Four-axis servo CNC manipulator based on hydraulic balance cylinder

Abstract

The present invention discloses a four-axis servo CNC manipulator based on a hydraulic balance cylinder, and relates to the technical field of manipulators. By setting a detection mechanism on the side wall of an ear plate, the detection mechanism mainly consists of a first reset mechanism, a pushing mechanism, a moving block, a sensing block, and a distance sensor. When the earring is offset, the moving block and the distance sensor are pushed by the pushing mechanism to move, and the distance change of the sensing block is detected, so that the offset of the cylinder bottom or the earring can be detected. This four-axis servo CNC manipulator based on a hydraulic balance cylinder can detect the offset of the cylinder bottom or the earring. When the offset is large, it reminds maintenance personnel to perform inspection and maintenance to avoid the breakage of the ear plate caused by eccentric wear, and can automatically lubricate the bearings; by setting a telescopic cover and filling lubricating oil inside it, it can provide good protection, lubrication and cooling effects on the piston rod, ensuring its use effect and life, and thus ensuring the use effect of the four-axis servo CNC manipulator body.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a four-axis servo numerically controlled manipulator based on a hydraulic balance cylinder. Background Art

[0002] The four-axis servo CNC manipulator is a high-precision and high-efficiency automation equipment, which is widely used in the field of industrial automation. Its structural composition is usually composed of multiple axes (such as up and down lifting axes, main rotating axes, front and rear telescopic axes, and horizontal flip axes) and driving components such as servo motors and stepper motors. It has multiple degrees of freedom and can realize complex motion control. The hydraulic balance cylinder is an important component used to balance the load in the manipulator. It is mainly used to balance the load torque at the joints of the robot arm and reduce the power demand of the joints. By balancing the load, the load on the transmission components can be reduced, wear and deformation can be reduced, and the accuracy and response speed of the robot can be improved. At the same time, energy consumption and cost can be reduced. The hydraulic balance cylinder body is installed between the rotating seat and the lower arm of the manipulator. During installation, the earrings and the bottom of the hydraulic balance cylinder body are respectively connected to the fixed shafts of the rotating seat and the ear plate on the lower arm.

[0003] However, when the existing four-axis servo CNC manipulator based on the hydraulic balance cylinder is in use, the earrings and the cylinder bottom of the hydraulic balance cylinder body are prone to offset on the fixed axis, which can easily cause the ear plate to break due to eccentric wear, affecting its service effect and life; when the bearings in the earrings and the cylinder bottom lack lubricating oil, it will also affect the service effect of the hydraulic balance cylinder body; the piston rod of the hydraulic balance cylinder body is exposed to the outside, which not only has poor lubrication effect, but is also easily contaminated by impurities, etc., and the piston rod cooling effect is poor, resulting in its high temperature, which can easily cause damage to the internal seal of the cylinder barrel, affecting its sealing effect, thereby affecting the service effect and life of the hydraulic balance cylinder body, and then affecting the service effect and life of the four-axis servo CNC manipulator.

[0004] To this end, the present invention proposes a four-axis servo CNC manipulator based on a hydraulic balance cylinder. Summary of the invention

[0005] The purpose of the present invention is to provide a four-axis servo CNC manipulator based on a hydraulic balance cylinder to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical scheme: a four-axis servo CNC manipulator based on a hydraulic balance cylinder, comprising a base, a first free part, a second free part, a third free part and a fourth free part arranged on the body of the four-axis servo CNC manipulator, the first free part comprising a rotating seat arranged on the top of the base, and the second free part comprising a lower arm, a hydraulic balance cylinder body is arranged between the rotating seat and the lower arm, and the hydraulic balance cylinder body comprises a cylinder barrel, a piston rod, a cylinder bottom and an earring, bearings are arranged on the cylinder bottom and the earring, the side walls of the rotating seat and the lower arm are fixedly connected with ear plates, and the side walls of each ear plate are fixedly inserted with a fixed shaft, the inner ring of the bearing is fixedly sleeved on the side wall of the fixed shaft, the side walls of each ear plate are provided with a detection mechanism, and the detection mechanism is used to detect the displacement of the cylinder bottom and the earring;

