CN110181502A - Hydraulic system and gripper for mechanical arm gripper - Google Patents
Hydraulic system and gripper for mechanical arm gripper Download PDFInfo
- Publication number
- CN110181502A CN110181502A CN201910319233.0A CN201910319233A CN110181502A CN 110181502 A CN110181502 A CN 110181502A CN 201910319233 A CN201910319233 A CN 201910319233A CN 110181502 A CN110181502 A CN 110181502A
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- Prior art keywords
- valve
- fluid port
- hydraulic fluid
- control valve
- oil cylinder
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/0401—Valve members; Fluid interconnections therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
- F15B20/002—Electrical failure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Actuator (AREA)
Abstract
The invention discloses a kind of hydraulic systems and gripper for mechanical arm gripper, belong to mechanical device field.Hydraulic system includes the first control valve, oil cylinder, electromagnet cut off valve and the second control valve, the c hydraulic fluid port of first control valve is connected to the rodless cavity of oil cylinder, the rod chamber of oil cylinder is connected to a hydraulic fluid port of electromagnet cut off valve, the b hydraulic fluid port of electromagnet cut off valve is connected to a hydraulic fluid port of the second control valve, the b hydraulic fluid port of second control valve is connected to the oil-feed port of hydraulic system, the c hydraulic fluid port of second control valve is connected to the oil discharge outlet of hydraulic system, electromagnet cut off valve include power failure state and electricity condition, when electromagnet cut off valve is in power failure state, the a hydraulic fluid port of electromagnet cut off valve is not connected to unidirectionally to the b hydraulic fluid port direction of electromagnet cut off valve, when electromagnet cut off valve be in electricity condition when, the a hydraulic fluid port of electromagnet cut off valve is connected to the b hydraulic fluid port of electromagnet cut off valve.The reliability of gripper can be improved in the present invention.
Description
Technical field
The invention belongs to mechanical device field, in particular to a kind of hydraulic system and gripper for mechanical arm gripper.
Background technique
Gripper is the important component of mechanical arm, mainly includes paw mechanism and for controlling the hydraulic of paw mechanism
System.Hydraulic system generally includes oil cylinder and solenoid valve, flexible by the piston rod of solenoid valve control oil cylinder, to realize to gripper
It tightens and loosens.
In the implementation of the present invention, the inventor finds that the existing technology has at least the following problems:
If the case where encountering accident power-off, solenoid valve will be unable to control oil cylinder, and the pressure of oil cylinder cannot keep,
The weight for causing paw mechanism to grab is fallen.
Summary of the invention
The embodiment of the invention provides a kind of hydraulic systems and gripper for mechanical arm gripper, and mechanical arm can be improved
The reliability of gripper.The technical solution is as follows:
On the one hand, the embodiment of the invention provides a kind of hydraulic system for mechanical arm gripper, the hydraulic system packets
Include the first control valve, oil cylinder, electromagnet cut off valve and the second control valve, a hydraulic fluid port of first control valve and the hydraulic system
Oil-feed port connection, the b hydraulic fluid port of first control valve is connected to the oil discharge outlet of the hydraulic system, first control valve
C hydraulic fluid port is connected to the rodless cavity of the oil cylinder, and the rod chamber of the oil cylinder is connected to a hydraulic fluid port of the electromagnet cut off valve, described
The b hydraulic fluid port of electromagnet cut off valve is connected to a hydraulic fluid port of second control valve, the b hydraulic fluid port of second control valve with it is described hydraulic
The oil-feed port of system is connected to, and the c hydraulic fluid port of second control valve is connected to the oil discharge outlet of the hydraulic system, the electromagnetism cut-off
Valve include power failure state and electricity condition, when the electromagnet cut off valve is in the power failure state, a of the electromagnet cut off valve
Hydraulic fluid port is not connected to unidirectionally to the b hydraulic fluid port direction of the electromagnet cut off valve, when the electromagnet cut off valve obtains electricity condition described in,
The a hydraulic fluid port of the electromagnet cut off valve is connected to the b hydraulic fluid port of the electromagnet cut off valve.
