CN109676353B - Hammer type end effector assembled in shaft hole of robot - Google Patents
Hammer type end effector assembled in shaft hole of robot Download PDFInfo
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- CN109676353B CN109676353B CN201811634941.5A CN201811634941A CN109676353B CN 109676353 B CN109676353 B CN 109676353B CN 201811634941 A CN201811634941 A CN 201811634941A CN 109676353 B CN109676353 B CN 109676353B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
- B23P19/027—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
Abstract
The invention discloses a robot shaft hole assembly hammering type end effector which comprises an effector body, wherein an assembly hydraulic cylinder is arranged at the front end of the effector body; the rear end of the actuator body is provided with a valve group; the valve group comprises two hammering control valves, each hammering control valve comprises a valve body, and a valve core is sleeved in the valve body; the valve body is provided with a first oil inlet, a second oil inlet, a first oil return port and a second oil return port; an oil inlet channel and an oil return channel are arranged in the actuator body; a second oil inlet and a second oil return port of one of the hammering control valves are communicated with a rodless cavity of the assembling hydraulic cylinder, and a second oil inlet and a second oil return port of the other hammering control valve are communicated with a rod cavity of the assembling hydraulic cylinder; the actuator is characterized in that a spline groove is formed in one end of the valve core, a transmission rod is sleeved in the spline groove, a linear motor used for driving the valve core to move axially along the transmission rod is installed in the actuator body, and a driving mechanism used for driving the two transmission rods to rotate synchronously is arranged in the actuator body.
Description
Technical Field
The invention relates to a robot end effector, in particular to a hammer type end effector assembled on a shaft hole of a robot.
Background
Chinese patent publication No. CN206966980U discloses a pin shaft assembling mechanism, specifically, the technical scheme is as follows: comprises a base and a bottom plate; the device also comprises a material taking mechanism, a material pressing mechanism, a guide mechanism and a material pushing mechanism; the material pressing mechanism comprises a material pressing cylinder, a material pressing fixed block and a material pressing linear module; the material pressing cylinder is fixed on the material pressing linear module through the material pressing base; the pressing air cylinder pushes the pressing fixing block to move through the pressing floating joint; the material pushing mechanism comprises an ejection cylinder, an ejection rod fixing block, an ejection rod and a material pushing linear module; the ejection cylinder is fixed on the material pushing linear module; the ejection cylinder pushes an ejection rod fixed on the ejection rod fixing block to move; the guide mechanism comprises a guide linear module, a guide shaft and a motor; the motor is fixed on the guide linear module and drives the guide shaft to rotate through a transmission mechanism; the material pressing linear module, the material taking mechanism, the guiding linear module and the material pushing linear module are fixed on the bottom plate, and the material pushing mechanism and the guiding mechanism are positioned on two sides of the material pressing mechanism; the bottom plate is fixed on the base through a displacement mechanism.
This round pin axle assembly devices adopts the cylinder directly to assemble the round pin axle downthehole, to the clearance fit's between round pin axle and the hole condition, its requirement that can satisfy the assembly, however, if round pin axle and hole interference fit when, this round pin axle assembly devices can't satisfy the assembly requirement. When axle and hole interference fit, generally adopt artifical mode to assemble among the prior art, during manual assembly, generally adopt the mode of beating to assemble the axle to the hole in gradually. Similarly, for the robot, the assembly method of the existing shaft hole assembly mechanism cannot completely meet the use requirement, so a new end effector is needed to simulate the manual hammering type assembly method.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a hole assembly hammer type end effector for a robot, which can meet the assembly requirements of clearance fit and interference fit between a shaft and a hole.
