CN117301102A - Rotary hydraulic clamping mechanism and hydraulic mechanical arm - Google Patents

Abstract

The invention relates to a rotary hydraulic hand clamping mechanism and a hydraulic mechanical arm, which comprises a shell, wherein a rotating shaft is rotationally connected in a central channel of the shell, the front end of the rotating shaft is fixed with a hand clamping seat, a first oil cavity is arranged between the rotating shaft and the shell, a first partition piece fixed with the shell and a second partition piece fixed with the rotating shaft are arranged in the first oil cavity, the first oil cavity is divided into two spaces by the first partition piece and the second partition piece, the two spaces are communicated with a rotary driving oil duct, a second oil cavity is arranged in the rotating shaft, a piston is connected in the second oil cavity in a sliding manner, the piston is connected with one end of a piston rod, the other end of the piston rod extends out of the rotating shaft and is connected with a clamping jaw assembly arranged on the hand clamping seat through a connecting rod mechanism, the piston divides the second oil cavity into a rod cavity and a rodless cavity, and the rod cavity and the rodless cavity are communicated with a linear motion driving oil duct.

Description

Rotary hydraulic clamping mechanism and hydraulic mechanical arm

Technical Field

The invention relates to the technical field of hydraulic mechanical arms, in particular to a rotary hydraulic clamping mechanism and a hydraulic mechanical arm.

Background

The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.

Compared with an electric industrial robot, the hydraulic mechanical arm has larger load/self weight ratio and better waterproof, explosion-proof and electromagnetic interference resistant capabilities, is very suitable for carrying, stacking, grabbing and other operations of objects in severe environments, and is widely applied to the fields of machine manufacturing, logistics, explosion-proof, forestry, agriculture and the like. When the hydraulic mechanical arm performs different work tasks, the tail end of the hydraulic mechanical arm needs to be provided with a corresponding work tool, and a hydraulic clamping hand is the most commonly used work tool.

The opening and closing of the two fingers of the hydraulic clamp hand are generally driven by the linear oil cylinder, in order to enable the hydraulic mechanical arm to flexibly grasp objects from multiple directions, the hydraulic clamp hand can rotate, and both patent CN104647365B and patent CN102009411A disclose a hydraulic clamp hand which is provided with a linear driving mechanism and a rotary driving mechanism which are separately arranged, so that the driving part of the hydraulic clamp hand occupies a large volume and is inflexible in use, and when the clamp hand is closed, a rod cavity of the linear driving mechanism is filled with oil to work, so that the driving force of the clamp hand when the clamp hand is closed is reduced, and the equipment requirement on the hydraulic cylinder is improved.

Patent application CN102009411a discloses an improved mechanical gripper, which drives the mechanical gripper to be closed when the rodless cavity is filled with oil, so that the defect that the gripper is driven to be closed by the oil filled with the rod cavity is overcome, however, the gripper does not integrate a rotary driving mechanism, and can only grasp objects from different directions after being installed at the tail end of other rotary mechanisms, and the axis size of the gripper opening and closing linear driving mechanism and the rotary mechanism after being connected in series is longer, so that the flexibility of the hydraulic mechanical arm is affected.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a rotary hydraulic clamping mechanism and a hydraulic mechanical arm, wherein the driving part is small in size, and the hydraulic clamping mechanism is good in compactness and high in flexibility.

In order to achieve the above object, the present invention is realized by the following technical scheme:

in a first aspect, an embodiment of the present invention provides a rotary hydraulic hand clamping mechanism, including a housing, a rotating shaft is rotationally connected in a central channel of the housing, a front end of the rotating shaft is fixedly connected with a hand clamping seat, a first oil cavity is provided between the rotating shaft and the housing, a first partition fixed with the housing and a second partition fixed with the rotating shaft are provided in the first oil cavity, the first oil cavity is divided into two spaces by the first partition and the second partition, the two spaces are both communicated with a rotary driving oil duct, a second oil cavity is provided in the rotating shaft, a piston is slidably connected in the second oil cavity, the piston is connected with one end of a piston rod, the other end of the piston rod extends out of the rotating shaft and is connected with a clamping jaw assembly provided on the hand clamping seat through a connecting rod mechanism, the piston divides the second oil cavity into a rod cavity and a rodless cavity, and the rod cavity and the rodless cavity are both communicated with a linear motion driving oil duct.