In a kind of implementation of the invention, the hydraulic system further includes accumulator, and the accumulator connection is in institute
It states between the rod chamber of oil cylinder and a hydraulic fluid port of the electromagnet cut off valve.
In another implementation of the invention, the hydraulic system further includes throttle valve, a hydraulic fluid port of the throttle valve
It is connected to the c hydraulic fluid port of first control valve, the b hydraulic fluid port of the throttle valve is connected to the rodless cavity of the oil cylinder.
In another implementation of the invention, second control valve is proportional pressure-reducing valve, second control valve
Control port be connected to a hydraulic fluid port of second control valve.
In another implementation of the invention, the hydraulic system further includes first pressure sensor and second pressure
Sensor, the first pressure sensor are connected to the rodless cavity of the oil cylinder, the second pressure sensor and the oil cylinder
Rod chamber connection.
In another implementation of the invention, first control valve is solenoid valve.
In another implementation of the invention, second control valve is solenoid valve.
On the other hand, the embodiment of the invention provides a kind of gripper, the gripper includes paw mechanism and previously described
Hydraulic system, the paw mechanism include mounting rack and at least two pawl arms, and the cylinder body of the oil cylinder is fixedly mounted on the peace
It shelves, each pawl arm includes the installation end to link together and clamping end, for pawl arm described in any one, the peace
Dress end include it is spaced apart determine articulated section and dynamic articulated section, described to determine articulated section and be hinged on the mounting rack, the dynamic hinge
Socket part is hinged on the piston rod of the oil cylinder, each pawl arm is disposed around the piston rod surrounding of the oil cylinder.
In a kind of implementation of the invention, the mounting rack includes frame body and convex correspondingly with the pawl arm
Platform, each boss are arranged at the outer edge of the frame body, and the cylinder body of the oil cylinder and the frame body are fixedly mounted on one
Rise, the piston rod of the oil cylinder positioned at each boss between, each pawl arm determine articulated section be hinged on it is corresponding described in
On boss.
In another implementation of the invention, mounting flange, the Method for Installation are provided on the cylinder body of the oil cylinder
Blue to be fixedly installed togather with the frame body, the mounting flange and the boss are located at the two opposite sides of the frame body.
Technical solution provided in an embodiment of the present invention has the benefit that
When needing gripper to loosen, the first control valve core is located at right position, electromagnet cut off valve is in obtain electricity condition, the second control
Valve core processed is located at right position, and hydraulic oil successively passes through a hydraulic fluid port of the first control valve from oil-feed port at this time and c hydraulic fluid port flows into oil cylinder
Rodless cavity, so that the piston rod of oil cylinder extends, i.e., gripper loosens.Simultaneously, the hydraulic oil in the rod chamber of oil cylinder successively passes through
Cross a hydraulic fluid port and b hydraulic fluid port of electromagnet cut off valve, a hydraulic fluid port of the second control valve and c hydraulic fluid port flow into oil discharge outlet.Gripper is being needed to tighten
When, first control valve core be located at left position, electromagnet cut off valve be in electricity condition, second control valve core be located at left position, at this time
Hydraulic oil successively passes through the b hydraulic fluid port and a hydraulic fluid port of the second control valve from oil-feed port, the b hydraulic fluid port of electromagnet cut off valve and a hydraulic fluid port flow into oil
The rod chamber of cylinder, so that the piston rod of oil cylinder shortens, i.e., gripper is tightened.Simultaneously, the hydraulic oil in the rodless cavity of oil cylinder according to
It is secondary to flow into oil discharge outlet by the c hydraulic fluid port and b hydraulic fluid port of the first control valve.When burst power-off is unexpected, electromagnet cut off valve is in power loss
State so that hydraulic oil in the rod chamber of oil cylinder can not by electromagnet cut off valve, thus reach remain oil cylinder have bar
