Double-output air cylinder

Abstract

The invention provides a double-output air cylinder which comprises a cylinder body, a cylinder cover, a piston, a piston rod and a piston rod. A cavity is formed in the cylinder body, a partition plate is arranged in the cavity, and the partition plate divides the cavity into a front cavity and a rear cavity; the piston assembly comprises a first piston arranged in the front cavity in a sliding fit mode and a piston rod arranged on the head portion of the first piston, and the piston rod extends out of the cylinder body and serves as a first output end. The rotating assembly comprises a rotating assembly body arranged in the rear cavity, a driving shaft is arranged on the rotating assembly body, and the driving shaft penetrates through the partition plate, is in rigid connection with the first piston and can drive the piston rod to rotate in the radial direction. The double-output air cylinder is compact in structure, small in size, capable of adjusting the output shaft at any angle, high in adjusting precision, reliable and stable to use, particularly suitable for mechanical arms of non-standard equipment, and wide in application range, and has a self-locking effect.

Description

Technical Field

[0001] The invention relates to a cylinder, in particular to a dual-output cylinder. Background Art

[0002] The cylinder is a cylindrical metal part that guides the piston to perform linear reciprocating motion in the cylinder. The air in the engine cylinder converts heat energy into mechanical energy through expansion; the gas in the compressor cylinder is compressed by the piston to increase the pressure.

[0003] Existing cylinders are widely used in automation equipment. Traditional cylinders can only realize telescopic functions. When rotation operation is required, a set of rotation devices needs to be installed, which increases the installation space and cannot be used in occasions with high requirements for installation space, especially in some non-standard equipment. The equipment contains multiple robotic arms that need to be telescopic and rotated at different angles to achieve accurate material placement, setting, pressing and other processes. In traditional processes, servo motors are used in conjunction with cylinders to achieve telescopic and high-precision rotation functions. The installation space is large, the manufacturing cost is high, and the applicable scenarios are limited. Summary of the invention

[0004] Technical issues to be solved

[0005] The technical problem to be solved by the present invention is to provide a double-output cylinder which has a compact structure, a small volume, and can realize independent extension and high-precision rotation at any angle.

[0006] Technical solutions to the problem

[0007] The present invention provides a dual-output cylinder, which comprises:

[0008] A cylinder body, wherein a chamber is formed in the cylinder body, a partition is provided in the chamber, and the partition partitions the chamber into a front chamber and a rear chamber;

[0009] The piston assembly 3 comprises a first piston 32 slidably fitted in the front chamber and a piston rod 31 disposed at the head of the first piston, wherein the piston rod 31 extends outside the cylinder body and serves as a first output end;

[0010] The rotating assembly 6 includes a rotating assembly arranged in the rear cavity, and a driving shaft 4 is provided on the rotating assembly. The driving shaft 4 passes through the partition and is rigidly connected to the first piston 32, and can drive the piston rod 31 to rotate radially.

[0011] Furthermore, the cylinder body includes a front cover 21, a first cylinder barrel 11, a partition 22, a second cylinder barrel 12 and a rear cover 23 which are arranged in sequence from front to rear. The front cavity is formed between the front cover 21 and the partition 22, and the rear cavity is formed between the partition 22 and the rear cover 23.

[0012] Furthermore, a first mounting opening having the same cross-sectional shape as that of the drive shaft 4 is opened at the center of the rear end face of the first piston 32, the head of the drive shaft 4 is sleeved in the first mounting opening and can achieve radial limitation, and the side wall of the first mounting opening is provided with a pin for axially fixing the drive shaft 4.

[0013] Furthermore, the inner wall of the rear cavity is provided with an annular protrusion and forms a first inner mounting seat 121. The rotating assembly includes a first supporting seat 61 fixed at the front end of the first inner mounting seat 121, a second supporting seat 63 fixed at the rear end of the first inner mounting seat 121, and an active rotating seat 62 rotatably mounted between the first supporting seat 61 and the second supporting seat 63. The rotation axis of the active rotating seat 62 is coaxial with the piston assembly 3, the side wall of the active rotating seat 62 is provided with gear teeth and forms a worm gear, and the two ends of the active rotating seat 62 are penetrated by a first main shaft hole 620 with a regular polygonal cross-section that can just accommodate the axial passage of the drive shaft 4 and realize radial connection; the side wall of the cylinder body is provided with a driving mechanism 7, and the output end of the driving mechanism 7 is provided with a worm 71 that can engage with the worm gear and drive it to rotate radially.

[0014] Furthermore, the first support seat 61 and the second support seat 63 have the same structure, both of which include a circular support seat body, the head of the support seat body extends radially outward to form a connecting portion, the connecting portion is circumferentially evenly provided with mounting holes and forms a first flange that can be fixed to the end face of the first inner mounting seat 121, and both ends of the support seat body are penetrated with circular holes to form a first guide hole; the active rotating seat 62 includes a shaft sleeve that is sleeved in the two first guide holes and can realize radial rotation, and both ends of the shaft sleeve are penetrated with a first main shaft hole 620, the outer wall of the shaft sleeve is provided with an annular protrusion to form a drive ring, and the drive ring is located between the two support seat bodies, and the side wall of the drive ring is circumferentially evenly provided with gear teeth to form a worm gear.

[0015] Furthermore, the end of the support seat body contacts the end of the drive ring and realizes axial limitation of the active rotating seat 62; the end of the support seat body and the end of the drive ring are respectively provided with an annular groove and an annular protrusion that can be inserted into the annular groove.

[0016] Furthermore, a first sealing ring is provided between the outer wall of the support seat body and the inner wall of the first inner mounting seat 121, a second sealing ring is provided between the outer wall of the sleeve and the inner wall of the first guide hole, a third sealing ring is provided between the first spindle hole and the drive shaft 4, and a fourth sealing ring is provided between the end face of the support seat body and the end face of the drive ring.

[0017] Furthermore, the cross section of the driving shaft 4 is a regular n-gon with rounded edges, wherein 4≤n≤8.