In order to achieve the purpose, the invention provides the following technical scheme:
a robot shaft hole assembly hammering type end effector comprises an effector body, wherein an assembly hydraulic cylinder is arranged at the front end of the effector body, and a piston rod of the assembly hydraulic cylinder extends out of the front end of the effector body; the rear end of the actuator body is provided with a valve group for controlling the assembly hydraulic cylinder to beat;
the valve group comprises two hammering control valves, each hammering control valve comprises a valve body, and a valve core in rotary fit with the valve body is arranged in the valve body in an sleeved mode;
the valve body is provided with a first oil inlet, a second oil inlet, a first oil return opening and a second oil return opening, the axes of the first oil inlet and the second oil inlet are both positioned on the same radial cross section of the valve body, and the axes of the first oil return opening and the second oil return opening are both positioned on the same radial cross section of the valve body;
the valve core comprises a valve core shaft, a first valve core sleeve and a second valve core sleeve are arranged on the valve core shaft, and annular grooves are respectively arranged between the first valve core sleeve and the valve core shaft and between the second valve core sleeve and the valve core shaft; a first oil inlet groove and a second oil inlet groove are formed in the first valve core sleeve, and when the first oil inlet groove is communicated with the first oil inlet, the second oil inlet groove is communicated with the second oil inlet; a first oil return groove and a second oil return groove are formed in the second valve spool sleeve, and when the first oil return groove is communicated with the first oil return port, the second oil return groove is communicated with the second oil return port; when the first oil inlet groove is communicated with the first oil inlet, the first oil return groove is disconnected from the first oil return port; when the first oil return groove is communicated with the first oil return port, the first oil inlet groove is disconnected from the first oil inlet;
in the two hammering control valves, when the first oil inlet groove of one hammering control valve is communicated with the first oil inlet, the first oil return groove of the other hammering control valve is communicated with the first oil return port; when the first oil return groove of one of the hammering control valves is communicated with the first oil return port, the first oil inlet groove of the other hammering control valve is communicated with the first oil inlet;
an oil inlet channel for communicating first oil inlets of the two hammering control valves and an oil return channel for communicating first oil return ports of the two hammering control valves are arranged in the actuator body; a second oil inlet and a second oil return port of one of the hammering control valves are communicated with a rodless cavity of the assembling hydraulic cylinder, and a second oil inlet and a second oil return port of the other hammering control valve are communicated with a rod cavity of the assembling hydraulic cylinder;
the actuator comprises an actuator body, a valve core and a driving mechanism, wherein a spline groove is formed in one end of the valve core, a driving rod in sliding fit with the spline groove is arranged in the spline groove in an sleeved mode, a linear motor used for driving the valve core to move axially along the driving rod is arranged in the actuator body, and the driving mechanism used for driving the two driving rods to rotate synchronously is arranged in the actuator body.
Furthermore, the driving mechanism comprises a speed reducing motor fixedly installed in the actuator body, a driving gear is arranged on an output shaft of the speed reducing motor, driven gears meshed with the driving gear are respectively arranged on the two transmission rods, and the transmission ratios between the two driven gears and the driving gear are equal.
Furthermore, a first communicating channel for communicating a rodless cavity of the assembling hydraulic cylinder with a second oil inlet and a second oil return port of one of the hammering control valves and a second communicating channel for communicating a rod cavity of the assembling hydraulic cylinder with a second oil inlet and a second oil return port of the other hammering control valve are arranged in the actuator body.
Further, the spline groove is arranged at the rear end of the valve core.
Further, be equipped with the radial outside collar that extends on the periphery wall of spline groove, be equipped with on linear electric motor's the output shaft with collar complex shift fork.
Furthermore, the rear end of the actuator body is provided with a rear end cover, and the rear end face of the rear end cover is provided with a connector used for being connected with a robot.
Furthermore, the front end of the actuator body is provided with a front end cover, and the front end cover is provided with a through hole corresponding to the piston rod of the assembling hydraulic cylinder.
Further, a finger cylinder is fixedly installed on the front end cover, two fingers of the finger cylinder are respectively provided with a clamping arm, one opposite side of each clamping arm is correspondingly provided with a clamping groove, and when the two clamping grooves are closed, a clamping hole which is coaxial with a piston rod of the assembling hydraulic cylinder and is used for clamping the shaft part is formed.