The purpose of cavity pressure, and then avoid gripper and loosen because power-off is unexpected, weight is grabbed by gripper always.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the hydraulic diagram of hydraulic system provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of paw mechanism provided in an embodiment of the present invention；
Each symbol indicates that meaning is as follows in figure:
1, the first control valve；2, electromagnet cut off valve；3, the second control valve；4, accumulator；5, throttle valve；6, first pressure passes
Sensor；7, second pressure sensor；100, oil cylinder；110, piston rod；120, mounting flange；200, mounting rack；210, frame body；
220, boss；300, pawl arm；310, determine articulated section；320, articulated section is moved.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
The embodiment of the invention provides a kind of hydraulic system for mechanical arm gripper, the mechanical paw is for grabbing danger
Explosive object, as shown in Figure 1, hydraulic system includes the first control valve 1, oil cylinder 100, electromagnet cut off valve 2 and the second control valve 3,
The a hydraulic fluid port of first control valve 1 is connected to the oil-feed port P of hydraulic system, the b hydraulic fluid port of the first control valve 1 and the oil extraction of hydraulic system
Mouth T connection, the c hydraulic fluid port of the first control valve 1 are connected to the rodless cavity of oil cylinder 100, the rod chamber and electromagnet cut off valve 2 of oil cylinder 100
The connection of a hydraulic fluid port, the b hydraulic fluid port of electromagnet cut off valve 2 is connected to a hydraulic fluid port of the second control valve 3, the b hydraulic fluid port and liquid of the second control valve 3
The oil-feed port P of pressure system is connected to, and the c hydraulic fluid port of the second control valve 3 is connected to the oil discharge outlet T of hydraulic system, and electromagnet cut off valve 2 includes
Power failure state and electricity condition, when electromagnet cut off valve 2 is in power failure state, a hydraulic fluid port of electromagnet cut off valve 2 is to electromagnet cut off valve
2 b hydraulic fluid port direction is not connected to unidirectionally, when electromagnet cut off valve 2 be in electricity condition when, a hydraulic fluid port of electromagnet cut off valve 2 and electromagnetism are cut
The only b hydraulic fluid port connection of valve 2.
When needing gripper to loosen, 1 spool of the first control valve is located at right position, and (i.e. spool moves right, and the working position of valve is
Left position is hereafter identical with this, and is repeated no more), electromagnet cut off valve 2 be in electricity condition, 3 spool of the second control valve are located at right position,
Hydraulic oil successively passes through a hydraulic fluid port of the first control valve 1 and the rodless cavity of c hydraulic fluid port inflow oil cylinder 100 from oil-feed port P at this time, so that
The piston rod of oil cylinder 100 extends, i.e., gripper loosens.Simultaneously, the hydraulic oil in the rod chamber of oil cylinder 100 successively passes through electromagnetism
The a hydraulic fluid port and b hydraulic fluid port of shut-off valve 2, a hydraulic fluid port of the second control valve 3 and c hydraulic fluid port flow into oil discharge outlet T.When needing gripper to tighten,
First control valve, 1 spool be located at left position, electromagnet cut off valve 2 be in electricity condition, 3 spool of the second control valve are located at left position, at this time
Hydraulic oil successively passes through b hydraulic fluid port and a hydraulic fluid port, the b hydraulic fluid port of electromagnet cut off valve 2 and a hydraulic fluid port stream of the second control valve 3 from oil-feed port P
Enter the rod chamber of oil cylinder 100, so that the piston rod of oil cylinder 100 shortens, i.e., gripper is tightened.Simultaneously, the rodless cavity of oil cylinder 100
In hydraulic oil successively pass through the first control valve 1 c hydraulic fluid port and b hydraulic fluid port flow into oil discharge outlet T.When burst power-off is unexpected, electromagnetism
Shut-off valve 2 is in power failure state, so that the hydraulic oil in the rod chamber of oil cylinder 100 can not be by electromagnet cut off valve 2, to reach
It remains the purpose of the rod chamber pressure of oil cylinder 100, and then avoids gripper and loosen because power-off is unexpected, so that weight can
To be grabbed always by gripper.
In the present embodiment, hydraulic system further includes accumulator 4, and accumulator 4 is connected to rod chamber and electromagnetism in oil cylinder 100
Between a hydraulic fluid port of shut-off valve 2.
