Multi-station machine tool manipulator

Abstract

The invention relates to the technical field of machine tool manipulators, in particular to a multi-station machine tool manipulator which comprises a center fixed cylinder and an upper sliding support, the upper sliding support is fixedly connected to one side of the center fixed cylinder, a solid air oil column is fixedly connected to the inner side of one end of the upper sliding support, and a take-up wheel set is rotationally connected to the inner side of the upper sliding support. One side of the solid air oil column is fixedly connected with a passive moving block, the upper end of the passive moving block is fixedly connected with a sliding folded plate, the lower end of the passive moving block is fixedly connected with an oil passing supporting rod, the lower end of the oil passing supporting rod is fixedly connected with a column disc ring, and the inner side of the lower end of the column disc ring is rotationally connected with a manipulator assembly; when workpieces at multiple stations are transferred, work can be achieved through one water pump and a plurality of electromagnetic valves, the weight and electricity consumption of the device are reduced, the whole device is convenient to carry, a certain economic throttling effect is achieved, meanwhile, the grabbed workpieces can be stably conveyed, and the applicability of the device is improved.

Description

Technical Field

[0001] The invention relates to the technical field of machine tool manipulators, in particular to a multi-station machine tool manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. It can replace heavy human labor to achieve mechanization and automation of production. It can operate in harmful environments to protect personal safety. Industrial manipulators are used to complete tasks such as handling, assembly, cutting and spraying to improve production efficiency and complete tasks that are difficult or dangerous for workers to complete.

[0003] In order to complete the multi-station conveying of workpieces, the existing device uses multiple motors to drive the mechanical claws to move. Although it can complete the normal conveying of workpieces, the excessive number of motors requires more electricity, which is not conducive to economic savings. At the same time, the total weight of the device is heavy, which is not conducive to transportation, and the manipulator has poor stability when grasping irregular objects. Therefore, a multi-station machine tool manipulator is proposed to address the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-station machine tool manipulator that can operate by a water pump and a plurality of solenoid valves when transferring workpieces at multiple stations, thereby reducing the weight and power consumption of the device, facilitating the transportation of the entire equipment, saving certain economic expenses, and being able to stably transport the grasped workpieces, thereby improving the applicability of the device.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A multi-station machine tool manipulator comprises a central fixed barrel and an upper sliding bracket, one side of the central fixed barrel is fixedly connected to the upper sliding bracket, one end of the upper sliding bracket is fixedly connected to a solid air oil column on the inner side, the upper sliding bracket is rotatably connected to a take-up wheel group on the inner side, one side of the solid air oil column is fixedly connected to a passive moving block, the upper end of the passive moving block is fixedly connected to a sliding folding plate, the lower end of the passive moving block is fixedly connected to an oil-passing support rod, the lower end of the oil-passing support rod is fixedly connected to a column disc, and the lower end of the column disc is rotatably connected to a manipulator assembly. An oil separator is fixedly connected to the inner side of the upper end of the central solid cylinder, a supporting middle plate is fixedly connected to the inner side of the central solid cylinder, a water pump is fixedly connected to the upper end of the supporting middle plate, a lower liquid flow hole is provided on the inner side of the supporting middle plate, a concentrated oil groove is provided on the inner side of the lower end of the central solid cylinder, a sliding empty column is slidably connected to the inner side of the solid empty oil column, an oil passage is provided on the inner side of one end of the sliding empty column, a sealing ring is fixedly connected to the outer side of one end of the sliding empty column, an outlet oil hole is provided on the inner side of one end of the sliding empty column, and a concentrated hole is provided on the inner side of one end of the sliding empty column. An inlet oil hole is provided on the inner side of one end of the sliding column, a wheel groove is provided on the inner side of the upper end of the sliding folding plate, a friction reducing roller is rotatably connected to the inner side of the wheel groove, an oil outlet groove is provided on the inner side of the passive moving block, a first solenoid valve is provided on the inner side of one end of the oil outlet groove, an oil inlet groove is provided on the inner side of the passive moving block, a second solenoid valve is provided on the inner side of one end of the oil inlet groove, a hydraulic oil outlet pipe is fixedly connected to the inner side of the first solenoid valve, a hydraulic oil inlet pipe is fixedly connected to the inner side of the oil inlet groove, and a second flow pipe is provided on the inner side of the column coil. A hole is provided on the inner side of the second liquid flow hole, a third solenoid valve is provided on the inner side of the second liquid flow hole, a first liquid flow hole is provided on the inner side of the column disk ring, a fourth one-way valve is provided on the inner side of the first liquid flow hole, the manipulator assembly comprises an upper rotating plate, the inner side of the lower end of the upper rotating plate is rotatably connected to the lower rotating plate, one side of the manipulator assembly is fixedly connected to an ear seat, the inner side of the ear seat is rotatably connected to a telescopic rod, one side of the telescopic rod is fixedly connected to a second oil delivery hose, one side of the telescopic rod is fixedly connected to a first oil delivery hose, and the inner side of the upper sliding bracket is rotatably connected to a guide wheel.