Furthermore, a hammering head is arranged on a piston rod of the assembling hydraulic cylinder.
Furthermore, the axes of the first oil inlet and the second oil inlet of the same hammering control valve are coaxial, the axes of the first oil return port and the second oil return port of the same hammering control valve are coaxial, and the axis of the first oil inlet of the same hammering control valve and the axis of the first oil return port are located on the same axial cross section of the valve body; the first oil inlet groove and the second oil inlet groove are annularly arranged on the same radial direction of the first valve core sleeve, the first oil return groove and the second oil return groove are annularly and uniformly distributed on the same radial direction of the second valve core sleeve, the axial view direction of the valve core is in the same direction, and the radial direction of the first oil inlet groove and the radial direction of the second oil inlet groove are perpendicular to the radial direction of the first oil return groove and the radial direction of the second oil return groove.
The invention has the beneficial effects that:
the invention discloses a hammering type end effector assembled in a robot shaft hole, which has the following principle: the valve cores of the two hammering control valves are respectively adjusted to axially move by using a linear motor, so that the flow area between the first oil inlet grooves and the first oil inlets of the two hammering control valves is adjusted, and the flow area between the second oil inlet grooves and the second oil inlets, the flow area between the first oil return grooves and the first oil return ports and the flow area between the second oil return grooves and the second oil return ports of the same hammering control valve are equal to the flow area between the first oil inlet grooves and the first oil inlets (hereinafter referred to as flow areas); therefore, the flow area of the two hammering control valves can be independently adjusted;
when the shaft part and the hole are in interference fit and the shaft part needs to be beaten for assembly, the linear motor is utilized to adjust the flow area A of a beating control valve of which the second oil inlet and the second oil return port are both connected with a rodless cavity of the assembly hydraulic cylinder1And the cross-sectional area S of rodless cavity1The ratio of the first oil inlet to the second oil return port is larger than the flow area A of the hammering control valve of which the second oil inlet and the second oil return port are both connected with the rod cavity of the assembly hydraulic cylinder2And the cross-sectional area S of the rod cavity2The ratio between, i.e. A1/S1＞A2/(S1-S0) Wherein S is2＝S1-S0，S0The cross-sectional area of the piston rod, so that when the hammering control valve is connected to the rodless chamberWhen the first oil inlet is communicated with the first oil inlet groove, a first oil return port of the hammering control valve connected with the rod cavity is communicated with the first oil return groove, at the moment, oil is fed into the rodless cavity of the assembling hydraulic cylinder, the rod cavity returns oil, the piston rod moves forwards, and the shaft part is hammered; the driving mechanism drives the valve core to rotate, when a first oil return port of the hammering control valve connected with the rodless cavity is communicated with the first oil return groove, a first oil inlet of a rotation control valve connected with the rod cavity is communicated with the first oil inlet groove, at the moment, the rodless cavity of the assembled hydraulic cylinder returns oil, the rod cavity takes oil, the piston rod moves backwards, and the piston rod retracts after being hammered once; the forward hammering stroke of the piston rod is larger than the retracting stroke, so that the driving mechanism drives the valve element to continue rotating, the piston rod can forward hammer the shaft part for one time and for several times until the shaft part is completely assembled in the corresponding hole, and the technical purpose of hammering assembly of the shaft part is realized;
when the shaft part is in clearance fit with the hole, a first oil inlet of a hammering control valve connected with the rodless cavity is directly controlled to be communicated with a first oil inlet groove, a first oil return port of the hammering control valve connected with the rod cavity is communicated with a first oil return groove, at the moment, the rodless cavity of the hydraulic cylinder is assembled for oil inlet, the rod cavity returns oil, the piston rod moves forwards, and the shaft part is directly assembled into the hole; of course, at this time, a hammering type assembly can be adopted, the principle of the hammering type assembly is equivalent to that of interference fit, and the hammering type assembly is not described;
in conclusion, the robot shaft hole assembling and hammering type end effector can meet the assembling of shaft parts in clearance fit like a traditional shaft pin assembling mechanism, and can simulate manual hammering action by setting the valve group to control the assembling hydraulic cylinder to do hammering type movement, thereby meeting the technical purpose of assembling the shaft parts in interference fit.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a schematic structural view of an embodiment of a robot shaft hole mounted hammer type end effector of the present invention;
fig. 2 is a detail a of fig. 1.