Optionally, two rotation driving oil ducts are formed on the shell, one end of each rotation driving oil duct extends to the peripheral surface of the shell to form an oil port, the other end of each rotation driving oil duct is communicated with the first oil cavity, and connection positions of the two rotation driving oil ducts and the first oil cavity are respectively located on two sides of the first partition piece.

Optionally, the linear motion driving oil duct includes a first annular groove and a second annular groove, the first annular groove is formed on the inner surface of the central channel, the first annular groove is communicated with the rod cavity through a first oil path formed by the rotating shaft, the second annular groove is communicated with the rodless cavity through a second oil path formed by the rotating shaft, the first annular groove is communicated with a first oil port formed on the shell, and the second annular groove is communicated with a second oil port formed on the shell

Optionally, the casing is installed first pressure sensor and second pressure sensor, and first pressure sensor and second pressure sensor's pressure measurement end respectively with two rectilinear motion drive oil duct cooperation in order to detect the fluid pressure in there is pole chamber and no pole chamber.

Optionally, the fixed ends of the first pressure sensor and the second pressure sensor are embedded and installed in an installation groove formed in the rear end face of the shell.

Optionally, an encoder is installed between the housing and the rotating shaft to detect a rotation angle of the rotating shaft;

further, the reading plate of the encoder is arranged at the rear end of the shell, and the magnetic ring of the encoder is arranged at the rear end of the rotating shaft.

Optionally, the clamping jaw subassembly includes curved first clamping jaw and second clamping jaw, and first clamping jaw and second clamping jaw one end rotate with the tong seat to be connected, link mechanism includes curved first connecting rod and second connecting rod, and first connecting rod one end articulates with the non-tip position of first clamping jaw, and second connecting rod one end articulates with the non-tip position of second clamping jaw, and the other end of first connecting rod and second connecting rod articulates with the piston rod so that the piston rod drives first clamping jaw and second clamping jaw closure through first connecting rod and second connecting rod when stretching out, drives first clamping jaw and second clamping jaw through first connecting rod and second connecting rod when the piston rod is retracted and opens.

Optionally, a plurality of first sealing elements are arranged between the rotating shaft and the shell to prevent oil in the first oil cavity from leaking;

further, a second sealing member is arranged between the piston and the inner side surface of the second oil cavity so as to further divide the second oil cavity into a rod cavity and a rodless cavity.

Optionally, the pivot includes the balance cylinder blade axle, and balance cylinder blade axle one end is sealed, and the other end is uncovered to be set up, and the uncovered end of balance cylinder blade axle is fixed with the cylinder liner, and the cylinder liner is with the shutoff of uncovered end so that form the second oil pocket in the balance cylinder blade axle, cylinder liner and tong seat fixed connection.

In a second aspect, an embodiment of the present invention provides a hydraulic mechanical arm, including a mechanical arm body, where a rotary hydraulic gripper mechanism described in the first aspect is mounted at an end of the mechanical arm body.

The beneficial effects of the invention are as follows:

1. according to the clamping hand mechanism, the rotating shaft is rotationally connected in the central channel of the shell, the first oil cavity is arranged between the shell and the rotating shaft, the first oil cavity is divided into two spaces by the first partition piece and the second partition piece, the two spaces are communicated with the rotary driving oil duct, hydraulic oil can be injected into or discharged from the two spaces through the rotary driving oil duct, so that the rotating shaft is driven to rotate, rotary motion is output, the rotating shaft is connected with the clamping jaw assembly through the clamping hand seat, further rotary motion of the clamping jaw assembly is realized, meanwhile, the second oil cavity is arranged in the rotating shaft, the piston is arranged in the second oil cavity, the piston rod is connected with the clamping jaw assembly through the connecting rod mechanism, the rod cavity and the rodless cavity which are divided by the piston are communicated with the linear motion driving oil duct, and hydraulic oil can be introduced into or discharged from the rod cavity through the linear motion driving oil duct, so that the piston and the piston rod are driven to perform linear motion, and the driving assembly is opened and closed, therefore the rotary driving part and the linear motion driving part of the clamping hand mechanism are integrally arranged, and the hydraulic driving part of the clamping hand mechanism is not separately arranged, the volume of the driving part of the clamping hand mechanism is greatly reduced, and the hydraulic pressure of the clamping hand mechanism is improved, and the clamping jaw is more compact.