[0007] The detection mechanism includes a fixed plate fixedly connected to the side wall of the ear plate, and the side wall of the fixed plate is fixedly connected to a connecting plate, the side wall of the connecting plate is connected to a push rod through a telescopic mechanism, and the other end of the push rod is fixedly connected to a detection ring, the side wall of the fixed plate is fixedly connected to a mounting plate, and the side wall of the mounting plate is connected to a moving block through a first reset mechanism, the side wall of the moving block is fixedly inserted with a distance sensor, and the side wall of the mounting plate is fixedly connected to an L-shaped plate, the side wall of the L-shaped plate is fixedly connected to a sensing block, the movement of the moving block is pushed by a pushing mechanism, and the side wall of the piston rod is sleeved with a telescopic cover, the two ends of the telescopic cover are respectively fixed to the earring and the cylinder, and the side wall of the mounting plate is fixedly connected to a first oil storage tank inclined upward, the first oil storage tank is filled with lubricating oil, and a first hose is fixedly connected between the first oil storage tank and the telescopic cover, an extrusion mechanism for extruding the lubricating oil is provided in the first oil storage tank, and a lubrication mechanism for automatically lubricating the bearing is provided on the side wall of the mounting plate.

[0008] Preferably, the pushing mechanism includes a connecting frame fixedly connected to the side wall of the moving block, and the upper end of the connecting frame is fixedly connected to a V-shaped block, the side wall of the connecting plate is rotatably connected to a rotating rod through a rotating mechanism, and the side wall of the top rod is fixedly connected to a connecting block, a sliding groove is provided on the top of the rotating rod, and a pushing pin is fixedly connected to the top of the connecting block, and the pushing pin is inserted in the sliding groove.

[0009] Preferably, the lubrication mechanism includes a fixed cylinder fixedly connected to the side wall of the mounting plate, and a first sliding disk is slidably connected in the fixed cylinder, a connecting rod is fixedly connected between the first sliding disk and the connecting frame, a second hose is fixedly connected to the side wall of the fixed cylinder, and the other end of the second hose passes through the side wall of the ear plate and is fixedly inserted in the bearing, a fixed block is fixedly connected to the side wall of the mounting plate, and a second oil storage tank is fixedly connected to the side wall of the fixed block, and a refueling pipe is fixedly connected to the second oil storage tank and the fixed cylinder.

[0010] Preferably, the extrusion mechanism comprises a retaining ring fixedly connected to the inner wall of the first oil storage tank, and a counterweight is inserted in the first oil storage tank, and a stirring mechanism for stirring the lubricating oil is provided in the first oil storage tank.

[0011] Preferably, the stirring mechanism includes a rotating shaft rotatably connected to the first oil storage tank, a plurality of blades arranged in an array are fixedly connected to the side wall of the rotating shaft, and the rotation of the rotating shaft is driven by a driving mechanism.

[0012] Preferably, the telescopic mechanism includes a fixed tube fixedly connected to the side wall of the connecting plate, and a second sliding disk is inserted in the fixed tube, a first spring is fixedly connected between the second sliding disk and the fixed tube, and one end of the push rod is fixed to the end of the second sliding disk.

[0013] Preferably, the rotating mechanism comprises a supporting plate fixedly connected to a side wall of the connecting plate, and the rotating rod is rotatably connected to the top of the supporting plate via a rotating pin.

[0014] Preferably, the first reset mechanism comprises two symmetrically arranged first T-shaped guide rods fixedly connected to the side walls of the mounting plate, the moving block is sleeved on the side walls of the first T-shaped guide rods, and the side walls of each first T-shaped guide rod are sleeved with a second spring.

[0015] Preferably, the driving mechanism includes a gear fixedly connected to one end of the rotating shaft, and the side wall of the first oil storage tank is connected to a rack through a moving mechanism, and the rack is meshed with the gear.

[0016] Preferably, the moving mechanism includes a support block fixedly connected to the side wall of the first oil storage tank, and two symmetrically arranged second T-shaped guide rods are fixedly connected to the bottom of the support block, the side wall of each of the second T-shaped guide rods is provided with a slider, and the side walls opposite to the two sliders are fixedly connected with a moving plate, the rack is fixed to the side wall of the moving plate, and the side wall of each second T-shaped guide rod is provided with a third spring.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The four-axis servo CNC manipulator based on the hydraulic balance cylinder of the present invention is provided with a detection mechanism, etc., when in use, when the cylinder bottom or the earring is offset on the fixed axis, the detection ring will move synchronously at this time, and can drive the push rod to move. At the same time, when the push rod moves, it can drive the push pin to move in the sliding groove through the connecting block, thereby pushing the rotating rod to rotate along the rotating pin, and making the end of the rotating rod able to abut against the side wall of the V-shaped block and slide on its surface, thereby pushing the V-shaped block to move, and then driving the moving block to move in the direction close to the sensing block through the connecting frame, and the distance sensor detects the distance of the sensing block, so as to detect the offset of the cylinder bottom or the earring. When the offset is large, the maintenance personnel are reminded to perform inspection and maintenance to avoid the breakage of the ear plate caused by eccentric wear, thereby ensuring the use effect and life of the hydraulic balance cylinder body, and further ensuring the service life of the four-axis servo CNC manipulator body.

