CN210087723U - Miniature hydro-cylinder device of manipulator is exclusively used in - Google Patents

Abstract

The utility model discloses a micro oil cylinder device special for a manipulator, which comprises a micro oil cylinder, an arm lock and a driving rod, wherein both ends of the micro oil cylinder are respectively provided with a fixed block and a connecting block, and the connecting block is hinged with the driving rod; the clamping arm is hinged with the fixed block; the fixing block is provided with a mounting hole and a pre-tightening hole, the wall of the mounting hole is provided with a thread I, and one side of the wall of the pre-tightening hole, which is far away from the mounting hole, is provided with a thread IV; the side wall of the cylinder body is provided with a thread II matched with the thread I, the bottom of the cylinder body is provided with a spring I and a circular plate which are sequentially connected, the bottom of the cylinder body is contacted with the bottom of the mounting hole, the circular plate is in threaded connection with the thread IV, and the spring I is in a stretching state. The utility model discloses in later maintenance, improved its self and maintained the convenience, guaranteed that articulated position all only realizes by initial assembly, the articulated shaft and the hinge hole that do benefit to articulated position department guarantee high axiality and articulated shaft and hinge hole's complex precision.

Description

Miniature hydro-cylinder device of manipulator is exclusively used in

Technical Field

The utility model relates to a hydro-cylinder technical field, concretely relates to miniature hydro-cylinder device of manipulator is exclusively used in.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to oil cylinders, namely hydraulic cylinders, in the departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

The existing manipulator comprises an oil cylinder and two clamping arm assemblies, each clamping arm assembly comprises an L-shaped clamping arm and a driving rod, one end of each clamping arm is hinged to the body of the corresponding micro oil cylinder, and two ends of each driving rod are hinged to the tail end of a piston rod of the corresponding micro oil cylinder and the bending portion of the corresponding clamping arm respectively. The piston rod extends outwards, and the driving rod drives one ends of the clamping arms far away from the hinge joint to mutually separate; the piston rod retracts, and the driving rod pulls the clamping arm to rotate until the ends, far away from the hinged joint, of the clamping arm are mutually contacted or approach to clamp an object. When the space of a working place using the manipulator is small, the manipulator needs to be small, and a micro-cylinder is preferably adopted as a corresponding cylinder.

The miniature oil cylinder is an oil cylinder with smaller integral volume. The installation requirement of the automatic and intelligent equipment such as an industrial robot and a manipulator in a narrow space is met. Micro cylinder is commonly referred to as a manufacturing cylinder diameter

The oil cylinder.

Although the micro oil cylinder with smaller cylinder diameter is designed technically. But the installation mode is still the traditional installation mode: welding the cylinder body on the support table or arranging a support lug on the cylinder body of the oil cylinder, and penetrating the support lug through a screw to be in threaded connection with the support table of the oil cylinder; the tail end of a piston rod of the oil cylinder is provided with a support lug, and the support lug on the piston rod is hinged with a driven part through a pin shaft. When welding is adopted, the cylinder body is bonded with the support table through welding materials, so that later maintenance and replacement of the oil cylinder are not facilitated. And when the cylinder body is replaced each time, the welding part needs to be forcibly damaged, then the cylinder body is disassembled, and then a new oil cylinder is replaced and welded and fixed. The operation steps are complicated and the maintenance time is long. When the oil cylinder is fixed by the screw, the position of the support lug can be adjusted due to different use environments and different mounting structures of the oil cylinders of the same type. This results in that the cylinders of the same type need to be produced in a plurality of batches only due to the difference in the positions and sizes of the support lugs. This has reduced production efficiency, and the hydro-cylinder that is provided with the journal stirrup takes up a large space, is unfavorable for stock, transportation.

In the existing manipulator, the clamping arm and the driving rod are directly connected with the oil cylinder, as shown in fig. 1. When the oil cylinder is detached or replaced in the later period, the whole manipulator needs to be detached, and then the clamping arm driving rod is detached and hinged to a new oil cylinder, so that the complexity of later-period maintenance is increased, and the maintenance cost is increased. Meanwhile, the hinge part can be disassembled and assembled for multiple times, the matching accuracy of the hinge part can be reduced, and the rotation of the clamping arm and the driving rod is not facilitated.

