CN114654452A - Manipulator structure - Google Patents

Abstract

The invention provides a manipulator structure, which comprises an electro-hydraulic valve, a mechanical finger and a connecting pipeline connected between the electro-hydraulic valve and the mechanical finger, wherein the electro-hydraulic valve is arranged on the mechanical finger; the mechanical finger comprises a first finger joint, a first driving assembly and a second finger joint, the first driving assembly comprises a first piston rod, an elastic piece and a first sliding rod, the first piston rod is movably arranged in the first finger joint, one end of the first piston rod and the inner wall of the first finger joint form a first accommodating cavity together, and the first accommodating cavity is communicated with the connecting pipeline; the other end of the first piston rod extends out of the first finger joint and is connected with the first slide rod; the elastic piece is arranged in the first knuckle and connected with the first piston rod; the second finger joint is rotationally connected with the first finger joint, a first slide way is formed on the second finger joint, and the first slide rod is arranged in the first slide way; wherein, the degree of depth extending direction of first slide and the direction of movement of first piston rod are the contained angle setting.

Description

Manipulator structure

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator structure.

Background

The manipulator, as an end effector of the robot, needs to integrate a mechanical structure, a driver and an electrical system in a limited space.

Generally, in the prior art, a mechanical finger of a manipulator is driven to move by a motor, so that the structure of the mechanical finger is redundant on one hand, the other hand is limited by the space size of the mechanical finger, the output force of the motor acting on the mechanical finger is difficult to guarantee, and the movement force of the mechanical finger is difficult to guarantee.

Disclosure of Invention

The invention aims to provide a manipulator structure, which aims to solve the technical problems that in the prior art, the mechanical finger structure is redundant and the action force is difficult to guarantee.

The present invention provides a manipulator structure, including:

the device comprises an electro-hydraulic valve, a mechanical finger and a connecting pipeline connected between the electro-hydraulic valve and the mechanical finger;

the mechanical finger comprises a first finger joint, a first driving assembly and a second finger joint, the first driving assembly comprises a first piston rod, an elastic piece and a first sliding rod, the first piston rod is movably arranged in the first finger joint, one end of the first piston rod and the inner wall of the first finger joint form a first accommodating cavity together, and the first accommodating cavity is communicated with the connecting pipeline; the other end of the first piston rod extends out of the first finger joint and is connected with the first sliding rod; the elastic piece is arranged in the first knuckle and is connected with the first piston rod; the second finger joint is rotatably connected with the first finger joint, a first slide way is formed on the second finger joint, and the first slide rod is arranged in the first slide way; the depth extending direction of the first slide way and the moving direction of the first piston rod form an included angle.

As an embodiment of the present invention, the manipulator structure further includes a palm body, and the number of the mechanical fingers is several, and the several mechanical fingers are disposed on the palm body.

As an embodiment of the invention, a plurality of mechanical fingers are arranged on the palm body at intervals along the circumferential direction of the palm body.

As an embodiment of the present invention, the electro-hydraulic valves are in several groups;

the manipulator structure further comprises an integrated plate, and the electro-hydraulic valves are arranged on the integrated plate.

As an embodiment of the present invention, the electro-hydraulic valve includes a valve housing formed with an oil inlet hole, an oil discharge hole, a first oil guide hole for communicating with the oil inlet hole, and a second oil guide hole for communicating with the oil discharge hole;

the integrated board runs through and is formed with the connecting hole, the valve casing sets up one side of integrated board, just first lead the oilhole the second lead the oilhole all with the connecting hole intercommunication, connecting tube sets up the opposite side of integrated board, just connecting tube with the connecting hole intercommunication.

As an embodiment of the invention, one side of the integration plate facing the valve casing is recessed to form a connecting groove, and the connecting hole penetrates through the groove bottom of the connecting groove; wherein, the first oil guide hole and the second oil guide hole are communicated with the connecting groove.

As an embodiment of the present invention, the integrated board protrusion is formed with a first connection ring disposed around the connection hole, and the connection pipe is sleeved on the first connection ring.

As an embodiment of the present invention, the electro-hydraulic valve further includes a valve core and a driving member, the valve housing further forms a first movable cavity, and the oil inlet hole, the first oil guide hole, the second oil guide hole and the oil drain hole are all communicated with the first movable cavity; the valve core is arranged in the first movable cavity in a plugging mode, the power output end of the driving piece is connected with the valve core to drive the valve core to switch among a first movement position, a second movement position and a third movement position, when the valve core is switched to the first movement position, the valve core cuts off the communication between the oil drainage hole and the second oil guide hole, and the oil inlet hole is communicated with the first oil guide hole; when the valve core is switched to the second movement position, the valve core cuts off the communication between the oil inlet hole and the first oil guide hole and cuts off the communication between the oil drain hole and the second oil guide hole; when the piston is switched to the third movement position, the valve core disconnects the communication between the oil inlet hole and the first oil guide hole, and the second oil guide hole is communicated with the oil drain hole.