2. According to the clamping mechanism, the first clamping jaw and the second clamping jaw are of arc-shaped structures, so that the requirements of clamping hands on objects with different hardness and different shapes are met, the diversity of clamping operation tasks is improved, meanwhile, the two linear motion driving oil ducts are internally matched with the pressure measuring ends of the pressure sensors, the oil pressure can be detected, the clamping force of the clamping jaws is detected, and the tail end clamping force of the clamping jaw assembly can be controlled through the pressure sensors.

3. According to the clamping mechanism, the first clamping jaw and the second clamping jaw are closed when the piston rod extends out due to the arrangement of the arc-shaped first connecting rod and the arc-shaped second connecting rod, namely, when hydraulic oil is introduced into the rodless cavity of the second oil cavity, the first clamping jaw and the second clamping jaw are closed, and the clamping force of the clamping jaw assembly is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

FIG. 1 is a schematic diagram showing the overall structure of embodiment 1 of the present invention;

FIG. 2 is a schematic diagram showing the overall structure of embodiment 1 of the present invention;

FIG. 3 is a cross-sectional view showing the overall structure of embodiment 1 of the present invention;

FIG. 4 is an axial cross-sectional view of the invention perpendicular to FIG. 3;

FIG. 5 is a radial cross-sectional view of the vane of the tilt cylinder vane shaft of example 1 of the present invention;

FIG. 6 is a radial sectional view of the vane shaft oil port of the tilt cylinder of example 1 of the present invention;

the hydraulic pressure engine comprises a first clamping jaw, 102, a second clamping jaw, 103, a connecting rod shaft, 104, a finger shaft, 105, a first connecting rod, 106, a T-shaped shaft, 107, a piston rod, 108, a hand clamping seat, 109, an oil cylinder sleeve, 110, a front bearing cover, 111, injection and production, 112, a first sealing element, 113, a front cover, 114, a first O-shaped sealing ring, 115, a swing cylinder blade shaft, 116, a rear shell, 117, a second pressure sensor, 118, a screw plug, 119, a rear bearing cover, 120, an encoder, 121, a first pressure sensor, 122, a gasket, 123, a short sleeve, 124, a long sleeve, 125, a retainer ring, 126, a third sealing element, 127, a second guide sleeve, 128, a second O-shaped sealing ring, 129, a second sealing element, 130, a first guide sleeve, 131, an annular boss, 132, a separation block, 133, a blade, 134, a first annular groove, 135, a first oil circuit, a second annular groove, 137, a first connecting block, 138, and a second connecting block.

Detailed Description

Example 1

The embodiment provides a rotary hydraulic hand clamping mechanism, as shown in fig. 1-4, which comprises a driving part and a hand part, wherein the hand part is used for realizing clamping movement, and the driving part is used for driving the rotation and clamping action of the hand part.

The hand includes tong seat 108, and tong seat 108 one end is connected with the drive portion in order to realize rotary motion, and the other end of tong seat 108 is connected with the clamping jaw subassembly, and the clamping jaw subassembly is connected with the drive portion in order to realize opening and centre gripping motion.

The drive part comprises a shell, a central channel is arranged in the shell, a rotating shaft is rotatably connected in the central channel, the front end of the rotating shaft is connected with a clamping hand seat 108 to drive the clamping hand seat 108 to do rotary motion, the rear end of the rotating shaft is closed, a piston is connected in a sliding manner in the rotating shaft, the piston is connected with one end of a piston rod 107, the other end of the piston rod 107 extends out of the rotating shaft and is connected with a clamping jaw assembly through a connecting rod mechanism, and the linear motion of the piston rod 107 can be converted into opening and closing motion of the clamping jaw assembly through the connecting rod mechanism.