Disclosure of Invention

The utility model aims to provide a: the utility model provides a miniature hydro-cylinder device of manipulator has been exclusively used in, has solved arm lock and actuating lever and all directly is connected with the hydro-cylinder, when leading to the later stage to dismantle or change the hydro-cylinder, needs to dismantle whole manipulator, has increased the complexity of later maintenance, has improved a plurality of above-mentioned technical problem such as maintenance cost. The utility model relates to a miniature hydro-cylinder device of manipulator has been exclusively used in, has changed the connection structure between hydro-cylinder and arm lock, the actuating lever to when changing the hydro-cylinder, can dismantle it fast get off, and install new hydro-cylinder fast and go. And simultaneously, through the utility model discloses, when fixed hydro-cylinder to a supporting bench, through the utility model discloses a fixed block can be fixed, need not to weld the cylinder body or set up the journal stirrup on the cylinder body, so that the utility model discloses a batch production, stock and transportation.

The utility model adopts the technical scheme as follows:

a miniature oil cylinder device special for a manipulator comprises a miniature oil cylinder and two clamping arm components, wherein each clamping arm component comprises an L-shaped clamping arm and a driving rod, one end of each clamping arm is hinged with the body of the miniature oil cylinder, two ends of each driving rod are respectively hinged with the tail end of a piston rod of the miniature oil cylinder and the bending part of each clamping arm, and a fixed block and a connecting block are respectively arranged between the body of the miniature oil cylinder and each clamping arm and between the piston rod and each driving rod, wherein the connecting block is detachably connected with the piston rod, and one side, far away from the piston rod of the body, of the connecting block; the clamping arm is hinged with the fixed block;

the two ends of the fixed block are respectively provided with a mounting hole and a pre-tightening hole which are communicated with each other, the aperture of the mounting hole is larger than that of the pre-tightening hole, one end of the hole wall of the mounting hole, which is far away from the pre-tightening hole, is provided with a thread I, and one side of the hole wall of the pre-tightening hole, which is far away from the mounting hole, is provided with a thread IV;

a thread II matched with the thread I is arranged at one end, far away from the cylinder bottom, of the side wall of the cylinder body, a spring I and a circular plate are sequentially connected with the cylinder bottom of the cylinder body, and two ends of the spring I are respectively in spherical hinge connection with the cylinder bottom and the circular plate;

the cylinder bottom of the cylinder body is inserted into the mounting hole and is in contact with the hole bottom of the mounting hole, the circular plate is in threaded connection with the threads IV, and the spring I is in a stretching state.

When in use, the fixed block is directly welded on a platform using the micro oil cylinder; the connecting block is hinged with a part which needs to be driven by the micro oil cylinder; the connection and disassembly between the connecting block and the piston rod can be realized by screw connection, electromagnet connection, clamping connection, screw connection and the like.

When the micro oil cylinder needs to be replaced or maintained, the connecting block is firstly detached from the piston rod; then, screwing the circular plate into the cylinder body to loosen the circular plate, so that the threaded connection between the circular plate and the thread IV is released; at the moment, after the spring I loses the axial limit generated by the threaded connection between the thread IV and the circular plate, the spring I restores to the original state; then, the cylinder body is rotated, so that the threaded connection between the thread I and the thread II is released; and then moving the cylinder body to the side far away from the pre-tightening hole until the cylinder body, the spring I and the circular plate are withdrawn from the mounting hole.

When a new oil cylinder is replaced, the circular plate penetrates through the mounting hole and then is inserted into the pre-tightening hole, and then the cylinder body is rotated to enable the thread I and the thread II to be in threaded connection; then pulling the circular plate, stretching the spring I until the threads on the side wall of the circular plate are contacted with the threads IV, and then rotating the circular plate to enable the circular plate to be in threaded connection with the threads IV, so that the spring I is kept in a stretched state; the connecting piece 4 is then connected to the piston rod.