As an embodiment of the present invention, the valve housing is further formed with a second movable chamber communicating with the first movable chamber;

the electro-hydraulic valve further comprises an elastic buffer piece and a stroke sealing plate, the stroke sealing plate is movably plugged in the second movable cavity, an oil guide cavity is formed by one side of the stroke sealing plate, which is far away from the first movable cavity, and the cavity wall of the second movable cavity, and a third oil guide hole is formed in the stroke sealing plate in a penetrating manner; the elastic buffer piece is arranged in the second movable cavity, and the elastic buffer piece is abutted against one side of the stroke seal plate, which is far away from the first movable cavity;

a first connecting groove is formed on the peripheral side of the valve core and is used for communicating the oil drainage hole with the second oil guide hole;

when the valve core is switched to the first movement position, the valve core and the stroke sealing plate are arranged at intervals, the valve core avoids the first oil guide hole, and the first connecting groove and the connecting groove are in dislocation disconnection communication with the second oil guide hole and/or the oil drainage hole; when the valve core is switched to the second motion position, one end, far away from the driving piece, of the valve core blocks the third oil guide hole, and the first connecting groove is in dislocation disconnection communication with the second oil guide hole and/or the oil drain hole; when the valve core is switched to the third movement position, one end, far away from the driving piece, of the valve core blocks the third oil guide hole, and the second oil guide hole and the oil drain hole are communicated with the first communicating groove.

As an embodiment of the present invention, a sealing groove is further formed on the peripheral side of the valve element and located on both sides of the first connecting groove; the electro-hydraulic valve further comprises a sealing element arranged in the sealing groove, and the sealing element is abutted against the cavity wall of the first movable cavity;

the stroke shrouding orientation one side of driving piece be formed with the round platform hole of third oil guide hole intercommunication, the case is kept away from the protruding round platform portion that is formed with of one end of driving piece, round platform portion is used for stretching into in the round platform hole, just the week side of round platform portion with the pore wall butt in round platform hole.

The embodiment of the invention has the following beneficial effects:

in the invention, the electro-hydraulic valve operates and discharges the hydraulic oil into the first accommodating cavity through the connecting pipeline, so that the hydraulic pressure in the first accommodating cavity is increased, the hydraulic pressure acts on the first piston rod and drives the first piston rod to move towards the outside of the first knuckle, at the moment, a first elastic piece arranged in the first knuckle and connected with the first piston rod can generate elastic deformation, a first slide rod arranged outside the first knuckle and connected with the first piston rod can move along a first slide way, because the depth extension direction of the first slideway on the second finger joint forms an included angle with the moving direction of the first piston rod, and the second finger joint is rotationally connected with the first finger joint, therefore, when the first piston rod moves towards the direction far away from the first finger joint, the first slide rod can be pressed against an inner side wall of the first slide way, so that the second finger joint rotates along the first direction (such as anticlockwise direction) relative to the first finger joint; on the contrary, when the electrohydraulic valve operates and discharges the liquid oil in the first accommodating cavity through the connecting pipeline, the hydraulic pressure in the first accommodating cavity is reduced, the deformation restoring force of the first elastic part can drive the first piston rod to move, so that the first piston rod retracts towards the first finger joint, and in the retracting process of the first piston rod, the first slide rod can press the other inner side wall of the first slideway, so that the second finger joint rotates along the second direction (such as the clockwise direction) relative to the first finger joint, and the second finger joint is reset. The manipulator of this technical scheme includes electrohydraulic valve, connecting tube and mechanical finger, sets up through the structure to the mechanical finger, can drive the mechanical finger through the cooperation of electrohydraulic valve, connecting tube to mechanical finger's action dynamics has been guaranteed, and during the electrohydraulic valve need not install into mechanical finger, the tedious technical problem of mechanical finger structure among the solution prior art.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a robot structure according to an embodiment of the present invention;

FIG. 2 is an exploded view of the mechanical finger;

FIG. 3 is a cross-sectional view of a mechanical finger;

FIG. 4 is an exploded view of the electro-hydraulic valve;

FIG. 5 is a cross-sectional view of an electro-hydraulic valve and an integration plate;

FIG. 6 is a cross-sectional view of the robot structure in a first state;

FIG. 7 is a cross-sectional view of the robot structure in a second state;

fig. 8 is a sectional view of the robot structure in a third state.

Wherein: 100. a manipulator structure; 10. a mechanical finger; 10a, a first accommodating cavity; 10b, a second accommodating cavity; 11. a first knuckle; 11a, a first rotating part; 11b, a first through hole; 11c, a second connection ring; 11d, a first positioning boss; 111. a first joint shell; 112. a first joint cover; 1121. a first blocking portion; 12. a first drive assembly; 121. a first piston rod; 121a and a second positioning boss; 1211. a first piston head; 1212. a first rod portion; 122. a first elastic member; 123. a first slide bar; 13. a second finger joint; 13a, a first slideway; 13b, a second rotating part; 13c, a third rotating part; 13d, a second through hole; 13e, a third connecting ring; 13f, a third positioning boss; 131. a second joint shell; 132. a second joint cover; 1321. a second blocking part; 14. a second drive assembly; 141. a second piston rod; 141a, a fourth positioning boss; 1411. a second piston head; 1412. a second rod portion; 142. a second elastic member; 143. a second slide bar; 15. a third knuckle; 151. a second slideway; 152. a fourth rotating part; 16. a first rotating shaft; 17. a first seal ring; 18. a second rotating shaft; 19. a second seal ring; 20. an electro-hydraulic valve; 21. a valve housing; 211. an oil inlet hole; 212. an oil drainage hole; 213. a first oil guide hole; 214. a second oil guide hole; 215. a first movable chamber; 217. an oil guide cavity; 22. a valve core; 221. a first connecting groove; 222. a second communicating groove; 223. a sealing groove; 224. a circular table portion; 23. a drive member; 24. an elastic buffer member; 25. a stroke closing plate; 251. a third oil guide hole; 252. a circular truncated cone hole; 26. a seal member; 30. connecting a pipeline; 40. a palm body; 50. an integrated board; 51. connecting holes; 52. connecting grooves; 53. a first connecting ring.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The invention provides a manipulator structure 100, and referring to fig. 1-8, the manipulator structure 100 comprises an electro-hydraulic valve 20, a mechanical finger 10 and a connecting pipeline 30 connected between the electro-hydraulic valve 20 and the mechanical finger 10; the mechanical finger 10 comprises a first knuckle 11, a first driving assembly 12 and a second knuckle 13, the first driving assembly 12 comprises a first piston rod 121, a first elastic member 122 and a first slide rod 123, the first piston rod 121 is movably disposed in the first knuckle 11, one end of the first piston rod 121 and the inner wall of the first knuckle 11 jointly form a first accommodating cavity 10a, and the first accommodating cavity 10a is communicated with the connecting pipeline 30; the other end of the first piston rod 121 extends out of the first knuckle 11 and is connected with the first slide rod 123; the first elastic member 122 is disposed in the first knuckle 11, and the first elastic member 122 is connected to the first piston rod 121; the second knuckle 13 is rotatably connected with the first knuckle 11, the second knuckle 13 forms a first slideway 13a, and the first slide rod 123 is arranged in the first slideway 13 a; the depth extending direction of the first slide way 13a forms an included angle with the moving direction of the first piston rod 121.

