Hydraulic pipeline structure and multi-degree-of-freedom hydraulic manipulator

Abstract

The invention discloses a hydraulic pipeline structure and a multi-degree of freedom hydraulic mechanical arm and belongs to the field of robots. The hydraulic pipeline structure comprises an integrated block, an electro-hydraulic servo valve, a first oil inlet rubber hose, a first oil return rubber hose, a multi-path oil inlet pipeline and a multi-path oil return pipeline; a big arm pitching joint comprises a first side plate and a second side plate on two sides; a first upper support plate and a lower support plate are arranged between the first side plate and the second side plate; a first groove is formed among the first side plate, the second side plate, the first upper support plate and the lower support plate; the integrated block is fixed in the first groove; a first oil inlet passage and a first oil return passage are arranged in the integrated block; one end of the first oil inlet passage is connected with the first oil inlet rubber hose; the other end of the first oil inlet passage is connected with an oil inlet of the electro-hydraulic servo valve; one end of the first oil return passage is connected with the first oil return rubber hose; and the other end of the first oil return passage is connected with an oil return hole of the electro-hydraulic servo valve. According to the invention, a hydraulic pipeline is embedded in an arm plate, the safety and practicality are high, and the hydraulic pipeline does not affect the internal space.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a hydraulic pipeline structure and a multi-degree-of-freedom hydraulic mechanical arm. Background technique [0002] The working device of the hydraulic manipulator mainly includes the main arm, the forearm, the manipulator, the connecting rod, the connecting pin, the oil cylinder, the hydraulic pipeline, the lubrication pipeline and other parts. The working principle of the working device is as follows: the main pump distributes the hydraulic oil in the hydraulic oil tank through the main valve, combined with the oil inlet and oil return of the large and small chambers of the oil cylinder, drives the oil cylinder to reciprocate in a straight line, and then executes the lifting, telescopic and rotation of the boom and forearm. implement specific actions. [0003] The pipeline structure of the existing hydraulic manipulator mostly adopts the arrangement form of the excavator, and ...

AI Technical Summary

Problems solved by technology

[0003] The pipeline structure of the existing hydraulic manipulator mostly adopts the arrangement form of the excavator, and the hydraulic pipeline is basically arranged outside the manipulator body. In addition to the great hidden danger in terms of safety, it is also greatly affected by the external environment, which is not conducive to Long-term use, although there are still a few hydraulic manipulators, the hydraulic pipeline structure is arranged inside the manipulator. For example, the application publication number is a hydraulic pipeline structure and an excavator disclosed by CN103195127A, and the hydraulic pipeline is arranged inside the excavator. , for this patent, the excavator has few pipelines, which can meet the basic requirements, but for the multi-degree-of-freedom hydraulic manipulator, due to the large number of hydraulic actuators, complex pipelines, and insufficient space inside the boom, the entire multi-degree-of-freedom hydraulic It is difficult to arrange the hydraulic pipeline of the mechanical arm

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