cylinder 6 is arranged at the outer surface of one side of the rotating part 5, a mechanical palm 7 is slidably connected with the outer surface of the lower end of the rotating part 5, one end outer surface of the hydraulic cylinder 6 is fixedly connected with the mechanical palm 7, a piston rod 8 is arranged at the middle position of the outer surface of the lower end of the hydraulic cylinder 6 in a penetrating manner, a guide sleeve 9 is fixedly arranged at the edge position of the outer surface of the piston rod 8 close to the lower end, the guide sleeve 9 is positioned inside the hydraulic cylinder 6, a piston body 10 is fixedly arranged on the outer surface of the piston rod 8 close to the upper end, a fixing head 11 is arranged on the outer surface of the piston rod 8 close to the upper end of the piston body 10, a first inlet and outlet 12 is formed in the outer surface of one side of the hydraulic cylinder 6 close to the upper end in a penetrating manner, a second inlet and outlet 13 is formed in the outer surface of the hydraulic cylinder 6 close to the lower end of the first inlet and outlet 12 in a penetrating manner, sealing mechanisms 14 are arranged in the piston body 10 close to the middle positions of two sides of the piston rod 8, and first self-locking mechanisms 15 are arranged on the outer surface of the upper end of the piston body 10 close to the middle positions of two sides of the piston rod 8;

the sealing mechanism 14 comprises an opening 141, an auxiliary mechanism 142, a cavity 143, an elastic sleeve 144 and a butting plug 145, the auxiliary mechanism 142 is arranged at a position, close to the upper end, of the inner surface of the opening 141, the cavity 143 is formed at the upper end, close to the auxiliary mechanism 142, of the inside of the piston body 10, the elastic sleeve 144 is arranged at one side, close to the cavity 143, of the inside of the piston body 10, and the butting plug 145 is arranged at a position, close to the elastic sleeve 144, of the side surface of the piston body 10;

the auxiliary mechanism 142 includes an auxiliary body 1421, a first oil inlet 1422, a supporting plate 1423, a spring 1424, a protection box 1425, and an oil outlet 1426, the spring 1424 is fixedly installed at the middle position of the inner surface of one side of the auxiliary body 1421, the upper end of the spring 1424 is fixedly connected to the supporting plate 1423, the protection box 1425 is disposed inside the auxiliary body 1421 near the spring 1424, one end of the protection box 1425 is fixedly connected to the auxiliary body 1421, the other end of the protection box 1425 is fixedly connected to the supporting plate 1423, a first oil inlet 1422 is formed through the position of the inner top surface of the auxiliary body 1421 near the supporting plate 1423, the supporting plate 1423 supports the first oil inlet 1422, and oil ports 1426 are formed through the positions of the inner bottom surface of the auxiliary body 1421 near both sides of the protection box 1425.

