CN112828859B

CN112828859B - Six-freedom-degree differential manipulator for automobile wind control assembly

Info

Publication number: CN112828859B
Application number: CN202110378800.7A
Authority: CN
Inventors: 逯林福
Original assignee: Fulda Tianjin Intelligent Technology Co ltd
Current assignee: Fulda Tianjin Intelligent Technology Co ltd
Priority date: 2020-12-28
Filing date: 2021-04-08
Publication date: 2022-08-05
Anticipated expiration: 2041-04-08
Also published as: CN112828859A

Abstract

The invention belongs to the technical field of automobile processing equipment, and provides a six-degree-of-freedom differential manipulator for an automobile wind control assembly, which comprises a moving device, wherein the lower part of the moving device is connected with an operating device, and the tail end of the operating device is connected with a clamping device; the invention can flexibly rotate in a proper range, can move a heavy object in a relatively wide range to enable the heavy object to move upwards, downwards, laterally and accurately position on a given working area, can carry out general movement in all directions without influencing or generating another movement, can process materials with various weights, and has reliable operation and no possibility of confusion even if used for a long time; the clamping manipulator can rotate 360 degrees continuously along any direction through a proper driving mechanism; the elbow member may be rotatable about its pivot axis, with the end of the elbow member being a rotatable wrist member that is capable of continuous 360 degree rotation on an axis at right angles to the elbow member.

Description

Six-freedom-degree differential manipulator for automobile wind control assembly

Technical Field

The invention relates to the technical field of automobile processing equipment, in particular to a six-degree-of-freedom differential manipulator for an automobile wind control assembly; B25J15/08 belonging to IPC classification system; B25J 9/16.

Background

Along with the continuous development of manufacturing industry, the advantage performance brought by introducing an automatic production line into an enterprise is more and more obvious, the automatic production line not only improves the product productivity, shortens the production period, improves the product quality, but also more directly improves the economic benefit of the enterprise, and today when the personnel cost is higher and higher, the realization of unmanned automatic production by the enterprise is more reluctant, and the development of the enterprise and the future of the enterprise are directly influenced.

The invention aims to provide a six-degree-of-freedom differential manipulator for an automobile wind control assembly, which can be accurately installed in a wider range, so that the manipulator can move upwards, downwards, laterally and accurately position on any given working area; the inventor searches the invention as detailed and comprehensive as possible to obtain the following prior art, and simply introduces the prior art and makes a relevant comparison with the technical scheme of the invention so as to better understand the inventive concept of the invention and show the technical advantages and the technical characteristics of the invention.

Prior art 1: CN201711048437.2, the invention relates to an adjustable turnover clamping manipulator mechanism of a cold heading forming machine, comprising a clamping manipulator fixing seat and a clamping manipulator assembly, wherein the clamping manipulator fixing seat is provided with a guide rail part, a clamping manipulator frame is matched on the guide rail part in a sliding way, the outer side of the clamping manipulator frame is provided with a turnover clamp seat, the turnover clamp seat is movably penetrated with more than two turnover clamp seat fixing rods, each turnover clamp seat fixing rod is parallel to a spatial horizontal reference surface, one end part of each turnover clamp seat fixing rod is fixed on the clamping manipulator frame, the clamping manipulator assembly is movably sleeved in the turnover clamp seat, a transmission gear is fixed on the clamping manipulator assembly, a fan-shaped tooth piece meshed with the transmission gear is arranged on the turnover clamp seat, the middle part of the fan-shaped tooth piece is hinged on the turnover clamp seat through a turnover rotating shaft, the clamping manipulator fixing seat is also provided with a sliding chute which is parallel to the overturning clamp seat fixing rod and is internally provided with a sliding block, and the bottom of a cylindrical pin hinged to the tail end of the fan-shaped toothed sheet is fixed with the sliding block; in a specific use: the manipulator fixing seat is fixed on the machine body, the clamping manipulator frame is pulled by the connecting rod to swing left and right when the cold heading forming machine operates, the clamping manipulator assembly and the overturning clamp seat synchronously move along with the clamping manipulator frame, and at the moment, the sliding block in the sliding groove on the clamping manipulator fixing seat does not move in the left and right directions, so that the fan-shaped tooth sheet rotates clockwise or anticlockwise by taking the cylindrical pin at the tail end as the center, the transmission gear is driven to rotate, and finally the clamping manipulator assembly overturns around the longitudinal axis direction of the clamping manipulator assembly while swinging left and right; after the clamping manipulator assembly is used in a cold heading forming machine, the distance between the clamping manipulator assembly and the clamping manipulator frame can be adjusted; meanwhile, the transmission accuracy between the fan-shaped tooth piece and the transmission gear is not influenced in the adjusting process, so that the processing accuracy stability and the processing efficiency of the cold heading forming machine are improved; the present invention, however, is less flexible and does not allow for upward, downward, lateral movement and precise positioning over any given work area;

prior art 2: CN201610917364.5, the invention provides a blade clamping manipulator device, which comprises a hanger, a clamping manipulator, an execution unit, a locking unit and a limiting unit; hoisting the blade clamping manipulator device by using the hoisting device and the sling and moving the blade clamping manipulator device to the position above the blade to be clamped; the driving execution unit works and enables a first mechanical arm and a second mechanical arm of the clamping mechanical arm to pivot and open to form a notch; controlling a gap of the blade clamping manipulator device to be aligned with the blade and then put down, driving the execution unit to work and enabling the first mechanical arm and the second mechanical arm to be closed after the gap is put in place, and after the inner cavity of the clamping manipulator completely wraps the blade, connecting and locking the first mechanical arm and the second mechanical arm and fixing the blade in the inner cavity of the clamping manipulator; the blade clamping manipulator device after lifting the fixed blades carries out blade butt joint on the rotating hub of the wind driven generator; after the blades are butted, the connection locking between the first mechanical arm and the second mechanical arm is released, the execution unit is driven to work, the first mechanical arm and the second mechanical arm of the clamping mechanical arm are pivoted and opened to form a notch, and the blade clamping mechanical arm device is moved upwards and separated from the blades by using the lifting device and the sling, so that the lifting work of the single blade is completed; the blade clamping manipulator device disclosed by the invention can be used for rapidly clamping the blade without adopting a hanging strip, so that the manual operation process is simplified, the workload is reduced, the working period can be shortened by saving human resources, and the aim of controlling the cost is fulfilled; the invention can not swing left and right, rotates while swinging, has poor flexibility, and can not realize upward, downward and lateral movement and accurate positioning in any given working area;

prior art 3: CN201621447831.4, the utility model provides a novel clamping manipulator, which comprises a clamping manipulator body, wherein the clamping manipulator body is provided with a cylinder shell, and the cylinder shell is of a T-shaped structure; the clamping manipulator body is provided with an air cylinder which is fixedly arranged inside an air cylinder shell; the clamping manipulator body is provided with a cylinder vertical push rod, and the cylinder vertical push rod is connected with a cylinder shell; the clamping manipulator body is provided with a cylinder transverse push rod, one end of the cylinder transverse push rod is connected with the cylinder shell, and the other end of the cylinder transverse push rod is designed into a wedge-shaped structure; the clamping manipulator body is provided with a first connecting device, and the wedge-shaped end of the transverse push rod of the cylinder is connected with the inside of the first connecting device; the clamping manipulator body is provided with a second connecting device, and the second connecting device is connected with the first connecting device; the clamping manipulator body is provided with a first clamping arm and a second clamping arm, and the first clamping arm and the second clamping arm are both arranged inside the second connecting device; the novel clamping manipulator pushes the wedge-shaped end of the transverse push rod of the cylinder by the cylinder to further form extrusion force, and finally clamps a workpiece by the lever mechanism consisting of the transverse push rod of the cylinder, the first clamping arm and the second clamping arm; the utility model relates to a novel clamping manipulator, on the basis of present multiple clamping-force, design this kind of structure, let equipment, anchor clamps designer have more clamping methods, thus choose the most practical scheme of suitable equipment, anchor clamps to grip the work piece, use on multiple automatic machine equipment, frock, anchor clamps, the result of use is stable, economical and practical, solved more or less can exist the structure and be bloated, the problem of poor stability of centre gripping after the clamping part is worn out, and grip with the finger cylinder directly, simple structure, but the clamping-force can not be too big, the clamping-force is not suitable for a little, the finger cylinder is relatively high in cost per se at the same time; however, the utility model can not rotate and move, has poor flexibility, and can not realize upward, downward and lateral movement and accurate positioning in any given working area;

in summary, the clamping device in the prior art has the following disadvantages:

(1) the moving track is single, and only the rotation or the movement in a single direction can be realized;

(2) the flexibility is poor;

(3) inaccurate positioning affects subsequent processes.

Therefore, a new technical solution is needed to solve the above technical problems.

Disclosure of Invention

The present invention provides a six degree of freedom differential robot for automotive wind control assemblies that can move weights over a wide range, up, down, sideways and precisely positioned over any given work area.

The invention discloses a six-degree-of-freedom differential manipulator for an automobile wind control assembly.

The manipulation device comprises a driving device, an elbow component and a wrist component are sequentially connected to the lower portion of the driving device, and the wrist component is connected with the clamping device.

The moving device comprises a trolley, the lower part of the trolley is connected with the hydraulic cylinder, the trolley is matched with the sliding rail, and a first power device is arranged on the trolley; the sliding rail is connected to the rail in a sliding mode, and a second power device is arranged on the rail.