In the present invention, the electrohydraulic valve 20 operates and discharges the hydraulic oil into the first receiving cavity 10a through the connecting pipe 30, so that the hydraulic pressure in the first receiving cavity 10a is increased, the hydraulic pressure acts on the first piston rod 121 and drives the first piston rod 121 to move toward the outside of the first finger joint 11, at this time, the first elastic member 122 disposed in the first finger joint 11 and connected to the first piston rod 121 is elastically deformed, the first slide rod 123 disposed outside the first finger joint 11 and connected to the first piston rod 121 moves along the first slide way 13a, because the depth extending direction of the first slide way 13a on the second finger joint 13 is disposed at an angle to the moving direction of the first piston rod 121, and the second finger joint 13 is rotatably connected to the first finger joint 11, when the first piston rod 121 moves away from the first finger joint 11, the first slide rod 123 presses against an inner side wall of the first slide way 13a, causing the second knuckle 13 to rotate in a first direction (e.g., counterclockwise) relative to the first knuckle 11; on the contrary, when the electrohydraulic valve 20 operates and discharges the liquid oil in the first receiving cavity 10a through the connecting pipe 30, the hydraulic pressure in the first receiving cavity 10a decreases, the deformation restoring force of the first elastic member 122 drives the first piston rod 121 to move, so that the first piston rod 121 retracts toward the first finger joint 11, and in the retracting process of the first piston rod 121, the first sliding rod 123 abuts against the other inner side wall of the first slideway 13a, so that the second finger joint 13 rotates along the second direction (for example, clockwise direction) relative to the first finger joint 11, and the second finger joint 13 resets. The manipulator of this technical scheme includes electro-hydraulic valve 20, connecting tube 30 and mechanical finger 10, sets up through the structure to mechanical finger 10, can drive mechanical finger 10 through electro-hydraulic valve 20, connecting tube 30's cooperation to guaranteed mechanical finger 10's action dynamics, and electro-hydraulic valve 20 need not install into mechanical finger 10, solved the tedious technical problem of mechanical finger 10 structure among the prior art.

Referring to fig. 1, the manipulator structure 100 further includes a palm body 40, the number of the mechanical fingers 10 is several, and the several mechanical fingers 10 are disposed on the palm body 40.

In this embodiment, the number of the mechanical fingers 10 is set, and the palm body 40 is used to jointly mount a plurality of mechanical fingers 10, so as to control the relative motion between the mechanical fingers 10, so that the mechanical fingers 10 can be mutually matched, and the flexibility and accuracy of the manipulator are improved.

In some specific embodiments, a plurality of the fingers 10 are disposed on the palm body 40 at intervals along the circumference of the palm body 40, so that the plurality of fingers 10 can perform a powerful gripping action with the palm body 40 as a middle position.

As shown in fig. 1, in some specific embodiments, three mechanical fingers 10 are provided, the palm body 40 is in a shape of a circular disc, the three mechanical fingers 10 are arranged on the palm body 40 at intervals along the circumferential direction of the palm body 40, and the distance between every two adjacent mechanical fingers 10 is the same. So that a plurality of mechanical fingers 10 can grasp the target object evenly and stably.

In one embodiment, referring to fig. 1, the electrohydraulic valves 20 are in a plurality of groups, such that one group of electrohydraulic valves 20 controls one mechanical finger 10; the manipulator structure 100 further comprises an integrated plate 50, and a plurality of electro-hydraulic valves 20 are arranged on the integrated plate 50.

In this embodiment, the groups of electrohydraulic valves 20 are installed on the integration board 50 in a centralized manner, which is beneficial to realize centralized control and centralized installation position of the groups of electrohydraulic valves 20, and the groups of electrohydraulic valves 20 can be randomly arranged in a limited space.

Referring to fig. 4 and 5, the electro-hydraulic valve 20 includes a valve housing 21, and the valve housing 21 is formed with an oil inlet hole 211, a drain hole 212, a first oil guide hole 213 for communicating with the oil inlet hole 211, and a second oil guide hole 214 for communicating with the drain hole 212. That is, the electro-hydraulic valve 20 pumps external hydraulic oil into the valve housing 21 through the oil inlet hole 211, and drives the hydraulic oil toward the mechanical finger 10 through the first oil guide hole 213; the hydraulic oil in the robot hand 10 is discharged into the valve housing 21 through the second oil guide hole 214, and the hydraulic oil in the valve housing 21 is discharged out of the valve housing 21 through the drain hole 212.