Although the above-mentioned comparison patent can realize the multi-degree-of-freedom movement of the manipulator by using a plurality of hydraulic cylinders 6, which facilitates the disassembly and assembly work of the ladle hydraulic cylinder 6 and improves the production efficiency, the hydraulic cylinder 6 in the above-mentioned comparison patent can be aged and changed in quality due to the influence of environment and time, thereby causing serious leakage of hydraulic oil, the invention facilitates the oil to enter the cavity 143 by arranging the sealing mechanism 14 through arranging the opening 141 when the manipulator works, because the elastic sleeve 144 is made of tin bronze alloy, which has good elastic deformation and recovery performance, when the oil with pressure enters the cavity 143, the pressure of the oil can expand the elastic sleeve 144 to the direction close to the inner surface of the hydraulic cylinder 6, so as to generate uniform radial elastic deformation, and cause the abutting plug 145 contacting with the outer surface of the elastic sleeve 144 to also move radially, therefore, the clearance between the outer surface of the abutting plug 145 and the inner surface of the hydraulic cylinder 6 is reduced, the purpose of reducing the leakage amount is achieved, meanwhile, along with the rising of the oil pressure, the clearance between the outer surface of the abutting plug 145 and the inner surface of the hydraulic cylinder 6 is also reduced, the problem of increasing the leakage amount caused by the increase of the pressure is solved, by arranging the auxiliary mechanism 142, when the piston rod 8 needs to move downwards, oil is fed from the first inlet/outlet 12, oil is returned from the second inlet/outlet 13, the oil enters the cavity 143 from the first oil inlet 1422 on the outer surface of the upper end of the piston body 10, the oil overcomes the elastic force of the spring 1424 by extruding the abutting plate 1423 through the pressure of the oil, enters the auxiliary mechanism 142 from the oil outlet 1426, at the moment, when the oil enters the auxiliary mechanism 142 at the lower end of the piston body 10, the oil with the pressure and the spring 1424 abut against the abutting plate 1423 together, so as to ensure the sealing condition of the inside of the cavity 143 during oil feeding, the elastic sleeve 144 can be better extruded when pressure is applied, when the piston rod 8 needs to move upwards, oil is fed from the second inlet/outlet 13, and oil returns from the first inlet/outlet 12, so that the oil enters the first oil inlet 1422 of the assisting mechanism 142 at the lower end of the piston body 10, the pressing supporting plate 1423 for oil passing overcomes the elastic force of the spring 1424, enters the assisting mechanism 142, and then enters the cavity 143 from the oil outlet 1426, and when the oil enters the assisting mechanism 142 at the upper end of the piston body 10, the oil with pressure and the spring 1424 tightly support the supporting plate 1423 together, so that the sealing mechanism 14 can play a role when the piston rod 8 moves up and down, and the overall practicability is improved.

As a specific embodiment of the present invention, as shown in fig. 2, a plurality of annular grooves 146 are circumferentially formed on an outer surface of the abutting plug 145 to make radial stress of the abutting plug 145 more balanced, a radius of each annular groove 146 is 0.22MM to 0.42MM, and a depth of each annular groove 146 is 0.50MM to 0.8 MM.

During operation, when the radial movement takes place to the pneumatic cylinder 6 inner wall direction in the stopper 145 that supports, the balanced effect of the radial atress that takes place is poor, through setting up annular groove 146, makes the more balanced of the radial atress of stopper 145 that supports, because the radius size and the degree of depth of annular groove 146 are too big or undersize, all can reduce the balanced degree of the radial atress of stopper 145 that supports, and the radius size through setting up annular groove 146 is 0.22MM-0.42MM, the degree of depth of annular groove 146 is 0.50MM-0.8MM, is favorable to reducing phenomenons such as fluid turbulent flow, swirl, reduces energy loss, reduces the adverse effect that fluid generates heat to annular groove 146, improves holistic practicality.

As a specific embodiment of the present invention, as shown in fig. 3 to 4, the protection box 1425 includes a first protection sleeve 14251, a second protection sleeve 14252, and a sealing ring 14253, the first protection sleeve 14251 is movably connected inside the second protection sleeve 14252, and the sealing ring 14253 is fixedly installed at the connection position of the first protection sleeve 14251 and the second protection sleeve 14252.

In operation, under the condition of long-time use, spring 1424 soaks can receive the erosion of oil in the oil of high temperature area pressure, lead to spring 1424 to damage or elasticity decline to reach and support the requirement of resisting to board 1423, thereby make complementary unit 142 not reach original requirement, thereby need to change spring 1424, increase use cost, influence the normal work of pneumatic cylinder 6, through setting up first protective sleeve 14251 and the mutual flexible cooperation of second protective sleeve 14252, when not influencing spring 1424 and play a role, can play the guard action to spring 1424, guarantee the leakproofness of first protective sleeve 14251 and second protective sleeve 14252 junction through setting up sealing ring 14253, thereby improve the life of spring 1424, reduce maintenance cost, guarantee the normal operating time of pneumatic cylinder 6.