[0007] Preferably, a rubber ball is fixedly connected to one side of the lower rotating plate, an inner limit rotating column is fixedly connected to the outer side of one end of the lower rotating plate, a second clockwork spring is fixedly connected to the outer side of the inner limit rotating column, the number of the rubber balls is several, the number of the inner limit rotating columns is several groups, and the number of the inner limit rotating columns in each group is two, the inner limit rotating column is rotatably connected to the inner side of the lower end of the manipulator assembly, a "convex" shaped groove is provided on the inner side of the lower end of the manipulator assembly, one end of the second clockwork spring is fixedly connected to the inner groove of the lower end of the manipulator assembly, a limiting plate is fixedly connected to one side of the lower end of the manipulator assembly, and one side of the lower rotating plate is in contact with the limiting plate on one side of the lower end of the manipulator assembly.

[0008] Preferably, the inner side of the central solid cylinder is hollow, the lower liquid flow hole is connected to the concentrated oil tank, the lower end of the water pump is fixedly connected to a pump water inlet pipe, the pump water inlet pipe is located inside the concentrated oil tank, the water outlet of the water pump is connected to the inner side of the oil separator barrel, the inner side of the oil separator barrel is hollow, the inner side of the oil separator barrel is connected to the inner side of the hydraulic oil inlet pipe, and the inner side of the upper end of the central solid cylinder is connected to the inner side of the hydraulic oil outlet pipe.

[0009] Preferably, there are a number of upper sliding brackets, a limiting sliding groove is provided at the upper end of the upper sliding bracket, the lower end of the upper sliding bracket is hollow, the shape of one side of the sliding folding plate is "T" shaped, the upper end of the sliding folding plate slides in the limiting sliding groove in the upper end of the upper sliding bracket through a friction-reducing roller, the wheel groove is provided on the inner side of both ends of the sliding folding plate, and the friction-reducing roller is rotatably connected to the inner side of both ends of the sliding folding plate through the wheel groove.

[0010] Preferably, the inner side of the solid hollow oil column is hollow, the number of the sliding hollow columns is several groups, and the number of sliding hollow columns in each group is between two and five. The inner side of the sliding hollow column is hollow, and the inner side of the sliding hollow column, the outlet oil hole, the focusing hole and the inlet oil hole are connected. The outer side of one end of the sliding hollow column is fitted with the inner side of the solid hollow oil column through a sealing ring, and the oil passage, the inner side of the solid hollow oil column and the inner side of the sliding hollow column are connected. The inner side of the hydraulic oil inlet pipe is connected to the inner side of the inlet oil hole, and the inner side of the hydraulic oil outlet pipe is connected to the inner side of the outlet oil hole. The number of the solid hollow oil column and the sliding hollow column are both two. The sliding hollow columns are fixed at both ends of the passive shift block, and the solid hollow oil columns are fixedly connected to the inner sides of both ends of the upper sliding bracket.

[0011] Preferably, the take-up wheel group includes a guide take-up wheel, a casing is fixedly connected to the inner side of the guide take-up wheel, a spring fixing groove is provided on the inner side of the casing, a first clockwork spring is fixedly connected to the inner side of the spring fixing groove, one end of the first clockwork spring is fixedly connected to an inner fixed cylinder, a limited rotation ring is fixedly connected to the outer side of the inner fixed cylinder, the inner fixed cylinder is rotatably connected to the inner side of the casing via the limited rotation ring, a limiting groove is provided on the inner side of the casing, the take-up wheel group is fixedly connected to the inner side of the upper sliding bracket via the inner fixed cylinder, the hydraulic oil inlet pipe and the hydraulic oil outlet pipe are wound around the outer side of the guide take-up wheel, and a part of the hydraulic oil inlet pipe and the hydraulic oil outlet pipe are fixed to the outer side of the guide take-up wheel.

