Hydraulic shock absorber for pneumatic rotation

Abstract

The present invention provides a hydraulic buffer for pneumatic rotation, which includes a body, a first buffer assembly, a second buffer assembly, a flow rate regulating mechanism, a first one-way exhaust mechanism, and a second one-way exhaust mechanism. A hydraulic oil passage is provided inside the body; the flow rate regulating mechanism is arranged at the upper end of the body and is used to regulate the flow rate of the hydraulic oil in the hydraulic passage; the first buffer assembly and the second buffer assembly are arranged at the lower end of the body and alternately reset to achieve buffering; the first one-way exhaust mechanism and the second one-way exhaust mechanism are respectively arranged on the buffer rods of the first buffer assembly and the second buffer assembly to achieve one-way exhaust of the negative pressure chamber. The present invention controls that under certain air pressure conditions, the buffer has a longer service life, excellent buffering performance, adjustable buffering hardness, flexible on-site application, can be reused repeatedly after being refueled, reduces the use cost, and reduces waste.

Description

Technical Field

[0001] The present invention relates to the technical field of components for pneumatic rotation in industrial automation equipment, and particularly relates to a hydraulic buffer for pneumatic rotation, which is applied to the rotating end effector of a robot. Background Art

[0002] A shock absorber relies on hydraulic damping to buffer and decelerate an object acting on it until it stops, playing a certain degree of protective role. Its function is a safety buffer device to prevent mechanical damage caused by hard collisions during the working process. The shock absorber is widely used in equipment such as robot automation, logistics, material channels, and storage bins.

[0003] Existing structure diagram of the buffer: The hydraulic buffer generally adopts a cylindrical structure. The main structures include a collision head, a buffer piston, an isolation piston, a buffer medium (hydraulic oil), a throttle orifice, a return spring, an inner and outer cylinder body, etc. As Figure 1 shown, it is an existing structure of a buffer, which is specifically composed of a end cap 01, a throttle needle 02, a nut 03, a piston 04, a pre-tightening spring 05, a retaining ring 06, a return spring 07, a piston rod 08, a buffer cap 09, etc.; when the axis of the hydraulic shaft of the buffer (piston rod 08) is impacted by an external force, it will drive the piston 04 to squeeze the hydraulic oil in the working chamber. After the hydraulic oil is pressurized, it will be discharged one by one from the oil discharge holes on the inner pipe wall into the oil storage chamber. Since the number of initial inner wall oil discharge holes is large, the oil is easily squeezed out; when the piston continues to move, the working chamber becomes smaller and smaller, and the number of oil discharge holes decreases, that is, the piston resistance continuously increases. After reaching the cylindrical stage of the working chamber, the number of oil discharge holes is constant, and the resistance also stabilizes at the maximum value. The process of compressing the buffer is a process of the piston squeezing the oil to do work, which consumes a large amount of kinetic energy and plays a buffering role; when the external force disappears, the spring rebounds the piston back to the starting point, and at the same time, the hydraulic oil discharged from the working chamber also flows back to the working chamber through the oil return holes on the inner pipe, waiting for the next action.

[0004] The existing buffers on the market have excellent performance in the ordinary atmospheric environment, but when the pneumatic device is applied to a specific air pressure environment, because the buffer is placed in a special environment with a certain air pressure, it is very easy for gas to penetrate into the buffer, resulting in the failure of the buffer performance. For example, the built-in spring in the buffer fails under air pressure, the buffer rod cannot be reset, the hydraulic oil fails due to the penetration of gas inside, and functional losses such as accelerated part damage occur, which may further cause damage to the rotating product and even cause major losses to related equipment. The existing buffers are all disposable products. Once a failure occurs, it is basically impossible to extend the service life of the buffer by simple repair or replacement of parts, which increases unnecessary costs for customers during the use process. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: in order to overcome the deficiencies in the prior art, the present invention provides a hydraulic buffer for pneumatic rotation, which can work under a certain air pressure, aiming to improve the buffering performance, reduce the customer's use cost, and is applicable to the high-performance hydraulic buffer of the SRH-P / SRP series double-piston-driven rotary swing cylinder.

[0006] The technical solution adopted by the present invention to solve its technical problems is: a hydraulic buffer for pneumatic rotation, including a body, a first buffer assembly, a second buffer assembly, a flow regulating mechanism, a first one-way exhaust mechanism, and a second one-way exhaust mechanism, wherein,

[0007] An adjustment knob mounting hole is provided on the upper end surface of the body, a first buffer mounting hole and a second buffer mounting hole are provided on the lower end surface, and a hydraulic oil passage is provided inside; the flow regulating mechanism is arranged in the adjustment knob mounting hole and is used to regulate the flow of hydraulic oil in the hydraulic passage; one end of the first buffer assembly is arranged in the first buffer mounting hole, and the end forms a first hydraulic chamber with the first buffer mounting hole, and the other end of the first buffer assembly is installed with the first one-way exhaust mechanism; one end of the second buffer assembly is arranged in the second buffer mounting hole, and the end forms a second hydraulic chamber with the second buffer mounting hole, and the other end of the second buffer assembly is installed with the second one-way exhaust mechanism; the hydraulic oil passage communicates the first hydraulic chamber and the second hydraulic chamber.