As a specific embodiment of the present invention, as shown in fig. 5, the first self-locking mechanism 15 includes a movable cavity 151, a second oil inlet 152, a movable block 153, a sealing semi-sphere 154, a semi-circular groove 156, a second self-locking mechanism 157, and a push block 158, the second oil inlet 152 is formed through the middle position of the inner surface of one side of the movable cavity 151, the movable block 153 is movably connected to the middle position of the inside of the movable cavity 151, the sealing semi-sphere 154 is fixedly installed at the middle position of the outer surface of one side of the movable block 153, the semi-circular groove 156 is formed at the position of the inner surface of the hydraulic cylinder 6 close to the movable cavity 151, the push block 158 is movably connected to one side of the inside of the movable cavity 151 close to the second oil inlet 152, and the push block 158 is fixedly connected to the movable block 153.

When the hydraulic cylinder works, although the sealing mechanism 14 solves the problem of increased leakage caused by increased pressure, when the hydraulic cylinder is used for a long time, the working effect of the sealing mechanism 14 is inevitably reduced, so that the working pressure is reduced, and at this time, the piston rod 8 generates certain displacement, so that a gripped part falls off, so that the working efficiency and the safety of the manipulator are affected, the invention has the advantages that by arranging the first self-locking mechanism 15, the piston rod 8 needs to move downwards, oil is fed from the first inlet/outlet 12, when oil is returned from the second inlet/outlet 13, oil with pressure enters the movable cavity 151 from the second oil inlet 152, the oil with pressure extrudes the push block 158, the movable block 153 is driven to move towards the direction close to the semicircular groove 156 in the movable cavity 151, and when the sealing semicircular ball 154 enters the semicircular groove 156, self-locking is completed, and when hydraulic oil of the hydraulic cylinder 6 leaks and the like, when the working pressure is reduced, the extrusion force of the oil filled movable cavity 151 and the pressure of the oil filled movable cavity enable the sealed semi-spherical ball 154 to be in the semi-circular groove 156, the piston body 10 is prevented from moving in the hydraulic cylinder 6, the piston rod 8 is prevented from moving, the dropping of a tightly-gripped part is avoided, the working efficiency of the manipulator and the safety of the manipulator during working are ensured, when the piston rod 8 needs to move upwards, the oil enters from the second inlet and outlet 13, the oil pressure in the movable cavity 151 and the extrusion force of the oil filled movable cavity 151 disappear when the oil returns from the first inlet and outlet 12, the oil pressure at the lower end of the piston body 10 rises to extrude and move upwards, so that the sealed semi-spherical ball 154 is separated in the semi-circular groove 156, the self-locking is unlocked, and the overall practicability is improved.

As a specific embodiment of the present invention, as shown in fig. 6, the second self-locking mechanism 157 includes a mounting cavity 1571, a stopper 1572, an oil inlet pipe 1573 and an elastic block 1574, the stopper 1572 is movably connected to an intermediate position inside the mounting cavity 1571, the oil inlet pipe 1573 is opened at a position inside the piston body 10 close to the mounting position, one end of the oil inlet pipe 1573 is connected to the mounting cavity 1571 in a penetrating manner, the other end of the oil inlet pipe 1573 is connected to the movable cavity 151 in a penetrating manner, and a plurality of elastic blocks 1574 are fixedly mounted on an inner surface of the mounting cavity 1571 close to an upper end of the stopper 1572 in a surrounding manner.