Specific:

the housing includes a rear case 116 and a front cover 113 fixedly coupled, and the rear case 116 and the front cover 113 each have a ring structure such that a center channel is formed at the center of the rear case 116 and the front cover 113 when they are assembled.

A rotating shaft is arranged in the central channel and is in rotary connection with the rear shell 116 and the front cover 113.

Specifically, the pivot includes balance cylinder blade axle 115 and cylinder liner 109, the balance cylinder blade axle 115 rear end is sealed, the open front end sets up, and the open front end department of balance cylinder blade axle 115 is fixed with cylinder liner 109, and cylinder liner 109 is to the uncovered shutoff of balance cylinder blade axle 115, and wherein, cylinder liner 109 is connected with the front cover 113 rotation through bearing 111, and the rear end of balance cylinder blade axle 115 is connected with the backshell 116 rotation through bearing 111.

In the present embodiment, the bearing between the cylinder liner 109 and the front cover 113 is defined as a first bearing, and the bearing between the tilt cylinder blade shaft 115 and the rear case 116 is defined as a second bearing.

The front end face of the front cover 113 is fixed with a front bearing cover 110 through screws, the front bearing cover 110 is in contact with the front side of the first bearing, and the rear side of the first bearing is in contact with a positioning table arranged on the cylinder sleeve 109 to realize axial limiting of the first bearing.

The rear end face of the rear housing 116 is fixed with a rear bearing cover 119 through a screw, the rear bearing cover 119 is in contact with the rear side of the second bearing, and the front side of the second bearing is in contact with a step structure arranged on the swing cylinder blade shaft 115 so as to realize axial limiting of the second bearing.

The middle part position of the balance cylinder blade shaft 115 is provided with an annular boss 131, the annular boss 131 is positioned in a first oil cavity formed among the rear shell 116, the front cover 113 and the balance cylinder blade shaft 115, and the first oil cavity is an annular cavity formed in the rear shell.

The first oil cavity is internally provided with a first partition piece and a second partition piece, the first partition piece is fixed with the rear shell on the inner side surface corresponding to the first oil cavity, and the second partition piece is fixed with the outer peripheral surface of the annular boss.

The first partition member is a partition block 132, one end of the partition block 132 is fixed to the inner side surface of the rear case 116, and the other end is slidably attached to the outer peripheral surface of the annular boss 131.

The second partition adopts a vane 133, one end of the vane 133 is fixed to the outer peripheral surface of the annular boss 131, and the other end is slidably attached to the inner side surface of the rear case 116.

The partition block 132 and the vane 133 divide the annular first oil chamber into two spaces, a first space and a second space, respectively.

As shown in fig. 5 to 6, the first space is communicated with the first swing driving oil duct, and the second space is communicated with the second swing driving oil duct, wherein the connection positions of the first swing driving oil duct, the second swing driving oil duct and the first oil cavity are respectively located at two sides of the separation block 132, and the other ends of the first swing driving oil duct and the second swing driving oil duct extend to the outer peripheral surface of the rear shell to respectively form an oil port A2 and an oil port B2.

A plurality of first sealing elements 112 are arranged between the swing cylinder blade shaft 115 on two sides of the annular boss 131 and the rear shell and the front cover, preferably, two first sealing elements 112 are arranged between the swing cylinder blade shaft 115 on two sides of the annular boss 131 and the rear shell 116 and the front cover 113, and the first sealing elements 112 adopt the existing sealing rings to realize rotary dynamic sealing between the swing cylinder blade shaft 115 and the rear shell 116 and the front cover 113, so that hydraulic oil in the first oil cavity is prevented from leaking.

Further, the first sealing member 112 is mounted in annular mounting grooves formed in inner side surfaces of the rear case 116 and the front cover 113.

Meanwhile, in order to avoid leakage of hydraulic oil in the first oil chamber from a gap between the front cover and the rear case, a first O-ring 114 is provided between the front cover 113 and the rear case 116 to seal between the bonding surfaces of the front cover 113 and the rear case 116.

The front end surface of the cylinder sleeve 109 is connected with the grip holder 108 through a plurality of screws.