[0008] The structures of the first buffer assembly and the second buffer assembly are basically the same, only the action directions are opposite, and the structures of the first one-way exhaust mechanism and the second one-way exhaust mechanism are also basically the same, only the exhaust is carried out alternately.

[0009] Further, the first buffer assembly includes a first bushing and a first buffer rod. One end of the first bushing is installed in the first buffer mounting hole, and the other end extends outward. A first stepped hole is axially provided in the first bushing. The large end of the first buffer rod is arranged in the large end of the first stepped hole, and the small end of the first buffer rod extends outward from the first stepped hole. A first sealed cavity is formed between the connection of the large end and the small end of the first buffer rod and the inner wall of the first bushing. A first hydraulic seal ring and a first pneumatic seal ring are successively arranged between the large end of the first buffer rod and the inner wall of the first stepped hole, and the first hydraulic seal ring is locked by a first locking nut arranged at the end of the first buffer rod. A first common seal ring is arranged between the small end of the first buffer rod and the inner wall of the first stepped hole. The first hydraulic seal ring realizes the seal between the large end of the first buffer rod and the first hydraulic chamber, the first pneumatic seal ring realizes the seal between the large end of the first buffer rod and the first sealed cavity, and the first common seal ring realizes the seal between the small end of the first buffer rod and the first sealed cavity. A first central channel is further arranged in the first buffer rod. One end of the first central channel is connected to the first sealed cavity, and the other end extends to the end of the small end of the first buffer rod. A first ring groove is arranged on the inner wall of the first stepped hole below the first common seal ring, and a first guide ring is arranged in the first ring groove to support the small end of the first buffer rod.

[0010] Further, the first one-way exhaust mechanism includes a first ball, a first spring and a first limiting block. A first fixed hole, a first spring mounting hole and a first exhaust channel with gradually decreasing inner diameters are successively arranged in the middle of the first limiting block. The first spring is arranged in the first spring mounting hole. The first ball presses against one end of the first spring close to the first fixed hole. The end of the small end of the first buffer rod is inserted into the first fixed hole, so that the first limiting block is fixed at the end of the first buffer rod and presses the first ball against the first spring. The diameter of the first ball is smaller than the inner diameter of the first spring mounting hole to ensure that the first ball can move up and down in the first spring mounting hole and is larger than the inner diameter of the first central channel.

[0011] Further, in order to ensure the position of the first ball and the seal of the first central channel, a first conical groove is arranged at the end of the small end of the first buffer rod to accommodate the first ball and realize the positioning of the first ball. A first O-ring seal groove is arranged at the connection of the first conical groove and the first central channel, and a first O-ring seal is arranged in the first O-ring seal groove for the seal between the first ball and the first central channel.

[0012] Further, the second buffer assembly includes a second bushing and a second buffer rod. One end of the second bushing is installed in the second buffer mounting hole, and the other end extends outward. A second stepped hole is axially provided in the second bushing. The large end of the second buffer rod is arranged in the large end of the second stepped hole, and the small end of the second buffer rod extends outward from the second stepped hole. A second sealed cavity is formed between the connection of the large end and the small end of the second buffer rod and the inner wall of the second bushing. A second hydraulic seal ring and a second pneumatic seal ring are sequentially arranged between the large end of the second buffer rod and the inner wall of the second stepped hole, and the second hydraulic seal ring is locked by a second locking nut arranged at the end of the second buffer rod. A second ordinary seal ring is arranged between the small end of the second buffer rod and the inner wall of the second stepped hole. The second hydraulic seal ring realizes the seal between the large end of the second buffer rod and the second hydraulic cavity, the second pneumatic seal ring realizes the seal between the large end of the second buffer rod and the second sealed cavity, and the second ordinary seal ring realizes the seal between the small end of the second buffer rod and the second sealed cavity. A second central channel is further arranged in the second buffer rod. One end of the second central channel is connected to the second sealed cavity, and the other end extends to the end of the small end of the second buffer rod. A second annular groove is arranged on the inner wall of the second stepped hole below the second ordinary seal ring, and a second guide ring is arranged in the second annular groove for supporting the small end of the second buffer rod.

[0013] The first sealed cavity and the second sealed cavity adopt one-way exhaust, so that the gas can only be discharged and cannot enter, forming a negative pressure cavity. The negative pressure cavity in the buffer reduces the entry of gas into the hydraulic cavity and on the part surface. The buffer is in the compressed gas space range. Even if multiple layers of seal rings are provided, due to the surface roughness of the parts and the seal rings and the movement, it is inevitable that a small amount of gas will be brought into the hydraulic cavity. After a certain number of times, a large amount of gas accumulates inside and causes buffer failure. The setting of the negative pressure cavity reduces the chance of contact between the hydraulic cavity and the gas and prolongs the buffer service life.