[0018] Furthermore, the rotating assembly is arranged at the front end of the rear cavity.

[0019] Furthermore, the ratio of the diameter of the circumscribed circle of the driving shaft 4 to the diameter of the first piston is greater than or equal to 1 / 5 and less than 1 / 2.

[0020] Furthermore, the partition is provided with a driven rotating component 5 which can allow the main shaft to pass axially and can rotate radially with the main shaft.

[0021] Further, the driven rotating assembly includes a third support seat 51 and a driven rotating seat 52, the third support seat 51 includes a circular third support seat body, the head of the third support seat body extends radially outward and forms a third connecting portion, the third connecting portion is circumferentially evenly provided with mounting holes and forms a third flange 511, both ends of the third support seat body are penetrated with circular second guide holes, the center of the partition plate is penetrated with a stepped hole, the third flange is fixed on the partition plate 22, and there is a gap between the end of the third support seat body and the step surface of the stepped hole to form an annular mounting area; the driven rotating seat 52 includes a driven shaft sleeve 521 which is sleeved in the small hole of the second guide hole and the stepped hole and can realize rotation, both ends of the driven shaft sleeve are penetrated with a second spindle hole 5210 which can accommodate the driving shaft to pass through and realize radial limitation, the outer wall of the driven shaft sleeve is provided with an annular protrusion and forms a limit ring 52, the limit ring is located in the mounting area and realizes axial limitation.

[0022] Furthermore, sealing rings are provided between the third support seat 51 and the inner wall of the stepped hole, between the inner wall of the second guide hole and the outer wall of the driven shaft sleeve, between the outer wall of the driven shaft sleeve and the inner wall of the small hole of the stepped hole, and between the inner wall of the second main shaft hole and the driving shaft.

[0023] Furthermore, a circular limiting protrusion and a limiting groove capable of accommodating the limiting protrusion to be inserted are respectively provided between the end surface of the limiting ring and the end surface of the third supporting seat 51 , and between the step surface of the stepped hole.

[0024] Furthermore, the end of the driving shaft 4 extends backwards to the outside of the cylinder body and serves as a second output end.

[0025] Furthermore, the end of the drive shaft 4 is fixedly connected to the second piston 41 which is slidably fitted in the rear cavity and can achieve synchronous movement. The second piston 41 divides the rear cavity into a second cavity I120b and a second cavity II120c. The second cavity I120b and the second cavity II120c are both filled with hydraulic oil or compressed air.

[0026] Furthermore, two ends of the second piston 41 are penetrated by a plurality of holes communicating with the second chamber I 120b and the second chamber II 120c and forming a stable damping for the first output end.

[0027] Furthermore, a valve hole is provided on the side wall of the cylinder body, and the side wall of the valve hole is provided with a first flow channel 1201 located on different radial planes and respectively connected to the second chamber Ⅰ120b and a second flow channel 1202 connected to the second chamber Ⅱ120c, a valve core 81 is slidably fitted in the valve hole, and the side wall of the valve core 81 is provided with an annular groove to form a connecting groove 810, and the side wall of the cylinder body is provided with a driving device for driving the valve core 81 to move axially and adjust the connecting amount between the connecting groove and the first flow channel and the second flow channel.

[0028] Furthermore, the driving device is an electromagnet.

[0029] Furthermore, a screw body 812 is provided at the inner end of the valve core 81, and the inner wall of the valve hole is provided with an internal thread threadedly connected to the screw body 812. The driving device is connected to the end of the valve core 81 and can drive the valve core 81 to rotate, thereby realizing the axial position of the valve core 81 and adjusting the flow rate.

[0030] Furthermore, the ends of the second chamber I 120b and the second chamber II 120c are respectively provided with interfaces connected to the hydraulic pipeline or the pneumatic pipeline and can apply axial force to the second piston and form auxiliary thrust to the first output end.

[0031] Beneficial Effects

[0032] The dual-output cylinder of the present invention integrates a rotating mechanism inside, which can realize the dual output effects of rotation and telescopic output of the output shaft, has a compact structure, low manufacturing cost, small size, small installation space, and a wide range of applications; an internal mounting seat structure is arranged inside, which can realize the rapid installation and fixation of the rotating assembly, realize hidden installation, and has a compact and beautiful appearance. It is easy to process and has low cost, and can realize rapid assembly and disassembly, which is convenient for overall assembly and disassembly for daily maintenance, and has low manufacturing cost and use cost; the rotating assembly adopts a split assembly structure, which is convenient for the processing of parts, has low manufacturing cost and high processing precision, and is convenient for overall assembly and high assembly precision; a flange connection structure is adopted, which is convenient for assembly and has high connection strength; gear teeth are arranged on the side wall of the active rotating seat to form a worm gear structure, which is connected to the rotating seat by the gear teeth. The worm drive has a large transmission ratio, high rotation accuracy, and can achieve multi-tooth meshing, stable transmission, low working noise, and self-locking function, which realizes automatic locking in the radial direction, improving operational reliability and safety in use; the drive shaft adopts a rounded regular polygon structure, which is easy to process and assemble, and can also improve sealing; the outer diameter of the drive shaft is optimized to improve the overall structural strength, high torsional strength, avoid torsional deformation, ensure the stability and reliability of radial rotation, and long service life; the drive shaft and the first piston are connected by a fixed seat, which is easy to disassemble and assemble, has strong versatility, and greatly reduces production and use costs; a driven rotating assembly is arranged on the partition, which has a compact structure, can ensure the sealing of the cylinder cavity, improve the overall stability and reliability, and Its supporting seat has the same structure as the supporting seat in the rotating assembly, and the parts have good versatility, which reduces the manufacturing cost; different structures are arranged at the rear end of the driving shaft to meet different applicable working conditions, and the applicable flexibility is high: when the driving shaft extends out of the cylinder body, a second output end can be formed, and the second output end can realize radial rotation and axial movement, so that the cylinder forms a double-output shaft structure, which is suitable for the use conditions of dual-axis synchronous movement; a second piston is arranged at the end of the driving shaft, and a double-cavity double-plug structure is formed by applying force to the second piston, so as to realize auxiliary thrust to the piston rod, with large thrust and good thrust stability, especially the structural form of the front-cavity air cylinder and the rear-cavity oil cylinder, which increases the telescopic thrust while improving the operating reliability, especially at the moment of starting and stopping, to avoid instantaneous impact; when A hole body is arranged on the second piston to connect the chambers at both ends of the second piston, so that a certain damping is formed during the movement. It does not need an external gas circuit or oil circuit, which can improve the telescopic stability and reliability of the piston rod, and has a compact structure. The damping size can be adjusted by setting different hole body diameters; a flow channel and a valve core are arranged between the two chambers of the second piston, and the communication volume of the two chambers is adjusted by the action of the valve core, thereby realizing the adjustment and locking of the damping, and the structure is compact, the reliability of use is good, and the safety is high; when the valve core is controlled by an electromagnet, the response is fast, and rapid connection and blocking can be realized, that is, rapid locking and unlocking can be realized; when the valve core is adjusted by a motor, the communication volume can be infinitely adjusted, thereby adjusting the damping size, meeting different use conditions, and having a wide range of applications;The cylinder body is composed of multiple cylinder barrels, cover bodies and partitions, with low production cost, convenient assembly and good flexibility in use; an encoder is set to monitor the rotation angle of the drive shaft with high precision, which is convenient for realizing overall automatic control; the dual-output cylinder of the present invention has a compact structure and a small volume, can adjust the output shaft to any angle, has high adjustment precision, and has a self-locking effect, is reliable and stable to use, and is particularly suitable for use in the mechanical arm of non-standard equipment, and has a wide range of applications. ; BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of a first embodiment of a dual-output cylinder of the present invention;