The first power device comprises a first hydraulic motor, the first hydraulic motor is connected with a first speed reducer, the first speed reducer is connected with a driving wheel, the driving wheel is connected with a driven wheel through a transmission belt, the driven wheel is installed on a cart shaft, two ends of the cart shaft are provided with idler wheels, and the idler wheels are matched with the slide rails; the second power device comprises a second hydraulic motor, the second hydraulic motor is connected with a second speed reducer, the second speed reducer is connected with a second driving wheel, the second driving wheel is connected with a second driven wheel through second transmission, the second driven wheel is installed on a rotating shaft, two ends of the rotating shaft are provided with second rollers, and the second rollers are matched with the rails; the first hydraulic motor is provided with a first hydraulic motor port I and a first hydraulic motor port II, and the second hydraulic motor is provided with a second hydraulic motor port I and a second hydraulic motor port II.

The driving device comprises a first driving device, a second driving device and a third driving device.

The first driving device comprises a plunger, the plunger is arranged in a hydraulic cylinder, a shell is arranged outside the hydraulic cylinder, a third hydraulic motor is arranged in the shell, the hydraulic motor is connected with a worm, the worm is meshed with a worm wheel, the worm wheel is fixed on an installation shaft, a second worm is arranged at one end of the installation shaft, the second worm is meshed with a second worm wheel, the worm wheel is fixed on a vertical shaft, a first gear is arranged at one end of the vertical shaft, and the first gear is meshed with the second gear; the second gear is arranged on the outer side of the cylindrical extending portion, the cylindrical extending portion is arranged at the bottom of the hydraulic cylinder, a fixed disc is arranged at the bottom of the second gear, the fixed disc is fixedly connected with the second gear, a fixed ring is arranged at the lower end of the fixed disc, and the fixed ring is fixedly connected with a second driving device.

The second driving device is arranged in the upper arm and comprises a fourth hydraulic motor, the fourth hydraulic motor is connected with a third gear, the third gear is meshed with a fourth gear, the fourth gear is fixed on a first driving vertical shaft, a third worm is fixed on the first driving vertical shaft and matched with a third worm wheel, the third worm wheel is fixed on the first mounting shaft, a fourth worm is arranged on the first mounting shaft and meshed with a fourth worm wheel, the fourth worm wheel is fixed on a second driving vertical shaft, the second driving vertical shaft is connected with an external differential unit, the external differential unit comprises a first driving gear arranged on the second driving vertical shaft, and a bearing is arranged between the second driving vertical shaft and the first driving gear; the first driving gear is fixed on a fixing plate, the fixing plate is arranged on the outer side of the second driving vertical shaft and above the first driving gear, and the fixing plate is fixedly connected with a fixing block arranged in the upper arm; a second driving gear is fixed at the lower end of the second driving vertical shaft; the first driving gear and the second driving gear are meshed with a fifth differential gear and a sixth differential gear, and the fifth differential gear and the sixth differential gear are rotatably arranged on the second stud shaft; the driving gear I is connected with the internal differential unit, the internal differential unit comprises a differential gear I arranged below the driving gear I, and a mounting bearing is arranged between the driving gear I and the differential gear I; the differential gear I is respectively meshed with the differential gear II and the differential gear III, the differential gear II and the differential gear III are rotatably arranged on the stud columns, and the stud columns and the stud shaft II form an angle of 90 degrees; a mounting hole is formed in the stud column, and one end of the driving vertical shaft II extends into the mounting hole; the second differential gear and the third differential gear are respectively meshed with a fourth differential gear, the fourth differential gear is fixed on a differential vertical shaft, the upper end of the differential vertical shaft extends into the mounting hole, and the fourth differential gear is mounted on the upper part of the second driving gear; be fixed with differential gear seven on the vertical axle of differential, differential gear seven and eight meshing of differential gear, eight and nine meshing of differential gear, nine covers of differential gear are established on the cylinder pole, the cylinder pole is connected with the elbow component, nine fixedly connected with wrist component of differential gear.

The third driving device comprises a fifth hydraulic motor, the fifth hydraulic motor is connected with a fifth gear, the fifth gear is meshed with a sixth gear, the sixth gear is fixed on a third driving vertical shaft, a fifth worm is arranged on the third driving vertical shaft, the fifth worm is meshed with a fifth worm wheel, the fifth worm wheel is fixed on a sleeve, the lower part of the sleeve is jointed with a second sleeve, a seventh gear is fixed on the outer side of the second sleeve, the seventh gear is meshed with an eighth gear, and the eighth gear is fixed on the elbow component; the gear eight is provided with a central opening, and a pivot pin penetrates through the central opening; a wrist member is rotatably connected within the elbow member.

The wrist component comprises a mounting block, and the upper part of the mounting block is fixedly connected with the differential gear nine; the outer part of the mounting block is rotatably connected with the elbow component through a bearing; the bottom of the wrist component is connected with a clamping device; a piston cavity is formed in the mounting block, and a piston cavity port I and a piston cavity port II are arranged in the piston cavity; the piston is arranged in the piston cavity, a piston rod is connected to the bottom of the piston, a mounting plate is arranged at the bottom of the piston cavity, the piston rod penetrates through the mounting plate, and the piston rod is connected with a clamping device.

The clamping device comprises a main body part, the main body part is detachably fixed at the lower end of the mounting block, an axial hole is formed in the middle of the main body part and is communicated with a rectangular groove formed in the main body part, a clamping mounting plate is arranged at the lower part of the rectangular groove, a first pivot pin and a second pivot pin are arranged in the clamping mounting plate, the first pivot pin is connected with a first connecting rod, and the lower end of the first connecting rod is hinged with a clamping arm through a transverse pin; the upper ends of the first connecting rods extend into the rectangular grooves, and springs are arranged between the first connecting rods; the second pivot pin is connected with a second connecting rod, and the lower end of the second connecting rod is hinged with a clamping arm through a transverse pin; an actuating component is arranged between the first connecting rods and connected with the piston rod.

The first power device, the second power device, the first driving device, the second driving device and the third driving device are respectively connected with a control system, and the control system is connected with the pipeline device.

The pipeline device comprises a cylindrical axial hole arranged in the middle of the cylindrical extension part, the cylindrical axial hole is aligned with the plug axial hole, the plug axial hole is arranged in the middle of the plug, the plug is arranged at the lower part of the cylindrical extension part, a tubular joint is arranged outside the plug and is connected with a joint fixing plate, and the joint fixing plate is fixedly connected with the fixed disc; the bottom of the plug is connected with a gear nine, the gear nine is connected with a gear ten, the gear ten is connected with a speed reducer, and an output lead of the speed reducer is connected with the conductive part; the cylindrical extension part is provided with a plurality of longitudinal holes, the longitudinal holes are connected with a connecting pipe, and the connecting pipe transversely extends through the shell to be connected with the connecting pipe port; the joint fixing plate is provided with a plurality of transverse channels, the transverse channels are connected with transverse ports, and the transverse ports are communicated with the longitudinal holes; one end of the transverse channel is further connected with an outer port, the outer ports are further respectively connected with a channel I, the channel I is connected with a channel II, the channel II is connected with a channel III, the channel III is communicated with an axial channel on the pivot pin, the axial channel is communicated with a longitudinal channel II, the longitudinal channel II is arranged inside the cylindrical rod II, and the cylindrical rod II is arranged inside the cylindrical rod II; the longitudinal channel II is connected with the channel IV, the channel IV is communicated with the piston chamber port I, and the piston chamber port II is communicated with the channel V.

The control system comprising a fluid reservoir connected to an inlet of a pump, the pump being driven by an electric motor, the pump being connected to a flow control unit having a discharge line connected to a primary return line, the discharge line leading to the fluid reservoir; the fluid reservoir is connected to a flow control unit which is connected via a main return line to a discharge line leading to the liquid reservoir; the flow control unit is connected with the driving device through a main feeding pipeline and a driving pipeline system.

The flow control unit is connected with the power device through a main feeding pipeline and a power pipeline system.

The driving device comprises a first driving device, a second driving device and a third driving device, the first driving device is connected with the flow control unit through a first driving pipeline system and a main feeding pipeline, the second driving device is connected with the flow control unit through a second driving pipeline system and a main feeding pipeline, and the third driving device is connected with the flow control unit through a third driving pipeline system and a main feeding pipeline.

The power device comprises a first power device and a second power device, the first power device is connected with the flow control unit through a first power pipeline system and a main feeding pipeline, and the second power device is connected with the flow control unit through a second power pipeline system and a main feeding pipeline.

The first driving pipeline system comprises a fifth joint, a main feeding pipeline at the fifth joint is connected with a seventh pipeline, the seventh pipeline is provided with an eighth check valve, the seventh pipeline is also provided with a ninth solenoid valve, the seventh pipeline is a pipeline reaching an inlet of the ninth solenoid valve through the eighth check valve, the ninth solenoid valve is connected with a discharge pipeline seventh connected to a main return pipeline of the system through the eighth pipeline, a control pipeline ninth and a control pipeline tenth connected with two control ports, and the ninth and tenth control pipelines are connected with the seventh control pipeline and the eighth control pipeline and are connected with a first hydraulic motor port and a second hydraulic motor port of a first driving device.

The second driving pipeline system comprises a third joint, a main feeding pipeline at the third joint is connected with a pipeline six, a check valve five is arranged on the pipeline six, an electromagnetic valve six is further arranged on the pipeline six, the electromagnetic valve six is connected with a discharge pipeline five connected to a main return pipeline of the system, a control pipeline five and a control pipeline six of two connected control ports, the control pipeline five and the control pipeline six are respectively connected with a fourth hydraulic motor port I and a fourth hydraulic motor port II of a fourth hydraulic motor of the second driving device, and oil is connected to a connecting pipe port through a longitudinal hole, a connecting pipe and the like; and the pressure relief pipeline III and the pressure relief pipeline IV are respectively connected with the control pipeline V and the control pipeline VI, and the control pipeline V and the control pipeline VI are respectively provided with a pressure relief valve II.

