CN116494288A - Hydraulic mechanical arm - Google Patents

Abstract

The invention provides a hydraulic mechanical arm which comprises a mechanical arm body, an arm component, a plurality of rotary transformers and a hydraulic valve group, wherein one end of the mechanical arm body in a first direction is provided with a first interface, the first interface is used for being connected with a hydraulic pipeline, the arm component is connected with one end of the mechanical arm body, the arm component is provided with a second interface and a containing cavity, the second interface is used for being connected with the hydraulic pipeline, and the containing cavity is used for containing the hydraulic pipeline. The arm component of the hydraulic mechanical arm is provided with the accommodating cavity, and the hydraulic pipeline for connecting the arm component and the mechanical arm is arranged through the accommodating cavity so as to avoid the exposure of the hydraulic pipeline. Meanwhile, rotary transformers are arranged on all hinge joints of the hydraulic mechanical arm to measure the angle and the speed of the feedback joint, and the hydraulic valve group drives the hydraulic executing piece according to the deviation of feedback data and command signals to form closed-loop control, so that the hydraulic mechanical arm can work accurately. In addition, the hydraulic mechanical arm has the advantages of large load-to-weight ratio, high flexibility of multiple degrees of freedom, compact structure and attractive appearance.

Description

Hydraulic mechanical arm

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a hydraulic mechanical arm.

Background

Industrial robot is a mechanical electronic device that mimics the functions of a human arm, wrist, and hand. Industrial mechanical arms are classified into hydraulic mechanical arms, pneumatic mechanical arms and electric mechanical arms, wherein the hydraulic mechanical arms are applied to the engineering field and mine environment due to the large load self-weight ratio, large power density, impact resistance, vibration resistance and good explosion resistance. However, in the related art, the hydraulic mechanical arm has a bulky structure, exposed pipelines and poor flexibility, closed-loop control cannot be realized, and the operation is limited in a mine environment, particularly in a coal mine environment.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, the embodiment of the invention provides a hydraulic mechanical arm, wherein an arm component of the hydraulic mechanical arm is provided with a containing cavity, hydraulic pipelines respectively connected with the arm component and a mechanical arm are contained through the containing cavity, so that the hydraulic pipelines are prevented from being exposed, the hydraulic mechanical arm is compact in structure, has multiple degrees of freedom to improve flexibility, and is provided with a plurality of rotary transformers matched with a hydraulic valve group to realize closed-loop control.

The hydraulic mechanical arm of the embodiment of the invention comprises:

the manipulator is provided with a first interface at one end of the manipulator in a first direction, and the first interface is used for connecting a hydraulic pipeline;

the arm assembly is connected with one end of the manipulator, the arm assembly is provided with a second interface and a containing cavity, the second interface is used for being connected with a hydraulic pipeline, and the containing cavity is used for containing the hydraulic pipeline.

According to the hydraulic mechanical arm disclosed by the embodiment of the invention, the accommodating cavity is formed in the arm component, the first connector is formed at one end, connected with the arm component, of the mechanical arm, the hydraulic pipeline connected with the first connector directly enters the accommodating cavity, and meanwhile, the hydraulic pipeline connected with the second connector of the arm component is also positioned in the accommodating cavity, so that the hydraulic pipeline respectively connected with the arm component and the mechanical arm is accommodated through the accommodating cavity, and the hydraulic pipeline is prevented from being exposed.

In some embodiments, the arm assembly includes a first boom and a first hydraulic telescoping member, the first boom being hinged to one end of the manipulator at one end of the first direction, one end of the first hydraulic telescoping member being connected to the first boom, the other end of the first hydraulic telescoping member being connected to the manipulator to drive the manipulator to rotate about a second direction relative to the first boom, the second direction being orthogonal to the first direction, the first hydraulic telescoping member having the second interface;

the accommodating cavity comprises a first cavity, the first cavity penetrates through the first arm support along the first direction, at least part of the hydraulic pipelines connected with the first hydraulic telescopic piece and the hydraulic pipelines connected with the manipulator penetrate through the first arm support through the first cavity, and the first hydraulic telescopic piece penetrates through the first cavity.

In some embodiments, the arm assembly further comprises a second boom and a second hydraulic telescoping, the second boom being hinged to the first boom at one end in the first direction and the other end in the first direction, one end of the second hydraulic telescoping being connected to the second boom, the other end of the second hydraulic telescoping being connected to the first boom to drive the first boom to rotate relative to the second boom about a third direction, the third direction being orthogonal to the second direction and the first direction, the second hydraulic telescoping having the second interface;

The accommodating cavity comprises a second cavity, the second cavity is arranged on the end face of the second arm support in the second direction, the second cavity penetrates through the second arm support in the first direction, the second cavity penetrates through the second arm support through the hydraulic pipeline of the second cavity, the second hydraulic telescopic piece is connected with the first hydraulic telescopic piece and the mechanical arm, and the second hydraulic telescopic piece penetrates through the second arm support.

In some embodiments, the second chamber is provided with the second hydraulic telescopic member at one end of the third direction, and the other end of the second chamber in the third direction is used for connecting the second hydraulic telescopic member, the first hydraulic telescopic member and the hydraulic pipeline of the manipulator.

In some embodiments, the arm assembly further comprises a third boom and a third hydraulic telescoping, wherein one end of the third boom in the first direction is hinged with the other end of the second boom in the first direction, one end of the third hydraulic telescoping is connected with the third boom, the other end of the third hydraulic telescoping is connected with the second boom to drive the second boom to rotate around the third direction relative to the third boom, and the third hydraulic telescoping is provided with the second interface;

The accommodating cavity comprises a third cavity, the third cavity is arranged on the end face of the third arm support in the second direction, the third cavity penetrates through the third arm support in the first direction, the third hydraulic telescopic part, the second hydraulic telescopic part, the first hydraulic telescopic part and the hydraulic pipeline of the manipulator are connected, the third cavity penetrates through the third arm support, and the third hydraulic telescopic part penetrates through the third cavity.

