CN112045082A - Manipulator hydraulic remote control device and gear transmission mechanism thereof - Google Patents
Manipulator hydraulic remote control device and gear transmission mechanism thereof Download PDFInfo
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- CN112045082A CN112045082A CN202010877709.5A CN202010877709A CN112045082A CN 112045082 A CN112045082 A CN 112045082A CN 202010877709 A CN202010877709 A CN 202010877709A CN 112045082 A CN112045082 A CN 112045082A
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- rack
- gear
- transmission mechanism
- driven gear
- remote control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/06—Stripping-off devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Abstract
A manipulator hydraulic remote control device and a gear transmission mechanism thereof comprise: transmitting device and receiving arrangement, its characterized in that: the lower end of the transmitting device is provided with a small-hole copper pipe, one end of the small-hole copper pipe is connected with the bottom of the transmitting device, the other end of the small-hole copper pipe is connected with the receiving device, the transmitting device comprises a transmitter, the transmitter comprises a shell A, the receiving device comprises a receiver, and the receiver comprises a shell B, and the gear transmission mechanism of the manipulator hydraulic remote control device comprises an actuating device and a driven device. The invention can control the rotation and extension of the manipulator, coordinate the movement track, control the running speed accurately, adopt hydraulic pressure as the power source, the transmission power is large and control is accurate and stable, the invention has gear drive mechanisms in the launcher and inside of the receiver, the gear drive mechanism includes the gear and rack, the invention has the advantages of simple structure and convenient installation through the transmission mode of rack and gear.
Description
Technical Field
The invention relates to the technical field of stamping equipment, in particular to a manipulator hydraulic remote control device and a gear transmission mechanism thereof. According to the international patent classification system, the Chinese patent medicine belongs to B25J3/00 and B25J 13/08.
Background
At present, with the rapid development of scientific and industrial technology, the industrial manufacturing technology has made revolutionary breakthrough, the performance of corresponding equipment such as processing, manufacturing, detection, experiment and the like is more and more powerful, a stamping device is used in the processing process of a workpiece, the stamping device applies external force to plates, strips, pipes, profiles and the like by a press and a die to cause the plates, the strips, the pipes, the profiles and the like to generate plastic deformation or separation, thereby obtaining the forming processing method of the workpiece with the required shape and size, the stamping and the forging belong to the same plastic processing and are called as forging and pressing, the stamped blanks are mainly hot-rolled and cold-rolled steel plates and steel strips, a stamping part manipulator is needed in the production process of the stamping part, and the stamping part grabbing manipulator can replace manual work to carry out blanking on the sheet metal parts, so that the blanking is convenient, the working safety is improved, and the labor intensity of workers is, for example, chinese patent CN110712219A discloses a full hydraulic drive five-degree-of-freedom transfer robot, which aims to solve the technical problems of heavy weight, low space utilization rate, large processing difficulty and high cost of the existing transfer robot. The following technical scheme is adopted: the big arm rotates relative to the base through the first hydraulic motor, the small arm rotates relative to the big arm through the second hydraulic motor, the wrist part rotates relative to the small arm through the third hydraulic motor, and the wrist part is further provided with a pitching hydraulic cylinder and a side-swinging hydraulic cylinder to realize pitching and side-swinging actions; the base is provided with an oil cavity, the oil cavity is connected with each execution component through a hydraulic pump and a servo valve, each execution component is independently controlled through a hydraulic control pipeline, and the execution components are matched together to complete the action of the robot; for example, chinese patent CN110118208A discloses a hydraulic system suitable for a robot arm and the robot arm. The hydraulic system comprises an oil tank, a hydraulic pump, a first two-position three-way proportional valve, a second two-position three-way proportional valve, a first hydraulic control one-way valve, a second hydraulic control one-way valve, a first hydraulic motor and a pressure transmitter, wherein an oil outlet of the hydraulic pump is communicated with a first oil port of the first two-position three-way proportional valve and a first oil port of the second two-position three-way proportional valve, a second oil port of the first two-position three-way proportional valve and a second oil port of the second two-position three-way proportional valve are communicated with the oil tank, and a third oil port of the first two-position three-way proportional valve is communicated with an oil inlet of the. The first two-position three-way proportional valve or the second two-position three-way proportional valve can be controlled based on the pressure detected by the pressure transmitter so as to accurately adjust the size of back pressure, so that the first hydraulic motor can stably run under the condition that the load and the rotating speed are continuously changed; for example, prior art CN105364934A discloses a hydraulic manipulator teleoperation control system and method, which relates to the technical field of hydraulic manipulator control, and the control system includes an operation master hand for operator field operation and a hydraulic slave hand for remote control, wherein: the hydraulic slave hand is characterized in that a torque motor and a potentiometer are mounted at each joint of the master hand, and a hydraulic oil cylinder, an angle sensor and a pressure sensor are mounted at each joint of the hydraulic slave hand; the hydraulic slave hand controller is arranged on the hydraulic slave hand, and a communication system is arranged between the operation master hand controller and the hydraulic slave hand controller.
