Hydraulic manipulator
By using the variable aperture and clamping component design of the hydraulic manipulator, the deformation and displacement problems of shaft parts during the stamping process are solved, achieving stable clamping and center positioning of the workpiece, and improving processing accuracy and efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- XUZHOU YIZHONG FORGING EQUIP
- Filing Date
- 2023-12-25
- Publication Date
- 2026-06-09
AI Technical Summary
Traditional fixtures cannot accommodate the deformation and displacement of shaft parts during the stamping process, resulting in workpiece misalignment and affecting machining accuracy and efficiency.
Design a hydraulic manipulator that uses a variable aperture and a clamping plate in the support ring. The clamping assembly achieves a rigid and flexible connection. The inner diameter of the clamping plate is adjusted with the oil supply device to ensure stable clamping of the workpiece during the stamping process.
It achieves stable clamping and center positioning of the workpiece during the stamping process, avoids workpiece displacement, and improves processing accuracy and efficiency.
Smart Images
Figure CN117733891B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a hydraulic manipulator, belonging to the field of manipulator technology. Background Technology
[0002] In the field of mechanical manufacturing, stamping is a processing method. During the stamping process, fixtures are needed to hold the workpiece in place to ensure its stability and accuracy. However, traditional fixtures typically only provide a rigid connection and cannot accommodate the deformation and cushioning requirements of the workpiece during stamping.
[0003] During the stamping process, shaft parts are shaped by stamping. After stamping, the diameter of the shaft parts increases and they are subjected to impact force. Due to the impact force, the axis of the cylinder of the shaft parts will be offset. After multiple impacts, the position of the workpiece changes. When the robotic arm picks up the workpiece again, it needs to be repositioned because the workpiece has been offset, which takes time. Therefore, the present invention provides a hydraulic robotic arm to solve the above problems. Summary of the Invention
[0004] To address the problems existing in the prior art, the present invention provides a hydraulic manipulator that can solve the problem of workpiece displacement caused by deformation and displacement during letter stamping.
[0005] To achieve the above objectives, the present invention adopts the following technical solution: a hydraulic manipulator, including a manipulator arm and a support ring installed at the end of the manipulator arm, wherein the support ring has a mounting hole with a variable diameter for fitting and fixing a workpiece.
[0006] The mounting hole has a retaining plate inside, and the retaining plate has a notch. The inner ring surface of the support ring has an annular groove. Multiple support components are installed in the two side walls of the groove. The support components can slide inward toward the support ring. The sliding direction of the support components is all pointing toward the axis of the support ring. The end of the support component extending out of the support ring has a sliding groove. Both sides of the retaining plate are slidably installed in the sliding groove. When the multiple support components slide toward the axis of the support ring, the inner diameter of the mounting hole decreases.
[0007] Multiple clamping components are rotatably installed in the groove, capable of pressing against the clamping plate. The clamping components can push the clamping plate to press the workpiece. The clamping components have at least three states: the first state is that the clamping components press the clamping plate, making the connection between the clamping plate and the workpiece a rigid connection; the second state is that the clamping components are in a retracted state, making the inner diameter of the clamping plate larger than the diameter of the workpiece; and the third state is that the clamping components apply a clamping force to the clamping plate, making the connection between the clamping plate and the workpiece a flexible connection.
[0008] Preferably, the support assembly includes a sliding column, one end of which extends into the interior of the support ring and is slidably mounted in the sliding column by a first spring. A positioning block is fixed to the end of the sliding column, and a sliding groove is arranged inside the positioning block. A pin is fixed to one end of the sliding column inserted into the interior of the support ring. The interior of the support ring is provided with a sliding hole adapted to the pin, and the sliding hole communicates with an oil supply device outside the support ring.
[0009] Preferably, the clamping assembly includes a clamping wheel with an elliptical cross-section. A support column is fixed to the middle of the clamping wheel and is rotatably mounted on a support ring via the support column. The side of the clamping wheel abuts against a clamping plate.
[0010] Preferably, one end of the support column extends into the interior of the support ring and is fixed with a connecting rod. The interior of the support ring has arc grooves corresponding to the connecting rods. The connecting rods can rotate inside the arc grooves. One side of the arc groove is connected to an arc-shaped oil passage. An arc plate is fixed to the end of the connecting rod. The end of the arc plate away from the connecting rod extends into the interior of the arc-shaped oil passage. The arc-shaped oil passage and the arc plate are in a sealed state. The end of the arc-shaped oil passage away from the arc groove is connected to an oil supply device outside the support ring.