Description of reference numerals:
1-an actuator body; 2, assembling a hydraulic cylinder; 3-beating a control valve; 4-a valve body; 5-valve core; 6-a first oil inlet; 7-a second oil inlet; 8-a first oil return port; 9-a second oil return port; 10-a first spool sleeve; 11-a second spool housing; 12-an oil inlet channel; 13-an oil return passage; 14-spline grooves; 15-a transmission rod; 16-a linear motor; 17-a reduction motor; 18-a drive gear; 19-a driven gear; 20-a first communication channel; 21-a second communication channel; 22-a collar; 23-a shifting fork; 24-a rear end cap; 25-a connector; 26-front end cap; 27-finger cylinder; 28-a gripper arm; 29-beating head.
Detailed Description
The present invention is further described with reference to the following drawings and specific examples so that those skilled in the art can better understand the present invention and can practice the present invention, but the examples are not intended to limit the present invention.
Fig. 1 is a schematic structural diagram of an embodiment of a robot axial hole mounted hammering type end effector of the present invention. The robot shaft hole assembling and hammering type end effector comprises an effector body 1, an assembling hydraulic cylinder 2 is arranged at the front end of the effector body 1, a piston rod of the assembling hydraulic cylinder 2 extends out of the front end of the effector body 1, a hammering head 29 is arranged on the piston rod of the assembling hydraulic cylinder 2 in an installing mode, and the technical purpose of hammering and assembling shaft parts is achieved. And a valve group for controlling the assembly hydraulic cylinder 2 to beat is arranged at the rear end of the actuator body 1. The valve bank comprises two hammering control valves 3, each hammering control valve 3 comprises a valve body 4, and a valve core 5 which is in rotary fit with the valve body 4 is sleeved in the valve body 4.
The valve body 4 is provided with a first oil inlet 6, a second oil inlet 7, a first oil return opening 8 and a second oil return opening 9, the axes of the first oil inlet 6 and the second oil inlet 7 are both positioned on the same radial cross section of the valve body 4, and the axes of the first oil return opening 8 and the second oil return opening 9 are both positioned on the same radial cross section of the valve body 4.
The valve core 5 comprises a valve core shaft, a first valve core sleeve 10 and a second valve core sleeve 11 are arranged on the valve core shaft, and annular grooves are respectively arranged between the first valve core sleeve 10 and the valve core shaft and between the second valve core sleeve 11 and the valve core shaft; the first valve core sleeve 10 is provided with a first oil inlet groove and a second oil inlet groove, and when the first oil inlet groove is communicated with the first oil inlet 6, the second oil inlet groove is communicated with the second oil inlet 7; the second valve core sleeve 11 is provided with a first oil return groove and a second oil return groove, and when the first oil return groove is communicated with the first oil return port 8, the second oil return groove is communicated with the second oil return port 9; when the first oil inlet groove is communicated with the first oil inlet 6, the first oil return groove is disconnected with the first oil return port 8; when the first oil return groove is communicated with the first oil return port 8, the first oil inlet groove is disconnected from the first oil inlet 6.
In the two hammering control valves 3, when the first oil inlet groove of one hammering control valve 3 is communicated with the first oil inlet 6, the first oil return groove of the other hammering control valve 3 is communicated with the first oil return port 8; when the first oil return groove of one of the hammering control valves 3 is communicated with the first oil return port 8, the first oil inlet groove of the other hammering control valve 3 is communicated with the first oil inlet 6.