Two ends of the spring I are respectively hinged with the cylinder bottom and the circular plate ball, so that the spring I cannot be twisted in the process of rotating the circular plate and the cylinder body; the two ends of the spring I can be directly and fixedly connected with the cylinder bottom and the circular plate, and at the moment, the rotating direction and the number of screwing turns of the circular plate are preferably the same as those of the cylinder body, so that when the circular plate is screwed after being rotated for several turns, the cylinder body is screwed after being rotated for several turns, and the torsion of the spring when the circular plate is rotated is eliminated.

In summary, the utility model changes the mounting structure of the oil cylinder by arranging the components and structures such as the fixed block, so that the micro oil cylinder can adopt the same appearance structure aiming at different use environments and mounting structures, thereby facilitating the batch production, storage and transportation; simultaneously, the cylinder body is connected with dismantling between the fixed block, is convenient for its later maintenance, change.

The utility model discloses still through part structures such as spring I, screw thread IV, realize the axial pressure of threaded connection position department thread between hydro-cylinder body and the fixed block, prevent then that the threaded connection position between cylinder body and the fixed block from appearing because of the condition of vibration laxity, improved the utility model discloses structural stability.

And, the utility model discloses in later maintenance, the articulated position about the articulated position of arm lock and actuating lever both ends is all not dismantled it and is opened, has guaranteed that articulated position all only is realized by initial assembly, does benefit to articulated shaft and the hinge hole of articulated position department and guarantees high axiality and the accurate nature of articulated shaft and hinge hole's complex, does benefit to the rotation of arm lock and actuating lever, prevents that the dead condition of card from appearing in articulated position.

Due to the adoption of the technical scheme, the beneficial effects of the utility model are that:

1. the utility model relates to a miniature hydro-cylinder device special for manipulator, through setting up parts, structures such as fixed block, in order to change the mounting structure of the hydro-cylinder, so that can be directed against different service environment, mounting structure, the miniature hydro-cylinder can all adopt the same appearance structure, facilitate its batch production, stock and transportation; meanwhile, the cylinder body is detachably connected with the fixed block, so that later maintenance and replacement are facilitated;

2. the utility model relates to a miniature hydro-cylinder device of manipulator, through part structures such as spring I, screw IV, realize the axial pressure of the screw thread of threaded connection position department between cylinder body and the fixed block of hydro-cylinder, prevent then the threaded connection position between cylinder body and the fixed block from appearing because of the condition of vibration laxity, improved the structural stability of the utility model;

3. the utility model relates to a miniature hydro-cylinder device special for a manipulator, which prevents the situation that the threaded connection part is loosened due to vibration compared with the existing screw connection by the disassembly connection between a connecting block and a piston rod; meanwhile, the spring II is adopted to realize quick fixation and quick disassembly between the connecting block and the piston rod, so that the assembly efficiency and the maintenance convenience of the utility model are improved;

4. the utility model relates to a miniature hydro-cylinder device of manipulator is exclusively used in, set up behind screw thread III and the path hole for the screw hole, when needing to withdraw from the matching hole with the major diameter axle, to the direction pulling second grade shoulder shaft of keeping away from the matching hole, enable the screw thread contact on screw thread III and the path hole, and rotate second grade shoulder shaft, enable second grade shoulder shaft and pass through screw thread III and path hole threaded connection, thereby make second grade shoulder shaft realize locking in the axial, need not to apply load again on the second grade shoulder shaft and keep the major diameter axle to withdraw from the matching hole with compression spring II, improved the utility model discloses an installation convenience and later maintenance's convenience.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, for those skilled in the art, other related drawings can be obtained according to the drawings without creative efforts, and the proportional relationship of each component in the drawings in the present specification does not represent the proportional relationship in the actual material selection design, and is only a schematic diagram of the structure or the position, in which:

FIG. 1 is a prior art structural view;

fig. 2 is a schematic structural diagram of the present invention;

FIG. 3 is a schematic view of another aspect of the present invention;

fig. 4 is a top view of the present invention;

fig. 5 is a cross-sectional view of the present invention;

FIG. 6 is a schematic view of the structure in which the clamping ends of the two clamping arms contact each other;

FIG. 7 is a schematic structural diagram of a micro cylinder assembly;

FIG. 8 is a schematic view of another view-oriented structure of the micro cylinder assembly;

FIG. 9 is a side view of the micro cylinder assembly;

FIG. 10 is a cross-sectional view taken along A-A in FIG. 9;

FIG. 11 is a cross-sectional view taken along line B-B of FIG. 9;

FIG. 12 is a schematic view of the installed position of the stop assembly;

FIG. 13 is a cross-sectional view of the connecting block;

FIG. 14 is a schematic view of the structure of the cylinder block;

fig. 15 is a schematic view of the construction of the piston rod;

FIG. 16 is a cross-sectional view of the anchor block;

fig. 17 is a schematic structural view of a spacing assembly.