[0034] Figure 2 It is a cross-sectional view of the first embodiment of the dual-output cylinder of the present invention;

[0035] Figure 3 It is a schematic diagram of the installation of the driven rotating assembly of the dual-output cylinder of the present invention;

[0036] Figure 4 It is a structural schematic diagram of the driven rotating assembly of the dual-output cylinder of the present invention;

[0037] Figure 5 It is a cross-sectional view of a driven rotating assembly of a dual-output cylinder of the present invention;

[0038] Figure 6 It is a structural schematic diagram of the third support seat of the driven rotating assembly of the dual-output cylinder of the present invention;

[0039] Figure 7 It is a structural schematic diagram of a driven rotating seat of a driven rotating assembly of a dual-output cylinder of the present invention;

[0040] Figure 8 It is a schematic diagram of the installation of the rotating assembly of the dual-output cylinder of the present invention;

[0041] Fig. 9 It is a structural schematic diagram of the rotating assembly of the dual-output cylinder of the present invention;

[0042] Fig.10 It is a schematic diagram of the connection between the rotating assembly and the drive shaft of the dual-output cylinder of the present invention;

[0043] Fig.11 It is a cross-sectional view of the rotating assembly of the dual-output cylinder of the present invention;

[0044] Fig.12 It is a structural schematic diagram of the first supporting seat of the rotating assembly of the dual-output cylinder of the present invention;

[0045] Fig.13 It is a structural schematic diagram of the active rotating seat of the rotating assembly of the dual-output cylinder of the present invention;

[0046] Fig.14 It is a structural schematic diagram of the second support seat of the rotating assembly of the dual-output cylinder of the present invention;

[0047] Fig.15 It is a structural schematic diagram of the piston assembly of the dual-output cylinder of the present invention;

[0048] Fig.16 It is a transverse cross-sectional view of the rotating assembly of the dual-output cylinder of the present invention;

[0049] Fig.17 It is a structural schematic diagram of a first embodiment of a valve core of a dual-output cylinder of the present invention;

[0050] Fig.18 It is a structural schematic diagram of a second embodiment of the valve core of the dual-output cylinder of the present invention;

[0051] Fig.19 It is a structural schematic diagram of a second embodiment of a dual-output cylinder of the present invention;

[0052] Fig. 20 It is a cross-sectional view of the second embodiment of the dual-output cylinder of the present invention. DETAILED DESCRIPTION

[0053] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0054] See also Figure 1-Figure 20 The present invention provides a dual-output cylinder with dual output functions of telescopic and rotating. Specifically, it includes a cylinder body, a piston assembly and a rotating assembly 6.

[0055] The cylinder body serves as a support and mounting carrier, and the piston assembly and the rotating assembly are both arranged on (inside) the cylinder body. A chamber is formed in the cylinder body, and a partition is provided in the chamber, which partition divides the chamber into a front chamber and a rear chamber; in the present application, the cylinder body includes a front cover 21, a first cylinder barrel 11, a partition 22, a second cylinder barrel 12 and a rear cover 23 which are arranged in sequence from front to rear, and both ends of the first cylinder barrel 11 and the second cylinder barrel 12 are penetrated by cylindrical holes, a front chamber is formed between the front cover 21 and the partition 22, that is, a front chamber is formed in the first cylinder barrel 11, and a rear chamber is formed between the partition 22 and the rear cover 23, that is, a rear chamber is formed in the second cylinder barrel 12; the piston assembly 3 includes a first piston 32 and a piston rod 31, and the first piston 32 is slidably fitted In the front chamber, the piston rod 31 is arranged at the head of the first piston, and the front end of the piston rod 31 extends axially forward to the outside of the cylinder body and serves as the first output end; the rotating assembly 6 includes a rotating assembly installed in the rear chamber, and a drive shaft 4 is provided on the rotating assembly. The drive shaft 4 is coaxial with the piston rod 32 and can realize radial rotation under the action of the rotating assembly. The drive shaft 4 passes through the partition forward and is rigidly connected to the first piston 32, thereby driving the piston rod 31 to rotate radially, that is, the first piston in the front chamber can realize axial movement, thereby driving the piston rod (first output end) to realize extension and retraction, and the rotating assembly can drive the first piston to rotate radially, thereby driving the piston rod (first output end) to rotate radially.