[0014] Preferably, both the first fixing hole and the second fixing hole are threaded holes, so that the limiting block and the buffer rod are connected and fastened by threads.

[0015] Further, the second one-way exhaust mechanism includes a second ball, a second spring and a second limiting block. A second fixing hole, a second spring mounting hole and a second exhaust channel with gradually decreasing inner diameters are sequentially arranged in the middle of the second limiting block. The second spring is arranged in the second spring mounting hole. The second ball is pressed against one end of the first spring close to the second fixing hole. The end of the small end of the second buffer rod is inserted into the second fixing hole, so that the second limiting block is fixed at the end of the second buffer rod and presses the second ball against the second spring. The diameter of the second ball is smaller than the inner diameter of the second spring mounting hole to ensure that the second ball can move up and down in the second spring mounting hole and is larger than the inner diameter of the second central channel.

[0016] Further, in order to ensure the stable position of the second ball and the sealing of the second central channel, a second conical groove is provided at the end of the small end of the second buffer rod for accommodating the second ball to achieve the positioning of the second ball; a second O-ring seal installation groove is provided at the junction of the second conical groove and the second central channel, and a second O-ring seal is provided in the second O-ring seal installation groove for sealing between the second ball and the second central channel.

[0017] Further, the flow rate adjustment assembly includes an adjustment knob, a cover plate and a screw. The adjustment knob is arranged in the adjustment knob installation hole and is sealed between the adjustment knob and the installation hole through a seal ring. The cover plate is arranged in the adjustment knob installation hole and presses the adjustment knob. A limit threaded hole is provided on the cover plate, and the screw is installed in the limit threaded hole for fixing the adjustment knob. The adjustable buffer hardness is realized through the flow rate adjustment assembly.

[0018] Further, a central hole is provided inside the adjustment knob. A side hole communicating with the central hole is provided in the side wall of the adjustment knob at the end of the central hole. The axes of the central hole and the side hole are perpendicular to each other. A tapered groove is provided on the side wall of the adjustment knob. One end of the tapered groove communicates with the side hole, and the other end communicates with the fourth hydraulic oil channel.

[0019] Further, the hydraulic oil channels include a first hydraulic oil channel, a second hydraulic oil channel, a third hydraulic oil channel and a fourth hydraulic oil channel. Among them, the first hydraulic oil channel and the third hydraulic oil channel are connected and arranged on one side of the first buffer assembly. The other end of the first hydraulic oil channel is connected to the first hydraulic cavity, and the other end of the third hydraulic oil is connected to the central hole of the adjustment knob; the second hydraulic oil channel and the fourth hydraulic oil channel are connected and arranged on one side of the second buffer assembly. The other end of the second hydraulic oil channel is connected to the second hydraulic cavity, and the other end of the fourth hydraulic oil is connected to the tapered groove of the adjustment knob.

[0020] Further, a pressure relief port is also provided on the body. The pressure relief port includes a sealing screw and a sealing washer. Both ends of the pressure relief port communicate with the second hydraulic oil channel and the atmosphere respectively.

[0021] The beneficial effects of the present invention are:

[0022] (1) The double-cycle hydraulic buffer structure with alternating reset and the cycle flow rate adjustment structure are adopted. Under certain air pressure conditions, the buffer has a longer service life, excellent buffer performance, adjustable buffer hardness, flexible on-site application, can be reused after refueling, reduces the use cost and waste.

[0023] (2) The one-way exhaust structure of the negative pressure chamber uses the negative pressure and exhaust structure to solve the problem that the buffer fails due to the inability to completely isolate the gas during the actual movement of the piston rod, resulting in the entry of gas into the buffer, greatly reducing the buffer failure rate, increasing the service life of the buffer, and having a firm buffer structure. After a certain service life, it can be reused after maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below in conjunction with the drawings and embodiments.

[0025] Figure 1 is a schematic structural diagram of a buffer in the prior art.

[0026] Figure 2 is a schematic structural diagram of the hydraulic buffer for pneumatic rotation of the present invention.

[0027] Figure 3 is a schematic structural diagram of the hydraulic buffer for pneumatic rotation of the present invention.

[0028] Figure 4 is Figure 3 the schematic cross-sectional structure of A-A in

[0029] Figure 5 is a schematic structural diagram of the adjusting knob.

[0030] Figure 6 is a schematic cross-sectional structure diagram of the adjusting knob.

[0031] Figure 7 is a schematic structural diagram of the hydraulic oil channel of the hydraulic buffer for pneumatic rotation.

[0032] Figure 8 is a schematic structural diagram of the pressure relief port.