The hydraulic remote control devices in the mechanical arm structures are mainly used for controlling the movement of the mechanical arm, a transmission mechanism in the existing hydraulic remote control devices usually adopts a connecting rod and a crank arm to connect a piston to a rocker shaft, and an actuating rod drives the piston to move through the crank arm, but the transmission mechanism has the problems of complex structure, complicated transmission, difficult installation and the like, and in some cases, a controlled element may not accurately follow the control rod to move in a spring operation direction, and the movement of the controlled element cannot be accurately controlled.
Disclosure of Invention
The invention relates to a manipulator hydraulic remote control device and a gear transmission mechanism thereof, aiming at solving the technical problems, the invention can drive a receiving device through a transmitting device so as to accurately control the movement of a controlled element, can also automatically compensate the volume change of liquid in the device, and can effectively solve the problem of liquid leakage caused by the leakage of the transmission liquid through a piston or the temperature change caused by the expansion or contraction of the liquid.
The technical scheme adopted by the invention is as follows: a manipulator hydraulic remote control, comprising: transmitting device and receiving arrangement, its characterized in that: the lower extreme of emitter is provided with a aperture copper pipe, aperture copper pipe's one end with emitter's bottom interconnect, aperture copper pipe's the other end with receiving arrangement interconnect, emitter includes the transmitter, and the transmitter is including casing A, receiving arrangement includes the receiver, and the receiver is including casing B.
A gear transmission mechanism for a manipulator hydraulic remote control device comprises an actuating device and a driven device, wherein the actuating device is arranged in a shell A, and the gear transmission mechanism is characterized in that: the actuating device consists of an actuating rod, a cam shaft, a cam arm A, a roller, a bracket and a first gear transmission mechanism, the first gear transmission mechanism comprises a driving gear, a driven gear A and a rack A, wherein a cam shaft is arranged in a shell A and is fixedly connected with an actuating rod, the driving gear is fixedly connected with the actuating rod through the cam shaft, the driven gear A is arranged at one side of the driving gear, the driven gear A is meshed with the driving gear, the rack is arranged at one side of the driven gear A, the driven gear A is meshed with the rack, the cam arm A is fixedly connected on the cam shaft, the cam arm A is provided with a cam surface, the roller is provided with a circular groove, the cam arm A is contacted with the circular groove in the roller, and a vertical cylinder is arranged in the shell A, and the lower end of the vertical cylinder is connected with the small-hole copper pipe.
Further, the roller is supported on a ball bearing by a pivot pin in a bracket on which a link B is mounted, the bracket and the link B are pivotally connected to each other, the bracket is elastically supported by a first compression spring, a second compression spring, and a third compression spring, a support guide is provided at lower ends of the first compression spring, the second compression spring, and the third compression spring, the first compression spring, the second compression spring, and the third compression spring are supported on the support guide, the support guide is pivotally connected to the housing a, and the bracket is slidably connected to the support guide.