Reference numerals in the drawings indicate:

1-cylinder body, 2-piston rod, 3-fixed block, 4-connecting block, 5-mounting hole, 6-pre-tightening hole, 7-thread I, 8-thread II, 9-spring I, 10-round plate, 11-connecting hole, 12-large diameter hole, 13-small diameter hole, 14-matching hole, 15-small diameter shaft, 16-spring II, 17-thread III, 18-driving hole, 19-large diameter hole, 20-force application hole, 21-hinged plate, 22-thread IV, 23-piston, 24-clamping arm, 25-driving rod and 26-connecting plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention, i.e., the described embodiments are only some, but not all embodiments of the invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.

The present invention will be described in detail with reference to fig. 1 to 17.

Example 1

As shown in fig. 2-17, the utility model relates to a miniature hydro-cylinder device of manipulator is exclusively used in, including miniature hydro-cylinder and two arm lock subassemblies, the arm lock subassembly includes L-shaped arm lock 24 and actuating lever 25, one end of arm lock 24 is articulated with the cylinder body 1 of miniature hydro-cylinder, the both ends of actuating lever 25 are articulated with the terminal of the piston rod 2 of miniature hydro-cylinder and the bending part of arm lock 24 respectively, be provided with fixed block 3 and connecting block 4 between the cylinder body 1 of miniature hydro-cylinder and arm lock 24 and between piston rod 2 and actuating lever 25 respectively, wherein, connecting block 4 is dismantled with piston rod 2 and is connected, and the one side of keeping away from cylinder body piston rod 2 on connecting block 4 is articulated with actuating lever; the clamping arm 24 is hinged with the fixed block 3;

the two ends of the fixed block 3 are respectively provided with a mounting hole 5 and a pre-tightening hole 6 which are communicated with each other, the aperture of the mounting hole 5 is larger than that of the pre-tightening hole 6, one end of the wall of the mounting hole 5, which is far away from the pre-tightening hole 6, is provided with a thread I7, and one side of the wall of the pre-tightening hole 6, which is far away from the mounting hole 5, is provided with a thread IV 22;

a thread II 8 matched with the thread I7 is arranged at one end, far away from the cylinder bottom, of the side wall of the cylinder body 1, a spring I9 and a circular plate 10 which are sequentially connected are arranged at the cylinder bottom of the cylinder body 1, and two ends of the spring I9 are respectively in spherical hinge connection with the cylinder bottom and the circular plate 10;

the cylinder bottom of the cylinder body 1 is inserted into the mounting hole 5 and contacts with the hole bottom of the mounting hole 5, the circular plate 10 is in threaded connection with the thread IV 22, and the spring I9 is in a stretching state.

When in use, the fixed block 3 is directly welded on a platform using the micro oil cylinder; the connecting block 4 is hinged with a part which needs to be driven by the micro oil cylinder; the connection block 4 and the piston rod 2 can be disassembled and connected by means of screw connection, electromagnet connection, clamping connection, screw connection and the like.

When the micro oil cylinder needs to be replaced or maintained, the connecting block is firstly detached from the piston rod 2; then, screwing the circular plate 10 into the cylinder body 1 to loosen the circular plate 10, thereby releasing the screw connection between the circular plate 10 and the screw IV 22; at the moment, after the spring I9 loses the axial limit generated by the threaded connection between the thread IV 22 and the circular plate 10, the spring I9 restores to the original state; then, the cylinder body 1 is rotated again, so that the threaded connection between the thread I7 and the thread II 8 is released; then, the cylinder 1 is moved to the side away from the tightening hole 6 until the cylinder 1, the spring i 9 and the circular plate 10 are withdrawn from the mounting hole 5.