The third driving pipeline system comprises a junction point four, a main feeding pipeline at the four positions of the junction point is connected with a pipeline ten, a check valve nine is arranged on the pipeline ten, an electromagnetic valve eight is further connected to the pipeline ten, the electromagnetic valve eight is connected with a discharge pipeline six connected to a system main return pipeline through a pipeline and a control pipeline seven and a control pipeline eight connected with two control ports, and the control pipeline seven and the control pipeline eight are connected to a fifth hydraulic motor port I and a fifth hydraulic motor port II of a fifth hydraulic motor of the third driving device; the first port and the second port of the fifth hydraulic motor are connected to two control ports of the relevant connecting pipe ports on the manipulator, and therefore the first port and the second port of the fifth hydraulic motor flow into the fifth hydraulic motor through a connecting pipe, a longitudinal hole and the like; and the first port of the fifth hydraulic motor and the second port of the fifth hydraulic motor are respectively connected with a second safety pipeline and a third safety pipeline through a second safety valve, and the second safety pipeline and the third safety pipeline are connected with a tenth pipeline.

The first power pipeline system comprises a first joint, the first joint is connected with a second pipeline, the second pipeline is communicated to an inlet of a second electromagnetic valve through a one-way valve, and the second electromagnetic valve is connected with a deodorization pipeline connected to a main return pipeline; the second electromagnetic valve is connected with a third control pipeline and a fourth control pipeline, the third control pipeline and the fourth control pipeline are respectively connected to a first hydraulic motor port I and a second hydraulic motor port II of a first hydraulic motor of the first power device, and the fourth control pipeline is connected to the main return pipe through a first pressure relief pipeline, a second pressure relief pipeline and a pressure relief valve.

The second power pipeline system comprises a first one-way valve, the first one-way valve is connected with the flow control unit through a main feeding pipeline, and the first one-way valve is connected with a pressure accumulator; the first check valve is connected to an inlet of a first electromagnetic valve through a second check valve and a first pipeline, the first electromagnetic valve is additionally provided with a second discharge pipeline connected to a main return pipeline of the system and a first control pipeline and a second control pipeline connected with two control ports, and the first control pipeline and the second control pipeline are respectively connected to a first hydraulic motor port and a second hydraulic motor port of a second hydraulic motor of the second power device; the first control pipeline and the second control pipeline are also connected to the main return pipeline through the release valve, the first release pipeline and the second release pipeline.

The flow control unit is connected with the wrist component through a main feeding pipeline and a pipeline system, the pipeline system comprises a second joint, the main feeding pipeline at the second joint is connected with a third pipeline, a fourth one-way valve is arranged on the third pipeline, the third pipeline is loaded to an inlet of a third electromagnetic valve through the fourth one-way valve, and the third electromagnetic valve is connected to a first piston chamber port and a second piston chamber port of the piston chamber through the fourth pipeline and is connected to the main feeding pipeline through an electromagnetic control valve, a seventh one-way valve and a fifth pipeline; the pipeline four and the release pipeline three are connected with a main return pipeline; the pipeline five is also connected with a safety pipeline with a safety valve and a discharge pipeline four with an electromagnetic valve five; and the safety pipeline and the discharge pipeline are connected with the main return pipeline.

The flow control unit is connected with the hydraulic cylinder through a main feeding pipeline and a pipeline system, the pipeline system comprises a joint six, the main feeding pipeline at the joint six is connected with a pipeline nine, the pipeline nine is provided with a check valve six and an electromagnetic valve ten, the pipeline nine is connected with a hydraulic port I and a hydraulic port II of the hydraulic cylinder, and the hydraulic port I is connected with a main return pipeline through the pipeline nine; the fourth release pipeline is connected to the ninth pipeline and communicated to the main return pipeline through an overflow valve and an electromagnetic valve; the exhaust pipe is also connected to line nine, to which solenoid valve eleven opens.

The second accumulator is connected to the fifth line to minimize pressure fluctuations and to prevent system pressure drops due to leakage from excessively small valves and seals.

In conclusion, the invention provides the six-degree-of-freedom differential manipulator for the automobile wind control assembly, which comprises a moving device, wherein the lower part of the moving device is connected with an operating device, and the tail end of the operating device is connected with a clamping device; the manipulation device comprises a driving device, the lower part of the driving device is sequentially connected with an elbow component and a wrist component, and the wrist component is connected with the clamping device; the moving device drives the operating device to move to a specified position, namely the electric drive clamping device moves to the specified position, the third driving device drives the operating device to integrally rotate, the fourth driving device drives the wrist member and the elbow member to integrally swing and rotate, and the fifth driving device drives the wrist member to rotate; the invention can flexibly rotate in a proper range, can move a heavy object in a relatively wide range to enable the heavy object to move upwards, downwards, laterally and accurately position on a given working area, can carry out general movement in all directions without influencing or generating another movement, can process materials with various weights, and has reliable operation and no possibility of confusion even if used for a long time; the mobile device comprises a pulley capable of moving transversely and longitudinally on a track above a working area; the clamping manipulator can rotate 360 degrees continuously along any direction through a proper driving mechanism; the elbow member may be rotatable about its pivot axis, with the end of the elbow member being a rotatable wrist member that is capable of continuous 360 degree rotation on an axis at right angles to the elbow member.

The advantages of the invention are summarized as follows:

(1) the moving track is flexible, and a plurality of rotations and movements can be realized;

(2) the flexibility is good, and the rotation motion and the moving motion are matched to enable the movable table to move flexibly in a given working area;

(3) accurate positioning can be realized, and subsequent processes are not influenced.

Drawings

FIG. 1 is a schematic view of angle one of the overall structure of the present invention;

FIG. 2 is a schematic view of angle two of the overall structure of the present invention;

FIG. 3 is a schematic view of a portion of the construction of the manipulating device of the present invention;

FIG. 4 is a schematic view of a second embodiment of the manipulator of the present invention;

FIG. 5 is a schematic view of the first angle configuration of the clamping assembly of the present invention;

FIG. 6 is a schematic view of the angle two configuration of the clamping device of the present invention;

FIG. 7 is a cross-sectional view taken along line A-A of FIG. 3;

FIG. 8 is a sectional view taken along line B-B of FIG. 3;

FIG. 9 is a cross-sectional view taken along line C-C of FIG. 4;

FIG. 10 is a cross-sectional view taken in the direction D-D of FIG. 3;

FIG. 11 is a cross-sectional view taken in the direction E-E of FIG. 5;

FIG. 12 is a schematic structural view of a control system;

FIG. 13 is a schematic view of the structure of the cylindrical extension;

reference numerals:

1. clamping device, 2, cart, 3, slide rail, 4, steering device, 5, rail, 6, first hydraulic motor, 7, first retarder, 8, driving wheel, 9, transmission belt, 10, driven wheel, 11, cart shaft, 12, roller, 13, bearing seat, 14, cart housing, 15, second hydraulic motor, 16, second retarder, 17, second transmission belt, 18, second driven wheel, 19, rotation shaft, 20, roller two, 21, first hydraulic motor port one, 22, first hydraulic motor port two, 23, second hydraulic motor port one, 24, second hydraulic motor port two, 25, plunger, 26, hydraulic cylinder, 27, housing, 28, third hydraulic motor, 29, worm, 30, third hydraulic motor output shaft, 31, worm gear, 32, mounting shaft, 33, rectangular frame, 34, worm two, 35, worm gear two, 36, vertical shaft, 37. lateral flange, 38, gear one, 39, gear two, 40, cylindrical extension, 41, weld, 42, annular shoulder, 43, bearing, 44, fixed disk, 45, fixed ring, 46, upper arm, 47, third hydraulic motor port one, 48, third hydraulic motor port two, 49, fourth hydraulic motor, 50, gear three, 51, gear four, 52, drive vertical shaft one, 53, worm three, 54, worm wheel three, 55, mounting shaft, 56, worm four, 57, worm wheel four, 58, drive vertical shaft two, 59, drive gear one, 60, fixed plate, 61, fixed block, 62, drive gear two, 63, differential gear one, 64, mounting bearing, 65, differential gear two, 66, differential gear three, 67, double-headed bolt column, 68, mounting hole, 69, differential gear four, 70, differential vertical shaft, 71, differential gear five, 72, differential gear six, 73. double-headed bolt shaft two 74, differential gear seven, 75, differential gear eight, 76, differential gear nine, 77, cylindrical rod, 78, elbow member, 79, wrist member, 80, fifth hydraulic motor, 81, gear five, 82, gear six, 83, drive vertical shaft three, 84, worm five, 85, worm wheel five, 86, sleeve, 87, sleeve two, 88, gear seven, 89, gear eight, 90, pivot pin, 91, mounting block, 92, piston chamber, 93, piston chamber port one, 94, piston chamber port two, 95, piston, 96, piston rod, 97, mounting plate, 98, body portion, 99, axial bore, 100, rectangular recess, 101, clamp mounting plate, 102, pivot pin one, 103, two, 104, connecting rod one, 105, transverse pin, 106, clamp arm, 107, spring, 108, connecting rod two, 109, actuating member, 110, elongated recess, 111. first recess, 112, second recess, 113, first bracket, 114, second bracket, 115, hook, 116, groove, 117, cylindrical axial bore, 118, plug axial bore 119, plug, 120, tubular joint, 121, joint fixation plate, 122, gear nine, 123, gear ten, 124, reducer, 125, electrically conductive member, 126, longitudinal bore, 127, connecting tube, 128, connecting tube port 129, transverse channel, 130, transverse port, 131, outer port, 132, channel one, 133, channel two, 134, channel three, 135, axial channel, 136, longitudinal channel two, 137, cylindrical rod two, 138, channel four, 139, channel five, 140, fluid reservoir, 141, pump, 142, motor, 143, flow control unit, 144, primary return line, 145, discharge line, 146, reservoir, 147, primary feed line, 148, one-way valve one, 149, accumulator, 150, 149, pressure accumulator, 150, and, One-way valve two, 151, line one, 152, solenoid valve one, 153, discharge line two, 154, control line one, 155, control line two, 156, release valve, 157, release line one, 158, release line two, 159, junction point one, 160, line two, 161, one-way valve three, 162, solenoid valve two, 163, deodorizer line, 164, control line three, 165, control line four, 166, pressure relief line one, 167, pressure relief line two, 168, pressure relief valve, 169, junction point two, 170, line three, 171, one-way valve four, 172, solenoid valve three, 173, line four, 174, solenoid operated valve, 175, one-way valve seven, 176, line five, 178, release line three 179, release valve two, 180, discharge line three, 181, solenoid valve four, 182, safety valve 183, safety line 184, solenoid valve five, 185, discharge line four, 186, junction point three, 187, line six, 188. five check valves, 189, six solenoid valves, 190, five discharge lines, 191, five control lines, 192, six control lines, 193, one fourth hydraulic motor port, 194, two fourth hydraulic motor port, 195, three relief line, 196, four relief line, 197, two relief valve, 198, four junction points, 199, ten piping, 200, eight solenoid valves, 201, six discharge lines, 202, seven control lines, 203, eight control lines, 204, one fifth hydraulic motor port, 205, two fifth hydraulic motor port, 206, two relief valves, 207, two relief lines, 208, three relief lines, 209, five junction points, 210, seven line, 211, nine solenoid valves, 212, eight line, 213, seven discharge lines, 214, nine control lines, 215, ten control lines, 216, four relief lines, 217, five relief lines, 218, three relief valves, 219, six junction points, 220, four relief lines, 220, 198, four relief lines, 218, three relief valves, 219, four junction points, four relief valves, and four relief valves, Nine and 221 pipelines, six and 222 check valves, ten and 223 solenoid valves, four and 224 release pipelines, 225 relief valves, exhaust pipes, 226, eleven and 227 solenoid valves, one and 228 hydraulic ports, two and 229 hydraulic ports, two and 230 accumulators, eight and 231 check valves and nine check valves.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the installation methods, the communication protocols and the technical terms mentioned in the present invention are technical terms that are already clearly known in the technical field, and therefore, the explanation thereof is not repeated. Moreover, the same reference numerals are used for the same components, which do not affect and should not constitute an exact understanding of the technical solutions for a person skilled in the art.

Example 1:

The invention discloses a six-degree-of-freedom differential manipulator for an automobile wind control assembly, which comprises a moving device, wherein the lower part of the moving device is connected with an operating device, and the tail end of the operating device is connected with a clamping device 1; the moving device drives the operating device to move to a designated position, and the operating device moves and rotates to enable the clamping device 1 to clamp and convey the workpiece.

Specifically, the moving device comprises a cart 2, the lower part of the cart is connected with the operating device 4, the cart 2 is matched with a slide rail 3, a first power device is arranged on the cart 2, and the first power device drives the cart 2 to reciprocate on the slide rail 3; the sliding rail 3 is connected to the rail 5 in a sliding mode, the rail 5 is provided with a second power device, and the second power device drives the sliding rail 3 to perform reciprocating linear motion along the rail 5, so that the trolley 2 is driven to perform reciprocating linear motion on the rail 5.

The first power device comprises a first hydraulic motor 6, the first hydraulic motor 6 is connected with a first speed reducer 7, the first speed reducer 7 is connected with a driving wheel 8, the driving wheel 8 is connected with a driven wheel 10 through a transmission belt 9, the driven wheel 10 is installed on a pushing axle 11, two ends of the pushing axle 11 are provided with rollers 12, and the rollers 12 are preferably V-shaped grooved wheels; the roller 12 is matched with the slide rail 3;

specifically, the cart shaft 11 is mounted at the bottom of the cart 2 through a bearing seat 13, a bearing is arranged between the bearing seat 13 and the bearing seat 13, and the cart shaft 11 is rotatably mounted in the bearing seat 13; more specifically, a trolley shell 14 is arranged on the outer side of the trolley 2, and the bearing seat 13 is installed at the bottom of the trolley shell 14; the first hydraulic motor 6 drives the driving wheel 10 to work, drives the driven wheel 10 to rotate, drives the cart shaft 11 to rotate, and drives the cart 2 to move in a reciprocating manner; the second power device comprises a second hydraulic motor 15, the second hydraulic motor 15 is connected with a second speed reducer 16, the second speed reducer 16 is connected with a second driving wheel, the second driving wheel is connected with a second driven wheel 18 through a second transmission belt 17, the second driven wheel 18 is installed on a rotating shaft 19, two ends of the rotating shaft 19 are provided with second rollers 20, and the second rollers 20 are matched with the track 5; the second hydraulic motor 15 drives the second driving wheel to work, drives the second driven wheel 18 to rotate, and drives the rotating shaft 19 to rotate, so as to drive the cart 2 to move in a reciprocating manner; the first hydraulic motor 6 is provided with a first hydraulic motor port I21 and a first hydraulic motor port II 22, and the second hydraulic motor 15 is provided with a second hydraulic motor port I23 and a second hydraulic motor port II 24.

Example 2:

the present embodiment specifically defines the manipulating device, specifically, the manipulating device comprises a driving device, the lower part of which is connected with an elbow member and a wrist member in turn, and the wrist member is connected with the clamping device 1; the control device can integrally rotate, the elbow component and the wrist part can swing around the pivot joint, and the wrist part can also independently rotate; the present invention is highly flexible and can move weights over a wide range, up, down, sideways and accurately positioned over any given work area.

Example 3:

the present embodiment specifically defines the driving device, and specifically, the driving device includes a first driving device, a second driving device, and a third driving device.

The first driving device is used for driving the operating device to rotate integrally, specifically, the first driving device comprises a plunger 25, the plunger 25 is arranged in a hydraulic cylinder 26, a housing 27 is arranged outside the hydraulic cylinder 26, the housing 27 is welded and fixed with the outside of the hydraulic cylinder 26, a third hydraulic motor 28 is arranged in the housing 27, the third hydraulic motor is connected with a worm 29, the worm 29 is connected with a third hydraulic motor output shaft 30, the worm 29 is meshed with a worm wheel 31, the worm wheel 31 is fixed on a mounting shaft 32, the mounting shaft 32 extends transversely in the housing 37, the housing 37 can adopt a split structure, the specific housing 37 comprises a rectangular frame 33, the rectangular frame 33 is connected with the housing 27 through bolts, namely, the mounting shaft 32 extends transversely in the rectangular frame 33 and is rotatably arranged in a suitable bearing, the end of the mounting shaft 32 remote from the third hydraulic motor 28 is provided with a second worm 34. the second worm 34 is engaged with a second worm gear 35. the second worm gear 35 is fixed on a vertical shaft 36. the second worm gear 35 is rotatably mounted in a suitable bearing, preferably, the rectangular frame 33 comprises an integrally formed lateral flange 37, and the bearing is arranged in the lateral flange 37; a first gear 38 is installed at one end of the vertical shaft 36, and the first gear 38 is meshed with a second gear 39; the second gear 39 is arranged on the outer side of a cylindrical extension part 40, the cylindrical extension part 40 is arranged at the bottom of the hydraulic cylinder 26, the cylindrical extension part 40 and the hydraulic cylinder 26 are welded at a welding position 41, an annular shoulder part 42 is formed in the cylindrical extension part 40, a bearing 43 is mounted on the annular shoulder part 42, the bearing 43 is fixed with the annular shoulder part 42 through a nut 44, the nut 44 is mounted below the bearing 43, and threads matched with the cylindrical extension part 40 are formed in the cylindrical extension part 40; the second gear 39 is placed on the outer ring of the bearing 43 so that the second gear 39 can rotate relative to the cylindrical extension 40; the bottom of the second gear 39 is provided with a fixed disk 44, the fixed disk 44 is fixedly connected with the second gear 39, the fixed disk 44 is fixed on the lower surface of the second gear 39 through screws, the lower end of the fixed disk 44 is provided with a fixed ring 45, the fixed ring 45 is connected with the fixed disk 44 through screws, the fixed ring 45 is fixedly connected with an upper arm 46, and an elbow component and a wrist component are arranged in the upper arm 46; the third hydraulic motor 28 is provided with a first third hydraulic motor port 47 and a second third hydraulic motor port 48; the third hydraulic motor 28 is started to drive the worm 29 to rotate, so that the motion is transmitted to the second gear 39 through the worm wheel 31, the mounting shaft 32, the second worm 34, the second worm wheel 35, the vertical shaft 36 and the first gear 38, the second gear 39 rotates to drive the shell 27 and the upper arm 46 to rotate, and accordingly the elbow component and the wrist component are driven to rotate, and the function of integral rotation of the operating device 4 is achieved.