When the working pressure is seriously reduced due to the serious reduction of the working effect of the sealing mechanism 14 during working, the extrusion force which causes the oil to fill the movable cavity 151 is added with the pressure which is not enough to cause the sealing semi-spherical ball 154 to be positioned in the semi-circular groove 156, so that the piston body 10 is prevented from moving in the hydraulic cylinder 6, and the gripped parts can be further caused to fall off, by arranging the oil inlet pipeline 1573, the piston rod 8 needs to move downwards, oil is fed from the first inlet/outlet 12, when oil returns from the second inlet/outlet 13, the oil pushes the push block 158 to move towards the direction close to the semi-circular groove 156 so that the oil inlet pipeline 1573 rises, the oil enters the mounting cavity 1571 from the oil inlet pipeline 1573 to squeeze the block 1572, so that the block 1572 enters the movable cavity 151 against the elastic resistance of the elastic block 1574, the working effect of the sealing semi-spherical ball 154 on the sealing mechanism 14 is limited to be seriously reduced, and the working pressure is seriously reduced, and the sealing semi-spherical ball 154 is prevented from being separated from the semi-circular groove 156 by moving to the position close to the second oil inlet 152, so that the normal self-locking operation is ensured, and the overall practicability is improved.

As a specific embodiment of the present invention, as shown in fig. 5 to 6, a plurality of limit blocks 1575 are fixedly installed around the inner surface of the movable chamber 151 near the movable block 153 for limiting the movable block 153.

During operation, when dog 1572 stretches out to get into movable chamber 151 and carry out spacingly to sealed semicircle ball 154, long-time use, movable block 153 can make dog 1572 and installation cavity 1571 contact department take place to warp to the extrusion force of dog 1572 direction, influence the working effect of dog 1572, through setting up stopper 1575, and the distance between stopper 1575 and the movable block 153 after accomplishing the auto-lock slightly is greater than the diameter of the lower extreme surface of dog 1572, stretch out at dog 1572 and get into movable chamber 151 and carry out spacingly to sealed semicircle ball 154, dog 1572 surpasss the position of installation cavity 1571, stopper 1575 can produce spacing supporting action to it, thereby guarantee the working effect of dog 1572, improve holistic practicality.

The working principle is as follows: by arranging the sealing mechanism 14, when the manipulator works, oil can conveniently enter the cavity 143 through the opening 141, because the elastic sleeve 144 is made of tin bronze alloy, the elastic sleeve has good elastic deformation and recovery performance, when the oil enters the cavity 143 under pressure, the pressure of the oil can expand the elastic sleeve 144 towards the direction close to the inner surface of the hydraulic cylinder 6 to generate uniform radial elastic deformation, so that the abutting plug 145 in contact with the outer surface of the elastic sleeve 144 also moves radially, the clearance between the outer surface of the abutting plug 145 and the inner surface of the hydraulic cylinder 6 is reduced, the purpose of reducing the leakage amount is achieved, meanwhile, along with the increase of the pressure of the oil, the clearance between the outer surface of the abutting plug 145 and the inner surface of the hydraulic cylinder 6 is also reduced, the problem of increasing the leakage amount caused by the increase of the pressure is solved, through arranging the auxiliary mechanism 142, when the piston rod 8 needs to move downwards, when oil enters from the first inlet/outlet 12, and oil returns from the second inlet/outlet 13, the oil enters the interior of the auxiliary mechanism 142 from the first oil inlet 1422 on the outer surface of the upper end of the piston body 10 by pressing the pressing plate 1423 against the elastic force of the spring 1424 through the pressure of the oil, and then enters the cavity 143 from the oil outlet 1426, at this time, when the oil enters the auxiliary mechanism 142 at the lower end of the piston body 10, the oil with pressure abuts against the pressing plate 1423 together with the spring 1424, so as to ensure the sealing condition of the interior of the cavity 143 during oil entering, and ensure that the elastic sleeve 144 can be better pressed with pressure, when the piston rod 8 needs to move upwards, the oil enters from the second inlet/outlet 13, and when oil returns from the first inlet/outlet 12, the oil enters the first oil inlet 1422 of the auxiliary mechanism 142 at the lower end of the piston body 10, the pressing plate 1423 against the elastic force of the spring 1424 through the pressure of the oil, and then enters the cavity 143 from the oil outlet 1426, at this time, when oil enters the auxiliary mechanism 142 at the upper end of the piston body 10, the oil with pressure and the spring 1424 tightly abut against the plate 1423, thereby ensuring that the sealing mechanism 14 can play a role when the piston rod 8 moves up and down, and improving the overall practicability, by providing the first self-locking mechanism 15, the piston rod 8 needs to move down, oil is fed from the first inlet/outlet 12, and when oil is returned from the second inlet/outlet 13, the oil with pressure enters the movable cavity 151 from the second oil inlet 152, the oil with pressure will extrude the push block 158, and drive the movable block 153 to move in the direction close to the semicircular groove 156 in the movable cavity 151 until the sealing semicircular ball 154 enters the semicircular groove 156, thereby completing self-locking, when the hydraulic cylinder 6 has a working pressure drop due to leakage of hydraulic oil, because the extrusion force of the oil filling the movable cavity 151 and the pressure of the oil make the sealing semicircular ball 154 in the semicircular groove 156, hinder piston body 10 and take place to remove inside the pneumatic cylinder 6, thereby prevent that piston rod 8 from taking place to remove, avoid the emergence of the part of grasping to drop, guarantee the work efficiency of manipulator and the security of during operation, need rebound when piston rod 8, oil is from second import and export 13 oil intakes, when 12 oil returns from first import and export, the inside oil pressure of activity chamber 151 and the extrusion force that oil was full of activity chamber 151 disappear, the oil pressure of piston body 10 lower extreme risees the extrusion upward movement this moment, thereby make sealed semicircle ball 154 separate at half slot 156, untie the auto-lock, improve holistic practicality.