When a new oil cylinder is replaced, the circular plate 10 penetrates through the mounting hole 5 and then is inserted into the pre-tightening hole 6, and then the cylinder body 1 is rotated to enable the thread I7 and the thread II 8 to be in threaded connection; then pulling the circular plate 10, stretching the spring I9 until the threads on the side wall of the circular plate 10 are contacted with the threads IV 22, and then rotating the circular plate 10 to enable the circular plate 10 to be in threaded connection with the threads IV 22, so that the spring I9 is kept in a stretching state; the connecting piece 4 is then connected to the piston rod.

Two ends of the spring I9 are respectively and spherically hinged with the cylinder bottom and the circular plate 10, so that the spring I9 cannot be twisted in the process of rotating the circular plate 10 and the cylinder body 1; it is also possible to fixedly connect the two ends of the spring i 9 directly to the cylinder bottom and the circular plate 10, preferably in the same direction of rotation and the same number of turns of screwing of the circular plate 10 as the cylinder 1, so that when the circular plate 10 is screwed after several turns, the cylinder is screwed after several turns, and the torsion of the spring when the circular plate 10 is rotated is eliminated.

In summary, the utility model changes the mounting structure of the oil cylinder by arranging the fixing block 3 and other parts and structures, so that the micro oil cylinder can adopt the same appearance structure aiming at different use environments and mounting structures, and is convenient for batch production, storage and transportation; simultaneously, the cylinder body is connected with dismantling between the fixed block 3, is convenient for its later maintenance, change.

The utility model discloses still through part structures such as spring I9, screw IV 22, realize the axial pressure of threaded connection position department thread between hydro-cylinder body 1 and the fixed block 3, prevent then that the threaded connection position between cylinder body 1 and the fixed block 3 from appearing because of the condition of vibration laxity, improved the utility model discloses structural stability.

And, the utility model discloses in later maintenance, the articulated position about the articulated position of arm lock and actuating lever both ends is all not dismantled it and is opened, has guaranteed that articulated position all only has initial assembly to realize, does benefit to articulated shaft and the hinge hole of articulated position department and guarantees the accurate nature of the complex of high axiality, articulated shaft and hinge hole, does benefit to the rotation of arm lock and actuating lever, prevents that the dead condition of card from appearing in articulated position.

Example 2

The embodiment is specifically described with respect to the detachable connection between the connecting block 4 and the piston rod 2.

As shown in fig. 5-12, in the present invention, the connecting block 4 is detachably connected to the piston rod 2 through the limiting component, a connecting hole 11 is formed at one side of the connecting block 4, a second-stage stepped through hole is formed on a wall of the connecting hole 11, the second-stage stepped through hole is composed of a large-diameter hole 12 and a small-diameter hole 13 which are sequentially connected, and one end of the large-diameter hole 12, which is far away from the small-diameter hole 13, is connected to the connecting hole 11;

a matching hole 14 is formed in one side of the side wall of the piston rod 2, which is far away from the cylinder bottom, the tail end of the piston rod 2 is inserted into the connecting hole 11, and the matching hole 14 is communicated with the large-diameter hole 12;

the limiting assembly comprises a secondary stepped shaft and a spring II 16, the secondary stepped shaft is composed of a large-diameter shaft 19 and a small-diameter shaft 15 which are sequentially connected, the large-diameter shaft 19 is inserted into the matching hole 14, the small-diameter shaft 15 is positioned in the large-diameter hole 12, and the tail end of the small-diameter shaft 15 is inserted into the small-diameter hole 13; the spring II 16 is sleeved on the small-diameter shaft 15, two ends of the spring II are respectively contacted with the hole bottom of the large-diameter hole 12 and one end, close to the matching hole 14, of the large-diameter shaft 19, and the spring II 16 is in a compressed state;

pulling the secondary stepped shaft away from the matching hole 14 can compress the spring II 16, and the large-diameter shaft 19 is withdrawn from the matching hole 14 and is integrally positioned in the large-diameter hole 12.