Further, the vertical cylinder comprises a piston A and a gland used for enabling the interior of the vertical cylinder to be fluid-tight, the rack A is arranged inside the piston A, and the lower end of the rack A is fixedly connected with the bottom of the piston A.
Further, the bracket is connected with the link B by a pivot shaft B, the bracket is guided to move up and down by pivoting to the link B, and the link B is pivotally connected with the housing a by the pivot shaft B.
Further, one side of vertical cylinder is provided with the reservoir, the lower extreme of reservoir with the lower extreme of vertical cylinder communicates each other, is provided with a connecting rod C in the reservoir, is connected with the valve at connecting rod C's lower extreme, the intercommunicating pore between vertical cylinder and the reservoir is closed by the valve on connecting rod C's the lower extreme, and connecting rod C passes the top of reservoir, at connecting rod C's top fixedly connected with lantern ring, installs fourth compression spring on connecting rod C, and fourth compression spring sets up between the reservoir top and the lantern ring, and fourth compression spring between the lantern ring of reservoir top and connecting rod C upper end makes the valve keep closing.
Further, the upper end of the sleeve ring is provided with a rocker, the sleeve ring and the rocker are in pivot connection with each other, the rocker and the shell A are in pivot connection with each other through a pivot shaft C, the rocker is provided with a toe-shaped piece protruding reversely, the toe-shaped piece covers a finger-shaped piece supported by the rack A, the finger-shaped piece and the rack A are in pivot connection with each other, and the rocker is fixedly connected with an ear piece which is used for preventing the rocker from shaking upwards.
Further, the driven device is arranged inside the shell B, the driven device consists of a roller, a rotating shaft, a receiver spring, a piston B, a driving cylinder, a driven rod and a second gear transmission mechanism, the second gear transmission mechanism comprises a driven gear B, a driven gear C and a rack B, the rotating shaft is arranged in the shell B and is fixedly connected with the driven rod, the piston B is arranged at the upper end of the driving cylinder, a rack B is arranged in the piston B, the lower end of the rack B is fixedly connected with the bottom of the piston B, a driven gear B is arranged on one side of the rack B, the driven gear B is meshed with the rack B, and a driven gear C is arranged on one side of the driven gear B, the driven gear C and the driven gear B are meshed and connected with each other, and the driven gear C and the driven rod are fixedly connected with each other through a rotating shaft.
Further, a cam arm B is fixedly connected to the rotating shaft, the structures and the connection modes of the roller, the receiver spring and the receiver spring are the same as those of the roller, the first compression spring, the second compression spring and the third compression spring, a circular groove which is the same as that of the roller is also formed in the roller, and the cam arm B is in contact with the circular groove in the roller.
Furthermore, the diameter of the driving cylinder is the same as that of the vertical cylinder, and the bottom of the driving cylinder is connected with the small-hole copper pipe.
The invention has the beneficial effects that: the invention provides a manipulator hydraulic remote control device and a gear transmission mechanism thereof, and relates to an improvement on a hydraulic remote control device, the hydraulic remote control device comprises a transmitting device (a control station) and a receiving device (a controlled station) which are connected by a row of liquid in a control type pipeline, a vertical cylinder in the transmitting device comprises a piston A, a piston B is arranged at the upper end of a driving cylinder in the receiving device, the transmitting device comprises a vertical cylinder (a transmitting cylinder) which is provided with the piston A therein and communicated with each other, a device for moving the piston A of the transmitter, and a driving cylinder which is provided with the piston B at the receiving device and communicated with a small-hole copper pipe, the hydraulic control device adopts a single-pipe connection mode to connect the transmitting device and the receiving device so as to transmit reverse motion, the transmitting device can transmit the motion of an actuating rod in one direction to a driven rod of the receiving device, the invention uses a single pipe (small hole copper pipe) to connect the emitter and the receiver, the controlled element can accurately follow the control movement in two directions, the invention has the advantages of single pipe connection and double pipe connection, the invention sets a gear transmission mechanism in the emitter and the receiver, the gear transmission mechanism includes a gear and a rack, the invention has the advantages of simple structure and convenient installation by the transmission mode of the rack and the gear, the invention can drive the receiving device by the emitter to accurately control the movement of the controlled element, the invention can also automatically compensate the volume change of the liquid in the device, and can effectively solve the problem of liquid leakage caused by the leakage of the transmission liquid through a piston or the temperature change caused by the expansion or contraction of the liquid, the control device provided by the invention is particularly suitable for remotely controlling a hydraulic system of the manipulator, can control the rotation and the extension of the manipulator, coordinates the motion track of the manipulator, and has accurate control of the running speed, large power transmission and accurate and stable control by adopting hydraulic pressure as a power source.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a front view of the transmitter of the present invention.