[0033] In the figure: 01 - end cap, 02 - throttle needle, 03 - nut, 04 - piston, 05 - preloading spring, 06 - retaining ring, 07 - return spring, 08 - piston rod, 09 - buffer cap;

[0034] 1 - body, 11 - adjusting knob mounting hole, 12 - first buffer mounting hole, 13 - second buffer mounting hole, 14 - pressure relief port, 141 - sealing screw, 142 - sealing washer;

[0035] 2 - first buffer assembly, 21 - first bushing, 22 - first buffer rod, 221 - first central channel, 23 - first hydraulic seal ring, 24 - first pneumatic seal ring, 25 - first general seal ring, 26 - first locking nut, 27 - first guide ring;

[0036] 3 - Second buffer assembly, 31 - Second bushing, 32 - Second buffer rod, 321 - Second central channel, 33 - Second hydraulic sealing ring, 34 - Second pneumatic sealing ring, 35 - Second ordinary sealing ring, 36 - Second locking nut, 37 - Second guide ring;

[0037] 4 - Flow regulating mechanism, 41 - Adjusting knob, 411 - Central hole, 412 - Gradient groove, 413 - Side hole, 42 - Cover plate, 43 - Screw;

[0038] 5 - First one - way exhaust mechanism, 51 - First ball, 52 - First spring, 53 - First limit block, 54 - First spring mounting hole, 55 - First exhaust channel, 56 - First O - ring;

[0039] 6 - Second one - way exhaust mechanism, 61 - Second ball, 62 - Second spring, 63 - Second limit block, 64 - Second spring mounting hole, 65 - Second exhaust channel, 66 - Second O - ring;

[0040] A1 - First hydraulic cavity, A2 - First hydraulic oil channel, A3 - Third hydraulic oil channel, A4 - First sealed cavity; B1 - Second hydraulic cavity, B2 - Second hydraulic oil channel, B3 - Fourth hydraulic oil channel, B4 - Second sealed cavity. Detailed implementation mode

[0041] Now, the present invention will be described in detail with reference to the attached drawings. This figure is a simplified schematic diagram, which only illustrates the basic structure of the present invention in a schematic way, so it only shows the components related to the present invention.

[0042] As Figure 2 and Figure 3 shown, a hydraulic buffer for pneumatic rotation of the present invention includes a body 1, a first buffer assembly 2, a second buffer assembly 3, a flow regulating mechanism 4, a first one - way exhaust mechanism 5 and a second one - way exhaust mechanism 6. An adjusting knob mounting hole 11 is provided on the upper end surface of the body 1, a first buffer mounting hole 12 and a second buffer mounting hole 13 are provided on the lower end surface, and a hydraulic oil channel is provided inside. The flow regulating mechanism 4 is arranged in the adjusting knob mounting hole 11 and is used to adjust the flow rate of the hydraulic oil in the hydraulic channel. One end of the first buffer assembly 2 is arranged in the first buffer mounting hole 12, and the end forms a first hydraulic cavity A1 with the first buffer mounting hole 12. The other end of the first buffer assembly 2 mounts the first one - way exhaust mechanism 5. One end of the second buffer assembly 3 is arranged in the second buffer mounting hole 13, and the end forms a second hydraulic cavity B1 with the second buffer mounting hole 13. The other end of the second buffer assembly 3 mounts the second one - way exhaust mechanism 6. The hydraulic oil channel communicates the first hydraulic cavity A1 and the second hydraulic cavity B1.

[0043] The structures of the first buffer assembly 2 and the second buffer assembly 3 are basically the same, except that their action directions are opposite. The structures of the first one-way exhaust mechanism 5 and the second one-way exhaust mechanism 6 are also basically the same, except that the exhaust is carried out alternately.

[0044] As Figure 4 shown, the first buffer assembly 2 includes a first bushing 21 and a first buffer rod 22. One end of the first bushing 21 is installed in the first buffer mounting hole 12, and the other end extends outward. A first stepped hole is axially provided in the first bushing 21. The large end of the first buffer rod 22 is arranged in the large end of the first stepped hole, and the small end of the first buffer rod 22 extends outward from the first stepped hole. A first sealed cavity A4 is formed between the connection of the large end and the small end of the first buffer rod 22 and the inner wall of the first bushing 21. The large end of the first buffer rod 22 is provided with a plurality of seal ring mounting grooves. A first hydraulic seal ring 23 and a first pneumatic seal ring 24 are sequentially arranged between the large end of the first buffer rod 22 and the inner wall of the first stepped hole. The first hydraulic seal ring 23 and the first pneumatic seal ring 24 are both installed in the seal ring mounting grooves, and the first hydraulic seal ring 23 is locked by a first locking nut 26 arranged at the end of the first buffer rod 22. A first common seal ring 25 is arranged between the small end of the first buffer rod 22 and the inner wall of the first stepped hole. The first hydraulic seal ring 23 realizes the seal between the large end of the first buffer rod 22 and the first hydraulic cavity A1, the first pneumatic seal ring 24 realizes the seal between the large end of the first buffer rod 22 and the first sealed cavity A4, and the first common seal ring 25 realizes the seal between the small end of the first buffer rod 22 and the first sealed cavity A4. A first central channel 221 is further arranged in the first buffer rod 22. One end of the first central channel 221 communicates with the first sealed cavity A4, and the other end extends to the end of the small end of the first buffer rod 22. A first ring groove is arranged on the inner wall of the first stepped hole below the first common seal ring 25, and a first guide ring 27 is arranged in the first ring groove to support the small end of the first buffer rod 22.