The second driving device is used for driving the wrist component to rotate, and specifically, the second driving device is arranged in the upper arm 46, the second driving device comprises a fourth hydraulic motor 49, the fourth hydraulic motor 49 is connected with a third gear 50, the third gear 50 is connected with an output shaft of the fourth hydraulic motor, the third gear 50 is meshed with a fourth gear 51, the fourth gear 51 is fixed on a first driving vertical shaft 52, a third worm 53 is fixed on the first driving vertical shaft 52, the third worm 53 is matched with a third worm wheel 54, the third worm wheel 54 is fixed on a first mounting shaft 55, a fourth worm 56 is arranged on the first mounting shaft 55, the fourth worm 56 is meshed with a fourth worm 57, the fourth worm 57 is fixed on a second driving vertical shaft 58, an external differential unit is connected with the second driving vertical shaft 58, and the external differential unit comprises a first driving gear 59 arranged on a second driving vertical shaft 58, a bearing is arranged between the second driving vertical shaft 58 and the first driving gear 59; the first driving gear is fixed on a fixing plate 60, the fixing plate 60 is arranged on the outer side of the second driving vertical shaft 58 and above the first driving gear 59, and the fixing plate 60 is fixedly connected with a fixing block 61 arranged in the upper arm 46; a second driving gear 62 is fixed at the lower end of the second driving vertical shaft 58; the first driving gear 59 and the second driving gear 62 are meshed with a fifth differential gear 71 and a sixth differential gear 72, and the fifth differential gear 71 and the sixth differential gear 72 are rotatably mounted on a second stud shaft 73; the first driving gear 59 is connected with an internal differential unit, the internal differential unit comprises a first differential gear 63 arranged below the first driving gear 59, and a mounting bearing 64 is arranged between the first driving gear 59 and the first differential gear 63, so that the first differential gear 63 freely rotates along with the first driving gear 59 under the condition of driving the second vertical shaft 58 to transmit motion; the first differential gear 63 is meshed with the second differential gear 65 and the third differential gear 66 respectively, the second differential gear 65 and the third differential gear 66 are rotatably mounted on the stud posts 67, and the stud posts 67 and the stud shaft II 73 form an angle of 90 degrees; a mounting hole 68 is formed in the stud column 67, and one end of the second driving vertical shaft 58 extends into the mounting hole 68; the second differential gear 65 and the third differential gear 66 are also respectively meshed with a fourth differential gear 69, the fourth differential gear 69 is fixed on a differential vertical shaft 70, the upper end of the differential vertical shaft 70 extends into the mounting hole 68, and the fourth differential gear 69 is mounted on the upper part of the second driving gear 62; a seventh differential gear 74 is fixed on the differential vertical shaft 70, the seventh differential gear 74 is meshed with an eighth differential gear 75, the eighth differential gear 75 is meshed with a ninth differential gear 76, the ninth differential gear 76 is sleeved on the cylindrical rod 77, the cylindrical rod 77 is connected with an elbow member 78, and the ninth differential gear 76 is fixedly connected with a wrist member 79; the fourth hydraulic motor 49 is activated to rotate the third gear 50, and the fourth gear 51, the first driving vertical shaft 52, the third worm 53, the third worm wheel 54, the mounting shaft 55, the fourth worm 56, the fourth worm wheel 57, the second driving vertical shaft 58, the first differential gear 63, the second differential gear 65, the third differential gear 66, the fourth differential gear 69, the differential vertical shaft 70, the seventh differential gear 74 and the eighth differential gear 75 transmit motion, and the ninth differential gear 76 rotates to rotate the wrist member.

The third driving device is used for driving the elbow component 78 and the wrist component 79 to perform swinging rotation; the third driving device comprises a fifth hydraulic motor 80, the fifth hydraulic motor 80 is connected with a gear five 81, the gear five 81 is meshed with a gear six 82, the gear six 82 is fixed on a driving vertical shaft three 83, a worm five 84 is arranged on the driving vertical shaft three 83, the worm five 84 is meshed with a worm wheel five 85, the worm wheel five 85 is fixed on a sleeve 86, the sleeve 86 is supported by a bearing to rotate, a sleeve two 87 is jointed at the lower part of the sleeve 86, a gear seven 88 is fixed on the outer side of the sleeve two 87, the gear seven 88 is meshed with a gear eight 89, and the gear eight 89 is fixed on the elbow member 78; gear eight 89 is connected with the elbow member by screws, gear eight 244 having a central opening with a pivot pin 90 therethrough; a wrist member 79 is rotatably connected to the elbow member 78; the fifth hydraulic motor 80 is started to drive the gear five 81 to rotate, the motion is transmitted to the gear eight 89 through the gear six 82, the driving vertical shaft three 83, the worm five 84, the worm wheel five 85, the sleeve 86, the sleeve two 87 and the gear seven 88, and the gear eight 89 rotates, so that the elbow member 78 and the wrist member 79 are driven to freely rotate around the pivot pin 90 in a swinging mode; the second power means may control rotation of the wrist member independently.

Undesired rotation of the wrist member may be prevented by cooperation of the inner differential unit and the outer differential unit; when the elbow member 78 pivots under the rotation of the seventh gear 88 on the second sleeve 87, the second drive gear 62 will also rotate; because the first drive gear 59 is fixed to the fixed plate 60,

the differential gears five 71, six 72 will rotate around the driving gear one 59, thereby rotating the stud bolt shaft two 73, stud bolt stud 67, which will rotate the differential gear two 65, three 66 of the internal differential unit around the differential gear one 63, which gear one 63 is connected to the fourth hydraulic motor 49, which fourth hydraulic motor 49 is thus fixed, since for the purpose of this description the fourth hydraulic motor 49 is not actuated; differential gear four 69 will rotate to drive differential vertical shaft 70 to rotate and cause differential gear seven 74 to rotate, thereby causing differential gear eight 75 to rotate; when the differential gear nine 79, which is meshed with the differential gear eight 75, is moved by the pivoting by the elbow member 78, no relative movement will occur between the differential gear seven 74 and the differential gear nine 79 due to the rotation of the differential gear seven 74.

Example 4:

the present embodiment specifically defines the structure of the wrist member 79, the wrist member 79 includes a mounting block 91, and the upper portion of the mounting block 91 is fixedly connected to the differential gear nine 76 through a screw; the exterior of the mounting block 91 is pivotally connected to the elbow member 78 by bearings arranged to prevent vertical movement of the wrist member 79; the clamping device 1 is connected to the bottom of the wrist member 79; a piston chamber 92 is formed in the mounting block 91, and a first piston chamber port 93 and a second piston chamber port 94 are formed in the piston chamber 92; a piston 95 is arranged in the piston cavity 92, a piston rod 96 is connected to the bottom of the piston 95, an installation plate 97 is arranged at the bottom in the piston cavity 92, the piston rod 96 penetrates through the installation plate 97, and the piston rod 96 is connected with the clamping device 1.

Example 5:

the structure of the clamping device 1 is specifically limited in this embodiment, the clamping device 1 includes a main body portion 98, the main body portion 98 is detachably fixed at the lower end of the mounting block 91, an axial hole 99 is formed in the middle of the main body portion 98, the axial hole 99 is communicated with a rectangular groove 100 formed in the main body portion 98, a clamping mounting plate 101 is arranged at the lower part of the rectangular groove 100, two pivot pins one 102 and two pivot pins two 103 are arranged in the clamping mounting plate 101, the pivot pins one 102 is connected with a connecting rod one 104, and the lower end of the connecting rod one 104 is hinged to a clamping arm 106 through a transverse pin 105; the upper end of the first connecting rod 104 extends into the rectangular groove 100, and a spring 107 is arranged between the first connecting rods 104; a second connecting rod 108 is connected to the second pivot pin 103, and the lower end of the second connecting rod 108 is hinged to a clamping arm 106 through a transverse pin 105; an actuating component 109 is arranged between the first connecting rods 104, and the actuating component 109 is connected with the piston rod 96;

when the clamping arm 106 is in an open state in a non-use state, when a workpiece needs to be clamped, the piston rod 96 moves downwards to push the actuating part 109 to move downwards, so that the distance between the upper ends of the first connecting rods 104 is increased, the first connecting rods 104 rotate inwards around the first pivot pins 102, and the second connecting rods 108 rotate inwards around the second pivot pins 103, so that the workpiece is clamped; more specifically, an elongated recess 110 is provided between the axial bore 99 and the sidewall of the body portion 98; the elongated recess 110 is used to limit the sliding of the brake member 109; a first notch 111, a second notch 112 formed at the lower end of the main body portion 98 on each side of the rectangular groove 100 and extending parallel to the rectangular groove 100; the first notch 111 limits a pair of first brackets 113, the second notch 112 limits a pair of second brackets 114, and the pivot pin one 102 and the pivot pin two 103 respectively pass through the first brackets 113 and the second brackets 114; the first pivot pin 102 is connected with a first connecting rod 104, the second pivot pin 103 is connected with a second connecting rod 108, the upper ends of the first connecting rod 104 and the second connecting rod 108 are provided with hook pieces 115 extending upwards, and the hook pieces 115 are arranged in grooves 116 parallel to the first notch 111 and the second notch 112; the recessed 116 hooks 115 are connected together by a spring 107; the clamping jaws at each end of the clamping arm 16 will remain parallel to each other whether the clamping arm 106 is in the closed position or in the open position.

Example 6:

in this embodiment, the first power device, the second power device, the first driving device, the second driving device, and the third driving device are respectively connected to a control system, and the control system is connected to the pipeline device.

