CN117428815B - Two-degree-of-freedom compact hydraulic paw for heavy-duty application - Google Patents
Two-degree-of-freedom compact hydraulic paw for heavy-duty application Download PDFInfo
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- CN117428815B CN117428815B CN202311764958.3A CN202311764958A CN117428815B CN 117428815 B CN117428815 B CN 117428815B CN 202311764958 A CN202311764958 A CN 202311764958A CN 117428815 B CN117428815 B CN 117428815B
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- linear actuator
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 16
- 238000007789 sealing Methods 0.000 claims description 21
- 238000013461 design Methods 0.000 claims description 15
- 210000000078 claw Anatomy 0.000 claims description 13
- 210000001145 finger joint Anatomy 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 2
- 238000004880 explosion Methods 0.000 abstract description 3
- 230000002265 prevention Effects 0.000 abstract description 3
- 239000003245 coal Substances 0.000 abstract description 2
- 238000005520 cutting process Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 238000003754 machining Methods 0.000 description 4
- 238000003801 milling Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a two-degree-of-freedom compact hydraulic paw for heavy-duty application, which comprises a circular ring actuator, a linear actuator and an integrated valve block, wherein the circular ring actuator is arranged on the linear actuator; the circular ring actuator and the linear actuator are provided with a cylinder barrel and a piston rod; the linear actuator cylinder barrel and the circular ring actuator cylinder barrel form rotary connection; the linear actuator cylinder barrel is connected with the circular actuator piston rod through the cantilever, so that the angular displacement of the circular actuator piston rod is equivalently converted into the coaxial angular displacement of the linear actuator cylinder barrel; the linear actuator piston rod is connected with the paw connecting rod; two circular oil ports are distributed on two sides of the integrated valve block and are communicated with a rod cavity and a rodless cavity of the inner cavity of the cylinder barrel of the linear actuator where the piston rod of the linear actuator is located through an embedded runner of the integrated valve block inwards. The hydraulic paw provided by the invention has unique applicability in special operation scenes such as rescue and relief work, explosion prevention, coal mine operation and the like.
Description
Technical Field
The invention relates to the field of hydraulic claws, in particular to a two-degree-of-freedom compact hydraulic claw for heavy-duty application.
Background
Robotic arms have been widely used in industrial applications as a key component of automated equipment. Along with the continuous development of related technologies, the application scene of the mechanical arm is further expanded, and complex and high-risk tasks can be executed. For example, the collapsed building is cleaned at the rescue and relief site, and the assembly of the aerospace instrument is completed in space. The more diversified and complicated application scenes provide more strict requirements for the performance and the adaptability of the mechanical arm and the mechanical gripper matched with the mechanical arm.
The mechanical gripper is an end attachment of the mechanical arm and is directly contacted with the object to be gripped. Therefore, the performance of the manipulator claw directly affects the overall performance of the manipulator arm, including grasping accuracy, robustness, environmental adaptability, and the like. Ever before, increasingly complex and extreme application scenarios put higher performance requirements on the mechanical gripper. In the disaster relief site, the quality of building remains to be clamped by the claws is extremely high, so that the claws are required to have enough torque output to execute heavy-duty operation. In addition, better robustness is required to cope with post-disaster environments with extremely high uncertainties. In severe extreme environments such as space, deep sea and the like, the paw is required to have better environment adaptability, and accurate operation is realized under the working conditions such as extreme temperature, pressure and the like. However, the existing gripper is difficult to cope with the use requirements of heavy load and extreme working conditions.
The existing paw adopts motor driving and pneumatic driving as direct driving schemes. However, the two driving modes are limited by the low power density ratio, and the requirements under heavy load conditions are difficult to meet. German andrak (SCHUCK) is a well-known precision clamp manufacturer whose general electric paw product "EGU 50-EC-N-B" has dimensions 122X 72X 88 (unit: mm), weighing 1.44kg and an output torque of only 32 N.m. Danish Onrobot is a well-known mechanical gripper manufacturer, and the under flag electric gripper "2FG7" is 144X 90X 71 (unit: mm) in size, weighing 1.14kg, and outputting only 140N. Compared with an electric clamping jaw, the pneumatic clamping jaw has smaller weight and volume and smaller output torque. German Fei Situo company (FESTO) is known as a worldwide pneumatic component manufacturer, whose pneumatic clamping jaw product "DHWC (size 32)" has dimensions of 51X 20X 10 (unit: mm), weighs 0.639kg and outputs only 5N.m at an operating pressure of 8 bar.