The electric elements in the document are electrically connected with an external main controller and 220V mains supply through a transformer, the main controller can be a conventional known device controlled by a computer and the like, the product model provided by the invention is only used according to the structural characteristics of the product, the product can be adjusted and modified after being purchased, so that the product is more matched with and accords with the technical scheme of the invention, the product model is a technical scheme of the optimal application of the technical scheme, the product model can be replaced and modified according to the required technical parameters, and the product model is familiar to the technical personnel in the field, so that the technical scheme provided by the invention can clearly obtain the corresponding use effect.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A servo manipulator comprising a moving part (1), characterized in that: the utility model discloses a pneumatic control device, including one side surface intermediate position fixed mounting of motion (1) has rack (2), the lower extreme surface of rack (2) is close to marginal position fixed mounting and has guide (3), the one end surface of guide (3) rotates with motion (1) and is connected, the other end surface swing joint of guide (3) has a rotation piece (5), one side surface of rotating piece (5) is provided with pneumatic cylinder (6), the lower extreme surface sliding connection of rotation piece (5) has mechanical palm (7), the one end surface and the mechanical palm (7) fixed connection of pneumatic cylinder (6), the lower extreme surface intermediate position of pneumatic cylinder (6) runs through and is provided with piston rod (8), the surface of piston rod (8) is close to lower extreme edge position fixed mounting has uide bushing (9), uide bushing (9) are located inside pneumatic cylinder (6), a piston body (10) is fixedly mounted on the outer surface of the piston rod (8) close to the upper end, a fixing head (11) is arranged on the outer surface of the piston rod (8) close to the upper end of the piston body (10), a first inlet and outlet (12) is formed in a penetrating manner on the outer surface of one side of the hydraulic cylinder (6) close to the upper end, a second inlet and outlet (13) is formed in a penetrating manner on the outer surface of the hydraulic cylinder (6) close to the lower end of the first inlet and outlet (12), sealing mechanisms (14) are arranged in the piston body (10) close to the middle positions of two sides of the piston rod (8), and first self-locking mechanisms (15) are arranged on the outer surface of the upper end of the piston body (10) close to the middle positions of two sides of the piston rod (8);