An oil inlet channel 12 for communicating the first oil inlets 6 of the two hammering control valves 3 and an oil return channel 13 for communicating the first oil return ports 8 of the two hammering control valves 3 are arranged in the actuator body 1; the second oil inlet 7 and the second oil return port 9 of one of the hammering control valves 3 are communicated with a rodless cavity of the assembling hydraulic cylinder 2, and the second oil inlet 7 and the second oil return port 9 of the other hammering control valve 3 are communicated with a rod cavity of the assembling hydraulic cylinder 2. Specifically, the actuator body 1 of the present embodiment is provided with a first communication channel 20 for communicating the rodless cavity of the assembling hydraulic cylinder 2 with the second oil inlet 7 and the second oil return port 9 of one of the hammering control valves 3, and a second communication channel 21 for communicating the rod cavity of the assembling hydraulic cylinder 2 with the second oil inlet 7 and the second oil return port 9 of the other hammering control valve 3.
One end of the valve core 5 is provided with a spline groove 14, a transmission rod 15 which is in sliding fit with the spline groove 14 in a single degree of freedom is arranged in the spline groove 14, a linear motor 16 which is used for driving the valve core 5 to move along the axial direction of the transmission rod 15 is arranged in the actuator body 1, and a driving mechanism which is used for driving the two transmission rods 15 to rotate synchronously is arranged in the actuator body 1. The driving mechanism of the embodiment comprises a speed reducing motor 17 fixedly installed in the actuator body 1, a driving gear 18 is arranged on an output shaft of the speed reducing motor 17, driven gears 19 meshed with the driving gear 18 are respectively arranged on the two transmission rods 15, and the transmission ratios between the two driven gears 19 and the driving gear 18 are equal. Specifically, the spline groove 14 of this embodiment is provided at the rear end of the valve core 5, the outer peripheral wall of the spline groove 14 is provided with a collar 22 extending radially outward, the output shaft of the linear motor 16 is provided with a shifting fork 23 matched with the collar, the linear motor 16 drives the shifting fork 23 to move along the axial direction of the valve core 5, and then drives the valve core 5 to move along the axial direction thereof, so as to achieve the technical purpose of adjusting the size of the flow area between the first oil inlet and the first oil inlet groove.
Further, the rear end of the actuator body 1 is provided with a rear end cover 24, and the rear end face of the rear end cover 24 is provided with a connector 25 for connecting with a robot. The front end of the actuator body 1 is provided with a front end cover 26, and the front end cover 26 is provided with a through hole corresponding to the piston rod of the hydraulic cylinder 2. Fixed mounting is equipped with finger cylinder 27 on the front end housing 26 of this embodiment, and the installation is equipped with centre gripping arm 28 respectively on two fingers of finger cylinder 27, and two centre gripping arm 28 one side in opposite directions correspond and are equipped with the centre gripping groove, and form when two centre gripping grooves are closed with the coaxial centre gripping hole that is used for centre gripping axle type piece of the piston rod of assembly pneumatic cylinder 2 to in axle type piece assembling process, realize axle type piece axial motion's guide effect.
Specifically, in this embodiment, the axes of the first oil inlet 6 and the second oil inlet 7 belonging to the same hammering control valve 3 are coaxial, the axes of the first oil return opening 8 and the second oil return opening 9 belonging to the same hammering control valve 3 are coaxial, and the axis of the first oil inlet 6 and the axis of the first oil return opening 8 belonging to the same hammering control valve 3 are located on the same axial cross section of the valve body 4; the first oil inlet groove and the second oil inlet groove are annularly and uniformly arranged in the same radial direction of the first valve core sleeve 10, the first oil return groove and the second oil return groove are annularly and uniformly arranged in the same radial direction of the second valve core sleeve 11, and in the axial view direction of the valve core 5, the radial direction where the first oil inlet groove and the second oil inlet groove are located is perpendicular to the radial direction where the first oil return groove and the second oil return groove are located.