In some embodiments, the third arm support has a first partition plate, the first partition plate divides the third chamber into a first sub-chamber and a second sub-chamber, the first sub-chamber and the second sub-chamber are sequentially arranged along the second direction, the first sub-chamber is used for connecting the second hydraulic telescopic member, the first hydraulic telescopic member and the hydraulic pipeline of the manipulator, and the second sub-chamber is provided with the third hydraulic telescopic member.

In some embodiments, the arm assembly further includes a fourth arm support and a fourth hydraulic telescopic member, wherein the fourth arm support is hinged to the third arm support at one end in the first direction and the other end in the first direction, one end of the fourth hydraulic telescopic member is connected to the fourth arm support, and the other end of the fourth hydraulic telescopic member is arranged in the second subchamber in a penetrating manner and is connected to the third arm support, so as to drive the third arm support to rotate around the third direction relative to the fourth arm support, the fourth hydraulic telescopic member and the third hydraulic telescopic member are arranged at intervals in the third direction, and the fourth hydraulic telescopic member is provided with the second interface.

In some embodiments, the first partition plate is provided with a plurality of through holes, the through holes are communicated with the first subchamber and the second subchamber, and the hydraulic pipeline connected with the third hydraulic telescopic piece and/or the fourth hydraulic telescopic piece enters the first subchamber from the second subchamber through the through holes.

In some embodiments, the arm assembly further comprises:

the first guide piece is arranged on a first hinge shaft which is connected with the second arm support and the third arm support, a first guide space is formed by surrounding the first hinge shaft and the first guide piece, and the hydraulic pipeline which extends from the second chamber to the direction far away from the manipulator passes through the first guide space and then enters the third chamber; and/or

The second guide piece is arranged on the fourth arm support, the second guide piece and the fourth arm support encircle to form a second guide space, and the hydraulic pipeline extending from the third chamber to the direction far away from the manipulator penetrates through the second guide space.

In some embodiments, the hydraulic mechanical arm further comprises a base, a swing hydraulic cylinder and a hydraulic valve group, wherein the swing hydraulic cylinder is arranged on the base, the fourth arm support and the hydraulic valve group are arranged on the swing hydraulic cylinder, the swing hydraulic cylinder is used for driving the fourth arm support and the hydraulic valve group to rotate around the second direction relative to the base, and the hydraulic pipeline and the swing hydraulic cylinder are connected with the hydraulic valve group; and/or

The manipulator includes:

the engine body is provided with a plurality of first interfaces at one end of the first direction, a plurality of oil ways are arranged in the engine body, and the first interfaces on the engine body are communicated with the oil ways in a one-to-one correspondence manner;

the hydraulic motor is arranged on the machine body and comprises a motor body and an output shaft, the output shaft can rotate around a first direction compared with the motor body, the output shaft is provided with a hydraulic oil cavity, the hydraulic oil cavity is communicated with one part of the oil way, and the motor body is communicated with the other part of the oil way;

the piston assembly is at least partially arranged in the hydraulic oil cavity and can move in a telescopic way along the first direction relative to the output shaft;

the output shaft is connected with the clamping jaw so as to drive the clamping jaw to rotate around the first direction relative to the machine body, and the piston assembly is connected with the clamping jaw so as to drive the clamping jaw to open and close.

Drawings

FIG. 1 is a partial top cross-sectional view of a hydro-mechanical arm of an embodiment of the invention;

FIG. 2 is a front view of a hydro-mechanical arm of an embodiment of the invention;

FIG. 3 is a partial top cross-sectional view of a second hydro-mechanical arm of an embodiment of the invention;

FIG. 4 is a schematic view of the manipulator of FIG. 1;

FIG. 5 is a partial cross-sectional view of the manipulator of FIG. 1;

FIG. 6 is a partial cross-sectional view II of the manipulator of FIG. 1;

FIG. 7 is an enlarged schematic view of portion A of FIG. 2;

FIG. 8 is an enlarged schematic view of portion B of FIG. 3;

FIG. 9 is an enlarged schematic view of portion C of FIG. 3;

FIG. 10 is an enlarged schematic view of portion D of FIG. 3;

fig. 11 is an enlarged schematic view of the portion E in fig. 2.

Reference numerals:

1. a manipulator; 11. a first interface; 12. a body; 121. an oil path; 1211. a first oil chamber oil path; 1212. a motor oil drain path; 1213. a second oil chamber oil path; 13. a hydraulic motor; 131. a motor body; 132. an output shaft; 133. a hydraulic oil chamber; 14. a piston assembly; 15. a clamping jaw; 16. a sixth rotary transformer; 17. a mounting base; 2. a hydraulic line; 3. an arm assembly; 31. a second interface; 32. a receiving chamber; 321. a first chamber; 322. a second chamber; 323. a third chamber; 3231. a first subchamber; 3232. a second subchamber; 33. a first arm support; 331. a connecting frame; 34. a first hydraulic telescoping member; 35. a second arm support; 36. a second hydraulic telescoping member; 37. a third arm support; 371. a first partition plate; 372. a through hole; 38. a third hydraulic telescoping member; 39. a fourth arm support; 310. a fourth hydraulic telescoping member; 311. a first guide; 312. a first hinge shaft; 313. a second guide; 314. a second hinge shaft; 315. a first resolver; 316. a third hinge shaft; 317. a second rotary transformer; 318. a third rotary transformer; 319. a fourth hinge shaft; 320. a fourth rotary transformer; 4. a base; 5. a swing hydraulic cylinder; 51. a mounting frame; 52. a fifth resolver; 6. and a hydraulic valve group.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

A hydro-mechanical arm according to an embodiment of the invention is described below with reference to fig. 1-6.

As shown in fig. 1 to 6, the hydraulic mechanical arm of the embodiment of the present invention includes a manipulator 1 and an arm assembly 3.

The manipulator 1 has a first port 11 at one end in a first direction (left-right direction as viewed in fig. 1), the first port 11 being for connection to the hydraulic line 2. The arm assembly 3 is connected to one end of the manipulator 1, and the arm assembly 3 has a second port 31 and a receiving chamber 32, the second port 31 being for connection to the hydraulic line 2, and the receiving chamber 32 being for receiving the hydraulic line 2.