the sealing mechanism (14) comprises an opening (141), an auxiliary mechanism (142), a cavity (143), an elastic sleeve (144) and a butting plug (145), the auxiliary mechanism (142) is arranged at a position, close to the upper end, of the inner surface of the opening (141), the cavity (143) is formed in the upper end, close to the auxiliary mechanism (142), of the interior of the piston body (10), the elastic sleeve (144) is arranged on one side, close to the cavity (143), of the interior of the piston body (10), and the butting plug (145) is arranged at a position, close to the elastic sleeve (144), of the side surface of the piston body (10);

the auxiliary mechanism (142) comprises an auxiliary body (1421), a first oil inlet (1422), a resisting plate (1423), a spring (1424), a protection box (1425) and an oil outlet (1426), a mounting spring (1424) is fixed at the middle position of the inner surface of one side of the auxiliary body (1421), the upper end of the spring (1424) is fixedly connected with a resisting plate (1423), a protection box (1425) is arranged in the auxiliary body (1421) and close to the periphery of the spring (1424), one end of the protection box (1425) is fixedly connected with the auxiliary body (1421), the other end of the protection box (1425) is fixedly connected with the abutting plate (1423), a first oil inlet (1422) is formed in the position, close to the abutting plate (1423), of the inner top surface of the auxiliary body (1421) in a penetrating manner, the abutting plate (1423) abuts against the first oil inlet (1422), and oil outlets (1426) are formed in the positions, close to the protection box (1425), of the inner bottom surface of the auxiliary body (1421) in a penetrating mode.

2. A servo manipulator according to claim 1, wherein: the outer surface of the abutting plug (145) is provided with a plurality of annular grooves (146) in a surrounding mode, the radial stress of the abutting plug (145) is more balanced, the radius size of each annular groove (146) is 0.22MM-0.42MM, and the depth of each annular groove (146) is 0.50MM-0.8 MM.

3. A servo manipulator according to claim 1, wherein: the protection box (1425) includes first protection sleeve (14251), second protection sleeve (14252) and sealing ring (14253), the inside swing joint first protection sleeve (14251) of second protection sleeve (14252), first protection sleeve (14251) and second protection sleeve (14252) junction fixed mounting sealing ring (14253).

4. A servo manipulator according to claim 1, wherein: first self-locking mechanism (15) is including activity chamber (151), second oil inlet (152), movable block (153), sealed semicircle ball (154), semicircular groove (156), second self-locking mechanism (157) and ejector pad (158), one side internal surface intermediate position of activity chamber (151) runs through and sets up second oil inlet (152), inside intermediate position swing joint movable block (153) of activity chamber (151), one side surface intermediate position fixed mounting sealed semicircle ball (154) of movable block (153), semicircular groove (156) are seted up to the position that the internal surface of pneumatic cylinder (6) is close to activity chamber (151), one side swing joint that is close to second oil inlet (152) in activity chamber (151) inside has ejector pad (158), ejector pad (158) and movable block (153) fixed connection.

5. A servo manipulator according to claim 4, wherein: the second self-locking mechanism (157) comprises an installation cavity (1571), a stop block (1572), an oil inlet pipeline (1573) and an elastic block (1574), the stop block (1572) is movably connected to the middle position inside the installation cavity (1571), the oil inlet pipeline (1573) is arranged at a position, close to the installation, inside the piston body (10), one end of the oil inlet pipeline (1573) is in through connection with the installation cavity (1571), the other end of the oil inlet pipeline (1573) is in through connection with the movable cavity (151), and a plurality of elastic blocks (1574) are fixedly installed on the inner surface of the installation cavity (1571) close to the upper end of the stop block (1572) in a surrounding mode.

6. A servo manipulator according to claim 5, wherein: the inner surface of the movable cavity (151) close to the movable block (153) is fixedly provided with a plurality of limit blocks (1575) in a surrounding manner, and the limit blocks are used for limiting the movable block (153).