Fig. 3 is a schematic view of a partial cross-sectional structure of the X-Y cut line in fig. 2.
Wherein:
1. a transmitter; 2. A shell A; 3. An actuating lever;
4. a camshaft; 5. A cam arm A; 6. A driven gear A;
7. a roller; 8. A first compression spring; 9. A support guide;
10. a pivotal axis A; 11. A vertical cylinder; 12. A valve;
13. a rack A; 14. A piston A; 15. A small-hole copper pipe;
16. a receiver; 17. A driven lever; 18. A rotating shaft;
19. a cam arm B; 20. A drum; 21. A receiver spring;
22. a driving cylinder; 23. A piston B; 24. A circular groove;
25. a pivotal axis B; 26. A connecting rod B; 27. A pivot pin;
28. a bracket; 29. A second compression spring; 30. A third compression spring;
31. a reservoir; 32. A gland; 33. A finger member;
34. a toe; 35. A rocker; 36. A driving gear;
37. an ear; 38. A collar; 39. A connecting rod C;
40. a fourth compression spring; 41. A housing B; 42. A cam surface;
43. a driven gear B; 44. A rack B; 45. driven gear C
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Fig. 1 is a schematic overall structure of the present invention, fig. 2 is a schematic front view of an emitter according to the present invention, and fig. 3 is a schematic partial sectional structure of an X-Y cut line in fig. 2.
The first embodiment is as follows:
as shown in fig. 1, the hydraulic remote control device of the manipulator comprises a transmitter and a receiver, a small-hole copper pipe 15 is arranged at the lower end of the transmitter, one end of the small-hole copper pipe 15 is connected with the bottom of the transmitter, the other end of the small-hole copper pipe 15 is connected with the receiver, the transmitter comprises a transmitter 1, the receiver comprises a receiver 16, the transmitter 1 comprises a casing a2, an actuator is arranged in a casing a2, the lower end of the actuator is connected with one end of the small-hole copper pipe 15, the receiver comprises a receiver 16, the receiver 16 comprises a casing B41, a driven device is arranged in a casing B41, the lower end of the driven device is connected with the other end of the small-hole copper pipe 15, if the transmitter 1 or the receiver 16 needs to be moved, a flexible pipe connection can be used, the transmitter 1 is arranged at a control station of a workshop (for example, when radioactive materials such as, requiring isolation) and provided with an actuating rod 3 to be controlled by the operator, and any convenient actuating means may be used, such as an electrically controlled brake mechanism, the receiver 16 of the present invention being mounted adjacent to the hydraulic system of the robot to be controlled and connected to a connecting rod or lever of the opening of the hydraulic system.