The existing hydraulic hand claw has the disadvantages of complicated structure, complicated hydraulic pipeline, large volume and the like, is not beneficial to flexible operation and accurate control, and is particularly greatly restricted in application in narrow and complicated environments. To sum up, existing hydraulic drive schemes introduce a series of new problems that are difficult to solve in order to increase the load capacity, making the development of hydraulic jaws difficult.
At present, a paw has not been provided, which can realize large torque output, clamping accuracy, compact structure and has better adaptability to severe working conditions.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a two-degree-of-freedom compact hydraulic paw for heavy-duty application.
The aim of the invention is realized by the following technical scheme: a two-degree-of-freedom compact hydraulic gripper for heavy-duty applications comprises a circular ring actuator, a linear actuator and an integrated valve block;
the circular ring actuator and the linear actuator are provided with a cylinder barrel and a piston rod; the linear actuator cylinder barrel and the circular ring actuator cylinder barrel form rotary connection;
the linear actuator cylinder barrel is connected with the circular actuator piston rod through the cantilever, so that the angular displacement of the circular actuator piston rod is equivalently converted into the coaxial angular displacement of the linear actuator cylinder barrel;
the linear actuator piston rod is connected with the finger connecting rod;
two circular oil ports are distributed on two sides of the integrated valve block and are communicated with a rod cavity and a rodless cavity of the inner cavity of the cylinder barrel of the linear actuator where the piston rod of the linear actuator is located through an embedded runner of the integrated valve block inwards.
Further, an upper end cover of the circular ring actuator is arranged above the cylinder barrel of the circular ring actuator; the inside of the cylinder barrel of the circular ring actuator is a cavity which contains a piston rod of the circular ring actuator; the piston rod part of the circular ring actuator is positioned in the cavity, and the piston rod penetrates through the central hole of the front end cover of the circular ring actuator and extends out of the cavity.
Further, the circular ring actuator comprises a circular ring actuator rear end cover and a circular ring actuator front end cover; the rear end cover of the circular ring actuator and the front end cover of the circular ring actuator are symmetrically distributed on the left side and the right side of the cylinder barrel of the circular ring actuator, and the two end covers are connected with the cylinder barrel of the circular ring actuator through screws.
Further, the linear actuator cylinder barrel and the circular actuator piston rod adopt coaxial geometric layout.
Further, the linear actuator cylinder is connected with the circular ring actuator cylinder through a shaft sleeve or a bearing, and a part of the linear actuator cylinder is embedded in the circular ring actuator cylinder.
Furthermore, the cantilever is embedded into the linear actuator cylinder barrel in a rigid connection mode, the annular actuator piston rod is connected with the cantilever through a screw, the integrated design of the annular actuator and the linear actuator is realized, and the angular displacement of the annular actuator piston rod is equally converted into the coaxial angular displacement of the linear actuator cylinder barrel.
Further, the linear actuator piston rod is connected with the left second finger connecting rod and the right second finger connecting rod through pins through finger connectors.
Further, through changing the oil inlet pressure of the oil ports on the two sides of the cylinder barrel of the circular ring actuator, the posture adjustment of the paw can be realized.
Further, left-side three-way connectors and right-side three-way connectors are distributed on two sides of the integrated valve block; the grabbing and placing of objects by the claws can be realized by changing the oil inlet pressure of the left three-way joint and the right three-way joint.
The invention has the beneficial effects that:
1. heavy load: the invention provides a two-degree-of-freedom compact hydraulic gripper for heavy-duty application, which simultaneously uses a hydraulic linear actuator and a hydraulic circular actuator as actuators of the gripper. Compared with the existing motor-driven paw and pneumatic paw, the invention has breakthrough load advantages. Under 21Mpa, the claw extension torque is 152N.m, the retraction torque is 105N.m, which is about 5-10 times of the existing electric clamping jaw and 25-35 times of the pneumatic clamping jaw; the extension pushing force is 85200N, the return pulling force is 78500N, which is about 500-700 times of that of the existing electric clamping jaw, and the pneumatic clamping jaw is more than 1000 times. Furthermore, the load of the gripper for stable gripping can reach 100KG. In addition, the mechanical gripper provided by the invention has higher power density, the total mass is less than 1.5kg, and the power density can reach 400Nm/kg. Therefore, the invention has good adaptability under the working condition of larger load requirement.