As shown in fig. 1 and 4, the left end of the manipulator 1 is provided with a plurality of first interfaces 11, and each first interface 11 is connected to a corresponding hydraulic pipeline 2. The right end of the arm component 3 is connected with the left end of the manipulator 1 so as to drive the manipulator 1 to move through the action of the arm component 3. The arm assembly 3 has a plurality of second ports 31 and accommodation chambers 32, each second port 31 being connected to a corresponding hydraulic line 2, the accommodation chambers 32 extending in the left-right direction, and a plurality of hydraulic lines 2, which are correspondingly connected to the first port 11 and the second port 31, being accommodated in the accommodation chambers 32. The hydraulic lines 2 are used to supply and discharge hydraulic oil to and from the corresponding arm assemblies 3 and the robot 1 to enable the arm assemblies 3 and the robot 1 to perform operations.

According to the hydraulic mechanical arm disclosed by the embodiment of the invention, the accommodating cavity is formed in the arm component, the first connector is formed at one end, connected with the arm component, of the mechanical arm, the hydraulic pipeline connected with the first connector directly enters the accommodating cavity, and meanwhile, the hydraulic pipeline connected with the second connector of the arm component is also positioned in the accommodating cavity, so that the hydraulic pipeline respectively connected with the arm component and the mechanical arm is accommodated through the accommodating cavity, and the hydraulic pipeline is prevented from being exposed.

In some embodiments, the arm assembly 3 includes a first arm 33 and a first hydraulic telescopic member 34, one end of the first arm 33 in a first direction is hinged to one end of the manipulator 1, one end of the first hydraulic telescopic member 34 is connected to the first arm 33, and the other end of the first hydraulic telescopic member 34 is connected to the manipulator 1 to drive the manipulator 1 to rotate relative to the first arm 33 about a second direction (up-down direction as shown in fig. 2), the second direction being orthogonal to the first direction, and the first hydraulic telescopic member 34 has the second interface 31. The accommodating chamber 32 includes a first chamber 321, the first chamber 321 penetrates through the first arm support 33 along a first direction, at least part of the hydraulic pipeline 2 connected with the first hydraulic telescopic member 34 and the hydraulic pipeline 2 connected with the manipulator 1 penetrate through the first arm support 33 from the first chamber 321, and the first hydraulic telescopic member 34 penetrates through the first chamber 321.

As shown in fig. 1-3, the right end of the first arm support 33 is hinged to the left end of the manipulator 1 through a second hinge shaft 314, the axial direction of the second hinge shaft 314 is in an up-down direction, so that the manipulator 1 can rotate around the up-down direction relative to the first arm support 33, the first arm support 33 comprises a main frame, the main frame is formed by sequentially connecting four plates around the left-right direction, a first cavity 321 is formed around the main frame, the first cavity 321 penetrates through the main frame along the left-right direction, the right end opening of the first cavity 321 is oppositely arranged with the manipulator 1, and a hydraulic pipeline 2 connected with the first interface 11 extends leftwards and directly into the first cavity 321.

The first hydraulic expansion member 34 extends in the left-right direction and is inserted into the first chamber 321, the left end of the first hydraulic expansion member 34 is hinged to the left end of the main frame, the right end of the first hydraulic expansion member 34 is hinged to the left end of the manipulator 1, the manipulator 1 is driven to rotate up and down relative to the first arm frame 33 by the expansion and contraction action of the first hydraulic expansion member 34, the first hydraulic expansion member 34 is provided with two second ports 31 for connecting the hydraulic pipeline 2, hydraulic oil is supplied and discharged into the first hydraulic expansion member 34 through the two second ports 31, and the first hydraulic expansion member 34 is driven to expand and contract, and the right end of the hydraulic pipeline 2 connected with the first hydraulic expansion member 34 is positioned in the first chamber 321 so as to avoid exposure.

Preferably, as shown in fig. 7, the second hinge 314 is fixedly connected with the first arm frame 33 through a pin, the manipulator 1 can rotate around the vertical direction relative to the second hinge 314, the second hinge 314 is provided with a first rotary transformer 315, a stator of the first rotary transformer 315 is sleeved on the second hinge 314 and connected with the second hinge 314, a rotor of the first rotary transformer 315 is connected with the manipulator 1 and synchronously rotates around the vertical direction with the manipulator 1, so that the rotation angle of the manipulator 1 around the vertical direction relative to the first arm frame 33 is acquired through the first rotary transformer 315 and fed back to a terminal.

In some embodiments, the arm assembly 3 further includes a second arm 35 and a second hydraulic telescopic member 36, one end of the second arm 35 in the first direction is hinged to the other end of the first arm 33 in the first direction, one end of the second hydraulic telescopic member 36 is connected to the second arm 35, and the other end of the second hydraulic telescopic member 36 is connected to the first arm 33 to drive the first arm 33 to rotate relative to the second arm 35 about a third direction (front-to-back direction as shown in fig. 1), the third direction being orthogonal to the second direction and the first direction, and the second hydraulic telescopic member 36 having the second interface 31. The accommodating cavity 32 comprises a second cavity 322, the second cavity 322 is arranged on the end face of the second arm support 35 in the second direction, the second cavity 322 penetrates through the second arm support 35 along the first direction, the hydraulic pipeline 2 for connecting the second hydraulic telescopic piece 36, the first hydraulic telescopic piece 34 and the manipulator 1 penetrates through the second arm support 35 from the second cavity 322, and the second hydraulic telescopic piece 36 penetrates through the second cavity 322.

As shown in fig. 1 to 3, the second arm frame 35 extends in the left-right direction, the right end of the second arm frame 35 is hinged to the left end of the first arm frame 33 by a third hinge shaft 316, the axial direction of the third hinge shaft 316 is the front-rear direction, so that the first arm frame 33 can rotate around the front-rear direction relative to the second arm frame 35, the lower end surface of the second arm frame 35 is provided with a second cavity 322 extending upwards, and the second cavity 322 simultaneously penetrates the second arm frame 35 in the left-right direction, in other words, in a projection plane orthogonal to the left-right direction, the projection of the second arm frame 35 is U-shaped. The right end of the second chamber 322 is arranged opposite to the left end of the first chamber 321, and the hydraulic line 2 extending rightward from the first chamber 321 directly enters the second chamber 322.