[0056] In order to improve the radial driving force, driving stability and reliability of the drive shaft 4, and at the same time, facilitate sealing, in the present application, the cross-section of the drive shaft 4 is a regular n-gon, where 4≤n≤8, preferably a regular hexagon, and at the same time, the edges of the drive shaft 4 are rounded (rounded) to form a structure similar to a rounded regular polygon, which facilitates the sealing of the outer wall of the drive shaft 4 and ensures the sealing.

[0057] In order to increase the rotational driving force, reduce internal stress and avoid radial torsional deformation of the drive shaft, and improve driving stability and reliability, in this embodiment, the ratio of the circumscribed circle diameter of the drive shaft 4 to the diameter of the first piston is greater than or equal to 1 / 5 and less than 1 / 2, preferably 1 / 4-1 / 3. Under this size, sufficient torsional driving force can be ensured, and at the same time, the overall structural strength of the drive shaft can be ensured to avoid torsional deformation. At the same time, it is also convenient for production and processing and ensures sealing performance.

[0058] See also Fig.15In order to facilitate the rapid and stable installation of the drive shaft 4, in the present application, a first installation opening is opened at the center of the rear end surface of the first piston 32. The first installation opening is a concave hole (blind hole) having the same cross-sectional shape as the drive shaft 4 and can accommodate the head of the drive shaft to be inserted axially, thereby realizing radial connection (radial limit), that is, it can transmit torque. At the same time, a pin is provided on the side wall of the first installation opening, and the pin passes through the drive shaft 4 horizontally, thereby axially fixing the drive shaft 4. In order to reduce the difficulty of production, reduce the production cost, and facilitate loading and unloading, in the present application, a fixing seat 33 is provided between the drive shaft 4 and the first piston 32. The fixing seat 33 is cylindrical and is coaxially arranged with the first piston 32. A positioning protrusion with a non-circular cross section is provided at the head of the fixing seat 33 (close to one end of the first piston). In the present embodiment, it is a regular polygon, preferably a regular hexagon or a regular octagon. At the same time, A positioning groove is provided at the center of the rear end surface of the first piston. The cross section of the positioning groove is the same as the cross section shape of the positioning protrusion, which can just accommodate the positioning protrusion to be inserted, thereby realizing radial positioning and torque transmission; a flange 331 is provided at the edge of the fixing seat 33, and the flange 331 is fixedly connected to the rear end of the first piston by bolts, and the first mounting port 330 is provided at the rear end of the fixing seat 33 for connecting the drive shaft 4. A pin hole or a screw hole is penetrated through the side wall of the fixing seat 33. At the same time, a pin hole is provided on the side wall of the drive shaft, which is coaxial with the pin hole or the screw hole on the fixing seat 33, and a pin shaft or a screw is provided between the two; in this embodiment, the end of the drive shaft contacts the bottom surface of the first mounting port 330, thereby being able to transmit the axial auxiliary thrust to the first piston (described below), avoiding the pin shaft or the screw from being subjected to axial force and affecting the service life, and at the same time, improving the overall reliability and stability of use.

[0059] See also Figure 8, an annular protrusion is provided on the inner wall of the rear cavity (the second cylinder 12) to form a first inner mounting seat 121, the first inner mounting seat 121 has two front and rear mounting platform surfaces, the rotating assembly includes a first supporting seat 61, a second supporting seat 63 and an active rotating seat 62, wherein the first supporting seat 61 is fixed to the front end of the first inner mounting seat 121 (close to one end of the front cavity), the second supporting seat 63 is fixed to the rear end of the first inner mounting seat 121 (away from one end of the front cavity), the active rotating seat 62 is rotatably mounted between the first supporting seat 61 and the second supporting seat 63, and the rotation axis of the active rotating seat 62 is aligned with the active rotating seat 62. The plug assembly 3 is coaxial, and gear teeth are provided on the side wall of the active rotating seat 62 to form a worm gear, and a first spindle hole 620 is penetrated at both ends of the active rotating seat 62. The cross section of the first spindle hole 620 is the same as the cross section shape and size of the driving shaft 4, and can just accommodate the driving shaft 4 axially passing through, thereby realizing the radial connection between the driving shaft and the active rotating seat 62, that is, the driving shaft 4 can realize axial movement in the first spindle hole 620, but cannot realize radial rotation, and the driving rotating seat needs to drive the driving shaft 4 to realize radial rotation; at the same time, a driving mechanism 7 is provided on the outer wall of the cylinder body (the second cylinder barrel 12), see Fig.16 A worm 71 is provided at the output end of the driving mechanism 7, and a hole is provided on the side wall of the cylinder body (the second cylinder 12) to accommodate the axial insertion of the worm 71 and to engage with the worm wheel. The hole is hidden by the mounting base of the driving mechanism 7. In this embodiment, the driving mechanism 7 is changed to a motor.

[0060] In the present application, an encoder is provided at the end of the active rotating seat 62 for accurately monitoring the rotation angle of the main rotating seat 62; the gear teeth are provided on the side wall of the entire active rotating seat 62, so that rotation at any angle can be achieved. At the same time, in the present application, the lead angle of the worm is smaller than the equivalent friction angle between the meshing gear teeth, so it has self-locking properties and can achieve reverse self-locking, that is, only the worm can drive the active rotating seat to rotate, and the active rotating seat cannot drive the worm. After the rotation is completed, the active rotating seat 62 has a self-locking function, and the radial fixation of the first output end can be ensured without a brake assembly, thereby reducing production costs and overall volume, and having a good use effect.

[0061] The following is a detailed description of the structure of the rotating assembly. Figure 9-14The first support seat 61 and the second support seat 63 have the same structure, both of which include a circular support seat body, the head of the support seat body extends radially outward to form a connecting portion, and the connecting portion is circumferentially evenly provided with mounting holes to form a first flange, which can be fixed to the end face of the first inner mounting seat 121, and circular holes are penetrated at both ends of the support seat body to form a first guide hole; the active rotating seat 62 includes a shaft sleeve, which is sleeved in the two first guide holes and can realize radial rotation, and a first main shaft hole 620 is penetrated at both ends of the shaft sleeve, and an annular protrusion is provided on the outer wall of the shaft sleeve to form a driving ring, which is located between the two support seat bodies, and the side wall of the driving ring is circumferentially evenly provided with gear teeth to form a worm gear.