[0019] The four-axis servo CNC manipulator based on the hydraulic balance cylinder of the present invention, by providing a lubrication mechanism, etc., can push the first sliding disk to move into the fixed cylinder through the connecting rod when the connecting frame moves. At this time, the lubricating oil in the fixed cylinder can be squeezed out through the second hose and enter the bearing, which can improve its lubrication effect, reduce its wear, and ensure its use effect and life. At the same time, it can play a certain effect in preventing the cylinder bottom or earrings from shifting, thereby ensuring the use effect of the four-axis servo CNC manipulator body.

[0020] The four-axis servo CNC manipulator based on the hydraulic balance cylinder of the present invention can provide good protection for the piston rod by arranging an extrusion mechanism and the like and by arranging a telescopic cover. At the same time, the telescopic cover is filled with lubricating oil, which can provide good lubrication and cooling effects on the piston rod, making it move more smoothly. At the same time, it can avoid damage to the seal in the cylinder barrel, ensure the use effect and life of the hydraulic balance cylinder body, and further ensure the service life of the four-axis servo CNC manipulator body. Moreover, when the piston rod moves into the cylinder barrel, the lubricating oil in the telescopic cover can be squeezed, thereby entering the first oil storage tank through the first hose. At the same time, it can push the counterweight block to move upward. At the same time, when the moving plate abuts against the top of the cylinder barrel, the third spring is gradually compressed, and the gear can It rolls downward along the side wall of the rack, thereby causing the gear to rotate, and then drives the blades to rotate through the rotating shaft, so as to stir the lubricating oil in the first oil storage tank. When the piston rod moves in the direction away from the cylinder, at this time, under the action of the counterweight, the lubricating oil in the first oil storage tank can be squeezed into the telescopic cover again. At the same time, the third spring gradually resets. At this time, the lower end of the movable plate gradually separates from the top of the cylinder, and the gear rolls upward along the rack. At this time, the blades can also be driven by the rotating shaft to stir the lubricating oil in the first oil storage tank, which not only makes it more uniform, but also improves its cooling effect, thereby improving the lubrication and cooling effect of the piston rod, ensuring its use effect and life, and thus ensuring the use effect of the four-axis servo CNC manipulator body. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the overall structure of the hydraulic balance cylinder body in the present invention;

[0023] Figure 3 It is a partial cross-sectional structural schematic diagram of the telescopic cover in the present invention;

[0024] Figure 4 It is a partial cross-sectional structural schematic diagram of the fixed pipe and the first oil storage tank in the present invention;

[0025] Figure 5 It is a partial cross-sectional structural schematic diagram of the fixed cylinder in the present invention;

[0026] Figure 6 for Figure 1 The enlarged view of point A in the middle;

[0027] Figure 7 for Figure 2 The enlarged view of point B in the middle;

[0028] Figure 8 for Figure 3 Enlarged view of point C in the middle;

[0029] Fig. 9 for Figure 4 The enlarged view of point D in the middle;

[0030] Fig.10 for Figure 4 Enlarged view of point E in the middle;

[0031] Fig.11 for Figure 5 The enlarged view of F in the middle;

[0032] Fig.12 for Figure 6 Enlarged view of G in the middle;

[0033] Fig.13 for Fig.11 Enlarged view of point H in the middle.