[0011] Preferably, the oil supply device includes an oil supply tank and a cylinder body. The oil supply tank is connected to the cylinder body through a third oil pipe, the cylinder body is connected to a sliding hole through a first oil pipe, and the oil supply tank is connected to an arc-shaped oil passage through a second oil pipe.
[0012] Preferably, the oil supply tank has a first chamber inside, and an oil pusher plate is rotatably installed inside the first chamber. The oil pusher plate divides the first chamber into a first oil storage chamber and a second oil storage chamber. The first oil storage chamber is connected to a third oil pipe, and the second oil storage chamber is connected to a second oil pipe.
[0013] Preferably, the cylinder body has a second chamber inside, in which a first piston plate and a second piston plate are slidably installed. A second spring connects the first piston plate and the second piston plate. The first piston plate, the second piston plate, and the second spring divide the second chamber into a first oil injection chamber and a second oil injection chamber. The first oil injection chamber is connected to a third oil pipe, and the second oil injection chamber is connected to the first oil pipe.
[0014] Preferably, the oil supply tank is equipped with a motor for driving the oil pusher plate to rotate.
[0015] Compared with the prior art, the present invention completes the clamping and releasing function of shaft parts by setting a clamping plate inside the support ring. The inner diameter of the clamping plate can be changed. There are two states when clamped: a rigid connection in a locked state and a flexible connection in a locked state. The rigid connection is used to clamp and displace heavy workpieces, while the flexible connection is used to clamp the workpiece during the stamping process. During the clamping process, the workpiece can be centered to avoid displacement of the workpiece during processing. During stamping, the diameter of the workpiece will increase due to the large stamping force. The device can adapt to this and always clamp the workpiece. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the structure of the present invention.
[0017] Figure 2 This is a diagram showing one state of the internal clamping wheel of the support ring of the present invention.
[0018] Figure 3 This is a state diagram of the internal clamping wheel of the support ring of the present invention.
[0019] Figure 4 This is a cross-sectional view of the support ring of the present invention.
[0020] Figure 5 For the present invention Figure 4 A cross-sectional view along the AA direction.
[0021] Figure 6 This is the oil circuit diagram in this invention.
[0022] Figure 7 This is an internal view of the fuel tank of the present invention.
[0023] Figure 8 This is an internal view of the cylinder body of the present invention.
[0024] In the diagram: 1. Robotic arm, 2. Support ring, 3. Clamping plate, 4. Positioning block, 5. Clamping wheel, 6. First oil pipe, 7. Arc plate, 8. Second oil pipe, 9. Support column, 10. Arc groove, 11. Sliding column, 12. First spring, 13. Pin, 14. Arc-shaped oil passage, 15. Connecting rod, 16. Oil supply tank, 17. Third oil pipe, 18. Cylinder body, 19. First oil reservoir, 20. Second oil reservoir, 21. First oil injection chamber, 22. First piston plate, 23. Second spring, 24. Second piston plate, 25. Second oil injection chamber, 26. Groove, 27. Sliding hole, 28. Push plate. Detailed Implementation
[0025] The present invention is illustrated below with specific embodiments, but these are not intended to limit the invention.
[0026] Example
[0027] like Figures 1-8 As shown in the figure, in this embodiment, a hydraulic manipulator is provided, including a manipulator arm 1 and a support ring 2 installed at the end of the manipulator arm 1. The manipulator arm 1 is a commonly used component in machining and is existing technology. Its support strength is high and it is not an innovation point in this invention. Therefore, this invention will not elaborate on it. The support ring 2 has a mounting hole with a variable diameter for fitting and fixing the workpiece.