Example two:
as shown in fig. 2 and 3, the actuating device includes an actuating lever 3, a cam shaft 4, a rack a6, a roller 7, a bracket 28, and a first gear train including a pinion gear 36, a follower gear a6, and a rack a13, the cam shaft 4 is installed in a housing a2 and fixedly connected to the actuating lever 3, the rack a6 and the actuating lever 3 are connected to each other through the cam shaft 4, the roller 7 is supported on a ball bearing by a pivot pin 27 in the bracket 28, a link B26 is installed on the bracket 28, the bracket 28 and a link B26 are pivotally connected to each other, the bracket 28 is elastically supported by a first compression spring 8, a second compression spring 29, and a third compression spring 30, a support guide 9 is provided at lower ends of the first compression spring 8, the second compression spring 29, and the third compression spring 30, the first compression spring 8, the second compression spring 29, and the third compression spring 30 are supported on the support guide 9, the support guide 9 and the housing a2 are pivotally connected to each other, and the bracket 28 is slidably connected to the support guide 9, a cam arm a5 having a cam surface 42 is fixedly connected to the camshaft 4, a circular groove 24 is opened on the roller 7, the cam arm a5 is in contact with the circular groove 24 in the roller 7, the housing a2 of the launcher 1 encloses a vertical cylinder 11, the vertical cylinder 11 has a trunk-type piston a14 and a gland 32 for fluidly sealing the cylinder, a piston a14 is located at a lower end of a rack a13, a lower end of the rack a13 and a bottom of the piston a1 are fixedly connected to each other, in this particular structure, the bracket 28 is guided to move up and down by being pivoted to a connecting rod B26, the three compression springs (a first compression spring 8, a second compression spring 29, and a third compression spring 30) are supported on the support guide 9, the support guide 9 is pivoted to the housing 1, and the carriage 28 is slidably connected to the supporting guide 9, thanks to this structure, during the action, the liquid filling the cylinder is always compressed by the first, second and third compression springs 8, 29, 30, the shape of the cam surface 42 being such that as the three compression springs are compressed, the leverage is reduced, that the three compression springs will exert a uniform pressure on the piston a14 throughout the working stroke of the piston a14, and that the variation in the pressure of the three compression springs can be compensated by the variation in the length of the piston a 14.
Example three:
as shown in fig. 2, in order to solve the problem that the liquid may leak due to contraction or expansion of the liquid caused by a temperature change, the present invention further provides an automatic synchronizing device including a reservoir 31 provided at one side of a vertical cylinder 11, the reservoir being provided with a normally closed hole for filling or discharging air, the reservoir 31 communicating with a lower end of the vertical cylinder 11 at a lower end thereof, a connecting rod C39 provided in the reservoir 31, a valve 12 connected to a lower end of the connecting rod C39, the communicating hole between the vertical cylinder 11 and the reservoir 31 being closed by the valve 12 at a lower end of a connecting rod C39, the connecting rod C39 passing through a top of the reservoir 31, a collar 38 fixedly connected to a top of the connecting rod C39, a fourth compression spring 40 mounted on the connecting rod C39, the fourth compression spring 40 provided between the top of the reservoir 31 and the collar 38, a fourth compression spring 40 between the top of the reservoir 31 and a collar 38 at the upper end of the connecting rod C39 keeps the valve 12 closed, a rocker 35 is provided at the upper end of the collar 38, the collar 38 pivots between the forked ends of the rocker 35, the rocker 35 and the housing a2 are pivotally connected to each other by a pivot shaft 18C, the rocker 35 has a reversely projecting toe 34, the toe 34 overlies a finger 33 supported by a rack a6, the finger 33 and the rack a6 are pivotally connected to each other, a lug 37 is fixedly connected to the rocker 35, the lug 37 serves to prevent the rocker 35 from rocking upwards to move the toe 34 out of the way of the finger 33, the synchronising means is arranged such that after the piston B23 has reached the bottom end of its stroke, the piston a14 can still move upwards to a lesser extent, during which further movement the finger 33 will lift the toe 34 and open the valve 12, thus, if any liquid escapes, the loss is compensated for from the reservoir; on the other hand, if the liquid expands, the valve 12 will open slightly before the piston B23 reaches the bottom of its stroke, the pressure will be released, and the receiver 16 spring of the piston B23 will force it to the end of its stroke and rest position, and excess liquid drains into the reservoir 31. Thus, the single valve 12 can compensate for both the negative pressure and the overpressure, and when the valve 12 is opened, the pressures of the first compression spring 8, the second compression spring 29 and the third compression spring 30 all become 0, at which time the roller 7 and a portion of the cam having a uniform radius are in contact with each other, and the cam arm a5 is moved to the dead point position. Thus, when the valve 12 is opened, which would destroy the fluid pressure in the system, the actuating rod 3 can be automatically released from the forces of the first, second and third compression springs 8, 29, 30, which the first, second and third compression springs 8, 29, 30 would otherwise have to withstand, in the case where multiple robot hydraulic controls are required, the plurality of transmitters 1 may be grouped, the actuating rods 3 in each group of transmitters 1 may be linked together for operation, the hydraulic supply may be subdivided, so that damage to one of the branch circuits does not cause loss of all the circuits, when the actuator rod 3 moves the piston a14 in the sender downwards, during the first portion of the stroke, valve 12 will open, but by the time finger 3367 clears toe 3465, valve 1253 will close, and further movement of the piston a14 by the transmitter will effect substantially equal movement of the receiver 16 piston B23.