[0034] In the figure: 1. Four-axis servo CNC manipulator body; 101. base; 102. second free part; 103. third free part; 104. fourth free part; 105. rotating seat; 106. lower arm; 107. first free part; 201. connecting frame; 202. V-block; 203. rotating rod; 204. connecting block; 205. sliding groove; 206. pushing pin; 301. fixed pipe; 302. first spring; 303. second sliding plate; 401. fixed cylinder; 403. fixed block; 404. second oil storage tank; 405. filling pipe; 406. first sliding plate; 407. connecting rod; 408. second hose; 501. rotating shaft; 502. blade; 601. gear; 602. rack; 701. support block; 702. The second T-shaped guide rod; 703, slider; 704, third spring; 705, moving plate; 801, counterweight; 802, retaining ring; 901, support plate; 902, rotating pin; 1001, first T-shaped guide rod; 1002, second spring; 11, ear plate; 12, hydraulic balance cylinder body; 1201, cylinder barrel; 1202, piston rod; 1203, cylinder bottom; 1204, earring; 1205, bearing; 13, fixed shaft; 1401, fixed plate; 1402, mounting plate; 1403, connecting plate; 1404, push rod; 1405, detection ring; 1406, moving block; 1407, distance sensor; 1408, L-shaped plate; 1409, induction block; 15, telescopic cover; 16, first oil storage tank; 17, first hose. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0036] See also Figure 1-Figure 13The four-axis servo CNC manipulator based on the hydraulic balance cylinder shown in the figure includes a base 101, a first free portion 107, a second free portion 102, a third free portion 103 and a fourth free portion 104 arranged on the four-axis servo CNC manipulator body 1, the first free portion 107 includes a rotating seat 105 arranged on the top of the base 101, and the second free portion 102 includes a lower arm 106, a hydraulic balance cylinder body 12 is arranged between the rotating seat 105 and the lower arm 106, and the hydraulic balance cylinder body 12 includes a cylinder Cylinder 1201, piston rod 1202, cylinder bottom 1203 and earring 1204, bearings 1205 are provided on the cylinder bottom 1203 and earring 1204, the rotating seat 105 and the side wall of the lower arm 106 are fixedly connected with ear plates 11, and the side wall of each ear plate 11 is fixedly inserted with a fixed shaft 13, the inner ring of the bearing 1205 is fixedly sleeved on the side wall of the fixed shaft 13, and the side wall of each ear plate 11 is provided with a detection mechanism, and the detection mechanism is used to detect the deviation of the cylinder bottom 1203 and the earring 1204;

[0037] The detection mechanism includes a fixed plate 1401 fixedly connected to the side wall of the ear plate 11, and the side wall of the fixed plate 1401 is fixedly connected to a connecting plate 1403, the side wall of the connecting plate 1403 is connected to a top rod 1404 through a telescopic mechanism, and the other end of the top rod 1404 is fixedly connected to a detection ring 1405, the side wall of the fixed plate 1401 is fixedly connected to a mounting plate 1402, and the side wall of the mounting plate 1402 is connected to a moving block 1406 through a first reset mechanism, and the side wall of the moving block 1406 is fixedly inserted with a distance sensor 1407, The side wall of the mounting plate 1402 is fixedly connected with an L-shaped plate 1408, the side wall of the L-shaped plate 1408 is fixedly connected with a sensing block 1409, the movement of the moving block 1406 is driven by a pushing mechanism, and the side wall of the piston rod 1202 is sleeved with a telescopic cover 15, the two ends of the telescopic cover 15 are respectively fixed to the earring 1204 and the cylinder 1201, and the side wall of the mounting plate 1402 is fixedly connected with a first oil storage tank 16 arranged obliquely upward, the first oil storage tank 16 is filled with lubricating oil, and there is a gap between the first oil storage tank 16 and the telescopic cover 15. The first hose 17 is fixedly connected, the first oil storage tank 16 is provided with an extrusion mechanism for extruding lubricating oil, and the side wall of the mounting plate 1402 is provided with a lubrication mechanism for automatically lubricating the bearing 1205; the displacement of the cylinder bottom 1203 or the earring 1204 can be detected, and when the displacement is large, the maintenance personnel are reminded to perform maintenance to avoid the breakage of the ear plate 11 caused by eccentric wear; when the cylinder bottom 1203 or the earring 1204 is offset, the bearing 1205 can be automatically lubricated; through the telescopic cover 15 The setting can provide good protection for the piston rod 1202. At the same time, the telescopic cover 15 is filled with lubricating oil, which can provide good lubrication and cooling effect for the piston rod 1202, making it move more smoothly. Moreover, the lubricating oil in the first oil storage tank 16 can be automatically stirred, which not only makes it more uniform, but also improves its cooling effect, thereby improving the lubrication and cooling effect of the piston rod 1202, ensuring its use effect and life, and further ensuring the use effect of the four-axis servo CNC manipulator body 1.