The second hydraulic telescopic member 36 extends in the left-right direction and is inserted into the second chamber 322, the left end of the second hydraulic telescopic member 36 is hinged to the left end of the second arm frame 35, and the right end of the second hydraulic telescopic member 36 is hinged to the left end of the first arm frame 33, so that the first arm frame 33 is driven to rotate around the front-rear direction relative to the second arm frame 35 through the telescopic action of the second hydraulic telescopic member 36.

Preferably, the first arm support 33 further includes a connecting frame 331, the connecting frame 331 is a vertical plate extending along a left-right direction, an upper end of the connecting frame 331 is connected with an upper plate of the main frame, a lower end of the connecting frame 331 is connected with a lower plate of the main frame, and a right end of the second arm support 35 and a right end of the second hydraulic telescopic member 36 are hinged with the connecting frame 331. The first arm support 33 divides the first chamber 321 into a front part and a rear part, wherein the part at the front end is penetrated by the first hydraulic telescopic piece 34, and the part at the rear end is used for the hydraulic pipeline 2 to pass through.

The second hydraulic expansion and contraction member 36 has two second ports 31 for connecting the hydraulic lines 2 to supply and discharge hydraulic oil into and from the second hydraulic expansion and contraction member 36 through the two second ports 31, thereby driving the second hydraulic expansion and contraction member 36 to expand and contract, and the right end of the hydraulic line 2 connected to the second hydraulic expansion and contraction member 36 is located in the second chamber 322 to avoid exposure.

Preferably, as shown in fig. 8, the third hinge shaft 316 is fixedly connected with the second arm frame 35 through a pin shaft, the first arm frame 33 can rotate around the front-rear direction relative to the third hinge shaft 316, the third hinge shaft 316 is provided with a second rotary transformer 317, a stator of the second rotary transformer 317 is sleeved on the third hinge shaft 316 and connected with the third hinge shaft 316, a rotor of the second rotary transformer 317 is connected with the first arm frame 33 and synchronously rotates around the front-rear direction relative to the first arm frame 33, so that the rotation angle of the first arm frame 33 around the front-rear direction relative to the second arm frame 35 is obtained through the second rotary transformer 317 and fed back to a terminal.

It will be appreciated that the configuration of the first boom is not limited to that shown in fig. 1 and 2, and in other embodiments the first boom does not have a connecting frame.

In some embodiments, the second chamber 322 is provided with a second hydraulic expansion member 36 at one end in the third direction, and the other end of the second chamber 322 in the third direction is used for passing through the hydraulic line 2 connecting the second hydraulic expansion member 36, the first hydraulic expansion member 34 and the manipulator 1.

As shown in fig. 1 and 3, the second hydraulic expansion and contraction member 36 is provided at a front end portion of the second chamber 322, and the hydraulic line 2 connecting the second hydraulic expansion and contraction member 36, the first hydraulic expansion and contraction member 34, and the manipulator 1 is passed through a rear end portion of the second chamber 322.

In some embodiments, the arm assembly 3 further includes a third arm 37 and a third hydraulic telescopic member 38, one end of the third arm 37 in the first direction is hinged to the other end of the second arm 35 in the first direction, one end of the third hydraulic telescopic member 38 is connected to the third arm 37, the other end of the third hydraulic telescopic member 38 is connected to the second arm 35 to drive the second arm 35 to rotate about the third direction relative to the third arm 37, and the third hydraulic telescopic member 38 has the second interface 31. The accommodating cavity 32 includes a third chamber 323, the third chamber 323 is disposed on an end surface of the third arm support 37 in the second direction, the third chamber 323 penetrates through the third arm support 37 along the first direction, the hydraulic pipeline 2 connecting the third hydraulic telescopic member 38, the second hydraulic telescopic member 36, the first hydraulic telescopic member 34 and the manipulator 1 penetrates through the third arm support 37 from the third chamber 323, and the third hydraulic telescopic member 38 penetrates through the third chamber 323.

As shown in fig. 1-3, the third arm support 37 extends in the left-right direction, the right end of the third arm support 37 is hinged to the second arm support 35 through the first hinge shaft 312, the axial direction of the first hinge shaft 312 is the front-back direction, so that the second arm support 35 can rotate around the front-back direction relative to the third arm support 37, a third cavity 323 extending upwards is arranged on the lower end surface of the third arm support 37, and the third cavity 323 simultaneously penetrates through the third arm support 37 in the left-right direction, in other words, in a projection plane orthogonal to the left-right direction, the projection of the main body of the third arm support 37 is in a U shape. The right end of the third chamber 323 is arranged opposite to the left end of the second chamber 322, and the hydraulic line 2 extending rightward from the second chamber 322 directly enters the third chamber 323.

The third hydraulic expansion piece 38 extends along the left-right direction and is arranged in the third chamber 323 in a penetrating manner, the left end of the third hydraulic expansion piece 38 is hinged with the left end of the third arm support 37, the right end of the third hydraulic expansion piece 38 is hinged with the right end of the second arm support 35, preferably, the lower end of the second arm support 35 is provided with a protruding portion, and the right end of the third hydraulic expansion piece 38 is hinged with the protruding portion, so that the second arm support 35 can be driven to rotate around the front-back direction relative to the third arm support 37 through the expansion action of the third hydraulic expansion piece 38. The third hydraulic expansion and contraction member 38 has two second ports 31 for connecting the hydraulic lines 2 to supply and discharge hydraulic oil into and from the third hydraulic expansion and contraction member 38 through the two second ports 31, thereby driving the third hydraulic expansion and contraction member 38 to expand and contract, and the right end of the hydraulic line 2 connecting the third hydraulic expansion and contraction member 38 is located in the third chamber 323 to avoid exposure.