[0062] Specifically, the first support seat 61 includes a circular first support seat body, the outer diameter of the first support seat body is the same as the inner diameter of the first inner mounting seat, that is, it can just be inserted into the hole of the first inner mounting seat, and one or more annular grooves 61b are opened on the outer wall of the first support seat body for installing a sealing ring, thereby realizing the sealing between the first support seat body and the inner wall of the first inner mounting seat; the head of the support seat body extends radially outward to form a connecting portion, and mounting holes are evenly distributed circumferentially on the connecting portion to form a first flange I611, and the first flange I611 can be attached to the front end face of the first inner mounting seat, and accordingly, a screw hole corresponding to the mounting hole on the first flange I611 is opened on the front end face of the first inner mounting seat, and the first flange I611 can be fixed to the front end of the first inner mounting seat by screws. An annular groove 61a is provided on the rear end face of the first flange I 611 for installing a sealing ring, thereby achieving sealing between the first flange I 611 and the front end face of the first inner mounting seat; round holes are penetrated at both ends of the first support seat body to form a first guide hole I 610, and an annular groove 61c is provided on the inner wall of the first guide hole I for installing a sealing ring, thereby achieving sealing between the first guide hole I 610 and the outer wall of the sleeve of the active rotating seat 62; at least two coaxial annular grooves 61d are provided at the rear end portion of the first support seat body, one for installing a sealing ring to achieve sealing between the end portion of the first support seat body and the driving ring of the active rotating seat, and the other for achieving radial positioning, which can accommodate the positioning protrusion of the end face of the driving ring of the side wall of the active rotating seat to be inserted, thereby achieving radial positioning of the two.

[0063] The second support seat 63 includes a circular second support seat body, the outer diameter of the second support seat body is the same as the inner diameter of the first inner mounting seat, that is, it can just be inserted into the hole of the first inner mounting seat, and one or more annular grooves 63a are provided on the outer wall of the second support seat body for installing a sealing ring, thereby achieving sealing between the second support seat body and the inner wall of the first inner mounting seat; the tail of the second support seat body extends radially outward to form a connecting portion, and mounting holes are evenly distributed circumferentially on the connecting portion to form a first flange II 631, which can be fitted on the rear end face of the first inner mounting seat, and correspondingly, screw holes corresponding to the mounting holes on the first flange II 631 are provided on the rear end face of the first inner mounting seat, and the first flange II 631 can be fixed to the first inner mounting seat by screws. At the rear end, an annular groove is provided on the front end face of the first flange II 631 for installing a sealing ring, thereby achieving sealing between the second flange II 631 and the rear end face of the first inner mounting seat; circular holes are penetrated at both ends of the second support seat body to form a first guide hole II 630, and an annular groove 63b is provided on the inner wall of the first guide hole II for installing a sealing ring, thereby achieving sealing between the first guide hole II 630 and the outer wall of the sleeve of the active rotating seat 62; at least two coaxial annular grooves are provided at the front end portion of the second support seat body, one for installing a sealing ring to achieve sealing between the end portion of the second support seat body and the driving ring of the active rotating seat, and the other for achieving radial positioning, which can accommodate the positioning protrusion of the end face of the driving ring of the side wall of the active rotating seat to be inserted, thereby achieving radial positioning of the two.

[0064] After the installation is completed, there is a certain gap between the end faces of the first support seat body and the second support seat body, which is used to accommodate the driving ring (worm gear) of the side wall of the active rotating seat 62. Specifically, the active rotating seat 62 includes a sleeve, and an annular protrusion is provided on the outer wall of the sleeve to form a driving ring. The outer diameter of the driving ring is slightly smaller than the inner diameter of the first inner mounting seat. The end faces of both ends of the driving ring are in contact with the end portions of the first support seat body and the second support seat body respectively, and a sealing ring is provided between the two. In order to improve the operating accuracy and reliability, in this embodiment, the end faces of the driving ring are in contact with the first support seat body, A limiting component is arranged between the first and second support seat bodies, and the limiting component is an annular positioning protrusion and an annular positioning groove capable of accommodating the annular positioning protrusion to be inserted. In this embodiment, at least two annular protrusions 6202 are arranged on the two end faces of the driving ring, wherein at least one of the annular positioning protrusions corresponds to the annular positioning groove at the end of the first or second support seat body to achieve precise positioning, and the other annular protrusion can contact the sealing ring in the annular groove to achieve end face sealing while positioning; the driving ring separates the shaft sleeve into a first shaft sleeve 621 and a second shaft sleeve 622, and the first shaft sleeve is arranged on The second sleeve 622 is sleeved in the first guide hole Ⅰ of the first support seat body, which can ensure that there is sufficient connection length between the sleeve and the first inner mounting seat, improve the reliability and stability of the overall operation, increase the contact area with the drive shaft, and reduce the local stress on the drive shaft; gear teeth are evenly distributed on the circumference of the side wall of the drive ring to form a worm gear, and the gear teeth are arranged on the entire outer wall of the drive ring, so that rotation at any angle can be achieved, and it is easy to assemble, and there is no need to accurately limit the active rotating seat in the radial direction during assembly; through both ends of the sleeve There is a first main shaft hole 620, which has the same cross-sectional shape as the drive shaft, that is, a regular n-gon, which can accommodate the axial insertion of the drive shaft. A plurality of annular grooves 6201 are arranged in the first main shaft hole 620 for installing a sealing ring to achieve sealing with the outer wall of the drive shaft; screw holes 623 are evenly distributed circumferentially at the end of the second sleeve 622 for installing an internal encoder or a coding disk, and an external encoder or detection element is arranged at the rear end of the second support seat body, which is used to detect the rotation angle of the sleeve (drive shaft), thereby achieving feedback and control, and realizing automatic control.