In this embodiment, hydraulic oil or hydraulic oil is injected into the first space and the second space through the oil port A2 and the oil port B2, so that the swing cylinder blade shaft 115 can be driven to rotate under the action of the blade 133, the cylinder sleeve 109 is driven to rotate through the swing cylinder blade shaft 115, and then the hand clamping seat 108 is driven to rotate through the cylinder sleeve 109, and the hand clamping seat 108 drives the clamping jaw assembly to rotate, so that the rotary motion of the clamping jaw assembly is realized.

In order to measure the rotation angle of the rotating shaft, an encoder 120 is provided between the tilt cylinder blade shaft 115 and the rear case 116 to measure the rotation angle of the tilt cylinder blade shaft 115.

The encoder 120 may be implemented by conventional devices, including a reading plate fixed to the rear bearing cover 119 or directly fixed to the rear side of the rear case 116, and a magnetic ring fixed to the rear end of the tilt cylinder blade shaft 115.

After the cylinder liner 109 seals the open end of the tilt cylinder blade shaft 115, a second oil cavity is formed between the cylinder liner 109 and the tilt cylinder blade shaft 115, preferably, the second oil cavity adopts a cylindrical cavity and is coaxially arranged with the tilt cylinder blade shaft 115, and in order to prevent hydraulic oil in the second oil cavity from leaking from a gap between the joint surfaces of the cylinder liner 109 and the tilt cylinder blade shaft 115, a second O-shaped sealing ring 128 is arranged between the tilt cylinder blade shaft 115 and the cylinder liner 109.

The second oil cavity is slidably connected with a piston, the piston can reciprocate in the second oil cavity along the axis direction of the second oil cavity, the piston is connected with one end of a piston rod 107, and the other end of the piston rod 107 after passing through the cylinder sleeve 109 is connected with a clamping jaw assembly.

The piston divides the second oil chamber into a rod chamber and a rodless chamber.

Specifically, the outer peripheral surface of the piston is provided with two annular grooves, a first guide sleeve 130 and a second sealing piece 129 are respectively arranged in the two annular grooves, the first guide sleeve 130 is in sliding fit with the cavity surface of the second oil cavity and used for guiding the movement of the piston, and the second sealing piece 129 is in sealing fit with the cavity surface of the second oil cavity and used for sealing between the rod cavity and the rodless cavity.

The second seal 129 may be a conventional seal ring, and will not be described in detail herein.

The inner side surface of the cylinder sleeve 109 is provided with three annular grooves, wherein third sealing elements 126 are arranged in the two annular grooves, and the third sealing elements 126 are in sealing fit with the piston rod so as to seal between the cylinder sleeve 109 and the piston rod 107.

The third seal 126 may be a conventional seal ring, and will not be described in detail herein.

A second guide sleeve 127 is arranged in the annular groove in the middle, and the second guide sleeve 127 is in sliding fit with the piston rod 107 so as to guide the movement of the piston rod 107.

The rod cavity is communicated with the first linear motion driving oil duct, and the rodless cavity is communicated with the second linear motion driving oil duct.

The first linear motion driving oil duct comprises a first annular groove 134 formed in the inner side surface of the central channel, the first annular groove 134 is communicated with one end of a first oil path 135 formed in the vane shaft of the swing cylinder, the other end of the first oil path 135 is communicated with the rod cavity, a first oil port A1 is formed in the front cover 113 along the radial direction of the front cover, one end of the first oil port A1 is communicated with the first annular groove 134, and the other end of the first oil port A1 extends to the outer peripheral surface of the front cover 113.

The second linear motion driving oil passage comprises a second annular groove 136 formed in the inner side surface of the central passage, the second annular groove 136 is communicated with one end of a second oil passage formed in the swing cylinder blade shaft 115, the second oil passage is communicated with the rodless cavity, a second oil port B1 is formed in the rear shell 116 along the radial direction of the rear shell, one end of the second oil port is communicated with the second annular groove 136, and the other end of the second oil port extends to the outer peripheral surface of the rear shell 116.

The second oil path includes a counterbore in communication with the second annular groove 136, the counterbore in communication with one end of the tilt passage, the other end of the tilt passage extending to the closed end of the tilt cylinder vane shaft 115 and being blocked by the plug screw 118.