Preferably, as shown in fig. 9, the first hinge shaft 312 is fixedly connected with the second arm frame 35 through a pin shaft, the third arm frame 37 can rotate around the front-rear direction relative to the first hinge shaft 312, the first hinge shaft 312 is provided with a third rotary transformer 318, a stator of the third rotary transformer 318 is sleeved on the first hinge shaft 312 and connected with the first hinge shaft 312, and a rotor of the third rotary transformer 318 is connected with the third arm frame 37, so that the rotation angle of the second arm frame 35 around the front-rear direction relative to the third arm frame 37 is obtained through the third rotary transformer 318 and fed back to a terminal.

In some embodiments, the third arm support 37 has a first partition plate 371, the first partition plate 371 divides the third chamber 323 into a first sub-chamber 3231 and a second sub-chamber 3232, the first sub-chamber 3231 and the second sub-chamber 3232 are sequentially arranged along the second direction, the first sub-chamber 3231 is used for connecting the second hydraulic telescopic element 36, the first hydraulic telescopic element 34 and the hydraulic line 2 of the manipulator 1 to pass through, and the second sub-chamber 3232 is provided with the third hydraulic telescopic element 38.

As shown in fig. 1 and 2, a first partition plate 371 is disposed on the main body of the third arm support 37, the first partition plate 371 is a horizontal plate extending along the left-right direction, the first partition plate 371 divides the third chamber 323 into a first sub-chamber 3231 and a second sub-chamber 3232, the first sub-chamber 3231 and the second sub-chamber 3232 are sequentially arranged along the up-down direction, the first sub-chamber 3231 is used for connecting the second hydraulic expansion member 36, the first hydraulic expansion member 34 and the hydraulic pipeline 2 of the manipulator 1 to pass through, and the second sub-chamber 3232 is internally provided with the third hydraulic expansion member 38. To avoid the hydraulic line 2 and the third hydraulic telescoping member 38 from being entangled.

It will be appreciated that the construction of the third arm is not limited to that shown in fig. 1 and 2, and in other embodiments the third arm does not have the first divider plate.

In some embodiments, the arm assembly 3 further includes a fourth arm frame 39 and a fourth hydraulic telescopic member 310, one end of the fourth arm frame 39 in the first direction is hinged to the other end of the third arm frame 37 in the first direction, one end of the fourth hydraulic telescopic member 310 is connected to the fourth arm frame 39, the other end of the fourth hydraulic telescopic member 310 is disposed in the second subchamber 3232 in a penetrating manner and is connected to the third arm frame 37, so as to drive the third arm frame 37 to rotate around the third direction relative to the fourth arm frame 39, the fourth hydraulic telescopic member 310 and the third hydraulic telescopic member 38 are arranged at intervals in the third direction, and the fourth hydraulic telescopic member 310 has the second interface 31.

As shown in fig. 1 to 3, the upper part of the right end of the fourth arm frame 39 is hinged to the third arm frame 37 by a fourth hinge shaft, and the axial direction of the fourth hinge shaft is in the front-rear direction, so that the third arm frame 37 can rotate around the front-rear direction relative to the fourth arm frame 39, the fourth hydraulic telescopic member 310 extends along the left-right direction and passes through the second sub-cavity 3232, and the fourth hydraulic telescopic member 310 and the third hydraulic telescopic member 38 are arranged at intervals in the front-rear direction, preferably, the first partition plate 371 is provided with a second partition plate, which is a vertical plate extending along the front-rear direction and is positioned in the second sub-cavity 3232, and divides the second sub-cavity 3232 into front-rear two parts for respectively accommodating the corresponding fourth hydraulic telescopic member 310 and the third hydraulic telescopic member 38. The left end of the fourth hydraulic expansion member 310 is hinged to the lower portion of the right end of the fourth arm 39, and the right end of the fourth hydraulic expansion member 310 is hinged to the third arm 37, so that the third arm 37 is driven to rotate around the front-rear direction relative to the fourth arm 39 through the expansion and contraction action of the fourth hydraulic expansion member 310. The fourth hydraulic expansion element 310 has two second ports 31 for connecting the hydraulic lines 2 to supply and discharge hydraulic oil into and from the fourth hydraulic expansion element 310 through the two second ports 31, thereby driving the fourth hydraulic expansion element 310 to expand and contract.

Preferably, as shown in fig. 10, the fourth hinge 319 is fixedly connected with the third arm frame 37 through a pin, the third arm frame 37 and the fourth hinge 319 can rotate around the front-rear direction relative to the fourth arm frame 39, the fourth hinge is provided with a fourth rotary transformer 320, a stator of the fourth rotary transformer 320 is sleeved on the fourth hinge and connected with the fourth hinge, and a rotor of the fourth rotary transformer 320 is connected with the fourth arm frame 39, so that a rotation angle of the third arm frame 37 around the front-rear direction relative to the fourth arm frame 39 is obtained through the fourth rotary transformer 320 and fed back to a terminal.

In some embodiments, the first partition plate 371 is provided with a plurality of through holes 372, the through holes 372 communicate the first subchamber 3231 and the second subchamber 3232, and the hydraulic line 2 connecting the third hydraulic telescoping member 38 and/or the fourth hydraulic telescoping member 310 enters the first subchamber 3231 from the second subchamber 3232 through the through holes 372.

As shown in fig. 1, the first partition plate 371 is provided with a plurality of through holes 372, and the through holes 372 penetrate the first partition plate 371 in the up-down direction and communicate the first sub-chamber 3231 and the second sub-chamber 3232, and the hydraulic line 2 connecting the third hydraulic expansion member 38 and the fourth hydraulic expansion member 310 enters the first sub-chamber 3231 from the second sub-chamber 3232 through the through holes 372.

It will be appreciated that the hydraulic lines connecting the third hydraulic telescoping member and the fourth hydraulic telescoping member are not limited to each having a second subchamber into the first subchamber, and in other embodiments the right end of the hydraulic line connecting the fourth hydraulic telescoping member is located within the second subchamber.

In some embodiments, the arm assembly 3 further includes a first guide member 311, where the first guide member 311 is disposed on a first hinge shaft 312 that connects the second arm frame 35 and the third arm frame 37, and the first guide member 311 and the first hinge shaft 312 encircle to form a first guide space, and the hydraulic pipeline 2 extending from the second chamber 322 in a direction away from the manipulator 1 passes through the first guide space and then enters the third chamber 323.