[0065] In order to reduce the length of the drive shaft and thus reduce the overall occupied space, in this embodiment, the rotating component is arranged at the front end of the rear cavity, and the distance between the end of the rotating component and the partition is about 1cm-3cm, which is as small as possible while meeting the manufacturing and assembly processes.

[0066] In order to ensure the independent sealing between the front cavity and the rear cavity, in the present application, a driven rotating assembly 5 is provided on the partition, and the driven rotating assembly 5 can allow the main shaft to pass axially and can rotate radially with the main shaft, thereby achieving sealing; Figure 3-Figure 7, its structure is similar to that of the rotating assembly. Specifically, the driven rotating assembly includes a third support seat 51 and a driven rotating seat 52. The third support seat 51 includes a circular third support seat body. The outer diameter of the third support seat body is the same as the inner diameter of the large hole of the stepped hole on the partition, that is, it can just be inserted into the large hole of the stepped hole. One or more annular grooves 5101 are opened on the outer wall of the third support seat body for installing a sealing ring, thereby achieving sealing between the third support seat body and the large hole of the stepped hole; the head of the third support seat body extends radially outward to form a connecting portion, and mounting holes are evenly distributed circumferentially on the connecting portion to form a third flange 511. The third flange 511 is provided on the outer wall of the third support seat body. The third flange 511 can fit the front end face of the partition, and accordingly, a screw hole corresponding to the mounting hole on the third flange is opened on the front end face of the partition, and the third flange can be fixed to the front end of the partition by screws, and an annular groove is opened on the rear end face of the third flange for installing a sealing ring, thereby achieving sealing between the third flange and the end face of the partition; circular holes are penetrated at both ends of the third support seat body to form a second guide hole, and an annular groove 5102 is provided on the inner wall of the second guide hole for installing a sealing ring, thereby achieving sealing between the second guide hole and the outer wall of the sleeve of the driven rotating seat; at least two coaxial annular shaped grooves, one for installing a sealing ring to achieve sealing between the end of the third support seat body and the driving ring of the driven rotating seat, and the other for achieving radial positioning, which can accommodate the positioning protrusion on the end face of the limiting ring on the side wall of the driven rotating seat to snap into, so as to achieve radial positioning of the two; after installation, there is a gap between the third support seat body and the table surface of the stepped hole, forming an annular installation area; the driven rotating seat 52 includes a sleeve 521, and an annular protrusion is provided on the outer wall of the sleeve 521 to form a limiting ring 52, the outer diameter of the limiting ring is slightly smaller than the inner diameter of the large hole of the stepped hole, and the end faces of the limiting ring are in contact with the stepped price of the third support seat body and the stepped hole respectively. , and a sealing ring is arranged between the two. In order to improve the running accuracy and reliability, in this embodiment, a limiting assembly is arranged between the end face of the limiting ring and the third support seat body, and the step surface of the stepped hole. The limiting assembly is an annular positioning protrusion and an annular positioning groove capable of accommodating the annular positioning protrusion to be inserted. In this embodiment, at least two annular protrusions are provided on both end faces of the limiting ring, at least one of which is used as an annular positioning protrusion, corresponding to the annular positioning groove on the end of the third support seat body and the step surface of the stepped hole to achieve precise positioning, and the other annular protrusion can contact the sealing ring in the annular groove to achieve end face sealing while positioning;The limiting ring separates the sleeve into a third sleeve and a fourth sleeve. The third sleeve is sleeved in the second guide hole of the third support seat body, and the fourth sleeve is sleeved in the small hole of the stepped hole, which can ensure the rotation stability of the driven rotating seat and facilitate sealing. A second main shaft hole 5210 is penetrated at both ends of the sleeve 521. The second main shaft hole has the same cross-sectional shape as the drive shaft, that is, a regular n-gon, which can accommodate the axial insertion of the drive shaft. A plurality of annular grooves 5211 are arranged in the second main shaft hole 5210 for installing a sealing ring to achieve sealing with the outer wall of the drive shaft; sealing rings are arranged between the third support seat 51 and the inner wall of the stepped hole, between the inner wall of the second guide hole and the outer wall of the driven sleeve, between the outer wall of the driven sleeve and the inner wall of the small hole of the stepped hole, and between the inner wall of the second main shaft hole and the drive shaft to ensure the sealing between the assembly and the cylinder body (front cavity and rear cavity). ;

[0067] In the present application, the rotating component in the rear cavity divides the rear cavity into a first cavity 120a and a second cavity. The first cavity 120a is filled with hydraulic oil or lubricating oil to form an oil film on the surface of the drive shaft to avoid dry friction, improve the reliability and stability during axial movement, and avoid excessive axial force on the rotating component. Therefore, an oil filling port is provided on the side wall of the first cavity 120a.

[0068] In this application, various structures can be formed according to different back-end settings to meet different working conditions:

[0069] Example 2, see Figure 19-20 In this embodiment, the end of the drive shaft 4 extends backward outside the cylinder body and serves as the second output end. The second output end can also realize axial movement and radial rotation. It is suitable for use in environments that require two output ends. In this embodiment, the rear cover 23 is close to the rotating component, and the axial width of the rear cavity is small, so the overall length of the cylinder body is relatively short.

[0070] Example 1, see Figure 1-Figure 2 and Figure 8 In this embodiment, a second piston 41 is slidably provided in the rear chamber, and the second piston 41 is connected to the end of the drive shaft 4 and can realize synchronous movement. The second piston 41 divides the rear chamber into a second chamber Ⅰ120b and a second chamber Ⅱ120c. The second chamber Ⅰ120b and the second chamber Ⅱ120c are both filled with hydraulic oil or compressed air.