[0038] The pushing mechanism includes a connecting frame 201 fixedly connected to the side wall of the moving block 1406, and the upper end of the connecting frame 201 is fixedly connected to a V-shaped block 202, the side wall of the connecting plate 1403 is rotatably connected to a rotating rod 203 through a rotating mechanism, and the side wall of the push rod 1404 is fixedly connected to a connecting block 204, the top of the rotating rod 203 is provided with a sliding groove 205 that is arranged through, the top of the connecting block 204 is fixedly connected to a pushing pin 206, and the pushing pin 206 is inserted in the sliding groove 205. When the cylinder bottom 1203 or the earring 1204 deviates on the fixed shaft 13, the detection ring 1405 will move synchronously at this time, and can drive the push rod 1404 to move. At the same time, when the push rod 1404 moves, it can drive the push rod 1404 to move through the connecting block 204. The movable pin 206 moves in the sliding groove 205, thereby pushing the rotating rod 203 to rotate along the rotating mechanism, and enabling the end of the rotating rod 203 to abut against the side wall of the V-block 202 and slide on its surface, thereby pushing the V-block 202 to move, and then driving the moving block 1406 to move toward the direction close to the sensing block 1409 through the connecting frame 201, and by detecting the distance of the sensing block 1409 through the distance sensor 1407, the offset of the cylinder bottom 1203 or the earring 1204 can be detected. When the offset is large, the maintenance personnel are reminded to perform inspection and maintenance to avoid eccentric wear and cause the ear plate 11 to break, thereby ensuring the use effect and life of the hydraulic balance cylinder body 12, and then ensuring the service life of the four-axis servo CNC manipulator body 1.

[0039] The lubrication mechanism includes a fixed cylinder 401 fixedly connected to the side wall of the mounting plate 1402, and a first sliding disk 406 is slidably connected in the fixed cylinder 401, a connecting rod 407 is fixedly connected between the first sliding disk 406 and the connecting frame 201, a second hose 408 is fixedly connected to the side wall of the fixed cylinder 401, a first one-way valve is arranged in the second hose 408, the conducting direction of the first one-way valve is from the fixed cylinder 401 to the bearing 1205, and the other end of the second hose 408 passes through the side wall of the ear plate 11 and is fixedly inserted in the bearing 1205, a fixed block 403 is fixedly connected to the side wall of the mounting plate 1402, and a second oil storage tank 404 is fixedly connected to the side wall of the fixed block 403, and the second oil storage tank 404 and the fixed cylinder 401 are fixedly connected to the side wall of the mounting plate 1402. A refueling pipe 405 is fixedly connected inside, and a second one-way valve is arranged in the refueling pipe 405. The conducting direction of the second one-way valve is from the second oil storage tank 404 to the fixed cylinder 401, so as to facilitate the addition of lubricating oil into the fixed cylinder 401. When the connecting frame 201 moves, the first sliding disk 406 can be pushed to move into the fixed cylinder 401 through the connecting rod 407. At this time, the lubricating oil in the fixed cylinder 401 can be squeezed out through the second hose 408 and enter the bearing 1205, so as to improve its lubrication effect, reduce its wear, and ensure its use effect and life. At the same time, it can play a certain effect in preventing the cylinder bottom 1203 or the earring 1204 from deviating, thereby ensuring the use effect of the four-axis servo CNC manipulator body 1.

[0040] The extrusion mechanism includes a retaining ring 802 fixedly connected to the inner wall of the first oil storage tank 16, and a counterweight block 801 is inserted in the first oil storage tank 16. A stirring mechanism for stirring the lubricating oil is provided in the first oil storage tank 16. When the piston rod 1202 moves in a direction away from the cylinder 1201, at this time, under the action of the counterweight block 801, the lubricating oil in the first oil storage tank 16 can be squeezed into the telescopic cover 15 again. When the piston rod 1202 moves into the cylinder 1201, the lubricating oil in the telescopic cover 15 can be squeezed, thereby entering the first oil storage tank 16 through the first hose 17. At the same time, the counterweight block 801 can be pushed to move upward.

[0041] The stirring mechanism includes a rotating shaft 501 rotatably connected to the first oil storage tank 16, and a plurality of blades 502 arranged in an array are fixedly connected to the side wall of the rotating shaft 501, and the rotation of the rotating shaft 501 is driven by a driving mechanism. When the piston rod 1202 moves, the rotating shaft 501 is driven to rotate by the driving mechanism, thereby driving the blades 502 to rotate, and the lubricating oil in the first oil storage tank 16 can be stirred, which not only makes it more uniform, but also improves its cooling effect, thereby improving the lubrication and cooling effect of the piston rod 1202, ensuring its use effect and life, and thus ensuring the use effect of the four-axis servo CNC manipulator body 1.