In one embodiment, referring to fig. 5, the manifold plate 50 has a connection hole 51 formed therethrough, the valve housing 21 is disposed at one side of the manifold plate 50, the first oil guide hole 213 and the second oil guide hole 214 are both communicated with the connection hole 51, the connection pipe 30 is disposed at the other side of the manifold plate 50, and the connection pipe 30 is communicated with the connection hole 51.

In this embodiment, a connecting hole 51 is formed in the integration plate 50, and the first oil guide hole 213 and the second oil guide hole 214 of the electrohydraulic valve 20 are both communicated with the connecting hole 51, so that oil inlet and oil outlet of the electrohydraulic valve 20 relative to the first accommodating cavity 10a can be realized only by communicating the connecting pipeline 30 with the connecting hole 51, that is, only one connecting pipeline 30 is needed, and the electrohydraulic valve 20 can realize control of movement of the second finger joint 13, thereby reducing the number of the connecting pipelines 30, simplifying the complexity of the manipulator structure 100, and solving the problem of disorder caused by excessive connecting pipelines 30.

In one embodiment, referring to fig. 5, the integration plate 50 is recessed toward one side of the valve housing 21 to form a connection groove 52, and the connection hole 51 penetrates through the bottom of the connection groove 52; wherein the first oil guide hole 213 and the second oil guide hole 214 are both communicated with the connecting groove 52.

In this embodiment, by providing a connecting groove 52 and making the connecting hole 51 penetrate through the bottom of the connecting groove 52, the connecting groove 52 allows the first oil guiding hole 213 and the second oil guiding hole 214 to be communicated with the connecting hole 51, so as to control the aperture of the connecting hole 51, and further, the connecting pipeline 30 can be made thinner, which not only can perform more precise control on the flow of the liquid oil, but also reduces the volume of the manipulator structure 100.

In one embodiment, referring to fig. 5, the integrated board 50 is convexly formed with a first connection ring 53 disposed around the connection hole 51, and the connection pipe 30 is sleeved on the first connection ring 53.

In the present embodiment, the connection pipe 30 is sleeved on the first connection ring 53, so that the connection pipe 30 is stably connected to the manifold 50, and the connection pipe 30 is stably communicated with the connection hole 51.

Referring to fig. 4 and 5, the electro-hydraulic valve 20 further includes a valve core 22 and a driving member 23, the valve housing 21 further forms a first movable chamber 215, and the oil inlet hole 211, the first oil guide hole 213, the second oil guide hole 214 and the oil drain hole 212 are all communicated with the first movable chamber 215; the valve core 22 is disposed in the first movable cavity 215 in a plugging manner, and a power output end of the driving element 23 is connected to the valve core 22 to drive the valve core 22 to switch among a first moving position, a second moving position and a third moving position, wherein, referring to fig. 6, when the valve core 22 is switched to the first moving position, the valve core 22 seals and disconnects the communication between the oil drain hole 212 and the second oil guide hole 214, and the oil inlet hole 211 is communicated with the first oil guide hole 213, so that the electro-hydraulic valve 20 pumps external oil into the valve housing 21 through the oil inlet hole 211, and discharges the oil into the first receiving cavity 10a through the first oil guide hole 213 and the connecting pipe 30 to drive the first piston rod 121 to move out of the first finger joint 11, thereby driving the first slide rod 123 to drive the second finger joint 13 to rotate to implement actions such as clamping and hooking; referring to fig. 7, when the valve core 22 is switched to the second movement position, the valve core 22 disconnects the communication between the oil inlet 211 and the first oil guide hole 213, and disconnects the communication between the oil drain hole 212 and the second oil guide hole 214, so that when the electrohydraulic valve 20 drives the second finger joint 13 to rotate to a certain clamping angle, the liquid oil in the first receiving cavity 10a cannot be drained through the first oil guide hole 213 and the liquid oil in the first receiving cavity 10a cannot be drained through the second oil guide hole 214, that is, when the valve core 22 is switched to the second movement position, the hydraulic pressure in the second receiving cavity 10b can be kept stable, and the current clamping action of the second finger joint 13 can be maintained; referring to fig. 8, when the piston is switched to the third movement position, the valve core 22 disconnects the communication between the oil inlet 211 and the first oil guide hole 213, and the second oil guide hole 214 communicates with the oil drain hole 212, so that the oil in the first receiving cavity 10a can be discharged to the electrohydraulic valve 20 through the connecting passage and the second oil guide hole 214, and the electrohydraulic valve 20 discharges the oil through the oil drain hole 212, so that the hydraulic pressure in the first receiving cavity 10a is continuously reduced, the deformation restoring force of the first elastic member 122 drives the first piston rod 121 to move into the first receiving cavity 10a, and further drives the first sliding rod 123 to push the second finger joint 13 to rotate reversely, so that the second finger joint 13 is restored, and the discharge action of the mechanical finger 10 is realized.

In one embodiment, referring to fig. 5, the valve housing 21 is further formed with a second active chamber communicating with the first active chamber 215; the electrohydraulic valve 20 further comprises an elastic buffer member 24 and a stroke seal plate 25, the stroke seal plate 25 is movably inserted into the second movable cavity, an oil guide cavity 217 is formed by one side of the stroke seal plate 25, which is away from the first movable cavity 215, and the cavity wall of the second movable cavity, and a third oil guide hole 251 is formed through the stroke seal plate 25; the elastic buffer member 24 is arranged in the second movable cavity, and the elastic buffer member 24 abuts against one side of the stroke seal plate 25 away from the first movable cavity 215; a first communication groove 221 is formed on the peripheral side of the valve core 22, and the first communication groove 221 is used for communicating the oil release hole 212 with the second oil guide hole 214.