As shown in fig. 1 and 2, the first guide member 311 is in a U shape with a downward opening, and front and rear ends of the first guide member 311 are fixedly connected with the first hinge shaft 312 so as to rotate synchronously with the first hinge shaft 312, a first guide space is formed between the first guide member 311 and the first hinge shaft 312 in a surrounding manner, and a hydraulic pipeline 2 extending leftwards from the second chamber 322 passes through the first guide space and then enters the third chamber 323 so as to guide and limit the hydraulic pipeline 2 through the first guide member 311, thereby preventing the hydraulic pipeline 2 from extending out from a gap between the second chamber 322 and the third chamber 323 when the second arm frame 35 and the third arm frame 37 relatively rotate, and further causing the hydraulic pipeline 2 to be exposed and even damaged by the relative rotation extrusion of the second arm frame 35 and the third arm frame 37.

In some embodiments, the arm assembly 3 further includes a second guide 313, where the second guide 313 is disposed on the fourth arm frame 39, and the second guide 313 and the fourth arm frame 39 encircle to form a second guide space, and the hydraulic pipeline 2 extending from the third chamber 323 in a direction away from the manipulator 1 passes through the second guide space.

As shown in fig. 1 and 2, the second guide member 313 is U-shaped with a downward opening, the front and rear ends of the second guide member 313 are connected to the top of the fourth arm 39, the second guide member 313 and the fourth arm 39 encircle to form a second guide space, and the hydraulic line 2 extending leftward from the third chamber 323 passes through the second guide space to guide, define and retract the hydraulic line 2 through the second guide member 313.

In some embodiments, the hydraulic mechanical arm further includes a base 4, a swing hydraulic cylinder 5 and a hydraulic valve group 6, the swing hydraulic cylinder 5 is disposed on the base 4, the fourth boom 39 and the hydraulic valve group 6 are disposed on the swing hydraulic cylinder 5, the swing hydraulic cylinder 5 is used to drive the fourth boom 39 and the hydraulic valve group 6 to rotate around the second direction relative to the base 4, and the hydraulic pipeline 2 and the swing hydraulic cylinder 5 are connected with the hydraulic valve group 6.

As shown in fig. 1 and 2, a swinging hydraulic cylinder 5 is arranged on the base 4, an inner shaft of the swinging hydraulic cylinder 5 extends along the up-down direction, the lower end of the inner shaft of the swinging hydraulic cylinder 5 is fixedly connected with the base 4, an outer ring of the swinging hydraulic cylinder 5 is connected with a fourth arm support 39 so as to drive the fourth arm support 39 to rotate around the up-down direction relative to the inner shaft and the base 4 through the outer ring of the swinging hydraulic cylinder 5, an installation frame 51 is arranged on the outer ring of the swinging hydraulic cylinder 5, the installation frame 51 synchronously rotates with the outer ring of the swinging hydraulic cylinder 5, a hydraulic valve group 6 is arranged on the installation frame 51, the hydraulic pipeline 2 and the swinging hydraulic cylinder 5 are connected with the hydraulic valve group 6, the flow of hydraulic oil in the hydraulic pipeline 2 is controlled through the hydraulic valve group 6, and the supply and the discharge of the hydraulic oil to the swinging hydraulic cylinder 5 are controlled, so that the control of the action of a hydraulic mechanical arm is realized.

Preferably, as shown in fig. 11, the swing cylinder 5 further has a fifth rotary transformer 52, a stator of the fifth rotary transformer 52 is provided on an inner shaft of the swing cylinder 5, and a rotor of the fifth rotary transformer 52 is connected to an outer ring of the swing cylinder 5 and rotates synchronously with the outer ring of the swing cylinder 5 to obtain a rotation angle of the fourth arm 39 about the up-down direction with respect to the base 4 by the fifth rotary transformer 52, and feeds back to the terminal.

In some implementations, the robot 1 includes a body 12, a hydraulic motor 13, a piston assembly 14, and a jaw 15.

The machine body 12 is provided with a plurality of first interfaces 11 at one end of the first direction, a plurality of oil ways 121 are arranged in the machine body 12, and the plurality of first interfaces 11 on the machine body 12 are communicated with the plurality of oil ways 121 in a one-to-one correspondence manner. The hydraulic motor 13 is disposed on the machine body 12, the hydraulic motor 13 includes a motor body 131 and an output shaft 132, the output shaft 132 is rotatable about a first direction as compared with the motor body 131, the output shaft 132 is provided with a hydraulic oil chamber 133, the hydraulic oil chamber 133 is communicated with a part of the oil path 121, and the motor body 131 is communicated with another part of the oil path 121. At least a portion of piston assembly 14 is disposed within hydraulic oil chamber 133 and piston assembly 14 is telescopically movable relative to output shaft 132 in a first direction. An output shaft 132 is coupled to the jaw 15 to drive the jaw 15 for rotation relative to the body 12 about a first direction, and a piston assembly 14 is coupled to the jaw 15 to drive the jaw 15 open and closed.

As shown in fig. 4-6, the left end of the machine body 12 is provided with a plurality of first interfaces 11 and two ears, the two ears are hinged with the right end of the first arm support 33, the plurality of first interfaces 11 are arranged between the two ears, the interior of the machine body 12 is provided with a mounting cavity and a plurality of oil ways 121, and the plurality of oil ways 121 are communicated with the plurality of first interfaces 11 in a one-to-one correspondence manner.

The hydraulic motor 13 is arranged in the mounting cavity, the hydraulic motor 13 comprises a motor body 131 and an output shaft 132, the motor body 131 is connected with the machine body 12, and the output shaft 132 extends along the left-right direction and can rotate around the left-right direction relative to the motor body 131. The plurality of oil passages 121 include a motor oil drain passage 1212 and a motor oil supply passage, the motor oil supply passage communicates the first port 11 with the working chamber of the motor body 131 to supply hydraulic oil into the working chamber of the motor body 131, and the motor oil drain passage 1212 communicates the second first port 11 with the working chamber of the motor body 131 to drain hydraulic oil from the working chamber of the motor body 131 to drive the output shaft 132 to rotate in the left-right direction.