Specifically, the pipeline device comprises a cylindrical axial hole 117 arranged in the middle 40 of the cylindrical extension part, the cylindrical axial hole 117 is aligned with a plug axial hole 118, the plug axial hole 118 is arranged in the middle of a plug 119, the plug 119 is arranged at the lower part of the cylindrical extension part 40, a tubular joint 120 is arranged outside the plug 119, the tubular joint 120 is connected with a joint fixing plate 121, and the joint fixing plate 121 is fixedly connected with the fixed disc 44; the bottom of the plug 119 is connected with a gear nine 122, the gear nine 122 is connected with a gear ten 123, the gear ten 123 is connected with a speed reducer 124, and an output lead of the speed reducer 124 is connected with a conductive part 125; the cylindrical extension 40 is provided with a plurality of longitudinal holes 126, the longitudinal holes 126 are connected with a connecting pipe 127, the connecting pipe 127 transversely extends through the shell 27 and is connected with a connecting pipe port 128, and the connecting pipe port 128 is used for connecting a hydraulic fluid supply device; the joint fixing plate 121 is provided with a plurality of transverse channels 129, the transverse channels 129 are connected with transverse ports 130, the transverse ports 130 are used for connecting to a hydraulic unit to be operated, and the transverse ports 130 are communicated with the longitudinal holes 126; one end of the transverse channel 129 is further connected with an outer port 131, the outer ports 131 are further respectively connected with a first channel 132, the first channel 132 is connected with a second channel 133, the second channel 133 is connected with a third channel 134, the third channel 134 is communicated with an axial channel 135 on the pivot pin 90, the axial channel 135 is communicated with a second longitudinal channel 136, the second longitudinal channel 136 is arranged inside a second cylindrical rod 137, and the second cylindrical rod 137 is arranged inside a cylindrical rod 77; the second longitudinal passage 136 is connected with the fourth passage 138, the fourth passage 138 is communicated with the first piston chamber port 93, and the second piston chamber port 94 is communicated with the fifth passage 139; the holes and the channels are matched to introduce liquid into the corresponding power device, so that the control of the components is realized.

In particular, the control system comprises a fluid reservoir 140, the fluid reservoir 140 being connected to the inlet of a pump 141, the pump 141 being driven by an electric motor 142, the pump 141 being connected to a flow control unit 143, the flow control unit 143 having a discharge line 145 connected to a main return line 144, the discharge line 145 leading to the fluid reservoir 140, the flow control unit being connected to the drive means by a main feed line 147, the drive piping system; fluid flows into the driving device through the fluid storage 140, the main feeding pipeline 147 and the driving pipeline system, the clamping manipulator is driven to act through the driving device, clamping of a workpiece is achieved, the clamping manipulator can be conveniently driven through the control system, and the clamping manipulator can work flexibly.

The driving device comprises a first driving device, a second driving device and a third driving device, wherein the first driving device is connected with the flow control unit through a first driving pipeline system and a main feeding pipeline, the second driving device is connected with the flow control unit through a second driving pipeline system and a main feeding pipeline, and the third driving device is connected with the flow control unit through a third driving pipeline system and a main feeding pipeline; the first driving device is used for driving the operation device to rotate integrally, the second driving device is used for driving the wrist member to rotate, and the third driving device is used for driving the elbow member 78 and the wrist member 79 to rotate in a swinging mode.

As a preferred scheme, the flow control unit is connected with a power device through a main feeding pipeline and a power pipeline system, the power device is used for positioning the clamping manipulator, fluid flows into the power device through the fluid storage 140, the main feeding pipeline 147 and the driving pipeline system, and the clamping manipulator is driven by the power device to be positioned, so that the clamping of the workpiece can be better realized, the positioning of the clamping manipulator can be conveniently realized through the control system, the positioning of the clamping manipulator is more accurate, and the clamping work of the workpiece can be better completed.

The power device comprises a first power device and a second power device, wherein the first power device is connected with the flow control unit through a first power pipeline system and a main feeding pipeline, and the second power device is connected with the flow control unit through a second power pipeline system and a main feeding pipeline; the first power device drives the cart 2 to reciprocate on the slide rail 3; the second power device drives the sliding rail 3 to perform reciprocating linear motion along the rail 5, so as to drive the cart 2 to perform reciprocating linear motion on the rail 5.

As an alternative, the first drive piping system includes a junction point five 209, the primary feed line 147 is connected to a line seven 210 at the junction point five 209, a check valve eight 230 is provided on the line seven 210, a solenoid valve nine 211 is also provided on the line seven 210, the line seven 210 is a pipe that reaches an inlet of the solenoid valve nine 211 through the check valve eight 230, the solenoid valve nine 211 is connected to a drain line seven 213 that is connected to the system primary return line 144 through a line eight 212 and to control lines nine 214 and ten 215 of the connected two control ports, the control lines nine 214 and ten 215 are connected to associated third hydraulic motor ports one 47 and two 48 of the control line seven 202 and the control line eight 203 that are connected to the third hydraulic motor 28 of the first drive; the four safety pipelines 216 and the five safety pipelines 217 are respectively connected with the nine control pipelines 214 and the ten control pipelines 215 through the three safety valves 218; the safe pipeline four 216 and the safe pipeline five 217 are communicated with the pipeline eight 212; the solenoid valve nine 211 is opened, fluid flows into the first hydraulic motor port 47 of the first driving device through the main feeding pipeline 147, the check valve eight 230, the pipeline seven 210 and the control pipeline ten 215, and flows back to the main return pipeline 144 through the second hydraulic motor port 48, the relief valve three 218, the relief pipeline four 216 and the pipeline eight 212, and the first driving device starts to work to drive the operating device to rotate integrally; the solenoid valve nine 211 is open and fluid flows from the primary feed line 147, check valve eight 230, line seven 210, and control line nine 214 to the second hydraulic motor port 48 of the first drive means, through the first hydraulic motor port 47, relief valve three 218, relief line five 217, and line eight 212 back to the primary return line 144, and the first drive means begins to operate, driving the operator in a generally reverse rotation.

As an alternative, the second driving pipeline system comprises a junction point three 186, the primary feed line 147 is connected with a line six 187 at the junction point three 186, a check valve five 188 is arranged on the line six 187, a solenoid valve six 189 is also arranged on the line six 187, the solenoid valve six 189 is connected with a discharge line five 190 connected with the system primary return line 144 and a control line five 191 and a control line six 192 connected with two control ports, the control line five 191 and the control line six 192 are respectively connected with a fourth hydraulic motor port one 193 and a fourth hydraulic motor port two 194 of the fourth hydraulic motor 49, and oil is connected with the connecting pipe port 128 through the longitudinal hole 126, the connecting pipe 127 and the like; a pressure relief pipeline III 195 and a pressure relief pipeline IV 196 are respectively connected with a control pipeline V191 and a control pipeline VI 192, and pressure relief valves II 197 are arranged on the control pipeline V191 and the control pipeline VI 192; when the solenoid valve six 189 is opened, the fluid flows from the primary feed line 147, the check valve five 188, the line six 187, and the control line five 191 into the first fourth hydraulic motor port 193 of the second drive device, and flows back to the primary return line 144 through the second third hydraulic motor port 194, the relief valve two 197, and the relief line four 196, and the second drive device starts to operate, and drives the wrist member to rotate; solenoid valve six 189 is open and fluid flows from the primary feed line 147, check valve five 188, line six 187, and control line six 192 to the second drive means fourth hydraulic motor port two 194, through the third hydraulic motor port one 193, through the relief valve two 197 and pressure line three 195 back to the primary return line 144, and the second drive means begins to operate, driving the wrist member in reverse rotation.

As an alternative, the third driving pipeline system comprises a fourth joint 198, the primary feed line 147 is connected with a line ten 199 at the fourth joint 198, a non-return valve nine 231 is arranged on the line ten 199, a solenoid valve eight 200 is also arranged on the line 199, the solenoid valve eight 200 is connected with a discharge line six 201 connected with the system primary return line 144 through the line six 199, and a control line seven 202 and a control line eight 203 connected with the two control ports, the control line seven 202 and the control line eight 203 are connected with a fifth hydraulic motor port one 204 and a fifth hydraulic motor port two 205 of the fifth hydraulic motor 80 of the third driving device; a fifth hydraulic motor port one 204, a fifth hydraulic motor port two 205 are connected to the two control ports of the associated take-over port 128 on the robot and thereby flow through the fifth hydraulic motor port one 204, the fifth hydraulic motor port two 205 into the fifth hydraulic motor 80, through the connecting tube 127 and the longitudinal bore 126, etc.; a first fifth hydraulic motor port 204 and a second fifth hydraulic motor port 205 of the fifth hydraulic motor 80 are respectively connected with a second safety line 207 and a third safety line 208 through a second safety valve 206, and the second safety line 207 and the third safety line 208 are connected with a tenth pipe 199; the solenoid valve eight 200 is opened, fluid flows into the fifth hydraulic motor port one 204 of the third driving device through the main feeding line 147, the check valve nine 231, the line six 199 and the control line seven 202, and flows back to the main return line 144 through the fifth hydraulic motor port two 205, the control line eight 203, the relief valve two 206 and the relief line three 208, and the third driving device starts to work to drive the wrist member to rotate; the solenoid valve eight 200 is opened and fluid flows from the primary feed line 147, the non-return valve nine 231, the line six 199, and the control line eight 203 to the fifth hydraulic motor port two 205 of the third drive, through the fifth hydraulic motor port one 204, the control line seven 202, the relief valve two 206, and the relief line two 207 back to the primary return line 144, and the third drive begins to operate, driving the wrist member in reverse rotation.