[0042] The telescopic mechanism includes a fixed tube 301 fixedly connected to the side wall of the connecting plate 1403, and a second sliding disk 303 is inserted in the fixed tube 301, a first spring 302 is fixedly connected between the second sliding disk 303 and the fixed tube 301, and one end of the push rod 1404 is fixed to the end of the second sliding disk 303, which plays a resetting role in the movement of the detection ring 1405 and the push rod 1404, and under the action of the first spring 302, the detection ring 1405 can always be against the side wall of the cylinder bottom 1203 or the earring 1204, so that when the cylinder bottom 1203 or the earring 1204 deviates to both sides along the fixed axis 13, the detection ring 1405 and the push rod 1404 will be driven to move.

[0043] The rotating mechanism includes a support plate 901 fixedly connected to the side wall of the connecting plate 1403 , and the rotating rod 203 is rotatably connected to the top of the support plate 901 through a rotating pin 902 to ensure the normal rotation of the rotating rod 203 .

[0044] The first reset mechanism includes two symmetrically arranged first T-shaped guide rods 1001 fixedly connected to the side walls of the mounting plate 1402, the moving block 1406 is sleeved on the side walls of the first T-shaped guide rods 1001, and the side walls of each first T-shaped guide rod 1001 are sleeved with a second spring 1002, which guides and resets the movement of the moving block 1406.

[0045] The driving mechanism includes a gear 601 fixedly connected to one end of the rotating shaft 501, and the side wall of the first oil storage tank 16 is connected to a rack 602 through a moving mechanism. The rack 602 is meshed with the gear 601, and the rack 602 is moved by the moving mechanism, thereby driving the gear 601 to rotate, and then driving the rotating shaft 501 and the blade 502 to rotate.

[0046] The moving mechanism includes a support block 701 fixedly connected to the side wall of the first oil storage tank 16, and the bottom of the support block 701 is fixedly connected to two symmetrically arranged second T-shaped guide rods 702, the side wall of each second T-shaped guide rod 702 is sleeved with a slider 703, and the side walls opposite to the two sliders 703 are fixedly connected with a moving plate 705, the rack 602 is fixed to the side wall of the moving plate 705, and the side wall of each second T-shaped guide rod 702 is sleeved with a third spring 704. When moving in the cylinder 1201, when the movable plate 705 abuts against the top of the cylinder 1201, the third spring 704 is gradually compressed, and the gear 601 can roll downward along the side wall of the rack 602, thereby causing the gear 601 to rotate. When the piston rod 1202 moves away from the cylinder 1201, the third spring 704 gradually returns to its original position. At this time, the lower end of the movable plate 705 gradually disengages from the top of the cylinder 1201, and the gear 601 rolls upward along the rack 602.

[0047] Working principle: When in use, when the cylinder bottom 1203 or the earring 1204 is offset on the fixed shaft 13, the detection ring 1405 will move synchronously and drive the push rod 1404 to move. At the same time, when the push rod 1404 moves, it can drive the push pin 206 to move in the sliding groove 205 through the connecting block 204, thereby pushing the rotating rod 203 to rotate along the rotating pin 902, and making the end of the rotating rod 203 abut against the side wall of the V-block 202 and slide on its surface, so that It is able to push the V-block 202 to move, and then drive the moving block 1406 to move in the direction close to the sensing block 1409 through the connecting frame 201, and the offset of the cylinder bottom 1203 or the earring 1204 can be detected by detecting the distance of the sensing block 1409 through the distance sensor 1407. When the offset is large, the maintenance personnel are reminded to perform maintenance to avoid the breakage of the ear plate 11 caused by eccentric wear, thereby ensuring the use effect and life of the hydraulic balance cylinder body 12, and then ensuring the service life of the four-axis servo CNC manipulator body 1;

[0048] At the same time, when the connecting frame 201 moves, the first sliding plate 406 can be pushed to move into the fixed cylinder 401 through the connecting rod 407. At this time, the lubricating oil in the fixed cylinder 401 can be squeezed out through the second hose 408 and enter the bearing 1205, which can improve its lubrication effect, reduce its wear, and ensure its use effect and life. At the same time, it can prevent the cylinder bottom 1203 or the earring 1204 from deflecting, thereby ensuring the use effect of the four-axis servo CNC manipulator body 1;