2. And (3) tubeless design: the two-degree-of-freedom compact hydraulic paw for heavy-duty application provided by the invention adopts a pipeless design, has the characteristic of compact structure, and has the maximum expansion size of 210 multiplied by 115 (unit: mm). By utilizing the integrated valve block of the embedded runner, the pipeless design of the hydraulic runner is realized, the problems of complex structure, volume redundancy and the like caused by complex hydraulic pipelines are avoided, and the compactness of the structure and the stability of the structure are improved. In addition, the pipeless design effectively avoids the cavity effect of the hydraulic hose, and the control performance of the paw is improved obviously.
3. No internal leakage: the two-degree-of-freedom compact hydraulic paw for heavy-duty application provided by the invention has the characteristic of no internal leakage. The traditional hydraulic swing actuator cuts off the high-low pressure cavity by means of mechanical sealing and the like, but the sealing element and the cylinder body cannot be tightly matched, so that internal leakage is necessarily generated. The end part of the piston rod of the circular ring actuator, which is positioned in the cylinder barrel of the circular ring actuator, adopts a ladder-shaped structure. The two protruding parts of the ladder-shaped structure are tightly attached to the inner wall of the cylinder barrel, so that the isolation of the high-pressure cavity and the low-pressure cavity is effectively realized, and the requirement on the matching strictness of the sealing element required by controlling the leakage quantity is greatly reduced. Furthermore, by assisting the sealing ring embedded in the stepped concave part in the stepped structure at the end part of the piston rod of the circular ring actuator, the inner leakage of the swinging actuator during rotation is effectively prevented, and the reliability and the efficiency are remarkably improved.
4. The split type design of the cylinder barrel of the circular ring actuator is convenient for processing by utilizing the existing machine tool process: the two-degree-of-freedom compact hydraulic paw for heavy-duty application provided by the invention has the advantages that the cylinder barrel of the circular ring actuator adopts a split design, and the processing is convenient by utilizing the existing machine tool process. The arc-shaped inner wall of the cylinder barrel cavity of the traditional hydraulic swing actuator cannot be machined through the existing numerical control milling machine process, so that the manufacturing quality of the inner wall cannot be guaranteed. The invention provides a split cylinder design and develops a split manufacturing mode aiming at a split cylinder. After the cylinder barrel is divided into two parts in a horizontal cutting or vertical cutting mode, the existing milling machine process can cover any area of the inner wall, and high-precision machining is achieved. Through split type design, machining precision has effectively been improved, and then assembly precision is improved.
5. And (3) integrated design: the invention provides a two-degree-of-freedom compact hydraulic paw for heavy-duty application, which adopts an integrated design method at an actuator part consisting of a circular actuator and a linear actuator. The annular configuration of the circular ring actuator and the linear configuration of the linear actuator are utilized to carry out nested combination, so that the optimal spatial layout of the actuator is realized on the premise of ensuring the structural rigidity, and the structure is compact.
6. The adaptability to severe working conditions is strong: the two-degree-of-freedom compact hydraulic paw for heavy-duty application provided by the invention is driven by the hydraulic actuator, is matched with a pipeless runner design, fully exerts the shock resistance and vibration absorption capacity of a hydraulic system, can ensure that the structure is not damaged under severe working conditions such as strong impact, frequent vibration and the like, and realizes normal and stable grabbing operation.
7. Unique special scene application capabilities: the invention provides a two-degree-of-freedom compact hydraulic paw for heavy-duty application, which is hydraulically driven. Therefore, the method has unique application capability for several special scenes, such as environments sensitive to electromagnetic disturbance, occasions with special requirements on explosion prevention, and the like. Therefore, the hydraulic paw provided by the invention has unique applicability in special operation scenes such as rescue and relief work, explosion prevention, coal mine operation and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a cross-sectional view of the present invention, wherein (b) corresponds to a front view, and (a) is a cross-sectional view at A-A in (b).
Fig. 3 is a front view of the present invention.
Fig. 4 is a cross-sectional view at B-B in fig. 3.