Example four:
as shown in fig. 1, the driven device is composed of a roller 20, a rotating shaft 18, a receiver 16 spring, a piston B23, a driving cylinder 22, a driven rod 17 and a second gear transmission mechanism, the second gear transmission mechanism includes a driven gear B43, a driven gear C45 and a rack B44, the rotating shaft 18 is installed in a housing B41 and fixedly connected with the driven rod 17, a piston B23 is installed at the upper end of the driving cylinder 22, a rack B44 is arranged inside a piston B23, the lower end of the rack B44 is fixedly connected with the bottom of a piston B23, a driven gear B43 is arranged at one side of the rack B44, the driven gear B43 is in meshed connection with the rack B44, a driven gear C45 is arranged at one side of the driven gear B43, the driven gear C45 is in meshed connection with the driven gear B43, the driven gear C45 is fixedly connected with the driven rod 17 through the rotating shaft 18, the diameter of the driving cylinder 22 is the same as that of the vertical cylinder 11, the bottom of the drive cylinder 22 and the small bore copper tube 15 are interconnected, the receiver 16 is virtually identical in construction to the launcher 1A described above, the drive cylinder 22 and the connecting conduit (small bore copper tube 15) are both filled with a non-freezing liquid, the downward movement of the piston a14 will produce an equal upward movement of the piston B23 due to the drive cylinder 22 and the vertical cylinder 11 having the same diameter, the launcher 1 spring is arranged to act exactly the same as the first 8, second 29 and third 30 compression springs shown, so the entire hydraulic system is normally in equilibrium, and the liquid is also always under spring pressure, the strength of the receiver 16 spring is such that when the actuating rod 3 in the launcher is moved to raise the piston a14, they will overcome the friction and move the piston B23 a similar amount downward, thus, the motion of one piston (piston a14) will correspond precisely to the motion of the other piston (piston B23) without losing motion.
The working mode is as follows:
the invention provides a hydraulic remote control device of a manipulator and a gear transmission mechanism thereof, when a mechanical arm for punching processing is remotely controlled, an operator can control an actuating rod 3, and any convenient actuating device can also be used for controlling the actuating rod 3, such as an electric control brake mechanism, a receiver 16 in the invention is arranged near a hydraulic system of a robot to be controlled and is connected to a connecting rod or a lever of the opening degree of the hydraulic system, a first gear transmission mechanism is arranged in a transmitter, the first gear transmission mechanism comprises a driving gear 36, a driven gear A6 and a rack A13, the driving gear 36 and the actuating rod in the first gear transmission mechanism are fixedly connected with each other, the actuating rod 3 in the invention is connected with the rack A6 and a cam arm A5, and the actuating rod 3 can drive the rack A6 and the cam arm A5 to rotate clockwise, the actuating rod 3 can drive the driving gear 36 to rotate anticlockwise, a driven gear A6 is arranged on one side of the driving gear 36, the driving gear 36 and the driven gear A6 are meshed with each other and connected, the driving gear 36 can drive the driven gear A6 to rotate clockwise, a rack A6 is arranged on one side of the driven gear A6, the driven gear can drive the rack A6 to move downwards, a rack A6 drives the piston A14 to press down, liquid is pressed into the receiver 16 through the small-hole copper tube 15, the invention is provided with a second gear transmission mechanism inside the receiver 16, the second gear transmission mechanism comprises a rack B44, a driven gear B43 and a driven gear C45, a rack B44 is arranged inside the piston B23, the rack B44 and the bottom of the piston B23 are fixedly connected with each other, when the piston A14 presses down, the piston B23 drives the rack B44 to ascend under the hydraulic pressure, and the driven gear B43 is arranged on one side of the rack B44, the driven gear B43 and the rack B44 are meshed and connected with each