Preferably, the first power line system comprises a first junction 159, a second line 160 is connected to the first junction 159, the second line 160 leads to an inlet of a second solenoid valve 162 through a third check valve 161, and the second solenoid valve 162 is connected to a deodorization line 163 connected to the main return line 144; the second solenoid valve 162 is connected with a third control line 164 and a fourth control line 165, the third control line 164 and the fourth control line 165 are respectively connected with a first hydraulic motor port 21 and a second hydraulic motor port 22 of the first hydraulic motor 6, and the fourth control line 165 is connected with the main return line 144 through a first pressure relief line 166, a second pressure relief line 167 and a pressure relief valve 168; when the second electromagnetic valve 162 is opened, fluid flows into the first hydraulic motor port 21 of the first power device through the main feeding pipeline 147, the one-way valve third 161, the second pipeline 160 and the third control pipeline 164, and flows back to the main return pipeline 144 through the second hydraulic motor port 22, the pressure relief valve 168 and the second pressure relief pipeline 167, so that the first power device starts to work, and the first power device drives the cart 2 to linearly move on the slide rail 3 to accurately position the clamping device; when the second electromagnetic valve 162 is opened, the fluid flows into the second first hydraulic motor port 22 of the first power device through the first main feeding pipeline 147, the third one-way valve 161, the second pipe 160 and the fourth control pipeline 165 and flows back to the main return pipeline 144 through the first second hydraulic motor port 21, the pressure relief valve 168 and the first pressure relief pipeline 166, the first power device starts to work, and the first power device drives the cart 2 to perform reverse linear motion on the slide rail 3, so that the clamping device is accurately positioned.

Preferably, the second power conduit system includes a one-way valve 148 having an accumulator 149 of conventional type connected to the one-way valve 148, the accumulator 149 may be manufactured, for example, by gorel hydraulic corporation of brukel, new york, the accumulator 149 is designed to store fluid under pressure and to dampen pulsations in the pump 141 when the pump 141 is actuated, and pressure spikes supplement the output of the pump 141 at peak loads and compensate for small internal leaks through the circuit assembly to maintain a constant pressure during operation; the check valve one 148 is connected to an inlet of a solenoid valve one 152 through a check valve two 150 and a line one 151, the solenoid valve one 152 is connected to a discharge line two 153 connected to the system main return line 144 and a control line one 154 and a control line two 155 connected to two control ports, the control line one 154 and the control line two 155 are connected to the second hydraulic motor port one 23 and the second hydraulic motor port two 24 of the second hydraulic motor 15 of the second power plant, respectively; control line one 154 and control line two 155 are also connected to the primary return line 144 by a relief valve 156, relief line one 157, relief line two 158; when the first electromagnetic valve 152 is opened, fluid flows into the first hydraulic motor port 23 of the second hydraulic motor 15 of the second power device from the main feeding pipeline 147, the third check valve 148, the second check valve 150, the first pipeline 151 and the first control pipeline 154, and flows back to the main return pipeline 144 through the second hydraulic motor port 24, the release valve 156 and the second release pipeline 158, the second power device starts to work, the second power device is used for controlling the cart 2 to move on the track 5, the moving range of the cart 2 is more flexible by matching with the first power device, and the accurate positioning of the clamping device is more easily realized; when the first solenoid valve 152 is opened, the fluid flows into the second hydraulic motor port two 24 of the second hydraulic motor 15 of the second power device through the main feeding pipeline 147, the check valve three 148, the check valve two 150, the pipeline one 151 and the control pipeline two 155, and flows back to the main return pipeline 144 through the second hydraulic motor port one 23, the release valve 156 and the release pipeline one 157, the second power device starts to work, the second power device is used for controlling the trolley 2 to move reversely on the track 5, the movement range of the trolley 2 is more flexible by matching with the first power device, and the accurate positioning of the clamping device is more easily realized.

Preferably, the flow control unit is connected to the wrist member via a primary feed line 147, a tubing system comprising a second junction 169, the primary feed line 147 being connected to a third junction 179 at the second junction 169, a fourth check valve 171 being provided on the third junction 179, the third junction 179 being loaded via the fourth check valve 171 to the inlet of a third solenoid valve 172, the third solenoid valve 172 being connected via a fourth junction 173 to a first piston chamber port 93 and a second piston chamber port 94 of the piston chamber 92, and thereby being connected to the primary feed line 147 via a solenoid operated valve 174, a seventh check valve 175, a fifth junction 176; line four 173 and relief line three 178 are connected to the primary return line 144; line five 176 is also connected to a relief line 183 with relief valve 182 and a drain line four 185 with solenoid valve five 184; the safety pipeline 183 and the discharge pipeline 185 are connected with the main return pipeline 144; solenoid valve three 179 opens and fluid flows through piston chamber port one 93 from primary feed line 147, check valve four 171, line three 179, conduit four 173 to piston chamber 92, through piston chamber port two 94, solenoid valve five 184 to primary return line 144 to raise piston 95; fluid flows from the primary feed line 147 through the solenoid operated valve 174 into piston chamber port two 94 of the piston cylinder chamber 92 and returns from piston chamber port one 93 through solenoid valve four 181 to the primary return line 144 to lower the piston 95.

Preferably, the flow control unit is connected with the hydraulic cylinder 26 through a main feeding pipeline 147 and a first pipeline system, the first pipeline system comprises a joint six 219, the main feeding pipeline 147 at the joint six 219 is connected with a pipeline nine 220, the pipeline nine 220 is provided with a check valve six 221 and an electromagnetic valve ten 222, the pipeline nine 220 is connected with a first hydraulic port 227 and a second hydraulic port 228 of the hydraulic cylinder 26, and the first hydraulic port 227 is connected with the main return pipeline 144 through the pipeline nine 220; a fourth relief line 223 is connected to line nine 220, the fourth relief line 223 leading through an overflow valve 224, solenoid valve ten 222 to the main return line 144; exhaust 225 is also connected to line nine 220, solenoid valve eleven 226 leading to the primary return line 144; when solenoid valve ten 222 is actuated, solenoid valve eleven 226 will remain closed and fluid will flow from main feed line 147 into hydraulic port one 227 of hydraulic cylinder 26 to raise plunger 25 therein; when solenoid valve eleven 226 is actuated, solenoid valve ten 222 will remain closed and fluid will continue to flow through solenoid valve eleven 226 in hydraulic port two 228 of hydraulic cylinder 26 to main return line 144 to lower plunger 55 due to the weight of the manipulator unit.

Preferably, a second accumulator 228 is connected to the fifth line 176 to minimize pressure fluctuations and prevent system pressure drops due to leakage through too small valves and seals.

In this embodiment, the first solenoid valve 152, the second solenoid valve 162, the sixth solenoid valve 189, the eighth solenoid valve 200, and the ninth solenoid valve 211 are arranged so that when one of the solenoid valves is pressed, the corresponding device is controlled to operate; fluid will flow from the primary feed line 147 through the respective valve into one port of the associated hydraulic motor and then out the other port of the hydraulic motor through the valve to the primary return line 144; with the solenoid valve three 172, the solenoid valve five 184, the solenoid operated valve 174, and the solenoid valve four 181 operating in concert, with the solenoid valve three 172, the solenoid valve five 184 open, and the solenoid operated valve 174, the solenoid valve four 181 closed, fluid will flow from the primary feed line 147, through the solenoid valve three 172, into the piston chamber port one 93 of the piston cylinder chambers 92, through the piston chamber port two 94, through the solenoid valve five 184, to the primary return line 144 to raise the piston 95; with the solenoid operated valve 174, solenoid valve four 181 open and solenoid valve three 172, solenoid valve five 184 closed, fluid will flow from the primary feed line 147 through the solenoid operated valve 174 into piston chamber port two 94 of the piston cylinder chamber 92 and from piston chamber port one 93 through solenoid valve four 181 back into the primary return line 144 to lower the piston 95; when solenoid valve ten 222 is actuated, solenoid valve eleven 226 will remain closed and fluid will flow from main feed line 147 into hydraulic port one 227 of hydraulic cylinder 26 to raise plunger 25 therein; when solenoid valve eleven 226 is actuated, solenoid valve ten 222 will remain closed and fluid will continue to flow through solenoid valve eleven 226 in hydraulic port two 228 of hydraulic cylinder 26 to main return line 144 to lower plunger 55 due to the weight of the manipulator unit.

In summary, the present invention provides a six-degree-of-freedom differential manipulator for an automotive wind control assembly, wherein the six-degree-of-freedom differential manipulator for the automotive wind control assembly comprises a moving device, the lower part of the moving device is connected with an operating device, and the tail end of the operating device is connected with a clamping device; the manipulation device comprises a driving device, the lower part of the driving device is sequentially connected with an elbow component and a wrist component, and the wrist component is connected with the clamping device; the moving device drives the operating device to move to a specified position, namely the electric drive clamping device moves to the specified position, the third driving device drives the operating device to integrally rotate, the fourth driving device drives the wrist member and the elbow member to integrally swing and rotate, and the fifth driving device drives the wrist member to rotate; the invention can flexibly rotate in a proper range, can move a heavy object in a relatively wide range to enable the heavy object to move upwards, downwards, laterally and accurately position on a given working area, can carry out general movement in all directions without influencing or generating another movement, can process materials with various weights, and has reliable operation and no possibility of confusion even if used for a long time; the mobile device comprises a pulley capable of moving transversely and longitudinally on a track above a working area; the clamping manipulator can rotate 360 degrees continuously along any direction through a proper driving mechanism; the elbow member may be rotatable about its pivot axis, with the end of the elbow member being a rotatable wrist member that is capable of continuous 360 degree rotation on an axis at right angles to the elbow member.