Referring to fig. 6, when the valve core 22 is switched to the first movement position, the valve core 22 and the stroke sealing plate 25 are arranged at intervals, and the valve core 22 avoids the first oil guide hole 213, so that the oil inlet hole 211, the oil guide cavity 217, the third oil guide hole 251, the first movable cavity 215 and the first oil guide hole 213 are sequentially communicated, and the first connecting groove and the connecting groove are in staggered disconnection communication with the second oil guide hole and/or the oil drain hole 212, so that the liquid oil can be discharged into the first receiving cavity 10a, and the liquid oil in the first receiving cavity 10a cannot be discharged, so that the hydraulic pressure in the first receiving cavity 10a is increased; referring to fig. 7, when the valve core 22 is switched to the second movement position, one end of the valve core 22 away from the driving member 23 blocks the third oil guide hole 251, that is, the driving member 23 pushes the valve core 22 to move toward the stroke sealing plate 25 to block the third oil guide hole 251, so as to cut off the communication between the oil inlet hole 211 and the first oil guide hole 213, and thus the oil can no longer be discharged to the first receiving cavity 10a through the oil inlet hole 211; meanwhile, the first connecting groove is in dislocation disconnection communication with the second oil guide hole and/or the oil drain hole 212, so that the liquid oil in the first accommodating cavity 10a cannot be discharged, and the hydraulic pressure in the first accommodating cavity 10a is kept stable; referring to fig. 8, when the spool 22 is switched to the third movement position, one end of the spool 22 away from the driving member 23 blocks the third oil guide hole 251, the second oil guide hole 214 and the oil drain hole 212 are both communicated with the first communicating groove 221, since the side of the stroke closure plate 25 facing away from the first movable chamber 215 abuts the resilient bumper 24, therefore, the driving member 23 can drive the valve core 22 to further press against the stroke sealing plate 25, on one hand, the valve core 22 continues to block the third oil guiding hole 251, on the other hand, the movement of the valve core 22 makes the first communicating groove 221 align with the second oil guiding hole 214 and the oil drainage hole 212, the second oil guide hole 214 and the oil drain hole 212 are communicated, so that the liquid oil in the first receiving cavity 10a can be discharged through the second oil guide hole 214 and the oil drain hole 212, and the second finger joint 13 is reset along with the reduction of the hydraulic pressure in the first receiving cavity 10 a.

In some specific embodiments, referring to fig. 5, an end of the spool 22 away from the driver 23 is formed with a second communication groove 222, and the second communication groove 222 is used to communicate the first oil guide hole 213 with the first movable chamber 215, so that even if the spool 22 is jammed in the first movable chamber 215, the spool 22 can avoid the first oil guide hole 213 through the second communication groove 222, so that the third oil guide hole 251 can communicate with the first oil guide hole 213.

In some specific embodiments, referring to fig. 5, a sealing groove 223 is further formed on the peripheral side of the valve core 22 and located on both sides of the first connecting groove 221; the electro-hydraulic valve 20 further includes a seal 26 disposed in the seal groove 223, and the seal 26 abuts against a wall of the first movable chamber 215. Therefore, when the first communicating groove 221 is aligned with the second oil guide hole 214 and the oil drain hole 212, the seal 26 can seal the communication between the first communicating groove 221, the second oil guide hole 214 and the oil drain hole 212.

In some specific embodiments, referring to fig. 5, a circular truncated cone hole 252 communicating with the third oil guide hole 251 is formed on one side of the stroke sealing plate 25 facing the driving member 23, a circular truncated cone portion 224 is formed on one end of the spool 22 away from the driving member 23 in a protruding manner, the circular truncated cone portion 224 is used for extending into the circular truncated cone hole 252, and the peripheral side of the circular truncated cone portion 224 abuts against the hole wall of the circular truncated cone hole 252. On one hand, the circular table part 224 is conveniently led into the circular table hole 252, and the blocking speed of the valve core 22 on the third oil guide hole 251 is improved; on the other hand, the engagement of the boss portion 224 with the boss hole 252 ensures the sealing performance of the valve body 22 against the third oil guide hole 251.

Since the mechanical finger 10 has at least two knuckles, the mechanical finger 10 may further include a third knuckle 15, a fourth knuckle, and the like.

In one embodiment, referring to fig. 1-3, the robotic finger 10 further includes a second drive assembly 14 and a third knuckle 15; the second driving assembly 14 includes a second piston rod 141, a second elastic member 142 and a second slide rod 143, the second piston rod 141 is movably disposed in the second knuckle 13, one end of the second piston rod 141 and an inner wall of the second knuckle 13 together form a second accommodating cavity 10b, and the other end of the second piston rod 141 extends out of the second knuckle 13 and is connected to the second slide rod 143; the second elastic member 142 is disposed in the second finger joint 13, and the second elastic member 142 is connected to the second piston rod 141; the third knuckle 15 is rotatably connected with the second knuckle 13, the third knuckle 15 forms a second slide way 151, and the second slide bar 143 is disposed in the second slide way 151; the depth extending direction of the second slide 151 forms an included angle with the moving direction of the second piston rod 141.