In above-mentioned implementation, when electromagnet cut off valve 2 is in power failure state, it is contemplated that be limited to electromagnet cut off valve 2
Quality, electromagnet cut off valve 2 may have leakage to a certain extent, then can be to hydraulic cylinder by accumulator 4
100 rod chamber carries out ftercompction, so that prolonged pressure maintaining may be implemented in oil cylinder 100, to further increase hydraulic
The reliability of system.
Optionally, when electromagnet cut off valve 2 is in power failure state, the spool of electromagnet cut off valve 2 is located at right position, electromagnetism cut-off
The right position spool of valve 2 can be ball-valve structure, so as to further reduce a possibility that leakage.
In the present embodiment, hydraulic system further includes throttle valve 5, the c hydraulic fluid port of a hydraulic fluid port of throttle valve 5 and the first control valve 1
Connection, the b hydraulic fluid port of throttle valve 5 are connected to the rodless cavity of oil cylinder 100.
In above-mentioned implementation, throttle valve 5 is adjustable throttle valve, can be realized by throttle valve 5 to oil cylinder 100
Piston rod elongation and the control for shortening speed, to improve the navigability of gripper.
In the present embodiment, the second control valve 3 is proportional pressure-reducing valve, the control port of the second control valve 3 and the second control
The a hydraulic fluid port of valve 3 is connected to.
In above-mentioned implementation, since the mechanical arm gripper is for grabbing hazardous explosion prone object, so to the dynamics of crawl
Controlled, therefore by setting proportional pressure-reducing valve for the second control valve 3, can spool aperture to the second control valve 3 into
Row is adjusted, to adjust dynamics when gripper tightening.Also, due to the control port of the second control valve 3 and the second control valve 3
The connection of a hydraulic fluid port, it is achieved that the internal feedback of the second control valve 3 is adjusted, can make a hydraulic fluid port pressure and b of the second control valve 3
The difference of hydraulic fluid port pressure with the proportional variation of spool aperture of the second control valve 3, improves the reliability of gripper always.
In the present embodiment, hydraulic system further includes first pressure sensor 6 and second pressure sensor 7, first pressure
Sensor 6 is connected to the rodless cavity of oil cylinder 100, and second pressure sensor 7 is connected to the rod chamber of oil cylinder 100.
In above-mentioned implementation, it can be examined by rodless cavity pressure of the first pressure sensor 6 to oil cylinder 100
It surveys, is detected by rod chamber pressure of the second pressure sensor 7 to oil cylinder 100.That is, being sensed by first pressure
Device 6 and second pressure sensor 7 may be implemented accurately to detect the rod chamber and rodless cavity oil pressure of oil cylinder 100, thus
Pressure value provided by oil cylinder 100, Jin Erjie are calculated according to the rod chamber and rodless cavity work area of oil pressure value and oil cylinder 100
The practical structures for closing gripper, are calculated the practical grip value that gripper is applied on weight.
Furthermore it is also possible to be detected by rod chamber to oil cylinder 100 and rodless cavity oil pressure, whether monitoring hydraulic system occurs
Failure.For example, when the rod chamber of oil cylinder 100 and excessively high or too low rodless cavity oil pressure, it is possible that hydraulic system occurs
Failure, to issue fault alarm by gripper.
Optionally, the first control valve 1 and the second control valve 3 all can be solenoid valves.
In above-mentioned implementation, the oil cylinder in conjunction with detected by first pressure sensor 6 and second pressure sensor 7
100 rod chamber and rodless cavity actual hydraulic data, may be implemented the pressure servo closed-loop control to gripper, is exported with real-time control
To the current value of the second control valve 3.
Fig. 2 is a kind of gripper provided by the embodiment of the present invention, which is a kind of gripper of mechanical arm, is used to grab
Hazardous explosion prone object, the gripper include paw mechanism and hydraulic system shown in FIG. 1, and paw mechanism includes mounting rack 200 and extremely
Few two pawl arms 300, the cylinder body of oil cylinder 100 are fixedly mounted on mounting rack 200, and each pawl arm 300 includes linking together
Installation end and clamping end, for any one pawl arm 300, installation end includes spaced apart determining articulated section 310 and dynamic articulated section
320, to determine articulated section 310 and is hinged on mounting rack 200, dynamic articulated section 320 is hinged on the piston rod 110 of oil cylinder 100, each
Pawl arm 300 is disposed around 110 surrounding of piston rod of oil cylinder 100.