other, the rack B44 can drive the driven gear B43 to rotate anticlockwise, the driven gear C45 is meshed and connected with one side of the driven gear B43, the driven gear B43 can drive the driven gear C45 to connect clockwise, the driven gear C45 and the driven rod 17 are fixedly connected with each other through the rotating shaft 18, and therefore the function of the driven rod 17 can be controlled, the function of the spring of the launcher 1 is arranged to be identical to the functions of the first compression spring 8, the second compression spring 29 and the third compression spring 30, so that the whole hydraulic system is normally in a balanced state, the liquid is always under the pressure of the spring, and the strength of the spring of the receiver 16 is such that when the actuating rod 3 in the launcher is moved to lift the piston A14, the spring overcomes friction and moves the piston B23 downwards by a similar amount, the cam arm a5 in the present invention is in contact with the circular groove 24 in the roller 7 and when the liquid in the reservoir 31 expands, the valve 12 will open slightly before the piston B23 reaches the bottom of its stroke and the pressure will be released and the receiver 16 spring of the piston B23 will force it to the end of its stroke and rest position and excess liquid drains into the reservoir 31 and when the valve 12 is opened the pressure of the first 8, second 29 and third 30 compression springs all become 0 with the roller 7 in contact with a portion of the cam with a uniform radius and the cam arm a5 moves to the dead centre position which, when the valve 12 opens, will break the liquid pressure in the system and the actuator rod 3 can automatically release from the force of the first 8, second 29 and third 30 compression springs.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A manipulator hydraulic remote control, comprising: transmitting device and receiving arrangement, its characterized in that: the lower extreme of emitter is provided with a aperture copper pipe, aperture copper pipe's one end with emitter's bottom interconnect, aperture copper pipe's the other end with receiving arrangement interconnect, emitter includes the transmitter, and the transmitter is including casing A, receiving arrangement includes the receiver, and the receiver is including casing B.
2. A gear transmission mechanism for a robot hydraulic remote control device according to claim 1, comprising an actuating device and a driven device, the actuating device being provided inside a housing a, characterized in that: the actuating device consists of an actuating rod, a cam shaft, a cam arm A, a roller, a bracket and a first gear transmission mechanism, the first gear transmission mechanism comprises a driving gear, a driven gear A and a rack A, wherein a cam shaft is arranged in a shell A and is fixedly connected with an actuating rod, the driving gear is fixedly connected with the actuating rod through the cam shaft, the driven gear A is arranged at one side of the driving gear, the driven gear A is meshed with the driving gear, the rack is arranged at one side of the driven gear A, the driven gear A is meshed with the rack, the cam arm A is fixedly connected on the cam shaft, the cam arm A is provided with a cam surface, the roller is provided with a circular groove, the cam arm A is contacted with the circular groove in the roller, and a vertical cylinder is arranged in the shell A, and the lower end of the vertical cylinder is connected with the small-hole copper pipe.
3. The gear transmission mechanism of a manipulator hydraulic remote control device according to claim 2, characterized in that: the roller is supported on a ball bearing by a pivot pin in a bracket on which a link B is mounted, the bracket and the link B being pivotally connected to each other, the bracket being elastically supported by first, second and third compression springs, support guides being provided at lower ends of the first, second and third compression springs, the first, second and third compression springs being supported on the support guides, the support guides being pivotally connected to each other with the housing A, and the bracket being slidably connected to the support guides.