Therefore, in the present embodiment, each set of electro-hydraulic valves 20 includes two electro-hydraulic valves 20, one electro-hydraulic valve 20 is configured to communicate with the first receiving cavity 10a of the first knuckle 11, and the other electro-hydraulic valve 20 is configured to communicate with the second receiving cavity 10b of the second knuckle 13, not only the connecting pipeline 30 is connected between the first receiving cavity 10a and the corresponding electro-hydraulic valve 20, but also the connecting pipeline 30 is connected between the second receiving cavity 10b and the corresponding electro-hydraulic valve 20, and the connecting pipeline 30 is communicated with the second receiving cavity 10 b; the principle that the electro-hydraulic valve 20 drives the third finger joint 15 to operate by changing the hydraulic pressure of the second accommodating cavity 10b can be referred to the driving principle of the electro-hydraulic valve 20 on the second finger joint 13, and is not described herein again.

It should be noted that the number of each group of electro-hydraulic valves 20 is related to the number of knuckles of the mechanical finger 10, and when the number of knuckles of the mechanical finger 10 is n (n ≧ 2), the number of each group of electro-hydraulic valves 20 is n-1.

The structure of the robot finger 10 is further explained below:

in one embodiment, referring to fig. 2 and 3, the first knuckle 11 is formed with a first rotating part 11a, and the second knuckle 13 is formed with a second rotating part 13 b; the second rotating part 13b is arranged on two sides of the first rotating part 11a, or the first rotating part 11a is arranged on two sides of the second rotating part 13 b; the mechanical finger 10 further includes a first rotating shaft 16, one of the first rotating portion 11a and the second rotating portion 13b is fixedly connected to the first rotating shaft 16, and the other is rotatably connected to the first rotating shaft 16. Thereby ensuring that the rotational connection between the second finger joint 13 and the first finger joint 11 remains stable.

In some specific embodiments, referring to fig. 2 and 3, the first finger joint 11 is formed with a first through hole 11b communicating with the first receiving cavity 10a, and an outer wall of the first finger joint 11 is protruded to form a second connection ring 11c surrounding the first through hole 11 b. The connection pipe 30 is fitted over the second connection ring 11c, thereby achieving stable communication between the connection pipe 30 and the first receiving cavity 10 a.

In one embodiment, referring to fig. 2 and 3, the inner wall of the first knuckle 11 forms a first positioning boss 11d, and the first piston rod 121 forms a second positioning boss 121 a; one end of the first elastic member 122 is sleeved on the first positioning boss 11d, and the other end of the first elastic member 122 is sleeved on the second positioning boss 121 a.

In this embodiment, a first positioning boss 11d is formed by an inner wall of the first knuckle 11, and one end of the first elastic member 122 is sleeved on the first positioning boss 11d, so that the first elastic member 122 is stably installed in the first knuckle 11; the first piston rod 121 forms a second positioning boss 121a, and the other end of the first elastic member 122 is sleeved on the second positioning boss 121a, so that the first elastic member 122 is stably connected with the first piston rod 121.

Referring to fig. 2 and 3, the first piston rod 121 includes a first piston head 1211 and a first rod portion 1212, the first piston head 1211 is inserted into the first knuckle 11, and the first piston head 1211 and the first knuckle 11 form the first receiving cavity 10 a; one end of the first rod portion 1212 is connected to the first piston head 1211, and the other end of the first rod portion 1212 is connected to the first slide bar 123.

By dividing the first piston rod 121 into the first piston head 1211 and the first rod portion 1212, only the first piston head 1211 rubs against the wall of the first receiving cavity 10a during the process of pushing the first piston rod 121 to move, thereby reducing the friction area between the first piston rod 121 and the wall of the first receiving cavity 10 a; on the other hand, the volume of the first piston rod 121 is reduced, and thus the hydraulic pressure required to act on the first piston rod 121 can be reduced.

In one embodiment, referring to fig. 2 and 3, the robot finger 10 further comprises a first sealing ring 17; the first packing 17 is disposed between the first piston head 1211 and the first knuckle 11 to ensure the sealing performance of the first receiving chamber 10a, so as to control the hydraulic pressure of the first receiving chamber 10 a.

In some specific embodiments, the first piston head 1211 is formed with a first annular groove on the peripheral side thereof, the first seal ring 17 is disposed in the first annular groove, and the first seal ring 17 protrudes from the first annular groove to abut against the inner wall of the first knuckle 11.

In other specific embodiments, the inner peripheral side of the first knuckle 11 forms a second annular groove, the first seal ring 17 is disposed in the second annular groove, and the first seal ring 17 protrudes from the second annular groove to abut against the first piston head 1211.

Referring to fig. 2 and 3, the first finger joint 11 includes a first joint housing 111 and a first joint cover 112 for covering the first joint housing 111; the first piston head 1211 is inserted into the first joint housing 111; the first rod portion 1212 is disposed through the first joint cover 112, and the first elastic member 122 is disposed between the first piston head 1211 and the first joint cover 112.

The first knuckle 11 is divided into the first knuckle shell 111 and the first knuckle cap 112 to facilitate the assembly of the first piston rod 121 and the first elastic member 122 into the first knuckle 11, and the first elastic member 122 is disposed between the first piston head 1211 and the first knuckle cap 112 to prevent the first elastic member 122 from being soaked by the liquid oil.

In some specific embodiments, referring to fig. 2 and fig. 3, the first joint cover 112 protrudes to form a first blocking portion 1121 extending into the first joint shell 111, and the first blocking portion 1121 abuts against the inner wall of the first joint shell 111, so as to ensure the first joint cover 112 to seal and cover the first joint shell 111, and meanwhile, the connection strength between the first joint shell 111 and the first joint cover 112 is enhanced.