[0045] The second buffer assembly 3 includes a second bushing 31 and a second buffer rod 32. One end of the second bushing 31 is installed in the second buffer mounting hole 13, and the other end extends outward. A second stepped hole is axially provided in the second bushing 31. The large end of the second buffer rod 32 is arranged in the large end of the second stepped hole, and the small end of the second buffer rod 32 extends outward from the second stepped hole. A second sealed cavity B4 is formed between the connection of the large end and the small end of the second buffer rod 32 and the inner wall of the second bushing 31. A second hydraulic seal ring 33 and a second pneumatic seal ring 34 are sequentially arranged between the large end of the second buffer rod 32 and the inner wall of the second stepped hole, and the second hydraulic seal ring 33 is locked by a second locking nut 36 arranged at the end of the second buffer rod 32. A second ordinary seal ring 35 is arranged between the small end of the second buffer rod 32 and the inner wall of the second stepped hole. The second hydraulic seal ring 33 realizes the sealing between the large end of the second buffer rod 32 and the second hydraulic cavity B1, the second pneumatic seal ring 34 realizes the sealing between the large end of the second buffer rod 32 and the second sealed cavity B4, and the second ordinary seal ring 35 realizes the sealing between the small end of the second buffer rod 32 and the second sealed cavity B4. A second central channel 321 is further arranged in the second buffer rod 32. One end of the second central channel 321 is connected to the second sealed cavity B4, and the other end extends to the end of the small end of the second buffer rod 32. A second ring groove is arranged on the inner wall of the second stepped hole below the second ordinary seal ring 35, and a second guide ring 37 is arranged in the second ring groove for supporting the small end of the second buffer rod 32.

[0046] Principle of operation: When the first buffer rod 22 or the second buffer rod 32 is stressed, the hydraulic oil is squeezed to circulate in the hydraulic channel, enabling the first buffer rod 22 and the second buffer rod 32 to alternately move up and down in the first bushing 21 and the second bushing 31 respectively.

[0047] As Figure 4As shown, the first one-way exhaust mechanism 5 includes a first ball 51, a first spring 52 and a first limit block 53. In the middle of the first limit block 53, there are successively a first fixing hole with a gradually decreasing inner diameter, a first spring mounting hole 54 and a first exhaust passage 55. The first spring 52 is arranged in the first spring mounting hole 54. The first ball 51 presses against one end of the first spring 52 close to the first fixing hole. The end of the small end of the first buffer rod 22 is inserted into the first fixing hole, so that the first limit block 53 is fixed to the end of the first buffer rod 22, and the first ball 51 is pressed against the first spring 52. The diameter of the first ball 51 is smaller than the inner diameter of the first spring mounting hole 54, ensuring that the first ball 51 can move up and down in the first spring mounting hole 54 and is larger than the inner diameter of the first central passage 221. To ensure the position of the first ball 51 and the sealing of the first central passage 221, a first conical groove is provided at the end of the small end of the first buffer rod 22 for accommodating the first ball 51 to realize the positioning of the first ball 51; a first O-ring mounting groove is provided at the junction of the first conical groove and the first central passage, and a first O-ring is arranged in the first O-ring mounting groove for sealing between the first ball and the first central passage.

[0048] The second one-way exhaust mechanism 6 includes a second ball 61, a second spring 62 and a second limit block 63. In the middle of the second limit block 63, there are successively a second fixing hole with a gradually decreasing inner diameter, a second spring mounting hole 64 and a second exhaust passage 65. The second spring 62 is arranged in the second spring mounting hole 64. The second ball 61 presses against one end of the first spring 52 close to the second fixing hole. The end of the small end of the second buffer rod 32 is inserted into the second fixing hole, so that the second limit block 63 is fixed to the end of the second buffer rod 32, and the second ball 61 is pressed against the second spring 62. The diameter of the second ball 61 is smaller than the inner diameter of the second spring mounting hole 64, ensuring that the second ball 61 can move up and down in the second spring mounting hole 64 and is larger than the inner diameter of the second central passage 321. To ensure the stable position of the second ball 61 and the sealing of the second central passage 321, a second conical groove is provided at the end of the small end of the second buffer rod 32 for accommodating the second ball 61 to realize the positioning of the first ball 51; a second O-ring mounting groove is provided at the junction of the second conical groove and the second central passage, and a second O-ring is arranged in the second O-ring mounting groove for sealing between the second ball and the second central passage.