[0028] An abutment plate 3 is provided inside the mounting hole. The abutment plate 3 has a notch, and its inner annular surface forms the mounting hole. The notch on the abutment plate 3 ensures that its inner diameter can be changed. When the notch is increased or decreased, the abutment plate 3 contracts inward, reducing its inner diameter; when the notch is increased, the abutment plate 3 expands outward, increasing its inner diameter. The inner annular surface of the support ring 2 has an annular groove 26. Multiple support components are installed in the side walls of the groove 26. These support components can slide inward or outward simultaneously and at the same speed. The abutment plate 3 is connected to the support components. The material is a flexible metal plate, which can change shape under the action of the support component. Since the clamping plate 3 moves with the support component, the inner ring surface of the clamping plate 3 can form a circle with a notch. This circle can press the cylindrical workpiece. The support component can slide towards the inside of the support ring 2. The sliding direction of the support component is all towards the axis of the support ring 2. The end of the support component that extends out of the support ring 2 is provided with a groove. Both sides of the clamping plate 3 are slidably installed in the groove. When multiple support components slide towards the axis of the support ring 2, the inner diameter of the mounting hole decreases.
[0029] Multiple clamping components are rotatably installed in the groove 26, which can abut against the clamping plate 3. The clamping components can push the clamping plate 3 to press the workpiece. The clamping components have at least three states: the first state is that the clamping components press the clamping plate 3, so that the connection between the clamping plate 3 and the workpiece is rigid; the second state is that the clamping components are in a retracted state, so that the inner diameter of the clamping plate 3 is larger than the diameter of the workpiece; and the third state is that the clamping components abut against the clamping plate 3, so that the connection between the clamping plate 3 and the workpiece is flexible.
[0030] The support assembly includes a sliding column 11, one end of which extends into the interior of the support ring 2 and is slidably mounted in the sliding column 11 via a first spring 12. The first spring 12 is a tension spring; in its natural state, the first spring 12 pulls the sliding column 11 toward the interior of the support ring 2. A positioning block 4 is fixed to the end of the sliding column 11, and a sliding groove is arranged inside the positioning block 4. The sliding grooves on both sides of the positioning block 4 are arranged opposite to each other. Sliding strips are provided on both sides of the abutment plate 3, and the connection between the sliding strips and the sliding grooves is a gap connection. A pin 13 is fixed to one end of the sliding column 11 that is inserted into the interior of the support ring 2, and a sliding hole adapted to the pin 13 is provided inside the support ring 2. 27. The sliding hole 27 is connected to the oil supply device outside the support ring 2. When the oil supply device injects hydraulic oil into the sliding hole 27, the internal pressure of the sliding hole 27 increases, which will push the pin 13 to slide outward against the elastic force of the first spring 12. The pin 13 pushes the support assembly to slide outward and pushes the clamping plate 3 to press the workpiece. The clamping assembly includes a clamping wheel 5. The clamping wheel 5 has an elliptical cross section. The middle part of the clamping wheel 5 is fixed with a support column 9 and is rotatably mounted on the support ring 2 through the support column 9. The side of the clamping wheel 5 is pressed against the clamping plate 3. When the clamping wheel 5 rotates to the end of the long shaft and presses against the clamping plate 3, the clamping plate 3 and the workpiece are rigidly connected.
[0031] One end of the support column 9 extends into the interior of the support ring 2 and is fixed with a connecting rod 15. The interior of the support ring 2 has arc grooves 10 corresponding to the connecting rods 15. The connecting rods 15 can rotate within the arc grooves 10. One side of the arc grooves 10 is connected to an arc-shaped oil passage 14. An arc plate 7 is fixed to the end of the connecting rod 15. The end of the arc plate 7 away from the connecting rod 15 extends into the interior of the arc-shaped oil passage 14. The arc-shaped oil passage 14 and the arc plate 7 are sealed. The end of the arc-shaped oil passage 14 away from the arc groove 10 is connected to an oil supply device outside the support ring 2. When the oil supply device injects oil into the interior of the arc-shaped oil passage 14, the internal oil pressure increases, pushing the arc plate 7 to move. The arc plate 7 drives the connecting rod 15 and the support column 9 to rotate. The support column 9 drives the clamping wheel 5 to rotate. When the arc plate... 