In some specific embodiments, referring to fig. 2 and 3, an end of the first piston head 1211 facing away from the first receiving cavity 10a is protruded to form a second positioning protrusion 121a, and the blocking portion is protruded toward the first piston head 1211 to form a first positioning protrusion 11d, so that the first elastic member 122 is stably disposed between the first piston head 1211 and the first joint cover 112.

The same principle is that:

in one embodiment, referring to fig. 2 and 3, the second knuckle 13 is formed with a third turning part 13c, and the third knuckle 15 is formed with a fourth turning part 152; the fourth rotating part 152 is disposed on both sides of the third rotating part 13c, or the third rotating part 13c is disposed on both sides of the fourth rotating part 152; the mechanical finger 10 further includes a second rotating shaft 18, one of the third rotating portion 13c and the fourth rotating portion 152 is fixedly connected to the second rotating shaft 18, and the other is rotatably connected to the second rotating shaft 18. Thereby ensuring that the rotational connection between the third finger joint 15 and the second finger joint 13 remains stable.

In some specific embodiments, referring to fig. 2 and 3, the second finger joint 13 is formed with a second through hole 13d communicating with the second receiving cavity 10b, and an outer wall of the second finger joint 13 is protruded to form a third connection ring 13e surrounding the second through hole 13 d. The connection pipe 30 is fitted over the third connection ring 13e, thereby achieving stable communication between the connection pipe 30 and the second receiving chamber 10 b.

In one embodiment, referring to fig. 2 and 3, the inner wall of the second knuckle 13 forms a third positioning boss 13f, and the second piston rod 141 forms a fourth positioning boss 141 a; one end of the second elastic member 142 is sleeved on the third positioning boss 13f, and the other end of the second elastic member 142 is sleeved on the fourth positioning boss 141 a.

In this embodiment, a third positioning boss 13f is formed by an inner wall of the second knuckle 13, and one end of the second elastic member 142 is sleeved on the third positioning boss 13f, so that the second elastic member 142 is stably installed in the second knuckle 13; the second piston rod 141 forms a fourth positioning boss 141a, and the other end of the second elastic member 142 is sleeved on the fourth positioning boss 141a, so that the second elastic member 142 is stably connected with the second piston rod 141.

Referring to fig. 2 and 3, the second piston rod 141 includes a second piston head 1411 and a second rod portion 1412, the second piston head 1411 is inserted into the second knuckle 13, and the second piston head 1411 and the second knuckle 13 form the second receiving cavity 10 b; one end of the second rod portion 1412 is connected to the second piston head 1411, and the other end of the second rod portion 1412 is connected to the second slide bar 143.

By dividing the second piston rod 141 into the second piston head 1411 and the second rod portion 1412, only the second piston head 1411 rubs against the wall of the second receiving chamber 10b during the process of pushing the second piston rod 141 to move, thereby reducing the friction area between the second piston rod 141 and the wall of the second receiving chamber 10 b; on the other hand, the volume of the second piston rod 141 is reduced, and thus the hydraulic pressure required to act on the second piston rod 141 can be reduced.

In one embodiment, referring to fig. 2 and 3, the robot finger 10 further comprises a second sealing ring 19; the second seal ring 19 is disposed between the second piston head 1411 and the second knuckle 13, so as to ensure the sealing performance of the second receiving chamber 10b, thereby controlling the hydraulic pressure of the second receiving chamber 10 b.

In specific embodiments, the second piston head 1411 is formed with a third annular groove on the peripheral side thereof, the second seal ring 19 is disposed in the third annular groove, and the second seal ring 19 projects from the third annular groove to abut against the inner wall of the second knuckle 13.

In other specific embodiments, the inner peripheral side of the second knuckle 13 forms a fourth annular groove, the second seal ring 19 is disposed in the fourth annular groove, and the second seal ring 19 projects from the fourth annular groove to abut against the second piston head 1411.

Referring to fig. 2 and 3, the second knuckle 13 includes a second knuckle shell 131 and a second knuckle cap 132 for covering the second knuckle shell 131; the second piston head 1411 is inserted into the second joint housing 131; the second rod portion 1412 is disposed through the second joint cover 132, and the second elastic member 142 is disposed between the second piston head 1411 and the second joint cover 132.

The division of the second knuckle 13 into the second knuckle shell 131 and the second knuckle cap 132 facilitates the assembly of the second piston rod 141 and the second elastic member 142 into the second knuckle 13, and at the same time, the second elastic member 142 is disposed between the second piston head 1411 and the second knuckle cap 132, so that the second elastic member 142 is prevented from being soaked by the liquid oil.

In some specific embodiments, referring to fig. 2 and 3, the second joint cover 132 protrudes to form a second blocking portion 1321 extending into the second joint shell 131, and the second blocking portion 1321 abuts against the inner wall of the second joint shell 131, so as to ensure the sealing and covering of the second joint cover 132 to the second joint shell 131 and enhance the connection strength between the second joint shell 131 and the second joint cover 132.

In some specific embodiments, referring to fig. 3, an end of the second piston head 1411 facing away from the second receiving cavity 10b is protruded to form a third positioning protrusion 13f, and the second blocking portion 1321 is protruded toward the second piston head 1411 to form a fourth positioning protrusion 141a, so that the second elastic member 142 is stably disposed between the second piston head 1411 and the second joint cover 132.