The right end face of the output shaft 132 is provided with a hydraulic oil cavity 133, the piston assembly 14 is preferably an integrated piston rod, the left end of the integrated piston rod is arranged in the hydraulic oil cavity 133, the right end of the integrated piston rod extends out of the machine body 12 to the right, the integrated piston rod can move in the left-right direction relative to the hydraulic oil cavity 133, the integrated piston rod divides the hydraulic oil cavity 133 into a rod cavity and a rodless cavity, the rod cavity is positioned on the right side of the rodless cavity, at least two oil through holes are formed in the outer peripheral surface of the output shaft 132, the first oil through holes are communicated with the rod cavity, and the second oil through holes are communicated with the rodless cavity. The plurality of oil passages 121 includes a first oil passage 1211 and a second oil passage 1213, the left end of the first oil passage 1211 is communicated with the third first port 11, the right end of the first oil passage 1211 is annular around the outer peripheral surface of the output shaft 132, and the right end of the first oil passage 1211 is communicated with the first oil passage for supplying oil to the rod chamber, the left end of the second oil passage 1213 is communicated with the fourth first port 11, the right end of the second oil passage 1213 is annular around the outer peripheral surface of the output shaft 132, and the right end of the second oil passage 1213 is communicated with the second oil passage for supplying oil to the rod-less chamber, thereby driving the piston assembly 14 to move in the left-right direction.

The left end of the clamping jaw 15 is connected with the right end of the output shaft 132 to drive the clamping jaw 15 to rotate around the left and right direction relative to the machine body 12 through the output shaft 132, and the right end of the piston rod is connected with the clamping jaw 15 to drive the clamping jaw 15 to open and close through the movement of the piston rod along the left and right direction.

The hydraulic motor 13 and the hydraulic oil cavity 133 are both arranged on the machine body 12, and internal liquid passing is realized through a plurality of oil ways 121, so that on one hand, the structure of the manipulator 1 is more compact, on the other hand, the hydraulic oil can be fed and discharged only by connecting the hydraulic pipeline 2 with the first connector 11, other external pipelines are not required, and the problems of pipeline exposure and pipeline winding are avoided.

In some embodiments, the manipulator 1 further includes a mounting seat 17 and a sixth rotary transformer 16, the mounting seat 17 is disposed in the machine body 12, the motor body 131 is located at a right end of the mounting seat 17, a left end of the output shaft 132 is disposed in the mounting seat 17 in a penetrating manner and can rotate around the left and right directions relative to the mounting seat 17, a stator of the sixth rotary transformer 16 is disposed in a penetrating manner at a left end of the output shaft 132 and is fixedly connected with the output shaft 132, and a rotor of the sixth rotary transformer 16 is fixed on the mounting seat 17 so as to obtain a rotation angle of the output shaft 132 around the left and right directions relative to the mounting seat 17 through the sixth rotary transformer 16, in other words, a rotation angle of the clamping jaw 15 around the left and right directions relative to the machine body 12 is obtained and fed back to the terminal.

The hydraulic pipeline 2 connected with the first connector 11, the hydraulic pipeline 2 connected with the second connector 31, the hydraulic pipeline 2 connected with the first hydraulic telescopic piece 34, the hydraulic pipeline 2 connected with the second hydraulic telescopic piece 36, the hydraulic pipeline 2 connected with the third hydraulic telescopic piece 38, the hydraulic pipeline 2 connected with the fourth hydraulic telescopic piece 310 and the hydraulic pipeline 2 connected with the swinging hydraulic cylinder 5 are all connected with the hydraulic valve group 6, and the terminal adjusts the hydraulic valve group according to the angle and speed data fed back by a plurality of rotary transformers so as to control the hydraulic oil in the corresponding hydraulic pipeline 2 to flow, thereby realizing control and adjustment correction of the action of the hydraulic mechanical arm and realizing closed-loop control of the hydraulic mechanical arm.

In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between and not for indicating or implying a relative importance or an implicit indication of the number of features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While the above embodiments have been shown and described, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations of the above embodiments may be made by those of ordinary skill in the art without departing from the scope of the invention.

Claims (10)

1. A hydro-mechanical arm, comprising:

the manipulator (1), one end of the manipulator (1) in a first direction is provided with a first interface (11), and the first interface (11) is used for connecting a hydraulic pipeline (2);

The arm assembly (3), arm assembly (3) with the one end of manipulator (1) links to each other, arm assembly (3) have second interface (31) and hold chamber (32), second interface (31) are used for connecting hydraulic pressure pipeline (2), hold chamber (32) are used for holding hydraulic pressure pipeline (2).

2. The hydraulic manipulator according to claim 1, wherein the arm assembly (3) comprises a first boom (33) and a first hydraulic telescopic member (34), the first boom (33) being hinged to one end of the manipulator (1) at one end of the first direction, one end of the first hydraulic telescopic member (34) being connected to the first boom (33), the other end of the first hydraulic telescopic member (34) being connected to the manipulator (1) for driving the manipulator (1) to rotate relative to the first boom (33) about a second direction, the second direction being orthogonal to the first direction, the first hydraulic telescopic member (34) having the second interface (31);

the accommodating cavity (32) comprises a first cavity (321), the first cavity (321) penetrates through the first arm support (33) along the first direction, at least part of the hydraulic pipeline (2) of the first hydraulic telescopic piece (34) is connected with the hydraulic pipeline (2) of the manipulator (1) penetrates through the first arm support (33) from the first cavity (321), and the first hydraulic telescopic piece (34) penetrates through the first cavity (321).

3. The hydraulic mechanical arm according to claim 2, wherein the arm assembly (3) further comprises a second boom (35) and a second hydraulic telescopic member (36), one end of the second boom (35) in the first direction being hinged to the other end of the first boom (33) in the first direction, one end of the second hydraulic telescopic member (36) being connected to the second boom (35), the other end of the second hydraulic telescopic member (36) being connected to the first boom (33) for driving the first boom (33) to rotate relative to the second boom (35) about a third direction, the third direction being orthogonal to the second direction and the first direction, the second hydraulic telescopic member (36) having the second interface (31);

the accommodating cavity (32) comprises a second cavity (322), the second cavity (322) is arranged on the end face of the second arm support (35) in the second direction, the second cavity (322) penetrates through the second arm support (35) in the first direction, the second hydraulic telescopic part (36) is connected, the first hydraulic telescopic part (34) and the hydraulic pipeline (2) of the manipulator (1) penetrate through the second arm support (35) through the second cavity (322), and the second hydraulic telescopic part (36) penetrates through the second cavity (322).