7. When the push rod 15 is attached to the side wall of the arc groove 10, the long shaft end of the clamping wheel 5 will abut against the clamping plate 3. The oil supply device includes an oil tank 16 and a cylinder 18. The oil tank 16 is connected to the cylinder 18 through a third oil pipe 17. The cylinder 18 is connected to the sliding hole 27 through a first oil pipe 6. The oil tank 16 is connected to the arc-shaped oil passage 14 through a second oil pipe 8. The oil tank 16 can supply oil to the inside of the sliding hole 27 through the third oil pipe 17, the cylinder 18, and the first oil pipe 6. The oil tank 16 can also supply oil to the arc-shaped oil passage 14 through the second oil pipe 8. The inside of the oil tank 16 is provided with a chamber 1. A pusher plate 28 is rotatably installed inside the chamber 1. A motor for driving the pusher plate 28 to rotate is installed on the oil tank 16. The motor can drive the pusher plate 28 to rotate. The oil plate 28 divides the first chamber into a first oil reservoir 19 and a second oil reservoir 20. The first oil reservoir 19 is connected to the third oil pipe 17, and the second oil reservoir 20 is connected to the second oil pipe 8. When the oil plate 28 rotates towards the inside of the first oil reservoir 19, it can push the hydraulic oil inside the first oil reservoir 19 into the third oil pipe 17. When the oil plate 28 rotates towards the inside of the second oil reservoir 20, it can push the hydraulic oil inside the second oil reservoir 20 into the second oil pipe 8. The cylinder body 18 has a second chamber inside, in which a first piston plate 22 and a second piston plate 24 are slidably installed. A second spring 23 connects the first piston plate 22 and the second piston plate 24. The first piston plate 22, the second piston plate 24, and the second spring 23 hold the second chamber in place. The system is divided into a first oil injection chamber 21 and a second oil injection chamber 25. The first oil injection chamber 21 is connected to the third oil pipe 17, and the second oil injection chamber 25 is connected to the first oil pipe 6. When the pusher plate 28 slides towards the first oil reservoir 19, hydraulic oil is injected into the first oil injection chamber 21 through the third oil pipe 17. The first oil injection chamber 21 pushes the first piston plate 22, the second spring 23, and the second piston plate 24 to slide. The second piston plate 24 injects the hydraulic oil inside the second oil injection chamber 25 into multiple sliding holes 27 through the first oil pipe 6, pushing the sliding column 11 to slide. The sliding column 11 pushes the positioning block 4, causing the clamping plate 3 to retract inward. Under the action of the second spring 23, the clamping plate 3 is flexibly connected to the workpiece while clamping it. When the workpiece is subjected to stamping, its volume will increase.The inner diameter of the clamping plate 3 serves to increase its size and provide cushioning.
[0032] Working principle: The support ring 2 is installed on the robotic arm 1. When stamping shaft-type parts, the support ring 2 is sleeved on the outside of the workpiece. At this time, combined with... Figure 7 With the push plate 28 in the middle position, the oil supply device does not inject oil into the sliding hole 27 and the arc-shaped oil passage 14. Under the action of the first spring 12, the sliding column 11 slides into the sliding hole 27, the positioning block 4 is close to the support ring 2, and the diameter of the inner round hole of the clamping plate 3 is larger than the diameter of the workpiece. The support ring 2 can be sleeved on the outside of the workpiece. When it is necessary to clamp the workpiece, the push plate 28 rotates towards the second oil storage chamber 20, pushes the hydraulic oil inside the second oil storage chamber 20 into the arc-shaped oil passage 14 and pushes the arc plate 7 to move, thereby driving multiple clamping wheels 5 to rotate. The clamping wheels 5 rotate to the state of pressing the clamping plate 3. At this time, the workpiece, the clamping plate 3 and the clamping wheels 5 are rigidly connected, which can clamp and fix the workpiece, and clamp the workpiece and place it on the worktable.
[0033] The motor drives the push plate 28 to reverse, injecting hydraulic oil into the first injection chamber 21 through the third oil pipe 17. The first piston plate 22, the second spring 23, and the second piston plate 24 slide, pushing the hydraulic oil in the second injection chamber 25 into multiple sliding holes 27 through the first oil pipe 6. This pushes the pin 13, the sliding column 11, and the positioning block 4 to slide. The positioning block 4 pushes the clamping plate 3 to clamp the workpiece and center the workpiece. At this clamping state, the clamping plate 3 has a buffering effect. When the workpiece is stamped, its volume will increase. The inner diameter of the clamping plate 3 has the function of increasing and buffering. This invention can switch between rigid connection and flexible connection. It can lock the workpiece for clamping, and it can also clamp the workpiece and perform stamping work. During the stamping work, it has the effect of buffering and clamping the workpiece at all times.
[0034] Finally, it should be noted that the above embodiments are only used to illustrate and not limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention without departing from the spirit and scope of the present invention. Any modifications or partial substitutions should be covered within the scope of the claims of the present invention.