Fig. 5 is a schematic view of a linear actuator and a circular actuator.
Fig. 6 is a schematic view of a horizontal cutting split type structure of a cylinder barrel of the circular ring actuator.
Fig. 7 is a schematic view of a vertical cutting split type structure of the cylinder barrel of the circular ring actuator.
The figures are marked as follows: 1-right finger pad, 2-right first finger link, 3-right second finger link, 4-front encoder, 5-right finger mount, 6-upper connection block, 7-left three-way joint, 8-integrated valve block, 9-ring actuator upper end cap, 10-ring actuator rear end cap, 11-ring actuator cylinder, 12-cantilever, 13-straight line actuator cylinder, 14-left finger mount, 15-straight line actuator cylinder cap, 16-straight line actuator piston rod, 17-left second finger link, 18-finger connector, 19-left first finger link, 20-left finger pad 21-encoder mount pad, 22-ring actuator upper end cover sealing washer, 23-ring actuator piston rod sealing washer, 24-front end cover sealing washer, 25-ring actuator front end cover, 26-rear end cover sealing washer, 27-rear encoder magnet, 28-rear encoder, 29-rear encoder mount pad, 30-lower connecting block, 31-front encoder magnet, 32-front axle sleeve, 33-ring actuator piston rod, 34-rear axle sleeve, 35-right side three-way connection, 36-cylinder rear O-shaped sealing washer, 37-cylinder O-shaped sealing washer, 38-cylinder front O-shaped sealing washer, 39-piston rod rear O-shaped sealing washer, 40-piston rod front O-shaped sealing washer.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the drawings.
As shown in fig. 1-4, the two-degree-of-freedom compact hydraulic paw for heavy-duty application according to the present invention includes a right finger pad 1, a right first finger link 2, a right second finger link 3, a front encoder 4, a right finger mount 5, an upper connection block 6, a left three-way joint 7, an integrated valve block 8, a ring actuator upper end cap 9, a ring actuator rear end cap 10, a ring actuator cylinder 11, a cantilever 12, a linear actuator cylinder 13, a left finger mount 14, a linear actuator cylinder cap 15, a linear actuator piston rod 16, a left second finger link 17, a finger joint 18, a left first finger link 19, a left finger pad 20, an encoder mount 21, a ring actuator upper end cap seal 22, a ring actuator piston rod seal 23, a front end cap seal 24, a ring actuator front end cap 25, an accessory including a rear ring seal 26, a rear encoder magnet 27, a rear encoder 28, a rear encoder mount 29, a lower connection block 30, a front encoder magnet 31, a right three-way joint 33, and a right actuator piston rod joint 35. The front shaft sleeve 32, the rear shaft sleeve 34, the cylinder rear O-shaped sealing ring 36, the cylinder middle O-shaped sealing ring 37, the cylinder front O-shaped sealing ring 38, the piston rod rear O-shaped sealing ring 39 and the piston rod front O-shaped sealing ring 40.
The upper end cover 9 of the circular ring actuator is arranged above the cylinder barrel 11 of the circular ring actuator, and the upper end cover and the cylinder barrel are connected through screws. Inside the ring actuator cylinder 11 is a cavity, which contains a ring actuator piston rod 33. The ring actuator piston rod 33 is partially located in the cavity, and the piston rod 33 partially extends out of the cavity through the central bore of the ring actuator front end cap 25. The rear end cover 10 of the circular ring actuator and the front end cover 25 of the circular ring actuator are symmetrically distributed on the left side and the right side of the cylinder barrel 11 of the circular ring actuator, and the two end covers are connected with the cylinder barrel 11 of the circular ring actuator through screws.
The linear actuator cylinder 13 and the circular actuator piston rod 33 adopt coaxial geometric layout, the linear actuator cylinder 13 is connected with the circular actuator cylinder 11 through the front shaft sleeve 32 and the rear shaft sleeve 34, and a part of the linear actuator cylinder 13 is embedded in the circular actuator cylinder 11.
In addition, the cantilever arm 12 is rigidly connected to the linear actuator cylinder 13, and the ring actuator piston rod 33 is connected to the cantilever arm 12 by a screw, so that the integration design of the ring actuator (fig. 5 (b)) and the linear actuator (fig. 5 (c)) is achieved, as shown in fig. 5 (a), and the equivalent conversion of the angular displacement of the ring actuator piston rod 33 into the coaxial angular displacement of the linear actuator cylinder 13 is achieved.