[0049] Principle of operation: When the first buffer rod 22 moves downward, it squeezes the gas in the first sealed cavity A4, increasing the internal air pressure. The pressure is applied to the first ball 51 through the first central channel 221 inside the first buffer rod 22. When the pressure overcomes the elastic force of the first spring 52, the first ball 51 can press down the first spring 52, separating the first ball 51 from the first buffer rod 22. The first central channel 221 connects the first sealed cavity A4 and the first exhaust channel 55 to discharge the internal gas. When the first buffer rod 22 moves upward, the space of the first sealed cavity A4 increases, reducing the pressure. Under the action of the first spring 52, the first ball 51 is embedded into the conical groove to block the first central channel 221, thus preventing external gas from entering the first sealed cavity A4 and making the first sealed cavity A4 form a negative pressure cavity, which can absorb the force acting on the first buffer rod 22 and play a buffering role. The principle of operation of the second one-way exhaust mechanism 6 is the same as that of the first one-way exhaust mechanism 5 and will not be elaborated here. The first sealed cavity A4 and the second sealed cavity B4 adopt one-way exhaust, enabling the gas to only be discharged and not enter, forming a negative pressure cavity. Preferably, both the first fixing hole and the second fixing hole are threaded holes, so that the limiting block and the buffer rod are connected and fastened by threads.

[0050] As Figure 3 and Figure 5 shown, the flow rate adjustment assembly includes an adjustment knob 41, a cover plate 42, and a screw 43. The adjustment knob 41 is arranged in the adjustment knob mounting hole 11, and the seal between the adjustment knob 41 and the mounting hole is achieved through a sealing ring. The cover plate 42 is arranged in the adjustment knob mounting hole 11 and presses the adjustment knob 41. The cover plate 42 is provided with a limiting threaded hole, and the screw 43 is installed in the limiting threaded hole to fix the adjustment knob 41. The adjustable buffer hardness is achieved through the flow rate adjustment assembly.

[0051] As Figure 5 and Figure 6 shown, the adjustment knob 41 is internally provided with a central hole 411. Inside the side wall of the adjustment knob 41 at the upper end of the central hole 411, a side hole 413 communicating with the central hole 411 is provided. The axes of the central hole 411 and the side hole 413 are perpendicular to each other. A tapered groove 412 is provided on the side wall of the adjustment knob 41. One end of the tapered groove 412 communicates with the side hole 413, and the other end communicates with the fourth hydraulic oil channel B3. In this embodiment, the side hole 413 is arranged at the end or the beginning of the tapered groove 412.

[0052] As Figure 3 、 Figure 4 and Figure 6As shown, the hydraulic oil channels include a first hydraulic oil channel A2, a second hydraulic oil channel B2, a third hydraulic oil channel A3, and a fourth hydraulic oil channel B3. Among them, the first hydraulic oil channel A2 and the third hydraulic oil channel A3 are connected and arranged on one side of the first buffer assembly 2. The other end of the first hydraulic oil channel A2 is connected to the first hydraulic chamber A1, and the other end of the third hydraulic oil channel A3 is connected to the central hole 411 of the adjusting knob 41; the second hydraulic oil channel B2 and the fourth hydraulic oil channel B3 are connected and arranged on one side of the second buffer assembly 3. The other end of the second hydraulic oil channel B2 is connected to the second hydraulic chamber B1, and the other end of the fourth hydraulic oil channel B3 is connected to the tapered groove 412 of the adjusting knob 41.

[0053] As Figure 7 and Figure 8 shown, a pressure relief port 14 is further provided on the body 1. The pressure relief port includes a sealing screw and a sealing washer. Both ends of the pressure relief port 14 communicate with the second hydraulic oil channel B2 and the atmosphere respectively. There is only one pressure relief port 14. When the internal pressure increases, the buffer becomes hard or the rotation cannot reach the position, loosen the pressure relief port screw to release the internal air pressure.

[0054] The present invention provides the following functions compared with the prior art: a hydraulic buffer with stable buffering performance, adjustable buffer hardness, no need for spring reset, usable in an environment under 0.8 Mpa air pressure, and reusable.

[0055] Working principle:

[0056] The hydraulic oil channels and the hydraulic chambers inside the body 1 of the hydraulic buffer are filled with hydraulic oil. In the initial state, generally, one buffer rod is in the extended state and the other buffer rod is in the compressed state; in this embodiment, the working principle is described by taking the first buffer rod 22 in the extended state and the second buffer rod 32 in the compressed state as an example.

[0057] When the first buffer rod 22 is subjected to an external force, the first buffer rod 22 is compressed and squeezes the hydraulic oil in the first hydraulic chamber A1. Under the action of pressure, the hydraulic oil sequentially flows through the first hydraulic channel A2, the third hydraulic channel A3, the flow regulating mechanism 4, the second hydraulic channel B2, and the fourth hydraulic channel B3 inside the body 1 into the second hydraulic chamber B1 of the second buffer assembly 3; at the same time, a negative pressure chamber is formed in the first sealed cavity A4 between the first buffer rod 22 and the first bushing 21. The second buffer rod 32 inside the second buffer assembly 3 extends out under the action of the hydraulic oil and compresses the second sealed cavity B4 between the second buffer rod 32 and the second bushing 31. The low-pressure gas in the second sealed cavity B4 passes through the second central channel 321 and the second exhaust hole and discharges, and pushes the second ball 61 inside the second one-way exhaust mechanism 6 to open the second exhaust channel 65 to discharge the gas.