When the connecting block 4 needs to be detached from the piston rod 2, the second-stage stepped shaft is pulled in the direction away from the matching hole 14, the spring II 16 can be compressed, the large-diameter shaft 19 is withdrawn from the matching hole 14 and is integrally positioned in the large-diameter hole 12, and the connecting block 4 loses the limiting effect of the limiting assembly, so that the connecting block can be withdrawn from the piston rod.

When the connecting block 4 is installed, the connecting block 4 is held, the secondary stepped shaft is pulled in the direction away from the matching hole 14, the spring II 16 can be compressed, and the large-diameter shaft 19 is withdrawn from the matching hole 14 and is integrally positioned in the large-diameter hole 12; then, the tail end of the piston rod 2 is inserted into the connecting hole 11, and the matching hole 14 is communicated with the large-diameter hole 12; then the load acting on the secondary stepped shaft is unloaded, and the large-diameter shaft 19 is inserted into the matching hole 14 under the action of the deformation force of the spring II 16; at this time, since the spring II 16 is still in a compressed state, the spring II 16 abuts against the large-diameter shaft 19 so as to be stably inserted into the matching hole 14.

Through the disassembly and connection between the connecting block 4 and the piston rod, compared with the existing screw connection, the situation that the threaded connection part is loosened due to vibration is prevented; simultaneously, adopt II 16 of spring to realize quick fixed, the quick dismantlement between connecting block 4 and the piston rod 2, improved the utility model discloses an assembly high efficiency nature, maintenance convenience.

Example 3

The embodiment is specifically described with respect to the cooperation between the secondary stepped hole and the secondary stepped shaft.

As shown in fig. 5 to 11, the small-diameter hole 13 of the present invention is a threaded hole; a thread III 17 matched with the thread on the small-diameter hole 13 is arranged on the side wall of the small-diameter shaft 15 and at the part in the large-diameter hole 12 and on one side far away from the matching hole 14;

the second-stage stepped shaft is pulled in the direction far away from the matching hole 14, so that the thread III 17 can be in contact with the thread on the small-diameter hole 13, the second-stage stepped shaft is rotated, and the second-stage stepped shaft is in threaded connection with the small-diameter hole 13 through the thread III 17.

After the screw thread III 17 and the small-diameter hole 13 are threaded holes, when the small-diameter shaft of the secondary stepped shaft is withdrawn from the small-diameter hole 13, the screw thread III 17 and the small-diameter hole 13 must be matched in a threaded manner and then withdrawn, so that the limiting component can be conveniently installed at any angle without being influenced by gravity factors.

Preferably, keep away from the one end of matching hole on screw III 17 and the one end contact that the screw thread on the path hole 13 is close to the matching hole to when operation major axis 19 withdraws from the matching hole 14, directly rotate the second grade step shaft can, need not to further improve to the direction pulling second grade step shaft of keeping away from matching hole 14 the utility model discloses the convenience of installation, maintenance.

When one person installs and detaches the connecting block 4, one hand is needed to control the position of the secondary stepped shaft, the other hand is needed to control the piston rod and the like, and the operation is inconvenient; and set up behind screw thread III 17 and path hole 13 for the screw hole, when needing to withdraw from big footpath axle 19 from matching hole 14, to the direction pulling second grade shoulder shaft of keeping away from matching hole 14, enable the screw thread contact on screw thread III 17 and the path hole 13, and rotate the second grade shoulder shaft, enable the second grade shoulder shaft to pass through screw thread III 17 and path hole 13 threaded connection, thereby make the second grade shoulder shaft realize locking in the axial, need not to apply load again on the second grade shoulder shaft and keep big footpath axle 19 to withdraw from matching hole 14 from compression spring II 16, improved the utility model discloses an installation convenience and later maintenance's convenience.

Example 4

The embodiment is specifically described with respect to the rotation of the two-step shaft.

As shown in fig. 5-11, in the present invention, a driving hole 18 is provided at the end of the small diameter section of the small diameter shaft 15, the axis of the driving hole 18 coincides with the axis of the second-stage stepped shaft, and the cross section of the driving hole 18 is a regular hexagon.

The provision of the drive hole 18 facilitates the use of a hex wrench to engage the drive hole 18 for easy rotation of the secondary stepped shaft.

Preferably, the number of the limiting assemblies and the two-stage stepped through holes and matching holes 14 matched with the limiting assemblies is four, and the limiting assemblies are centrosymmetric along the axis of the piston rod 2.