Further, the left finger mount 14 and the left first finger link 19 are connected by pins from top to bottom, and the left finger mount 14 is fixedly connected with the linear actuator cylinder 13 by screws. The right finger mounting seat 5 and the right first finger connecting rod 2 are connected through pins from top to bottom, and the right finger mounting seat 5 is fixedly connected with the linear actuator cylinder 13 through screws. Further, the finger joint 18, the linear actuator piston rod 16, the left second finger link 17, and the right second finger link 3 are connected by pins from top to bottom. The left first finger link 19 and the left second finger link 17 are connected by pins from top to bottom. The right first finger link 2 and the right second finger link 3 are connected by pins from top to bottom. The left finger pad 20 and the left first finger link 19 are connected by pins from top to bottom. The right finger cushion block 1 and the right first finger connecting rod 2 are connected by pins from top to bottom. Therefore, integration of the linear actuator and the gripper link mechanism is realized, and the angular displacement of the linear actuator cylinder 13 can be converted into the coaxial angular displacement of the finger mechanism by the same amount.
The linear actuator piston rod 16 is connected with the left second finger connecting rod 17 and the right second finger connecting rod 3 through pins by a finger connector 18.
Therefore, when the linear actuator piston rod 16 is extended, the angle (defined as θ, 0+.θ+.180°) between the left second finger link 17 and the right second finger link 3 will increase as the extension distance of the linear actuator piston rod 16 increases. Since the left first finger link 19 and the left second finger link 17 are connected by the pin, the right first finger link 2 and the right second finger link 3 are connected by the pin, and the increase of the included angle θ causes the left first finger link 19 and the right first finger link 2 to move in a direction away from the axis of the linear actuator piston rod.
Further, as the left finger cushion block 20 and the left first finger connecting rod 19 are connected by the pin, the right finger cushion block 1 and the right first finger connecting rod 2 are connected by the pin, the left finger cushion block 20 and the right finger cushion block 1 which are directly responsible for load grabbing move in the direction away from the axis of the piston rod of the linear actuator, and the opening of the paw can be realized through the extending of the piston rod 16 of the linear actuator. Similarly, the linear actuator cylinder is retracted through the linear actuator piston rod 16, the included angle theta between the left second finger connecting rod 17 and the right second finger connecting rod 3 is reduced, the left first finger connecting rod 19 and the right first finger connecting rod 2 move towards the direction close to the axis of the linear actuator piston rod, and the left finger cushion block 20 and the right finger cushion block 1 move towards the direction close to the axis of the linear actuator piston rod, so that the closing of the paw can be realized through the retraction of the linear actuator piston rod 16.
As shown in fig. 6 and 7, the horizontal cutting split type and the vertical cutting split type of the cylinder barrel of the circular ring actuator are respectively schematic structural diagrams. Wherein the chain line is a split cutting line, and the cylinder barrel is cut into two parts along the chain line for processing. The two structures are compared, the machining starting point of the milling cutter needs to be adjusted three times when the horizontal cutting split structure is machined, and the machining starting point of the milling cutter needs to be adjusted twice when the vertical cutting split structure is machined. In addition, the split horizontal cut construction requires an additional mounting plane to clamp the upper and lower sections, introducing excess mass and greater overall size. The creation of two seams from a horizontal cut may result in sticking and damage to the sealing system. While the vertically cut split configuration avoids redundant quality and dangerous seams.
Two circular oil ports are symmetrically distributed on two sides of the circular actuator cylinder 11 and are inwards communicated with a rod cavity and a rodless cavity of the inner cavity of the circular actuator cylinder 11 where the circular actuator piston rod 33 is located respectively. The two oil ports are used for connecting the cavity where the piston rod 33 of the circular ring actuator is located and an oil supply pipeline of an external oil source. After the two oil ports are respectively communicated with high-pressure oil and low-pressure oil, the rotary motion of the piston rod 33 of the circular ring actuator can be realized through the pressure difference between the two ends.