[0058] When the second buffer rod 32 is compressed by an external force, the hydraulic oil flows reversely, and the first buffer rod 22 extends, forming an alternating motion, so as to achieve the effect of cyclic buffering.

[0059] When the load is different, the buffering softness and hardness need to be adjusted. By adjusting the cross-sectional area of the tapered groove 412 on the adjustment knob 41 intersecting with the fourth hydraulic channel, the cross-sectional area of the flow passage at the throttling part is changed, so as to achieve the effect of controlling the softness and hardness of the hydraulic buffer.

[0060] The hydraulic buffer device is applied to the pneumatic rotary end effector of the robot. Most of the pneumatic rotary end effectors have double-cylinder output. The hydraulic buffer is installed on the end face of the actuator. In the normal state of the hydraulic buffer, one buffer rod is in the extended state and the other buffer rod is in the retracted state. The hydraulic buffer is nested in the piston hole of the end effector. When the rotary actuator rotates to one end, the rotary piston impacts the first buffer rod 22 and the piston of the hydraulic buffer. The hydraulic oil is pushed by the first buffer rod 22 and flows through the internal channel of the body 1 and the flow regulating mechanism 4 into another buffer mechanism and pushes the buffer rod to move outwards, and makes the second buffer rod 32 in the extended state (the compressed buffer rod is in the retracted state). When the end effector rotates to the other end, the piston on the other side in the end effector first collides with the extended buffer rod and pushes the buffer rod to move. The hydraulic oil returns to the hydraulic oil buffer mechanism through the channel and the buffer flow mechanism again. During the process of the buffer mechanism being compressed, a large amount of kinetic energy is consumed by squeezing the oil by the piston rod, playing a buffering role. Through the alternating motion of the rotation of the rotary end effector, the two buffer components are alternately reset to consume the rotational kinetic energy, playing a role in buffering and protecting the rotary end effector.

[0061] Inspired by the ideal embodiments of the present invention described above, through the above description, relevant workers can completely make various changes and modifications without departing from the scope of the present invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A hydraulic buffer for pneumatic rotation, characterized in that: It includes a main body, a first buffer assembly, a second buffer assembly, a flow regulating mechanism, a first one-way exhaust mechanism and a second one-way exhaust mechanism. Among them, a regulating knob mounting hole is provided on the upper end surface of the main body, a first buffer mounting hole and a second buffer mounting hole are provided on the lower end surface, and a hydraulic oil passage is provided inside; the flow regulating mechanism is arranged in the regulating knob mounting hole and is used to regulate the flow rate of the hydraulic oil in the hydraulic passage; one end of the first buffer assembly is arranged in the first buffer mounting hole, and the end forms a first hydraulic cavity with the first buffer mounting hole, and the other end of the first buffer assembly is equipped with the first one-way exhaust mechanism; one end of the second buffer assembly is arranged in the second buffer mounting hole, and the end forms a second hydraulic cavity with the second buffer mounting hole, and the other end of the second buffer assembly is equipped with the second one-way exhaust mechanism; the hydraulic oil passage communicates with the first hydraulic cavity and the second hydraulic cavity; the first buffer assembly includes a first bushing and a first buffer rod. One end of the first bushing is installed in the first buffer mounting hole, and the other end extends outwards. A first stepped hole is provided axially inside the first bushing. The large end of the first buffer rod is arranged in the large end of the first stepped hole, and the small end of the first buffer rod extends out of the first stepped hole; a first sealed cavity is formed between the connection of the large end and the small end of the first buffer rod and the inner wall of the first bushing; a first hydraulic seal ring and a first pneumatic seal ring are sequentially arranged between the large end of the first buffer rod and the inner wall of the first stepped hole, and the first hydraulic seal ring is locked by a first locking nut arranged at the end of the first buffer rod; a first common seal ring is arranged between the small end of the first buffer rod and the inner wall of the first stepped hole; the first hydraulic seal ring realizes the seal between the large end of the first buffer rod and the first hydraulic cavity, the first pneumatic seal ring realizes the seal between the large end of the first buffer rod and the first sealed cavity, and the first common seal ring realizes the seal between the small end of the first buffer rod and the first sealed cavity; a first central channel is also arranged inside the first buffer rod. One end of the first central channel is connected to the first sealed cavity, and the other end extends to the end of the small end of the first buffer rod; a first annular groove is provided on the inner wall of the first stepped hole below the first common seal ring, and a first guide ring is arranged in the first annular groove to support the small end of the first buffer rod; the first one-way exhaust mechanism includes a first ball, a first spring and a first limit block. A first fixing hole, a first spring mounting hole and a first exhaust passage with gradually decreasing inner diameters are sequentially arranged in the middle of the first limit block. The first spring is arranged in the first spring mounting hole. The first ball is pressed against one end of the first spring close to the first fixing hole. The end of the small end of the first buffer rod is inserted into the first fixing hole, so that the first limit block is fixed at the end of the first buffer rod and presses the first ball against the first spring. The diameter of the first ball is smaller than the inner diameter of the first spring mounting hole and larger than the inner diameter of the first central channel.