The principle of the robot shaft hole assembly hammering type end effector is as follows: the valve cores of the two hammering control valves are respectively adjusted to axially move by using a linear motor, so that the flow area between the first oil inlet grooves and the first oil inlets of the two hammering control valves is adjusted, and the flow area between the second oil inlet grooves and the second oil inlets, the flow area between the first oil return grooves and the first oil return ports and the flow area between the second oil return grooves and the second oil return ports of the same hammering control valve are equal to the flow area between the first oil inlet grooves and the first oil inlets (hereinafter referred to as flow areas); therefore, the flow area of the two hammering control valves can be independently adjusted;
when the shaft part and the hole are in interference fit and the shaft part needs to be beaten for assembly, the linear motor is utilized to adjust the flow area A of a beating control valve of which the second oil inlet and the second oil return port are both connected with a rodless cavity of the assembly hydraulic cylinder1And the cross-sectional area S of rodless cavity1The ratio of the first oil inlet to the second oil return port is larger than the flow area A of the hammering control valve of which the second oil inlet and the second oil return port are both connected with the rod cavity of the assembly hydraulic cylinder2And the cross-sectional area S of the rod cavity2The ratio between, i.e. A1/S1＞A2/(S1-S0) Wherein S is2＝S1-S0，S0Is the cross-sectional area of the piston rod. Thus, when a first oil inlet of the hammering control valve connected with the rodless cavity is communicated with the first oil inlet groove, a first oil return port of the hammering control valve connected with the rod cavity is communicated with the first oil return groove, the rodless cavity assembled with the hydraulic cylinder is filled with oil, the rod cavity returns oil, the piston rod moves forwards, and the shaft part is hammered; the driving mechanism drives the valve core to rotate, and when a first oil return port of the hammering control valve connected with the rodless cavity is communicated with the first oil return groove, a first oil inlet of a rotation control valve connected with the rodless cavity is connected with the first oil inlet grooveWhen the hydraulic cylinder is opened, oil returns from the rodless cavity of the hydraulic cylinder, oil enters from the rod cavity, and the piston rod moves backwards, namely, the piston rod retracts after being beaten for one time; the forward hammering stroke of the piston rod is larger than the retracting stroke, so that the driving mechanism drives the valve element to continue rotating, the piston rod can forward hammer the shaft part for one time and for several times until the shaft part is completely assembled in the corresponding hole, and the technical purpose of hammering assembly of the shaft part is realized;
when the shaft part is in clearance fit with the hole, a first oil inlet of a hammering control valve connected with the rodless cavity is directly controlled to be communicated with a first oil inlet groove, a first oil return port of the hammering control valve connected with the rod cavity is communicated with a first oil return groove, at the moment, the rodless cavity of the hydraulic cylinder is assembled for oil inlet, the rod cavity returns oil, the piston rod moves forwards, and the shaft part is directly assembled into the hole; of course, a hammering type fitting can be adopted at this time, and the principle is equivalent to that of interference fit, so that the description is omitted.