The upper connecting block 6 and the lower connecting block 30 are symmetrically arranged above and below the integrated valve block 8 and are connected through screws. Two circular oil ports are asymmetrically distributed on two sides of the integrated valve block 8. The left-hand three-way joint 7 and the right-hand three-way joint 35 are arranged in such a position that the center port is concentric with the two oil ports. The two oil ports are inwards communicated with a rod cavity and a rodless cavity of the inner cavity of the linear actuator cylinder barrel 13 where the linear actuator piston rod 16 is positioned respectively and are used for connecting the cavity where the linear actuator piston rod 16 is positioned with an oil supply pipeline of an external oil source. After the two oil ports are respectively communicated with high-pressure oil and low-pressure oil, the linear motion of the linear actuator piston rod 16 can be realized through the pressure difference between the two ends.
When the heavy-load grabbing task is executed, the posture of the gripper is adjusted firstly, so that the gripper can grab the object in the posture which is most suitable for the appearance of the grabbed object. After the hand claw finishes the posture adjustment, the object is grabbed and placed.
The specific method and principle of the hand claw posture adjustment are as follows: two circular oil ports are symmetrically distributed on two sides of the circular ring actuator cylinder 11, high-pressure oil is communicated to the right oil port, low-pressure oil is communicated to the left oil port, the rodless cavity pressure of the inner cavity of the circular ring actuator cylinder 11 is larger than the rod cavity pressure, and the circular ring actuator piston rod 33 rotates anticlockwise under the action of the pressure difference on the two sides of the rodless cavity and the rod cavity (the visual direction is the direction in which the linear actuator piston rod 16 extends); conversely, when high-pressure oil is supplied to the left-side oil port and low-pressure oil is supplied to the right-side oil port, the ring actuator piston rod 33 rotates clockwise (the viewing direction is the direction in which the linear actuator piston rod 16 extends). The adjustment of the rotation angle of the piston rod 33 of the circular ring actuator is realized by changing the oil inlet pressure of the two oil ports. Further, since the ring actuator piston rod 33 and the cantilever 12 are connected by a screw, the cantilever 12 is rigidly coupled to the linear actuator cylinder 13, and the equivalent conversion of the angular displacement of the ring actuator piston rod 33 into the coaxial angular displacement of the linear actuator cylinder 13 can be achieved. Further, since the linear actuator cylinder 13 is fixedly connected to the right finger mount 5 and the left finger mount 14, the coaxial angular displacement of the linear actuator cylinder 13 can be converted into the coaxial angular displacement of the gripper link mechanism. In sum, by changing the oil inlet pressure of the oil ports at the two sides of the cylinder 11 of the circular ring actuator, the posture adjustment of the paw can be realized.
The specific method and principle of grabbing and placing the object by the paw are as follows: two circular oil ports are asymmetrically distributed on two sides of the integrated valve block 8 and are inwards communicated with a rod cavity and a rodless cavity of the inner cavity of the linear actuator cylinder 13 respectively. The left-hand three-way joint 7 and the right-hand three-way joint 35 are arranged in such a position that the center port is concentric with the two oil ports. After high-pressure oil and low-pressure oil are respectively introduced into the right three-way joint 35 and the left three-way joint 7, the pressure of the rodless cavity of the inner cavity of the linear actuator cylinder 13 is larger than that of the rod cavity. Under the action of the pressure difference on the two sides of the rodless cavity and the rod cavity, the linear motion that the linear actuator piston rod 16 extends out of the linear actuator cylinder 13 is realized. On the contrary, after the left three-way joint 7 and the right three-way joint 35 are respectively filled with high-pressure oil and low-pressure oil, the linear motion of the linear actuator piston rod 16 retracting the linear actuator cylinder 13 can be realized. Since the linear actuator piston rod 16 is fixedly connected with the finger connector 18, and the finger connector 18 and the right second finger connecting rod 3, the finger connector 18 and the left second finger connecting rod 17 respectively form a revolute pair, the retraction of the linear actuator piston rod 16 can realize the closing of the hand claw and grasp an object; extension of the linear actuator piston rod 16 enables the opening of the jaws to place an object. In conclusion, grabbing and placing objects by the claws can be achieved by changing the oil inlet pressure of the left three-way joint 7 and the right three-way joint 35.
The above-described embodiments are intended to illustrate the present invention, not to limit it, and any modifications and variations made thereto are within the spirit of the invention and the scope of the appended claims.