In above-mentioned implementation, flexible by the piston rod 110 of oil cylinder 100 in hydraulic system, each pawl arm 300 is with each
From determine articulated section 310 be axis, along respective dynamic articulated section 320 sliding trace rotate, so as to realize to each pawl arm 300
Folding and unfolding control.For example, each pawl arm 300 loosens, when the piston rod 110 of oil cylinder 100 when the piston rod 110 of oil cylinder 100 extends
When shortening, each pawl arm 300 is tightened.
Optionally, mounting rack 200 include frame body 210 and with the one-to-one boss 220 of pawl arm 300, each boss 220 is
The outer edge of frame body 210 is set, and cylinder body and the frame body 210 of oil cylinder 100 are fixedly installed togather, the piston rod 110 of oil cylinder 100
Between each boss 220, the articulated section 310 of determining of each pawl arm 300 is hinged on corresponding boss 220.
In above-mentioned implementation, frame body 210 is used to provide installation foundation for oil cylinder 100, and boss 220 is used to be pawl arm
300 provide installation foundation.Also, since boss 220 protrudes from frame body 210, so also being provided for the piston rod 110 of oil cylinder 100
Telescopic movable space.
Optionally, mounting flange 120 is provided on the cylinder body of oil cylinder 100, mounting flange 120 and frame body 210 are fixedly mounted
Together, mounting flange 120 and boss 220 are located at the two opposite sides of frame body 210.
In above-mentioned implementation, by the setting of mounting flange 120, improve oil cylinder 100 cylinder body and frame body 210 it
Between degree of firmly installing.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of hydraulic system for mechanical arm gripper, which is characterized in that the hydraulic system includes the first control valve, oil
The a hydraulic fluid port of cylinder, electromagnet cut off valve and the second control valve, first control valve is connected to the oil-feed port of the hydraulic system, institute
The b hydraulic fluid port for stating the first control valve is connected to the oil discharge outlet of the hydraulic system, the c hydraulic fluid port and the oil cylinder of first control valve
Rodless cavity connection, the rod chamber of the oil cylinder is connected to a hydraulic fluid port of the electromagnet cut off valve, and the b of the electromagnet cut off valve is oily
Mouth is connected to a hydraulic fluid port of second control valve, and the b hydraulic fluid port of second control valve and the oil-feed port of the hydraulic system connect
Logical, the c hydraulic fluid port of second control valve is connected to the oil discharge outlet of the hydraulic system, and the electromagnet cut off valve includes power failure state
With electricity condition, when the electromagnet cut off valve is in the power failure state, a hydraulic fluid port of the electromagnet cut off valve is to the electromagnetism
The b hydraulic fluid port direction of shut-off valve is not connected to unidirectionally, when the electromagnet cut off valve obtains electricity condition described in, the electromagnet cut off valve
A hydraulic fluid port be connected to the b hydraulic fluid port of the electromagnet cut off valve.
2. hydraulic system according to claim 1, which is characterized in that the hydraulic system further includes accumulator, the storage
Energy device connection is between the rod chamber of the oil cylinder and a hydraulic fluid port of the electromagnet cut off valve.
3. hydraulic system according to claim 1, which is characterized in that the hydraulic system further includes throttle valve, the section
The a hydraulic fluid port of stream valve is connected to the c hydraulic fluid port of first control valve, and the b hydraulic fluid port of the throttle valve and the rodless cavity of the oil cylinder connect
It is logical.
4. hydraulic system according to claim 1, which is characterized in that second control valve is proportional pressure-reducing valve, described
The control port of second control valve is connected to a hydraulic fluid port of second control valve.
5. hydraulic system according to claim 1, which is characterized in that the hydraulic system further includes first pressure sensor
With second pressure sensor, the first pressure sensor is connected to the rodless cavity of the oil cylinder, the second pressure sensor
It is connected to the rod chamber of the oil cylinder.