Example 5

This embodiment is a specific description about the selection of each spring in the present invention.

As shown in fig. 4-11, the spring ii 16 of the present invention is a helical cylindrical compression spring.

Preferably, the spring i 9 is a conical helical spring, the large diameter end of which is ball-hinged with the cylinder bottom, and the small diameter end of which is ball-hinged with the circular plate 10 through a ball pin.

The spring I9 can also be a spindle spring, and the axis of the spindle spring is coincident with the axis of the mounting hole. The spindle-shaped spring is adopted to facilitate the fixation between the spindle-shaped spring and the ball pin.

Example 6

The present embodiment is specifically described with respect to the rotation of the circular plate 10.

As shown in fig. 1-4, in the present invention, a force application hole 20 is disposed on one side of the circular plate 10 away from the spring i 9, an axis of the force application hole 20 coincides with an axis of the threaded hole 6, and a cross section of the force application hole 20 is a regular hexagon.

The force application hole 20 is provided to easily rotate the circular plate 10 by using a hexagonal wrench to be engaged with the force application hole 20.

Example 7

The present embodiment is specifically described with reference to the hinge connection between the drive rod and the connecting block 4.

As shown in fig. 1-4, a hinged plate 21 is disposed on one side of the connecting block 4 away from the piston rod 2.

The hinged plate 21 is hinged with a component which needs to be driven by the micro oil cylinder, namely, one end of the driving rod 25 close to the piston rod 2 is hinged with the hinged plate 21.

Example 8

The embodiment is specifically described with respect to the hinge connection between the clamping arm and the fixed block.

As shown in fig. 2-6, in the utility model, one side of keeping away from the cylinder bottom on the lateral wall of fixed block 3 is provided with two connecting plates 26, connecting plates 26 along the central symmetric distribution of axis of miniature hydro-cylinder, one side of connecting plate 26 is connected with fixed block 3, and arm lock 24 is articulated with connecting plates 26.

The above description is only for the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can be covered within the protection scope of the present invention without the changes or substitutions conceived by the inventive work within the technical scope disclosed by the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope defined by the claims.

Claims (10)

1. The utility model provides a miniature hydro-cylinder device of manipulator is exclusively used in, includes miniature hydro-cylinder and two arm lock subassemblies, the arm lock subassembly includes L shape arm lock (24) and actuating lever (25), the one end of arm lock (24) is articulated with cylinder body (1) of miniature hydro-cylinder, the both ends of actuating lever (25) are articulated its characterized in that with the terminal of piston rod (2) of miniature hydro-cylinder and the position of buckling of arm lock (24) respectively: a fixed block (3) and a connecting block (4) are respectively arranged between the cylinder body (1) and the clamping arm (24) of the micro oil cylinder and between the piston rod (2) and the driving rod (25), wherein,

the connecting block (4) is detachably connected with the piston rod (2), and one side, far away from the cylinder body piston rod (2), of the connecting block (4) is hinged with the driving rod (25);

the clamping arm (24) is hinged with the fixed block (3);

two ends of the fixed block (3) are respectively provided with a mounting hole (5) and a pre-tightening hole (6) which are communicated with each other, the aperture of the mounting hole (5) is larger than that of the pre-tightening hole (6), one end of the wall of the mounting hole (5) far away from the pre-tightening hole (6) is provided with a thread I (7), and one side of the wall of the pre-tightening hole (6) far away from the mounting hole (5) is provided with a thread IV (22);

a thread II (8) matched with the thread I (7) is arranged at one end, far away from the cylinder bottom, of the side wall of the cylinder body (1), a spring I (9) and a circular plate (10) which are sequentially connected are arranged at the cylinder bottom of the cylinder body (1), and two ends of the spring I (9) are respectively in spherical hinge joint with the cylinder bottom and the circular plate (10);

the cylinder bottom of the cylinder body (1) is inserted into the mounting hole (5) and is contacted with the hole bottom of the mounting hole (5), the circular plate (10) is in threaded connection with the thread IV (22), and the spring I (9) is in a stretching state.