The inclined passage is at a set acute angle to the axis of the tilt cylinder vane shaft 115, and communicates with the rear end of the second oil chamber.

The rear side of the rear cover 116 is further provided with two mounting grooves, the two mounting grooves are respectively embedded and provided with fixed ends of a first pressure sensor 121 and a second pressure sensor 117, the pressure measuring end of the first pressure sensor 121 is matched with the first annular groove 134 through a testing channel formed in the rear cover 116 and the front cover 113 to detect oil pressure in a rod cavity, and the pressure measuring end of the second pressure sensor 117 is matched with the second oil port B1 through the testing channel to detect oil pressure in a rodless cavity.

Hydraulic oil is respectively injected or discharged into the rod cavity and the rodless cavity through the first oil port A1 and the second oil port B1, so that the piston can be driven to do linear motion in the second oil cavity, the piston rod 107 is driven to do linear motion, and the clamping jaw assembly is driven to open and close through the linear motion of the piston rod.

In this embodiment, the piston is disposed in the second oil cavity formed in the rotating shaft, so that the rotation driving portion and the linear motion driving portion of the driving portion are integrally disposed, instead of being disposed separately, so that the volume of the driving portion of the hand clamping mechanism is greatly reduced, the compactness of the hand clamping mechanism is improved, and the use flexibility of the hydraulic mechanical arm is further improved.

The clamping jaw assembly comprises a first clamping jaw 101 and a second clamping jaw 102, the first clamping jaw 101 and the second clamping jaw 102 are of arc-shaped structures, and inner arc portions are arranged in opposite directions.

In this embodiment, in order to ensure the stability of clamping, the first clamping jaw 101 is provided with a plurality of clamping fingers, preferably two clamping fingers, the second clamping jaw 102 is provided with a plurality of clamping fingers, preferably three clamping fingers, and the clamping fingers of the first clamping jaw 101 and the second clamping jaw 102 are staggered.

One end of two clamping fingers of the first clamping jaw is fixed on a first connecting block 137, the first connecting block 137 is rotationally connected with the finger shaft 104, one end of two clamping fingers of the second clamping jaw 102 is fixed on a second connecting block 138, the second connecting block is rotationally connected with the finger shaft 104, the two connecting blocks are arranged side by side on the finger shaft 104, and a long shaft sleeve 124 made of wear-resistant materials is arranged between the connecting blocks and the finger shaft 104.

Two ends of the finger shaft 104 are fixedly connected with the hand clamping seat 108, in this embodiment, the hand clamping seat 108 adopts a U-shaped structure, including a first hand clamping seat and second hand clamping seats vertically arranged at two ends of the first hand clamping seat, the first hand clamping seat is fixedly connected with the front end face of the cylinder sleeve 109 through screws, one ends of the two second hand clamping seats are fixedly connected with the first hand clamping seat, and the finger shaft 104 is arranged between the other ends of the two second hand clamping seats and is fixedly connected with the second hand clamping seat.

The link mechanism comprises an arc-shaped first link 105 and an arc-shaped second link 139, wherein the first link 105 and the second link 139 are arc-shaped rods, and inner arc parts of the first link 105 and the second link 139 are arranged in opposite directions.

One end of the first link 105 is hinged to a non-end position of the first jaw 101, specifically, a junction position of the first link with the first connection block 137 and the clamping finger is hinged through the link shaft 103, one end of the second link 139 is hinged to a non-end position of the second jaw 102, specifically, a junction position of the second link 139 with the second connection block 138 and the clamping finger is hinged through the link shaft 103. A short shaft sleeve 123 made of wear-resistant materials is arranged between the first connecting rod 105, the second connecting rod 139 and the connecting rod shaft 103, gaskets 122 sleeved on the connecting rod shaft 103 are arranged on two sides of the short shaft sleeve 123, and the gaskets 122 are made of wear-resistant materials.