[0049] The telescopic cover 15 can provide a good protective effect on the piston rod 1202. At the same time, the telescopic cover 15 is filled with lubricating oil, which can provide a good lubrication and cooling effect on the piston rod 1202, making it move more smoothly. At the same time, it can avoid damage to the seal in the cylinder 1201, ensure the use effect and life of the hydraulic balance cylinder body 12, and further ensure the service life of the four-axis servo CNC manipulator body 1;

[0050] When the piston rod 1202 moves into the cylinder 1201, the lubricating oil in the telescopic cover 15 can be squeezed, so that the lubricating oil enters the first oil storage tank 16 through the first hose 17, and at the same time, the counterweight block 801 can be pushed to move upward. At the same time, when the moving plate 705 abuts against the top of the cylinder 1201, the third spring 704 is gradually compressed, and the gear 601 can roll downward along the side wall of the rack 602, so that the gear 601 rotates, and then the blade 502 is driven to rotate through the rotating shaft 501, so that the lubricating oil in the first oil storage tank 16 can be stirred;

[0051] When the piston rod 1202 moves away from the cylinder 1201, at this time, under the action of the counterweight 801, the lubricating oil in the first oil storage tank 16 can be squeezed into the telescopic cover 15 again. At the same time, the third spring 704 gradually resets. At this time, the lower end of the movable plate 705 gradually disengages from the top of the cylinder 1201, and the gear 601 rolls upward along the rack 602. At this time, the blade 502 can also be driven by the rotating shaft 501 to stir the lubricating oil in the first oil storage tank 16, which not only makes it more uniform, but also improves its cooling effect, thereby improving the lubrication and cooling effect of the piston rod 1202, ensuring its use effect and life, and further ensuring the use effect of the four-axis servo CNC manipulator body 1.

[0052] The present invention is not limited to the above-mentioned specific implementation modes. Various changes made by technicians in the relevant technical field based on the above-mentioned conception without creative work all fall within the protection scope of the present invention.

Claims

1. A four-axis servo CNC manipulator based on a hydraulic balance cylinder, comprising a base (101), a first free portion (107), a second free portion (102), a third free portion (103) and a fourth free portion (104) arranged on a four-axis servo CNC manipulator body (1), wherein the first free portion (107) comprises a rotating seat (105) arranged on the top of the base (101), and the second free portion (102) comprises a lower arm (106), a hydraulic balance cylinder body (12) is arranged between the rotating seat (105) and the lower arm (106), and the hydraulic balance cylinder body (12) comprises a cylinder barrel (1201), a piston rod (1202), a cylinder bottom (1203) and an earring (1204), and bearings (1205) are arranged on the cylinder bottom (1203) and the earring (1204), characterized in that: The side walls of the rotating seat (105) and the lower arm (106) are fixedly connected with ear plates (11), and the side walls of each ear plate (11) are fixedly inserted with a fixed shaft (13), the inner ring of the bearing (1205) is fixedly sleeved on the side wall of the fixed shaft (13), and the side walls of each ear plate (11) are provided with a detection mechanism, and the detection mechanism is used to detect the deviation of the cylinder bottom (1203) and the ear ring (1204); The detection mechanism comprises a fixing plate (1401) fixedly connected to the side wall of the ear plate (11), and the side wall of the fixing plate (1401) is fixedly connected to a connecting plate (1403), the side wall of the connecting plate (1403) is connected to a top rod (1404) via a telescopic mechanism, and the other end of the top rod (1404) is fixedly connected to a detection ring (1405), the side wall of the fixing plate (1401) is fixedly connected to a mounting plate (1402), and the side wall of the mounting plate (1402) is connected to a moving block (1406) via a first reset mechanism, the side wall of the moving block (1406) is fixedly inserted with a distance sensor (1407), and the side wall of the mounting plate (1402) is fixedly connected to an L-shaped plate (1408), and the side wall of the L-shaped plate (1408) is fixedly connected to the side wall of the L-shaped plate (1408). The mounting plate (1402) is fixedly connected to a sensing block (1409), the movement of the moving block (1406) is driven by a driving mechanism, and a telescopic cover (15) is sleeved on the side wall of the piston rod (1202), and the two ends of the telescopic cover (15) are respectively fixed to the earring (1204) and the cylinder barrel (1201), and the side wall of the mounting plate (1402) is fixedly connected to a first oil storage tank (16) arranged obliquely upward, the first oil storage tank (16) is filled with lubricating oil, and a first hose (17) is fixedly connected between the first oil storage tank (16) and the telescopic cover (15), an extrusion mechanism for extruding the lubricating oil is provided in the first oil storage tank (16), and a lubrication mechanism for automatically lubricating the bearing (1205) is provided on the side wall of the mounting plate (1402); The pushing mechanism comprises a connecting frame (201) fixedly connected to the side wall of the moving block (1406), and the upper end of the connecting frame (201) is fixedly connected to a V-shaped block (202), the side wall of the connecting plate (1403) is rotatably connected to a rotating rod (203) via a rotating mechanism, and the side wall of the top rod (1404) is fixedly connected to a connecting block (204), the top of the rotating rod (203) is provided with a sliding groove (205) extending therethrough, and the top of the connecting block (204) is fixedly connected to a pushing pin (206), and the pushing pin (206) is inserted into the sliding groove (205).