6. hydraulic system according to claim 1-5, which is characterized in that first control valve is solenoid valve.
7. hydraulic system according to claim 1-5, which is characterized in that second control valve is solenoid valve.
8. a kind of gripper, which is characterized in that the gripper includes paw mechanism and hydraulic system described in claim 1, described
Paw mechanism includes mounting rack and at least two pawl arms, and the cylinder body of the oil cylinder is fixedly mounted on the mounting rack, Mei Gesuo
Stating pawl arm includes the installation end to link together and clamping end, and for pawl arm described in any one, the installation end includes interval
Arrangement determines articulated section and dynamic articulated section, and described to determine articulated section and be hinged on the mounting rack, the dynamic articulated section is hinged on institute
It states on the piston rod of oil cylinder, each pawl arm is disposed around the piston rod surrounding of the oil cylinder.
9. gripper according to claim 8, which is characterized in that the mounting rack includes frame body and a pair of with the pawl arm one
The boss answered, each boss are arranged at the outer edge of the frame body, the cylinder body of the oil cylinder and the fixed peace of the frame body
It is fitted together, for the piston rod of the oil cylinder between each boss, the articulated section of determining of each pawl arm is hinged on correspondence
The boss on.
10. gripper according to claim 9, which is characterized in that mounting flange is provided on the cylinder body of the oil cylinder, it is described
Mounting flange is fixedly installed togather with the frame body, and the mounting flange and the boss are located at the opposite of the frame body
Two sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910319233.0A CN110181502B (en) | 2019-04-19 | 2019-04-19 | Hydraulic system for mechanical arm paw and paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910319233.0A CN110181502B (en) | 2019-04-19 | 2019-04-19 | Hydraulic system for mechanical arm paw and paw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110181502A true CN110181502A (en) | 2019-08-30 |
| CN110181502B CN110181502B (en) | 2021-03-23 |
Family
ID=67714903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910319233.0A Expired - Fee Related CN110181502B (en) | 2019-04-19 | 2019-04-19 | Hydraulic system for mechanical arm paw and paw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110181502B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114412861A (en) * | 2022-01-14 | 2022-04-29 | 大连华锐重工集团股份有限公司 | Pitching hydraulic system of arm support of continuous ship unloader and working method |
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| CN108569631A (en) * | 2018-04-12 | 2018-09-25 | 上海耐斯特液压设备有限公司 | Method is increased for the raised high-precision hydraulic synchronization system of large-scale tower crane supernumerary segment and jacking control method and supernumerary segment |
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2019
- 2019-04-19 CN CN201910319233.0A patent/CN110181502B/en not_active Expired - Fee Related
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| GB2048212A (en) * | 1979-04-23 | 1980-12-10 | Zahnradfabrik Friedrichshafen | Load Handling Grippers |
| EP0062070A1 (en) * | 1980-10-08 | 1982-10-13 | Fanuc Ltd. | Device for operating hand of industrial robot |
| JP2005330034A (en) * | 2004-05-18 | 2005-12-02 | Hitachi Constr Mach Co Ltd | Gripping force controller and dismantling work machine |
| CN203809378U (en) * | 2014-05-19 | 2014-09-03 | 宁波创力液压机械制造有限公司 | Hydraulic adjustment device for side supporting rolls of cluster mill |
| CN205841354U (en) * | 2016-07-08 | 2016-12-28 | 中国航空动力机械研究所 | Oil circuit reversing arrangement |
| CN107414779A (en) * | 2017-09-15 | 2017-12-01 | 彭丽芳 | A kind of constant medicine equipment clamp device of pressure |
| CN108569631A (en) * | 2018-04-12 | 2018-09-25 | 上海耐斯特液压设备有限公司 | Method is increased for the raised high-precision hydraulic synchronization system of large-scale tower crane supernumerary segment and jacking control method and supernumerary segment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114412861A (en) * | 2022-01-14 | 2022-04-29 | 大连华锐重工集团股份有限公司 | Pitching hydraulic system of arm support of continuous ship unloader and working method |
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| Publication number | Publication date |
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| CN110181502B (en) | 2021-03-23 |
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