The above examples are only used to illustrate the technical solutions of the present invention, and do not limit the scope of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from these embodiments without making any inventive step, fall within the scope of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art may still make various combinations, additions, deletions or other modifications of the features of the embodiments of the present invention according to the situation without conflict, so as to obtain different technical solutions without substantially departing from the spirit of the present invention, and these technical solutions also fall within the protection scope of the present invention.

Claims (10)

1. A manipulator structure, comprising: the device comprises an electro-hydraulic valve, a mechanical finger and a connecting pipeline connected between the electro-hydraulic valve and the mechanical finger;

the mechanical finger comprises a first finger joint, a first driving assembly and a second finger joint, the first driving assembly comprises a first piston rod, an elastic piece and a first sliding rod, the first piston rod is movably arranged in the first finger joint, one end of the first piston rod and the inner wall of the first finger joint form a first accommodating cavity together, and the first accommodating cavity is communicated with the connecting pipeline; the other end of the first piston rod extends out of the first finger joint and is connected with the first sliding rod; the elastic piece is arranged in the first knuckle and is connected with the first piston rod; the second knuckle is rotationally connected with the first knuckle, a first slide way is formed on the second knuckle, and the first slide bar is arranged in the first slide way; the depth extending direction of the first slide way and the moving direction of the first piston rod form an included angle.

2. The manipulator structure according to claim 1, further comprising a palm body, wherein the number of the mechanical fingers is plural, and the plural mechanical fingers are disposed on the palm body.

3. The manipulator structure according to claim 2, wherein a plurality of the manipulator fingers are arranged on the palm body at intervals along a circumferential direction of the palm body.

4. The manipulator structure according to claim 2, wherein the electro-hydraulic valves are in groups;

the manipulator structure further comprises an integrated plate, and the electro-hydraulic valves are arranged on the integrated plate.

5. The manipulator structure according to claim 4, wherein the electro-hydraulic valve includes a valve housing formed with an oil inlet hole, an oil drain hole, a first oil guide hole for communicating with the oil inlet hole, and a second oil guide hole for communicating with the oil drain hole;

the integrated board runs through and is formed with the connecting hole, the valve casing sets up one side of integrated board, just first lead the oilhole the second lead the oilhole all with the connecting hole intercommunication, connecting tube sets up the opposite side of integrated board, just connecting tube with the connecting hole intercommunication.

6. The manipulator structure according to claim 5, wherein the integration plate is recessed toward one side of the valve housing to form a coupling groove, and the coupling hole penetrates through a groove bottom of the coupling groove; wherein, the first oil guide hole and the second oil guide hole are communicated with the connecting groove.

7. The robot structure of claim 5, wherein the integrated plate protrusion is formed with a first connection ring disposed around the connection hole, and the connection pipe is fitted over the first connection ring.

8. The manipulator structure according to claim 5, wherein the electro-hydraulic valve further includes a valve core and a driving member, the valve housing further forms a first movable chamber, and the oil inlet hole, the first oil guide hole, the second oil guide hole and the oil drain hole are all communicated with the first movable chamber; the valve core is arranged in the first movable cavity in a plugging mode, the power output end of the driving piece is connected with the valve core to drive the valve core to switch among a first movement position, a second movement position and a third movement position, when the valve core is switched to the first movement position, the valve core cuts off the communication between the oil drainage hole and the second oil guide hole, and the oil inlet hole is communicated with the first oil guide hole; when the valve core is switched to the second movement position, the valve core cuts off the communication between the oil inlet hole and the first oil guide hole and cuts off the communication between the oil drain hole and the second oil guide hole; when the piston is switched to the third movement position, the valve core disconnects the communication between the oil inlet hole and the first oil guide hole, and the second oil guide hole is communicated with the oil drain hole.

9. The robot structure of claim 8, wherein the valve housing is further formed with a second movable chamber communicating with the first movable chamber;

the electro-hydraulic valve further comprises an elastic buffer piece and a stroke sealing plate, the stroke sealing plate is movably plugged in the second movable cavity, an oil guide cavity is formed by one side of the stroke sealing plate, which is far away from the first movable cavity, and the cavity wall of the second movable cavity, and a third oil guide hole is formed in the stroke sealing plate in a penetrating manner; the elastic buffer piece is arranged in the second movable cavity, and the elastic buffer piece is abutted against one side of the stroke seal plate, which is far away from the first movable cavity;

a first connecting groove is formed on the peripheral side of the valve core and is used for communicating the oil drainage hole with the second oil guide hole;

when the valve core is switched to the first movement position, the valve core and the stroke sealing plate are arranged at intervals, the valve core avoids the first oil guide hole, and the first connecting groove and the connecting groove are in dislocation disconnection communication with the second oil guide hole and/or the oil drainage hole; when the valve core is switched to the second movement position, one end of the valve core, which is far away from the driving piece, blocks the third oil guide hole, and the first connecting groove is in dislocation disconnection communication with the second oil guide hole and/or the oil drain hole; when the valve core is switched to the third movement position, one end, far away from the driving piece, of the valve core blocks the third oil guide hole, and the second oil guide hole and the oil drain hole are communicated with the first communicating groove.

10. The manipulator structure according to claim 9, wherein seal grooves are further formed on peripheral sides of the valve core on both sides of the first connecting groove; the electro-hydraulic valve further comprises a sealing element arranged in the sealing groove, and the sealing element is abutted against the cavity wall of the first movable cavity;

the stroke shrouding orientation one side of driving piece be formed with the round platform hole of third oil guide hole intercommunication, the case is kept away from the protruding round platform portion that is formed with of one end of driving piece, round platform portion is used for stretching into in the round platform hole, just the week side of round platform portion with the pore wall butt in round platform hole.

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