4. The gear transmission mechanism of a manipulator hydraulic remote control device according to claim 2, characterized in that: the vertical cylinder comprises a piston A and a gland used for enabling the interior of the vertical cylinder to be fluid-tight, the rack A is arranged inside the piston A, and the lower end of the rack A is fixedly connected with the bottom of the piston A.
5. The gear transmission mechanism of a manipulator hydraulic remote control device according to claim 3, characterized in that: the bracket is connected with a link B through a pivot shaft B, the bracket is guided to move up and down by pivoting to the link B, and the link B is pivotally connected with the housing A through the pivot shaft B.
6. The gear transmission mechanism of a manipulator hydraulic remote control device according to claim 4, characterized in that: one side of vertical cylinder is provided with the reservoir, the lower extreme of reservoir with the lower extreme of vertical cylinder communicates each other, is provided with a connecting rod C in the reservoir, is connected with the valve at connecting rod C's lower extreme, the intercommunicating pore between vertical cylinder and the reservoir is closed by the valve on connecting rod C's the lower extreme, and connecting rod C passes the top of reservoir, at connecting rod C's top fixedly connected with lantern ring, installs fourth compression spring on connecting rod C, and fourth compression spring sets up between reservoir top and the lantern ring, and fourth compression spring between the lantern ring of reservoir top and connecting rod C upper end makes the valve keep closing.
7. The gear transmission mechanism of a manipulator hydraulic remote control device according to claim 6, characterized in that: the upper end of the lantern ring is provided with a rocker, the lantern ring and the rocker are in pivot connection with each other, the rocker and the shell A are in pivot connection with each other through a pivot shaft C, the rocker is provided with a toe-shaped piece protruding reversely, the toe-shaped piece covers a finger-shaped piece supported by the rack A, the finger-shaped piece and the rack A are in pivot connection with each other, the rocker is fixedly connected with an ear piece, and the ear piece is used for preventing the rocker from shaking upwards.
8. The gear transmission mechanism of a manipulator hydraulic remote control device according to claim 2, characterized in that: the driven device is arranged inside the shell B and comprises a roller, a rotating shaft, a receiver spring, a piston B, a driving cylinder, a driven rod and a second gear transmission mechanism, the second gear transmission mechanism comprises a driven gear B, a driven gear C and a rack B, the rotating shaft is arranged in the shell B and fixedly connected with the driven rod, the piston B is arranged at the upper end of the driving cylinder, the rack B is arranged inside the piston B, the lower end of the rack B is fixedly connected with the bottom of the piston B, the driven gear B is arranged on one side of the rack B, the driven gear B and the rack B are meshed with each other and connected with each other, the driven gear C is arranged on one side of the driven gear B, the driven gear C is meshed with the driven gear B and fixedly connected with the driven rod through the rotating shaft.
9. The gear transmission mechanism of a manipulator hydraulic remote control device according to claim 8, characterized in that: the rotary shaft is also fixedly connected with a cam arm B, the structures and the connection modes of the roller, the receiver spring and the receiver spring are the same as those of the roller, the first compression spring, the second compression spring and the third compression spring, the roller is also provided with a circular groove which is the same as that of the roller, and the cam arm B is in mutual contact with the circular groove in the roller.
10. The manipulator hydraulic remote control device and the gear transmission mechanism thereof according to claim 8, characterized in that: the diameter of the driving cylinder is the same as that of the vertical cylinder, and the bottom of the driving cylinder is connected with the small-hole copper pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010877709.5A CN112045082A (en) | 2020-08-27 | 2020-08-27 | Manipulator hydraulic remote control device and gear transmission mechanism thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010877709.5A CN112045082A (en) | 2020-08-27 | 2020-08-27 | Manipulator hydraulic remote control device and gear transmission mechanism thereof |
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| CN112045082A true CN112045082A (en) | 2020-12-08 |
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| CN202010877709.5A Pending CN112045082A (en) | 2020-08-27 | 2020-08-27 | Manipulator hydraulic remote control device and gear transmission mechanism thereof |
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| CN (1) | CN112045082A (en) |
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Application publication date: 20201208 |