4. A hydraulic manipulator according to claim 3, characterized in that the second chamber (322) is provided with the second hydraulic telescopic member (36) at one end in the third direction, the other end of the second chamber (322) in the third direction being adapted to connect the second hydraulic telescopic member (36), the first hydraulic telescopic member (34) and the hydraulic line (2) of the manipulator (1) therethrough.

5. A hydraulic manipulator according to claim 3, wherein the arm assembly (3) further comprises a third boom (37) and a third hydraulic telescopic member (38), one end of the third boom (37) in the first direction being hinged to the other end of the second boom (35) in the first direction, one end of the third hydraulic telescopic member (38) being connected to the third boom (37), the other end of the third hydraulic telescopic member (38) being connected to the second boom (35) for driving the second boom (35) to rotate about the third direction with respect to the third boom (37), the third hydraulic telescopic member (38) having the second interface (31);

the accommodating cavity (32) comprises a third cavity (323), the third cavity (323) is arranged on the end face of the third arm support (37) in the second direction, the third cavity (323) penetrates through the third arm support (37) in the first direction, the third hydraulic telescopic part (38) and the second hydraulic telescopic part (36) are connected, the first hydraulic telescopic part (34) and the hydraulic pipeline (2) of the manipulator (1) penetrate through the third arm support (37) through the third cavity (323), and the third hydraulic telescopic part (38) penetrates through the third cavity (323).

6. The hydraulic mechanical arm according to claim 5, characterized in that the third boom (37) has a first partition plate (371), the first partition plate (371) partitions the third chamber (323) into a first subchamber (3231) and a second subchamber (3232), the first subchamber (3231) and the second subchamber (3232) are sequentially arranged along the second direction, the first subchamber (3231) is used for connecting the second hydraulic telescopic element (36), the first hydraulic telescopic element (34) and the hydraulic pipeline (2) of the manipulator (1) to pass through, and the second subchamber (3232) is provided with the third hydraulic telescopic element (38).

7. The hydraulic mechanical arm according to claim 6, wherein the arm assembly (3) further comprises a fourth arm support (39) and a fourth hydraulic telescopic member (310), one end of the fourth arm support (39) in the first direction is hinged with the other end of the third arm support (37) in the first direction, one end of the fourth hydraulic telescopic member (310) is connected with the fourth arm support (39), the other end of the fourth hydraulic telescopic member (310) is arranged in the second subchamber (3232) in a penetrating mode and is connected with the third arm support (37) in a penetrating mode so as to drive the third arm support (37) to rotate around the third direction relative to the fourth arm support (39), the fourth hydraulic telescopic member (310) and the third hydraulic telescopic member (38) are arranged at intervals in the third direction, and the fourth hydraulic telescopic member (310) is provided with the second interface (31).

8. The hydraulic mechanical arm according to claim 7, characterized in that the first partition plate (371) is provided with a plurality of through holes (372), the through holes (372) communicate the first subchamber (3231) and the second subchamber (3232), and the hydraulic line (2) connecting the third hydraulic expansion element (38) and/or the fourth hydraulic expansion element (310) enters the first subchamber (3231) from the second subchamber (3232) through the through holes (372).

9. The hydro-mechanical arm of claim 7, wherein the arm assembly (3) further comprises:

the first guide piece (311) is arranged on a first hinge shaft (312) which is connected with the second arm support (35) and the third arm support (37), the first guide piece (311) and the first hinge shaft (312) encircle to form a first guide space, and the hydraulic pipeline (2) which extends from the second chamber (322) to the direction far away from the manipulator (1) passes through the first guide space and then enters the third chamber (323); and/or

The second guide piece (313), the second guide piece (313) is arranged on the fourth arm support (39), the second guide piece (313) and the fourth arm support (39) encircle to form a second guide space, and the hydraulic pipeline (2) extending from the third chamber (323) to the direction far away from the manipulator (1) penetrates through the second guide space.

10. The hydraulic mechanical arm according to claim 7, further comprising a base (4), a swing hydraulic cylinder (5) and a hydraulic valve block (6), wherein the swing hydraulic cylinder (5) is arranged on the base (4), the fourth boom (39) and the hydraulic valve block (6) are arranged on the swing hydraulic cylinder (5), the swing hydraulic cylinder (5) is used for driving the fourth boom (39) and the hydraulic valve block (6) to rotate around the second direction relative to the base (4), and the hydraulic pipeline (2) and the swing hydraulic cylinder (5) are connected with the hydraulic valve block (6); and/or

The manipulator (1) comprises:

the machine body (12), one end of the machine body (12) in the first direction is provided with a plurality of first interfaces (11), a plurality of oil ways (121) are arranged in the machine body (12), and the plurality of first interfaces (11) on the machine body (12) are communicated with the plurality of oil ways (121) in a one-to-one correspondence manner;

the hydraulic motor (13), the hydraulic motor (13) is arranged on the machine body (12), the hydraulic motor (13) comprises a motor body (131) and an output shaft (132), the output shaft (132) can rotate around a first direction compared with the motor body (131), the output shaft (132) is provided with a hydraulic oil cavity (133), the hydraulic oil cavity (133) is communicated with one part of the oil channels (121), and the motor body (131) is communicated with the other part of the oil channels (121);

-a piston assembly (14), at least part of the piston assembly (14) being arranged within the hydraulic oil chamber (133), and the piston assembly (14) being telescopically movable in the first direction relative to the output shaft (132);

the clamping jaw (15), the output shaft (132) with clamping jaw (15) links to each other, in order to drive clamping jaw (15) relative organism (12) are rotated around first direction, piston assembly (14) with clamping jaw (15) links to each other, in order to drive clamping jaw (15) open and shut.