In summary, the robot shaft hole assembling and hammering type end effector of the embodiment can meet the assembling of clearance fit shaft parts like a traditional shaft pin assembling mechanism, and can simulate manual hammering actions to meet the technical purpose of interference fit shaft part assembling by setting a valve group to control an assembling hydraulic cylinder to do hammering type movement.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. The utility model provides a formula end effector is beaten in robot shaft hole assembly which characterized in that: the hydraulic actuator comprises an actuator body (1), wherein an assembling hydraulic cylinder (2) is arranged at the front end of the actuator body (1), and a piston rod of the assembling hydraulic cylinder (2) extends out of the front end of the actuator body (1); the rear end of the actuator body (1) is provided with a valve bank for controlling the assembling hydraulic cylinder (2) to beat;
the valve bank comprises two hammering control valves (3), each hammering control valve (3) comprises a valve body (4), and a valve core (5) which is in rotary fit with the valve body (4) is arranged in the valve body (4) in an inner sleeve manner;
a first oil inlet (6), a second oil inlet (7), a first oil return port (8) and a second oil return port (9) are formed in the valve body (4), the axes of the first oil inlet (6) and the second oil inlet (7) are located on the same radial cross section of the valve body (4), and the axes of the first oil return port (8) and the second oil return port (9) are located on the same radial cross section of the valve body (4);
the valve core (5) comprises a valve core shaft, a first valve core sleeve (10) and a second valve core sleeve (11) are arranged on the valve core shaft, and annular grooves are respectively arranged between the first valve core sleeve (10) and the valve core shaft and between the second valve core sleeve (11) and the valve core shaft; a first oil inlet groove and a second oil inlet groove are formed in the first valve core sleeve (10), and when the first oil inlet groove is communicated with the first oil inlet (6), the second oil inlet groove is communicated with the second oil inlet (7); a first oil return groove and a second oil return groove are formed in the second valve spool sleeve (11), and when the first oil return groove is communicated with the first oil return port (8), the second oil return groove is communicated with the second oil return port (9); when the first oil inlet groove is communicated with the first oil inlet (6), the first oil return groove is disconnected with the first oil return opening (8); when the first oil return groove is communicated with the first oil return port (8), the first oil inlet groove is disconnected with the first oil inlet (6);
in the two hammering control valves (3), when a first oil inlet groove of one hammering control valve (3) is communicated with the first oil inlet (6), a first oil return groove of the other hammering control valve (3) is communicated with the first oil return port (8); when the first oil return groove of one of the hammering control valves (3) is communicated with the first oil return port (8), the first oil inlet groove of the other hammering control valve (3) is communicated with the first oil inlet (6);
an oil inlet channel (12) used for communicating first oil inlets (6) of the two hammering control valves (3) and an oil return channel (13) used for communicating first oil return ports (8) of the two hammering control valves (3) are arranged in the actuator body (1); a second oil inlet (7) and a second oil return port (9) of one of the hammering control valves (3) are communicated with a rodless cavity of the assembling hydraulic cylinder (2), and a second oil inlet (7) and a second oil return port (9) of the other hammering control valve (3) are communicated with a rod cavity of the assembling hydraulic cylinder (2);
the actuator is characterized in that a spline groove (14) is formed in one end of the valve core (5), a transmission rod (15) in sliding fit with the spline groove (14) in a single degree of freedom is sleeved in the spline groove (14), a linear motor (16) used for driving the valve core (5) to move axially along the transmission rod (15) is installed in the actuator body (1), and a driving mechanism used for driving the two transmission rods (15) to rotate synchronously is arranged in the actuator body (1).
2. The robotic shaft hole equipped hammer end effector of claim 1, wherein: the driving mechanism comprises a speed reducing motor (17) fixedly installed in the actuator body (1), a driving gear (18) is arranged on an output shaft of the speed reducing motor (17), driven gears (19) meshed with the driving gear (18) are respectively arranged on the two transmission rods (15), and the transmission ratios between the two driven gears (19) and the driving gear (18) are equal.
3. The robotic shaft hole equipped hammer end effector of claim 1, wherein: the hydraulic hammer is characterized in that a rodless cavity for communicating the assembling hydraulic cylinder (2) with a first communicating channel (20) of a second oil inlet (7) and a second oil return port (9) of one of the hammering control valves (3) and a second communicating channel (21) for communicating a rod cavity of the assembling hydraulic cylinder (2) with a second oil inlet (7) and a second oil return port (9) of the other hammering control valve (3) are arranged in the actuator body (1).
4. The robotic shaft hole equipped hammer end effector of claim 1, wherein: the spline groove (14) is arranged at the rear end of the valve core (5).