2. The hydraulic shock absorber for pneumatic rotation according to claim 1, characterized in that: The end of the small end of the first buffer rod is provided with a first conical groove for accommodating the first ball; a first O-ring seal mounting groove is provided at the junction of the first conical groove and the first central channel, and a first O-ring seal is provided in the first O-ring seal mounting groove for sealing between the first ball and the first central channel.

3. The hydraulic shock absorber for pneumatic rotation according to claim 1, wherein: The second buffer assembly includes a second bushing and a second buffer rod. One end of the second bushing is installed in the second buffer mounting hole, and the other end extends outward. A second stepped hole is provided axially in the second bushing. The large end of the second buffer rod is arranged in the large end of the second stepped hole, and the small end of the second buffer rod extends outward from the second stepped hole; a second sealed cavity is formed between the connection of the large end and the small end of the second buffer rod and the inner wall of the second bushing; a second hydraulic seal and a second pneumatic seal are sequentially provided between the large end of the second buffer rod and the inner wall of the second stepped hole, and the second hydraulic seal is locked by a second locking nut provided at the end of the second buffer rod; a second common seal is provided between the small end of the second buffer rod and the inner wall of the second stepped hole; the second hydraulic seal realizes the seal between the large end of the second buffer rod and the second hydraulic cavity, the second pneumatic seal realizes the seal between the large end of the second buffer rod and the second sealed cavity, and the second common seal realizes the seal between the small end of the second buffer rod and the second sealed cavity; a second central channel is further provided in the second buffer rod, one end of the second central channel communicates with the second sealed cavity, and the other end extends to the end of the small end of the second buffer rod; a second ring groove is provided on the inner wall of the second stepped hole below the second common seal, and a second guide ring is provided in the second ring groove for supporting the small end of the second buffer rod.

4. The hydraulic shock absorber for pneumatic rotation according to claim 3, characterized in that: The second one-way exhaust mechanism includes a second ball, a second spring and a second limit block. A second fixed hole, a second spring mounting hole and a second exhaust channel with gradually decreasing inner diameters are sequentially provided in the middle of the second limit block. The second spring is arranged in the second spring mounting hole. The second ball presses against one end of the first spring close to the second fixed hole. The end of the small end of the second buffer rod is inserted into the second fixed hole, so that the second limit block is fixed at the end of the second buffer rod and presses the second ball against the second spring. The diameter of the second ball is smaller than the inner diameter of the second spring mounting hole and larger than the inner diameter of the second central channel.

5. The hydraulic buffer for pneumatic rotation according to claim 4, characterized in that: The end of the small end of the second buffer rod is provided with a second conical groove for accommodating the second ball; a second O-ring seal mounting groove is provided at the junction of the second conical groove and the second central channel, and a second O-ring seal is provided in the second O-ring seal mounting groove for sealing between the second ball and the second central channel.

6. The hydraulic shock absorber for pneumatic rotation according to claim 1, wherein: The flow rate regulating mechanism includes an adjusting knob, a cover plate and a screw. The adjusting knob is arranged in the adjusting knob mounting hole. The cover plate is arranged in the adjusting knob mounting hole and presses the adjusting knob. A limit threaded hole is provided on the cover plate, and the screw is installed in the limit threaded hole for fixing the adjusting knob.

7. The hydraulic shock absorber for pneumatic rotation according to claim 6, characterized in that: The adjusting knob is internally provided with a central hole. Inside the side wall of the adjusting knob at the end of the central hole, there is a side hole communicating with the central hole. The axes of the central hole and the side hole are perpendicular to each other. A tapered groove is provided on the side wall of the adjusting knob. One end of the tapered groove communicates with the side hole, and the other end communicates with the fourth hydraulic oil passage.

8. The hydraulic shock absorber for pneumatic rotation according to claim 6, characterized in that: The hydraulic oil passage includes a first hydraulic oil passage, a second hydraulic oil passage, a third hydraulic oil passage, and a fourth hydraulic oil passage. Among them, the first hydraulic oil passage and the third hydraulic oil passage are connected and arranged on one side of the first buffer assembly. The other end of the first hydraulic oil passage communicates with the first hydraulic cavity, and the other end of the third hydraulic oil communicates with the central hole of the adjusting knob. The second hydraulic oil passage and the fourth hydraulic oil passage are connected and arranged on one side of the second buffer assembly. The other end of the second hydraulic oil passage communicates with the second hydraulic cavity, and the other end of the fourth hydraulic oil communicates with the tapered groove.

9. The hydraulic shock absorber for pneumatic rotation according to claim 1, characterized in that: A pressure relief port is further provided on the body. The pressure relief port includes a sealing screw and a sealing washer. The two ends of the pressure relief port communicate with the second hydraulic oil passage and the atmosphere respectively.

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