Claims (4)
1. The two-degree-of-freedom compact hydraulic paw for heavy-duty application is characterized by comprising a circular ring actuator, a linear actuator and an integrated valve block;
the circular ring actuator and the linear actuator are provided with a cylinder barrel and a piston rod; the linear actuator cylinder barrel and the circular actuator cylinder barrel form coaxial and internally and externally nested rotary connection;
an upper end cover of the circular ring actuator is arranged above the cylinder barrel of the circular ring actuator; the inside of the cylinder barrel of the circular ring actuator is a cavity which contains a piston rod of the circular ring actuator; the piston rod part of the circular ring actuator is positioned in the cavity, and the piston rod penetrates through the central hole of the front end cover of the circular ring actuator and extends out of the cavity; the end part of a piston rod of the circular ring actuator is of a ladder-shaped structure, and the protruding part is tightly attached to the inner wall of the cylinder barrel, so that high-low pressure cavity isolation is realized; the sealing ring is embedded in the stepped structure of the piston rod to assist in sealing; the cylinder barrel of the circular ring actuator is of a split type design;
the linear actuator cylinder is connected with the circular actuator piston rod through the cantilever, the cantilever is embedded into the linear actuator cylinder in a rigid connection mode, and the circular actuator piston rod is connected with the cantilever through the screw, so that the integrated design of the circular actuator and the linear actuator is realized, and the angular displacement of the circular actuator piston rod is equivalent to the coaxial angular displacement of the linear actuator cylinder;
two circular oil ports are symmetrically distributed on two sides of the cylinder barrel of the circular ring actuator and are inwards communicated with a rod cavity and a rodless cavity of the inner cavity of the cylinder barrel of the circular ring actuator, where the piston rod of the circular ring actuator is located, respectively; the two oil ports are used for connecting a cavity where the piston rod of the circular ring actuator is positioned and an oil supply pipeline of an external oil source; after the two oil ports are respectively communicated with high-pressure oil and low-pressure oil, the rotary motion of the piston rod of the circular ring actuator can be realized through the pressure difference between the two ends, and the adjustment of the rotary angle of the piston rod of the circular ring actuator is realized through changing the oil inlet pressure of the two oil ports, so that the posture adjustment of the paw is realized;
the linear actuator piston rod is connected with the finger connecting rod;
two circular oil ports are asymmetrically distributed on two sides of the integrated valve block and are inwards communicated with a rod cavity and a rodless cavity of an inner cavity of a cylinder barrel of the linear actuator where a piston rod of the linear actuator is located through an embedded runner of the integrated valve block respectively, and are used for connecting the cavity where the piston rod of the linear actuator is located with an oil supply pipeline of an external oil source; the grabbing and placing of objects by the claws can be realized by changing the oil inlet pressure of the left three-way joint and the right three-way joint.
2. The two-degree-of-freedom compact hydraulic gripper for heavy-duty applications of claim 1, wherein said ring actuator comprises a ring actuator rear end cap and a ring actuator front end cap; the rear end cover of the circular ring actuator and the front end cover of the circular ring actuator are symmetrically distributed on the left side and the right side of the cylinder barrel of the circular ring actuator, and the two end covers are connected with the cylinder barrel of the circular ring actuator through screws.
3. The two-degree-of-freedom compact hydraulic gripper for heavy-duty applications of claim 1, wherein the linear actuator cylinder is connected to the ring actuator cylinder by a bushing or bearing, and a portion of the linear actuator cylinder is embedded in the ring actuator cylinder.
4. The two-degree-of-freedom compact hydraulic gripper for heavy-duty applications of claim 1, wherein said linear actuator piston rod is connected to the left second finger link and the right second finger link by pins via finger joints.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311764958.3A CN117428815B (en) | 2023-12-21 | 2023-12-21 | Two-degree-of-freedom compact hydraulic paw for heavy-duty application |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311764958.3A CN117428815B (en) | 2023-12-21 | 2023-12-21 | Two-degree-of-freedom compact hydraulic paw for heavy-duty application |
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| Publication Number | Publication Date |
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| CN117428815A CN117428815A (en) | 2024-01-23 |
| CN117428815B true CN117428815B (en) | 2024-04-05 |
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| CN202311764958.3A Active CN117428815B (en) | 2023-12-21 | 2023-12-21 | Two-degree-of-freedom compact hydraulic paw for heavy-duty application |
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