The advantages of the invention are summarized as follows:

(3) accurate positioning can be realized, and subsequent processes are influenced.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any minor modifications, equivalent replacements and improvements made to the above embodiment according to the technical spirit of the present invention should be included in the protection scope of the technical solution of the present invention.

Claims

1. The six-degree-of-freedom differential manipulator for the automobile wind control assembly is characterized by comprising a moving device, wherein the lower part of the moving device is connected with an operating device, and the tail end of the operating device is connected with a clamping device (1);

the operating device comprises a driving device, the lower part of the driving device is sequentially connected with an elbow component (78) and a wrist component (79), and the wrist component (79) is connected with the clamping device (1);

the moving device comprises a trolley (2), the lower part of the trolley (2) is connected with a hydraulic cylinder (26), the trolley (2) is matched with the sliding rail (3), and a first power device is arranged on the trolley (2); the sliding rail (3) is connected to the rail (5) in a sliding manner, and a second power device is arranged on the rail (5);

the first power device comprises a first hydraulic motor (6), the first hydraulic motor (6) is connected with a first speed reducer (7), the first speed reducer (7) is connected with a driving wheel (8), the driving wheel (8) is connected with a driven wheel (10) through a transmission belt (9), the driven wheel (10) is installed on a pushing axle (11), rollers (12) are arranged at two ends of the pushing axle (11), and the rollers (12) are matched with the sliding rail (3); the second power device comprises a second hydraulic motor (15), the second hydraulic motor (15) is connected with a second speed reducer (16), the second speed reducer (16) is connected with a second driving wheel, the second driving wheel is connected with a second driven wheel (18) through a second transmission belt (17), the second driven wheel (18) is installed on a rotating shaft (19), two ends of the rotating shaft (19) are provided with a second roller (20), and the second roller (20) is matched with the track (5);

the driving device comprises a first driving device, a second driving device and a third driving device;

the first drive means comprises a plunger (25), the plunger (25) being arranged within a hydraulic cylinder (26); a shell (27) is arranged outside the hydraulic cylinder (26), a third hydraulic motor (28) is installed in the shell (27), the third hydraulic motor (28) is connected with a worm (29), the worm (29) is meshed with a worm wheel (31), the worm wheel (31) is fixed on an installation shaft (32), a second worm (34) is installed at one end of the installation shaft (32), the second worm (34) is meshed with a second worm wheel (35), the second worm wheel (35) is fixed on a vertical shaft (36), a first gear (38) is installed at one end of the vertical shaft (36), and the first gear (38) is meshed with the second gear (39); the second gear (39) is arranged on the outer side of a cylindrical extension part (40), the cylindrical extension part (40) is arranged at the bottom of the hydraulic cylinder (26), and the cylindrical extension part (40) and the hydraulic cylinder (26) are welded at a welding part (41); a fixed disc (44) is arranged at the bottom of the second gear (39), the fixed disc (44) is fixedly connected with the second gear (39), a fixed ring (45) is arranged at the lower end of the fixed disc (44), the fixed ring (45) is fixedly connected with a second driving device, the fixed ring (45) is fixedly connected with an upper arm (46), and an elbow component and a wrist component are arranged in the upper arm (46); a first hydraulic motor port (47) and a second hydraulic motor port (48) are arranged on the third hydraulic motor (28); the third hydraulic motor (28) is started to drive the worm (29) to rotate, so that the motion is transmitted to the second gear (39) through the worm wheel (31), the mounting shaft (32), the second worm (34), the second worm wheel (35), the vertical shaft (36) and the first gear (38), the second gear (39) rotates to drive the shell (27) and the upper arm (46) to rotate, the elbow component and the wrist component are driven to rotate, and the function of integral rotation of the operating device (4) is achieved.

2. The six-degree-of-freedom differential manipulator for automotive wind control assemblies according to claim 1, characterized in that the second driving device is arranged in an upper arm (46), the second driving device comprises a fourth hydraulic motor (49), the fourth hydraulic motor (49) is connected with a third gear (50), the third gear (50) is meshed with a fourth gear (51), the fourth gear (51) is fixed on a first driving vertical shaft (52), a third worm (53) is fixed on the first driving vertical shaft (52), the third worm (53) is matched with a third worm gear (54), one end of the third worm gear (54) is fixedly connected with a first mounting shaft (55), a fourth worm gear (56) is arranged on the first mounting shaft (55), the fourth worm gear (56) is meshed with a fourth worm gear (57), the fourth worm gear (57) is fixed on a second driving vertical shaft (58), and the second driving vertical shaft (58) is connected with an external unit, the external differential unit comprises a first driving gear (59) arranged on a second driving vertical shaft (58), and a bearing is arranged between the second driving vertical shaft (58) and the first driving gear (59); the first driving gear (59) is fixed on a fixing plate (60), the fixing plate (60) is arranged on the outer side of the second driving vertical shaft (58) and above the first driving gear (59), and the fixing plate (60) is fixedly connected with a fixing block (61) arranged in the upper arm (46); a second driving gear (62) is fixed at the lower end of the second driving vertical shaft (58); the first driving gear (59) and the second driving gear (62) are meshed with a fifth differential gear (71) and a sixth differential gear (72), and the fifth differential gear (71) and the sixth differential gear (72) are rotatably mounted on a second stud shaft (73); the driving gear I (59) is connected with an internal differential unit, the internal differential unit comprises a differential gear I (63) arranged below the driving gear I (59), and a mounting bearing (64) is arranged between the driving gear I (59) and the differential gear I (63); the first differential gear (63) is respectively meshed with the second differential gear (65) and the third differential gear (66), the second differential gear (65) and the third differential gear (66) are rotatably mounted on stud columns (67), and the stud columns (67) and the stud shaft II (73) form an angle of 90 degrees; a mounting hole (68) is formed in the double-headed bolt column (67), and one end of the driving vertical shaft II (58) extends into the mounting hole (68); the second differential gear (65) and the third differential gear (66) are also respectively meshed with a fourth differential gear (69), the fourth differential gear (69) is fixed on a differential vertical shaft (70), the upper end of the differential vertical shaft (70) extends into the mounting hole (68), and the fourth differential gear (69) is mounted on the upper part of the second driving gear (62); be fixed with differential gear seven (74) on the differential vertical shaft (70), differential gear seven (74) and differential gear eight (75) meshing, differential gear eight (75) and differential gear nine (76) meshing, differential gear nine (76) cover is established on cylinder pole (77), cylinder pole (77) are connected with elbow component (78), differential gear nine (76) fixedly connected with wrist component (79).

3. The six-degree-of-freedom differential manipulator for automotive wind control assemblies according to claim 2, characterized in that the third driving device comprises a fifth hydraulic motor (80), the fifth hydraulic motor (80) is connected with a fifth gear (81), the fifth gear (81) is meshed with a sixth gear (82), the sixth gear (82) is fixed on a third driving vertical shaft (83), a fifth worm (84) is arranged on the third driving vertical shaft (83), the fifth worm (84) is meshed with a fifth worm gear (85), the fifth worm gear (85) is fixed on a sleeve (86), a second sleeve (87) is jointed on the lower portion of the sleeve (86), a seventh gear (88) is fixed on the outer side of the second sleeve (87), the seventh gear (88) is meshed with an eighth gear (89), and the eighth gear (89) is fixed on the elbow member (78); the gear eight (89) has a central opening through which a pivot pin (90) passes; a wrist member (79) is rotatably connected to the elbow member (78).

4. The six-degree-of-freedom differential manipulator for automotive wind control assemblies according to claim 3, characterized in that the wrist member (79) comprises a mounting block (91), the upper part of the mounting block (91) is fixedly connected with a differential gear nine (76); the outer part of the mounting block (91) is rotatably connected with an elbow component (78) through a bearing; the bottom of the wrist component (79) is connected with a clamping device (1); a piston chamber (92) is formed in the mounting block (91), and a piston chamber port I (93) and a piston chamber port II (94) are formed in the piston chamber (92); a piston (95) is arranged in the piston chamber (92), the bottom of the piston (95) is connected with a piston rod (96), a mounting plate (97) is arranged at the bottom in the piston chamber (92), the piston rod (96) penetrates through the mounting plate (97), and the piston rod (96) is connected with a clamping device (1);

the clamping device (1) comprises a main body part (98), the main body part (98) is detachably fixed at the lower end of the mounting block (91), an axial hole (99) is formed in the middle of the main body part (98), the axial hole (99) is communicated with a rectangular groove (100) formed in the main body part (98), a clamping mounting plate (101) is arranged at the lower part of the rectangular groove (100), two pivot pins I (102) and two pivot pins II (103) are arranged in the clamping mounting plate (101), the pivot pins I (102) are connected with a connecting rod I (104), and the lower end of the connecting rod I (104) is hinged to a clamping arm (106) through a transverse pin (105); the upper end of the first connecting rod (104) extends into the rectangular groove (100), and a spring (107) is arranged between the first connecting rods (104); a second connecting rod (108) is connected to the second pivot pin (103), and the lower end of the second connecting rod (108) is hinged to a clamping arm (106) through a transverse pin (105); an actuating component (109) is arranged between the first connecting rods (104), and the actuating component (109) is connected with the piston rod (96); when a workpiece is clamped, the piston rod (96) moves downwards to push the actuating component (109) to move downwards, so that the distance between the upper ends of the two first connecting rods (104) is increased, the first connecting rods (104) rotate inwards around the first pivot pins (102), and the second connecting rods (108) rotate inwards around the second pivot pins (103), and therefore the workpiece is clamped.