2. The four-axis servo CNC manipulator based on the hydraulic balance cylinder according to claim 1 is characterized in that: The lubrication mechanism comprises a fixed cylinder (401) fixedly connected to the side wall of the mounting plate (1402), a first sliding disk (406) being slidably connected inside the fixed cylinder (401), a connecting rod (407) being fixedly connected between the first sliding disk (406) and the connecting frame (201), a second hose (408) being fixedly connected to the side wall of the fixed cylinder (401), and the other end of the second hose (408) passing through the side wall of the ear plate (11) and being fixedly inserted in the bearing (1205), a fixed block (403) being fixedly connected to the side wall of the mounting plate (1402), and a second oil storage tank (404) being fixedly connected to the side wall of the fixed block (403), and a refueling pipe (405) being fixedly connected to the second oil storage tank (404) and the fixed cylinder (401).

3. The four-axis servo CNC manipulator based on the hydraulic balance cylinder according to claim 1 is characterized in that: The extrusion mechanism comprises a retaining ring (802) fixedly connected to the inner wall of the first oil storage tank (16), a counterweight (801) is inserted into the first oil storage tank (16), and a stirring mechanism for stirring the lubricating oil is provided in the first oil storage tank (16).

4. The four-axis servo CNC manipulator based on the hydraulic balance cylinder according to claim 3 is characterized in that: The stirring mechanism comprises a rotating shaft (501) rotatably connected to the first oil storage tank (16); a plurality of blades (502) arranged in an array are fixedly connected to the side wall of the rotating shaft (501); and the rotation of the rotating shaft (501) is driven by a driving mechanism.

5. The four-axis servo CNC manipulator based on the hydraulic balance cylinder according to claim 1 is characterized in that: The telescopic mechanism comprises a fixed tube (301) fixedly connected to a side wall of a connecting plate (1403), a second sliding disk (303) being inserted into the fixed tube (301), a first spring (302) being fixedly connected between the second sliding disk (303) and the fixed tube (301), and one end of a push rod (1404) being fixed to an end of the second sliding disk (303).

6. The four-axis servo CNC manipulator based on the hydraulic balance cylinder according to claim 1 is characterized in that: The rotating mechanism comprises a support plate (901) fixedly connected to the side wall of the connecting plate (1403), and the rotating rod (203) is rotatably connected to the top of the support plate (901) via a rotating pin (902).

7. The four-axis servo CNC manipulator based on the hydraulic balance cylinder according to claim 6 is characterized in that: The first reset mechanism comprises two symmetrically arranged first T-shaped guide rods (1001) fixedly connected to the side wall of the mounting plate (1402), the moving block (1406) is sleeved on the side wall of the first T-shaped guide rod (1001), and the side wall of each first T-shaped guide rod (1001) is sleeved with a second spring (1002).

8. The four-axis servo CNC manipulator based on the hydraulic balance cylinder according to claim 4 is characterized in that: The driving mechanism comprises a gear (601) fixedly connected to one end of the rotating shaft (501), and a side wall of the first oil storage tank (16) is connected to a rack (602) via a moving mechanism, and the rack (602) is meshed with the gear (601).

9. The four-axis servo CNC manipulator based on the hydraulic balance cylinder according to claim 8 is characterized in that: The moving mechanism comprises a support block (701) fixedly connected to the side wall of the first oil storage tank (16), and two symmetrically arranged second T-shaped guide rods (702) are fixedly connected to the bottom of the support block (701), a sliding block (703) is sleeved on the side wall of each of the second T-shaped guide rods (702), and a moving plate (705) is fixedly connected to the opposite side walls of the two sliding blocks (703), the rack (602) is fixed to the side wall of the moving plate (705), and a third spring (704) is sleeved on the side wall of each of the second T-shaped guide rods (702).

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