Claims
1. A hydraulic manipulator, characterized in that, It includes a robotic arm (1) and a support ring (2) installed at the end of the robotic arm (1). The support ring (2) has a mounting hole with a variable diameter for fitting and fixing the workpiece. The mounting hole is provided with a retaining plate (3), and the retaining plate (3) has a notch. The inner ring surface of the support ring (2) is provided with a groove (26) in the shape of an annular shape. Multiple support components are installed in the two side walls of the groove (26). The support components can slide towards the inside of the support ring (2). The sliding direction of the support components all points towards the axis of the support ring (2). The end of the support component extending out of the support ring (2) is provided with a sliding groove. The two sides of the retaining plate (3) are slidably installed in the sliding groove. When the multiple support components slide towards the axis of the support ring (2), the inner diameter of the mounting hole decreases. Multiple clamping components that can abut against the clamping plate (3) are rotatably installed in the groove (26). The clamping components can push the clamping plate (3) to press against the workpiece. The clamping components have at least three states. The first state is: the clamping components press against the clamping plate (3), so that the connection between the clamping plate (3) and the workpiece is a rigid connection. The second state is: the clamping components are in a retracted state, so that the inner diameter of the clamping plate (3) is larger than the diameter of the workpiece. The third state is: the clamping components apply a clamping force to the clamping plate (3), so that the connection between the clamping plate (3) and the workpiece is a flexible connection. The support assembly includes a slide column (11), one end of which extends into the interior of the support ring (2) and is slidably mounted in the slide column (11) by a first spring (12). A positioning block (4) is fixed at the end of the slide column (11), and a groove is arranged inside the positioning block (4). A pin (13) is fixed at one end of the slide column (11) inserted into the interior of the support ring (2). A sliding hole (27) adapted to the pin (13) is provided inside the support ring (2), and the sliding hole (27) is connected to an oil supply device outside the support ring (2). The clamping assembly includes a clamping wheel (5), the clamping wheel (5) has an elliptical cross section, a support column (9) is fixed in the middle of the clamping wheel (5) and is rotatably mounted on the support ring (2) through the support column (9), and the side of the clamping wheel (5) is pressed against the clamping plate (3); One end of the support column (9) extends into the interior of the support ring (2) and is fixed with a connecting rod (15). The interior of the support ring (2) is provided with an arc groove (10) corresponding to the connecting rod (15). The connecting rod (15) can rotate inside the arc groove (10). One side of the arc groove (10) is connected to an arc-shaped oil passage (14). An arc plate (7) is fixed to the end of the connecting rod (15). The end of the arc plate (7) away from the connecting rod (15) extends into the interior of the arc-shaped oil passage (14). The arc-shaped oil passage (14) and the arc plate (7) are in a sealed state. The end of the arc-shaped oil passage (14) away from the arc groove (10) is connected to an oil supply device outside the support ring (2).
2. A hydraulic manipulator according to claim 1, characterized in that, The oil supply device includes an oil tank (16) and a cylinder (18). The oil tank (16) is connected to the cylinder (18) through a third oil pipe (17). The cylinder (18) is connected to the sliding hole (27) through a first oil pipe (6). The oil tank (16) is connected to the arc-shaped oil passage (14) through a second oil pipe (8).
3. A hydraulic manipulator according to claim 2, characterized in that, The oil supply tank (16) has a first chamber inside, and a pusher plate (28) is rotatably installed inside the first chamber. The pusher plate (28) divides the first chamber into a first oil storage chamber (19) and a second oil storage chamber (20). The first oil storage chamber (19) is connected to the third oil pipe (17), and the second oil storage chamber (20) is connected to the second oil pipe (8).
4. A hydraulic manipulator according to claim 3, characterized in that, The cylinder body (18) has a second chamber inside, in which a first piston plate (22) and a second piston plate (24) are slidably installed. A second spring (23) is connected between the first piston plate (22) and the second piston plate (24). The first piston plate (22), the second piston plate (24) and the second spring (23) divide the second chamber into a first oil injection chamber (21) and a second oil injection chamber (25). The first oil injection chamber (21) is connected to a third oil pipe (17), and the second oil injection chamber (25) is connected to a first oil pipe (6).
5. A hydraulic manipulator according to claim 3, characterized in that, The oil supply tank (16) is equipped with a motor for driving the oil pusher plate (28) to rotate.