[0071] The second chamber I 120b and the second chamber II 120c may be configured differently to meet different use conditions;

[0072] Embodiment 3, on the basis of embodiment 1, a plurality of holes are passed through the two ends of the second piston 41, and the holes connect the second chamber I 120b and the second chamber II 120c. During the sliding process of the second piston 41, the compressed air or hydraulic oil in the second chamber I 120b and the second chamber II 120c can flow through the holes, thereby forming a certain damping on the second piston 41. The damping can improve the stability of the output end, especially at the moment of starting or stopping the cylinder, thereby improving the smoothness of the output of the cylinder, and in the event of power failure, air leakage, etc., the output end can be stably extended and retracted, thereby improving the safety of use.

[0073] Embodiment 4, on the basis of embodiment 1, a valve hole is opened on the side wall of the cylinder body, a first flow channel 1201 and a second flow channel 1202 are provided on the side wall of the valve hole, the first flow channel 1201 and the second flow channel 1202 are located on different radial surfaces of the valve hole, wherein the first flow channel 1201 is connected to the second chamber I 120b, and the second flow channel 1202 is connected to the second chamber II 120c, and at the same time, a valve core 81 is slidably provided in the valve hole, an annular groove is provided on the side wall of the valve core 81 to form a connecting groove 810, and a driving device 8 is provided on the side wall of the cylinder body, and the driving device The device is used to drive the valve core 81 to move axially, and then adjust the communication volume between the connecting groove and the first flow channel and the second flow channel. By controlling the communication volume between the first flow channel (second chamber I 120b) and the second flow channel (second chamber II 120c), the damping change of the second piston can be achieved. When the communication volume is 0, that is, blocked, the second piston can be locked. At this time, the first output end cannot achieve axial movement and can only achieve radial rotation, thereby achieving axial locking. It can achieve axial positioning locking under certain working conditions, thereby improving reliability, stability and safety.

[0074] The valve core and the driving device can adopt different structural settings;

[0075] Embodiment 5, on the basis of embodiment 4, the driving device is an electromagnet, which drives the valve core to move axially. In this embodiment, it is mainly used to achieve the connection or blocking between the second chamber I120b and the second chamber II120c, and it is mainly used to achieve the locking or unlocking of the second piston. In this embodiment, a compression spring 82 is provided at the end of the valve hole, and the compression spring contacts the end of the valve core, so that the valve core has a tendency to move outward, so that the valve core has the drive to block the second chamber I120b and the second chamber II120c, that is, when the electromagnet is not energized, the two chambers are in a disconnected state, and the connection and unlocking need to be adopted to realize the extension and retraction of the piston rod, thereby improving the safety of use.

[0076] Embodiment 6. On the basis of embodiment 4, a screw body 812 is provided at the inner end of the valve core 81. The screw 812 is coaxial with the valve core 81 and has an outer diameter slightly smaller than the outer diameter of the valve core. At the same time, an internal thread, i.e. a screw hole, which is threadedly connected to the screw body 812 is provided on the inner wall of the valve hole. The driving device is connected to the end of the valve core 81 and can drive the valve core 81 to rotate. Through the engagement of the screw thread at the end, the valve core is driven to produce axial displacement, thereby realizing precise adjustment of the connectivity between the first flow channel (second chamber I 120b) and the second flow channel (second chamber II 120c), and realizing speed regulation. In this embodiment, the connectivity can be precisely adjusted, i.e., the precise adjustment of the damping can be achieved.

[0077] Embodiment 7, on the basis of embodiment 1, interfaces are respectively provided at the ends of the second chamber Ⅰ120b and the second chamber Ⅱ120c, which are connected to the hydraulic pipeline or the pneumatic pipeline, and can drive the second piston to slide independently, that is, apply axial force to the second piston, and finally form auxiliary thrust to the first output end, thereby improving the axial output force of the first output end.

[0078] The dual-output cylinder of the present invention integrates a rotating mechanism inside, which can realize the dual output effects of rotation and telescopic output of the output shaft, has a compact structure, low manufacturing cost, small size, small installation space, and a wide range of applications; an internal mounting seat structure is arranged inside, which can realize the rapid installation and fixation of the rotating assembly, realize hidden installation, and has a compact and beautiful appearance. It is easy to process and has low cost, and can realize rapid assembly and disassembly, which is convenient for overall assembly and disassembly for daily maintenance, and has low manufacturing cost and use cost; the rotating assembly adopts a split assembly structure, which is convenient for the processing of parts, has low manufacturing cost and high processing precision, and is convenient for overall assembly and high assembly precision; a flange connection structure is adopted, which is convenient for assembly and has high connection strength; gear teeth are arranged on the side wall of the active rotating seat to form a worm gear structure, which is connected to the rotating seat by the gear teeth. The worm drive has a large transmission ratio, high rotation accuracy, and can achieve multi-tooth meshing, stable transmission, low working noise, and self-locking function, which realizes automatic locking in the radial direction, improving operational reliability and safety in use; the drive shaft adopts a rounded regular polygon structure, which is easy to process and assemble, and can also improve sealing; the outer diameter of the drive shaft is optimized to improve the overall structural strength, high torsional strength, avoid torsional deformation, ensure the stability and reliability of radial rotation, and long service life; the drive shaft and the first piston are connected by a fixed seat, which is easy to disassemble and assemble, has strong versatility, and greatly reduces production and use costs; a driven rotating assembly is arranged on the partition, which has a compact structure, can ensure the sealing of the cylinder cavity, improve the overall stability and reliability, and Its supporting seat has the same structure as the supporting seat in the rotating assembly, and the parts have good versatility, which reduces the manufacturing cost; different structures are arranged at the rear end of the driving shaft to meet different applicable working conditions, and the applicable flexibility is high: when the driving shaft extends out of the cylinder body, a second output end can be formed, and the second output end can realize radial rotation and axial movement, so that the cylinder forms a double-output shaft structure, which is suitable for the use conditions of dual-axis synchronous movement; a second piston is arranged at the end of the driving shaft, and a double-cavity double-plug structure is formed by applying force to the second piston, so as to realize auxiliary thrust to the piston rod, with large thrust and good thrust stability, especially the structural form of the front-cavity air cylinder and the rear-cavity oil cylinder, which increases the telescopic thrust while improving the operating reliability, especially at the moment of starting and stopping, to avoid instantaneous impact; when A hole body is arranged on the second piston to connect the chambers at both ends of the second piston, so that a certain damping is formed during the movement. It does not need an external gas circuit or oil circuit, which can improve the telescopic stability and reliability of the piston rod, and has a compact structure. The damping size can be adjusted by setting different hole body diameters; a flow channel and a valve core are arranged between the two chambers of the second piston, and the communication volume of the two chambers is adjusted by the action of the valve core, thereby realizing the adjustment and locking of the damping, and the structure is compact, the reliability of use is good, and the safety is high; when the valve core is controlled by an electromagnet, the response is fast, and rapid connection and blocking can be realized, that is, rapid locking and unlocking can be realized; when the valve core is adjusted by a motor, the communication volume can be infinitely adjusted, thereby adjusting the damping size, meeting different use conditions, and having a wide range of applications;The cylinder body is composed of multiple cylinder barrels, cover bodies and partitions, with low production cost, convenient assembly and good flexibility in use; an encoder is set to monitor the rotation angle of the drive shaft with high precision, which is convenient for realizing overall automatic control; the dual-output cylinder of the present invention has a compact structure and a small volume, can adjust the output shaft to any angle, has high adjustment precision, and has a self-locking effect, is reliable and stable to use, and is particularly suitable for use in the mechanical arm of non-standard equipment, and has a wide range of applications. ;