5. The robotic shaft hole equipped hammer end effector of claim 4, wherein: the outer peripheral wall of the spline groove (14) is provided with a shaft collar (22) which extends outwards in the radial direction, and an output shaft of the linear motor (16) is provided with a shifting fork (23) matched with the shaft collar.
6. The robotic shaft hole equipped hammer end effector of claim 1, wherein: the rear end of the actuator body (1) is provided with a rear end cover (24), and the rear end face of the rear end cover (24) is provided with a connector (25) used for being connected with a robot.
7. The robotic shaft hole equipped hammer end effector of claim 1, wherein: the front end of the actuator body (1) is provided with a front end cover (26), and a through hole is formed in the front end cover (26) and corresponds to a piston rod of the assembling hydraulic cylinder (2).
8. The robotic shaft hole equipped hammer end effector of claim 7, wherein: fixed mounting is equipped with finger cylinder (27) on front end housing (26), install respectively on two fingers of finger cylinder (27) and be equipped with centre gripping arm (28), two centre gripping arm (28) one side in opposite directions corresponds and is equipped with the centre gripping groove, and when two form when the centre gripping groove is closed with the coaxial centre gripping hole that is used for centre gripping axle class spare of piston rod of assembly pneumatic cylinder (2).
9. The robotic shaft hole equipped hammer end effector of claim 1, wherein: and a hammering head (29) is arranged on a piston rod of the hydraulic cylinder (2).
10. The robot axial bore mounted hammering type end effector of any one of claims 1-9, wherein: the axes of a first oil inlet (6) and a second oil inlet (7) of the same hammering control valve (3) are coaxial, the axes of a first oil return opening (8) and a second oil return opening (9) of the same hammering control valve (3) are coaxial, and the axis of the first oil inlet (6) and the axis of the first oil return opening (8) of the same hammering control valve (3) are located on the same axial cross section of the valve body (4); first oil feed slot and second oil feed slot annular all set up on the same radial direction of first case cover (10), first oil return slot and the annular equipartition of second oil return slot set up on the same radial direction of second case cover (11), and on the axial view direction of case (5), the radial direction at first oil feed slot and second oil feed slot place with the radial direction at first oil return slot and second oil return slot place is perpendicular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634941.5A CN109676353B (en) | 2018-12-29 | 2018-12-29 | Hammer type end effector assembled in shaft hole of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634941.5A CN109676353B (en) | 2018-12-29 | 2018-12-29 | Hammer type end effector assembled in shaft hole of robot |
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| CN109676353A CN109676353A (en) | 2019-04-26 |
| CN109676353B true CN109676353B (en) | 2020-06-05 |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AUPR430201A0 (en) * | 2001-04-09 | 2001-05-17 | Russell Mineral Equipment Pty Ltd | Linerbolt removing tool |
| US20090309078A1 (en) * | 2008-06-11 | 2009-12-17 | Mark Waterman | Power nail extractor |
| CN201872286U (en) * | 2010-12-07 | 2011-06-22 | 苏州恒尔机械制造有限公司 | Pipe ramming device |
| CN103707047A (en) * | 2013-12-30 | 2014-04-09 | 马鞍山博纬机械制造有限公司 | Rapid installation device and method for hydraulic breaking hammer drill rod base assembly drill rod bushing |
| CN107443049A (en) * | 2017-09-20 | 2017-12-08 | 武汉市找礼找我创意礼品有限公司 | A kind of pneumatic hammer device for axle of pulling pin |
| CN108487857B (en) * | 2018-05-19 | 2024-01-16 | 山东胜利石油装备产业技术研究院 | Valve type hydraulic impactor |
| CN108907676A (en) * | 2018-09-05 | 2018-11-30 | 江苏铁锚明信交通科技有限公司 | Foof weather strip automatic installation apparatus |
| CN108817915B (en) * | 2018-09-26 | 2019-09-06 | 郑州科技学院 | Clamping device is used in a kind of assembly of bearing |
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