2. The micro cylinder device special for the manipulator of claim 1, wherein: the connecting block (4) is detachably connected with the piston rod (2) through a limiting assembly, a connecting hole (11) is formed in one side of the connecting block (4), a secondary stepped through hole is formed in the wall of the connecting hole (11), the secondary stepped through hole is composed of a large-diameter hole (12) and a small-diameter hole (13) which are sequentially communicated, and one end, far away from the small-diameter hole (13), of the large-diameter hole (12) is communicated with the connecting hole (11);

a matching hole (14) is formed in one side, far away from the cylinder bottom, of the side wall of the piston rod (2), the tail end of the piston rod (2) is inserted into the connecting hole (11), and the matching hole (14) is communicated with the large-diameter hole (12);

the limiting assembly comprises a secondary stepped shaft and a spring II (16), the secondary stepped shaft is composed of a large-diameter shaft (19) and a small-diameter shaft (15) which are sequentially connected, the large-diameter shaft (19) is inserted into the matching hole (14), the small-diameter shaft (15) is positioned in the large-diameter hole (12), and the tail end of the small-diameter shaft (15) is inserted into the small-diameter hole (13); the spring II (16) is sleeved on the small-diameter shaft (15), two ends of the spring II (16) are respectively contacted with the bottom of the large-diameter hole (12) and one end, close to the matching hole (14), of the large-diameter shaft (19), and the spring II (16) is in a compressed state;

the second-stage stepped shaft is pulled towards the direction far away from the matching hole (14), the spring II (16) can be compressed, and the large-diameter shaft (19) is withdrawn from the matching hole (14) and is integrally positioned in the large-diameter hole (12).

3. The micro cylinder device special for the manipulator of claim 2, wherein: the small-diameter hole (13) is a threaded hole; a thread III (17) matched with the thread on the small-diameter hole (13) is arranged on the side wall of the small-diameter shaft (15), at the part in the large-diameter hole (12) and on one side far away from the matching hole (14);

the second-stage stepped shaft is pulled in the direction far away from the matching hole (14), so that the thread III (17) can be in contact with the thread on the small-diameter hole (13), the second-stage stepped shaft is rotated, and the second-stage stepped shaft is in threaded connection with the small-diameter hole (13) through the thread III (17).

4. The micro cylinder device special for the manipulator of claim 2, wherein: and a driving hole (18) is formed in the tail end of the small-diameter section of the small-diameter shaft (15), the axis of the driving hole (18) is overlapped with the axis of the secondary stepped shaft, and the cross section of the driving hole (18) is in a regular hexagon shape.

5. The micro cylinder device special for the manipulator of claim 2, wherein: the limiting assemblies, the two-stage stepped through holes matched with the limiting assemblies and the matching holes (14) are four in number, and the limiting assemblies are symmetrical along the center of the axis of the piston rod (2).

6. The micro cylinder device special for the manipulator of claim 2, wherein: and the spring II (16) is a spiral cylindrical compression spring.

7. The micro cylinder device special for the manipulator of claim 1, wherein: the spring I (9) is a conical helical spring, the large-diameter end of the spring is in ball hinge with the cylinder bottom, and the small-diameter end of the spring is in ball hinge with the circular plate (10) through a ball pin.

8. The micro cylinder device special for the manipulator according to any one of claims 1-7, wherein: and a force application hole (20) is formed in one side, far away from the spring I (9), of the circular plate (10), the axis of the force application hole (20) is overlapped with the axis of the pre-tightening hole (6), and the cross section of the force application hole (20) is in a regular hexagon shape.

9. The micro cylinder device special for the manipulator according to any one of claims 1-7, wherein: one side of the connecting block (4) far away from the piston rod (2) is provided with a hinged plate (21), and one end, close to the piston rod (2), of the driving rod (25) is hinged to the hinged plate (21).

10. The micro cylinder device special for the manipulator according to any one of claims 1-7, wherein: two connecting plates (26) are arranged on one side, far away from the cylinder bottom, of the side wall of the fixing block (3), the connecting plates (26) are symmetrically distributed along the axis center of the micro oil cylinder, one side of each connecting plate (26) is connected with the fixing block (3), and the clamping arms (24) are hinged to the connecting plates (26).

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