[0079] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A dual output cylinder, characterized in that: include: A cylinder body, wherein a chamber is formed in the cylinder body, a partition is provided in the chamber, and the partition partitions the chamber into a front chamber and a rear chamber; The piston assembly 3 comprises a first piston 32 slidably fitted in the front cavity and a piston rod 31 disposed at the head of the first piston, wherein the piston rod 31 extends outside the cylinder body and serves as a first output end; The rotating assembly 6 includes a rotating assembly arranged in the rear cavity, and a driving shaft 4 is provided on the rotating assembly. The driving shaft 4 passes through the partition and is rigidly connected to the first piston 32, and can drive the piston rod 31 to rotate radially.

2. The dual output cylinder according to claim 1, characterized in that: The inner wall of the rear cavity is provided with an annular protrusion and forms a first inner mounting seat 121. The rotating assembly includes a first supporting seat 61 fixed at the front end of the first inner mounting seat 121, a second supporting seat 63 fixed at the rear end of the first inner mounting seat 121, and an active rotating seat 62 rotatably mounted between the first supporting seat 61 and the second supporting seat 63. The rotation axis of the active rotating seat 62 is coaxial with the piston assembly 3. The side wall of the active rotating seat 62 is provided with gear teeth to form a worm gear. Both ends of the active rotating seat 62 are penetrated by a first main shaft hole 620 with a regular polygonal cross section that can just accommodate the axial passage of the drive shaft 4 and realize radial connection; the side wall of the cylinder body is provided with a driving mechanism 7, and the output end of the driving mechanism 7 is provided with a worm 71 that can engage with the worm gear and drive it to rotate radially.

3. The dual output cylinder according to claim 1, characterized in that: The first support seat 61 and the second support seat 63 have the same structure, both of which include a circular support seat body, the head of the support seat body extends radially outward to form a connecting portion, the connecting portion is circumferentially evenly provided with mounting holes and forms a first flange that can be fixed to the end face of the first inner mounting seat 121, and both ends of the support seat body are penetrated with circular holes to form a first guide hole; the active rotating seat 62 includes a shaft sleeve that is sleeved in the two first guide holes and can realize radial rotation, and both ends of the shaft sleeve are penetrated with a first main shaft hole 620, the outer wall of the shaft sleeve is provided with an annular protrusion to form a drive ring, and the drive ring is located between the two support seat bodies, and the side wall of the drive ring is circumferentially evenly provided with gear teeth to form a worm gear.

4. The dual output cylinder according to claim 1, characterized in that: The rotating assembly is arranged at the front end of the rear cavity.

5. The dual output cylinder according to claim 1, characterized in that: The end of the driving shaft 4 extends backward to the outside of the cylinder body and serves as a second output end.

6. The dual output cylinder according to claim 1, characterized in that: The end of the drive shaft 4 is fixedly connected to the second piston 41 slidingly fitted in the rear chamber and can realize synchronous movement. The second piston 41 divides the rear chamber into a second chamber I120b and a second chamber II120c. The second chamber I120b and the second chamber II120c are both filled with hydraulic oil or compressed air.

7. The dual output cylinder according to claim 1, characterized in that: Both ends of the second piston 41 are penetrated by a plurality of holes communicating with the second chamber I 120 b and the second chamber II 120 c and forming a stable damping for the first output end.

8. The dual output cylinder according to claim 1, characterized in that: A valve hole is provided on the side wall of the cylinder body, and the side wall of the valve hole is provided with a first flow channel 1201 located on different radial planes and respectively connected to the second chamber Ⅰ120b and a second flow channel 1202 connected to the second chamber Ⅱ120c. A valve core 81 is slidably mounted in the valve hole, and the side wall of the valve core 81 is provided with an annular groove to form a connecting groove 810. The side wall of the cylinder body is provided with a driving device for driving the valve core 81 to move axially and adjust the connecting amount between the connecting groove and the first flow channel and the second flow channel.

9. The dual output cylinder according to claim 1, characterized in that: A screw body 812 is provided at the inner end of the valve core 81, and the inner wall of the valve hole is provided with an internal thread threadedly connected to the screw body 812. The driving device is connected to the end of the valve core 81 and can drive the valve core 81 to rotate, thereby realizing the axial position of the valve core 81 and adjusting the flow rate.

10. The dual output cylinder according to claim 1, characterized in that: The ends of the second chamber I 120b and the second chamber II 120c are respectively provided with interfaces connected to the hydraulic pipeline or the pneumatic pipeline and can apply axial force to the second piston and form auxiliary thrust to the first output end.

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