The end part of the piston rod extending out of the oil cylinder sleeve is fixedly provided with a T-shaped shaft 106 through a bolt, the T-shaped shaft 106 comprises a first shaft section and a second shaft section which are perpendicular to each other, the first shaft section is fixed with the piston rod 107, the other end of the first connecting rod 105 is hinged with the second shaft section, the other end of the second connecting rod 139 is hinged with the second shaft section, and the connection positions of the first connecting rod 105, the second connecting rod 139 and the second shaft section are respectively positioned on two sides of the first shaft section.

The first shaft section and the second shaft section are provided with a first limiting part at the crossing position, the two ends of the second shaft end are respectively provided with a second limiting part, the first connecting rod is in contact with the first limiting part and the second limiting part on one side so as to limit the first connecting rod along the axis direction of the second shaft section, and the second connecting rod is in contact with the first limiting part and the second limiting part on the other side so as to limit the second connecting rod along the axis direction of the second shaft section.

Preferably, the second limiting component adopts a retainer ring 125 fixed with the second shaft section, and the first limiting component adopts a limiting block arranged at the crossing position of the first shaft section and the second shaft section.

Short bushings of wear resistant material are provided between the first and second links 105, 139 and the second shaft section.

In this embodiment, when the piston rod extends 107, that is, the rodless cavity is filled with hydraulic oil, the piston rod 107 can drive the first clamping jaw 101 and the second clamping jaw 102 to close through the first connecting rod 105 and the second connecting rod 139, so as to clamp an object, and when the piston rod 107 retracts, that is, the rod cavity is filled with hydraulic oil, the piston rod 107 can drive the first clamping jaw 101 and the second clamping jaw 102 to open through the first connecting rod 105 and the second connecting rod 139, so as to loosen the object.

When the rodless cavity is filled with hydraulic oil, the first clamping jaw 101 and the second clamping jaw 102 are closed, so that the clamping force of the clamping jaw assembly is improved, meanwhile, the two linear motion driving oil ducts are internally matched with the pressure measuring ends of the pressure sensors, the oil pressure can be detected, the clamping force of the clamping jaws is detected, and the clamping force of the tail ends of the clamping jaw assembly can be controlled through the pressure sensors.

The working method of the hand clamping mechanism of the embodiment is as follows:

before working, the rotary hydraulic clamping mechanism needs to connect the rear end of the rear shell 116 to the tail end of the multi-joint hydraulic mechanical arm, two proportional valves or servo valves for controlling the hydraulic clamping mechanism need to be arranged on the hydraulic mechanical arm, two load ports of one valve are respectively communicated with the first oil port A1 and the second oil port B1, two load ports of the other valve are respectively communicated with the oil port A2 and the oil port B2, power lines and signal lines of the encoder 120 and the pressure sensor 117 are respectively communicated with the power supply module and the controller, and the controller can perform servo control on the grabbing gesture of the clamping mechanism according to feedback information of the encoder 120 and perform servo control on clamping force of the clamping hand according to feedback information of the pressure sensor 117 and the pressure sensor 121;

when the grabbing operation is performed, an operator or a hydraulic mechanical arm controller sends a control signal to a proportional valve or a servo valve for controlling the second oil cavity, and the first clamping jaw 101 and the second clamping jaw 102 of the clamping mechanism are opened; next, an operator or a hydraulic mechanical arm controller determines an ideal posture of the hand clamping mechanism according to the visual information, compares the ideal posture with the current posture of the hand clamping mechanism, and sends a corresponding control signal to a proportional valve or a servo valve for controlling the first oil cavity; then, an operator or a hydraulic mechanical arm controller operates the hydraulic mechanical arm to enable the hydraulic clamping mechanism to approach the gripped object; finally, an operator or a hydraulic mechanical arm controller sends a grabbing control signal to a proportional valve or a servo valve for controlling the second oil cavity, the first clamping jaw 101 and the second clamping jaw 102 of the clamping mechanism are closed to grab an object, and the object is transferred according to the requirement of a working task;

before the operation, an operator can preset the clamping force of the first clamping jaw 101 and the second clamping jaw 102 according to the hardness, toughness and other attributes of the object to be grabbed, so that the hydraulic clamping mechanism is suitable for different grabbing operation tasks.

Example 2

The embodiment provides a hydraulic mechanical arm, including the arm body, the end of arm body is provided with the rotatory hydraulic pressure tong mechanism of embodiment 1, the end and the backshell fixed connection of arm body, arm body structure adopt prior art can, and detailed description is not here provided.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (10)

1. The utility model provides a rotatory hydraulic pressure tong mechanism, a serial communication port, including the casing, casing central channel internal rotation is connected with the pivot, the pivot front end is fixed with the tong seat, be equipped with first oil pocket between pivot and the casing, be equipped with the fixed first separator of casing and with the fixed second separator of pivot in the first oil pocket, first oil pocket is divided into two spaces by first separator and second separator, two spaces all communicate and have the gyration drive oil duct, be equipped with the second oil pocket in the pivot, sliding connection has the piston in the second oil pocket, the piston is connected with the one end of piston rod, the other end of piston rod stretches out the pivot and is connected with the clamping jaw subassembly of establishing at the tong seat through link mechanism, the piston is divided into second oil pocket has pole chamber and no pole chamber, there is pole chamber and no pole chamber all communicates and has the linear motion drive oil duct.

2. The rotary hydraulic hand clamping mechanism of claim 1, wherein two rotary driving oil channels are formed on the housing, one end of each rotary driving oil channel extends to the periphery of the housing to form an oil port, the other end of each rotary driving oil channel is communicated with the first oil cavity, and the connection positions of the two rotary driving oil channels and the first oil cavity are respectively located on two sides of the first partition piece.

3. The rotary hydraulic hand clamping mechanism as recited in claim 1, wherein the linear motion driving oil passage comprises a first annular groove and a second annular groove which are arranged on the inner surface of the central passage, the first annular groove is communicated with the rod cavity through a first oil way arranged on the rotating shaft, the second annular groove is communicated with the rodless cavity through a second oil way arranged on the rotating shaft, the first annular groove is communicated with a first oil port arranged on the shell, and the second annular groove is communicated with a second oil port arranged on the shell.

4. The rotary hydraulic hand clamping mechanism of claim 1, wherein the housing is provided with a first pressure sensor and a second pressure sensor, and pressure measuring ends of the first pressure sensor and the second pressure sensor are respectively matched with the two linear motion driving oil passages to detect oil pressure of the rod cavity and the rodless cavity.

5. The rotary hydraulic hand clamping mechanism of claim 4, wherein the fixed ends of the first and second pressure sensors are embedded in a mounting groove formed in the rear end face of the housing.

6. The rotary hydraulic hand clamping mechanism according to claim 1, wherein an encoder is installed between the housing and the rotary shaft to detect the rotation angle of the rotary shaft;

further, the reading plate of the encoder is arranged at the rear end of the shell, and the magnetic ring of the encoder is arranged at the rear end of the rotating shaft.

7. A rotary hydraulic hand clamping mechanism as claimed in claim 1 wherein the jaw assembly comprises arcuate first and second jaws having one end pivotally connected to the hand clamping seat, the linkage mechanism comprises arcuate first and second links having one end pivotally connected to the non-end of the first jaw and one end pivotally connected to the non-end of the second jaw, the other end pivotally connected to the piston rod such that the piston rod extends to drive the first and second jaws closed by the first and second links and the piston rod retracts to drive the first and second jaws open by the first and second links.

8. A rotary hydraulic clamping mechanism according to claim 1 wherein a plurality of first seals are provided between the shaft and the housing;

further, a second sealing element is arranged between the piston and the inner side surface of the second oil cavity.

9. The rotary hydraulic hand clamping mechanism of claim 1, wherein the rotary shaft comprises a swing cylinder blade shaft, one end of the swing cylinder blade shaft is closed, the other end of the swing cylinder blade shaft is opened, an oil cylinder sleeve is fixed at the opened end of the swing cylinder blade shaft, the oil cylinder sleeve seals the opened end to form a second oil cavity in the swing cylinder blade shaft, and the oil cylinder sleeve is fixedly connected with the hand clamping seat.

10. A hydraulic manipulator comprising a manipulator body, wherein the end of the manipulator body is provided with a rotary hydraulic gripper mechanism as claimed in any one of claims 1 to 9.