[0012] Preferably, one end of the hydraulic oil outlet pipe is fixedly connected with two-way pipes, one end of the hydraulic oil inlet pipe is fixedly connected with two-way pipes, the inner side of the hydraulic oil outlet pipe is communicated with the inner side of the oil outlet groove, the inner side of the hydraulic oil inlet pipe is communicated with the inner side of the oil inlet groove, the number of the oil outlet groove, the first solenoid valve, the oil inlet groove and the second solenoid valve are all two, the oil outlet groove, the first solenoid valve, the oil inlet groove and the second solenoid valve are symmetrically arranged on the inner sides of the two ends of the passive shift block, one end of the hydraulic oil inlet pipe passes through and is fixedly connected to the inside of the passive shift block, and the hydraulic oil One side of the inlet pipe is fixedly connected to the upper end of the second fluid flow hole, and the inner side of the hydraulic oil inlet pipe is communicated with the inner side of one end of the second fluid flow hole, the hydraulic oil outlet pipe passes through and is fixedly connected inside the passive shift block, the lower end of the hydraulic oil outlet pipe is fixedly connected to the upper end of the first fluid flow hole, the inner side of the hydraulic oil outlet pipe is communicated with the inner side of one end of the first fluid flow hole, two through grooves are provided on the inner side of the oil-passing support rod, the inner side of one end of the second fluid flow hole is communicated with the inner side of the second oil delivery hose through the oil-passing support rod, and the first fluid flow hole is communicated with the inner side of the first oil delivery hose through the oil-passing support rod.

[0013] Preferably, the manipulator assembly is rotatably connected to the limiting rotating groove on the inner side of the lower end of the column disc ring through a limiting rotating column, the ear seat and the telescopic rod are in several groups, and each group of the ear seat and the telescopic rod has two ears, one side of the lower rotating plate is fixedly connected to one side of the ear seat, the outer side of the upper end of the telescopic rod is rotatably connected to the lower end of the column disc ring, the telescopic rod is composed of two sections of cylinders, the diameter of the telescopic rod is a thinner solid cylinder, the solid cylinder of the telescopic rod is slidably connected to the inner side of the hollow cylinder of the telescopic rod, the telescopic rods are fitted together by sealing rings, and the inner sides of the second oil hose and the first oil hose are both connected to the inner side of one end of the telescopic rod.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. In the present invention, by setting a water pump, an oil distribution barrel, a hydraulic oil outlet pipe, a hydraulic oil inlet pipe, a solid empty oil column, a sliding empty column and an upper sliding bracket, when transporting workpieces at multiple stations, the water pump transports hydraulic oil to the solid empty oil column and the sliding empty column, and controls the movement of the mechanical claw by switching the hydraulic oil on and off. When the device can transport workpieces at multiple stations, the work can be realized by a water pump and multiple solenoid valves, which reduces the weight and power consumption of the device, facilitates the transportation of the overall equipment, and achieves a certain economic saving effect;

[0016] 2. In the present invention, the workpiece is grasped by the upper rotating plate, the lower rotating plate, the rubber ball and the telescopic rod, which are not limited to the shape of the workpiece, and the grasped workpiece can be stably transported, thereby improving the applicability of the device;

[0017] 3. In the present invention, the first solenoid valve, the oil inlet groove, the second solenoid valve, the hydraulic oil outlet pipe, the hydraulic oil inlet pipe, the second flow hole, the third solenoid valve, the first flow hole and the fourth one-way valve are arranged to control the movement of the manipulator device by switching on and off and the flow direction of the hydraulic oil, and at the same time control the grasping work of the manipulator, thereby improving the utilization effect of the hydraulic oil and saving certain economic expenses;

[0018] 4. In the present invention, by providing a guide take-up wheel, a casing, a first spring and an inner solid cylinder, the hydraulic oil outlet pipe and the hydraulic oil inlet pipe can be stored and released at any time, thereby improving the neatness inside the device and reducing the probability of damage to the hydraulic oil outlet pipe and the hydraulic oil inlet pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the cutaway structure of the central fixed tube of the present invention;

[0021] Figure 3 It is a schematic diagram of the sliding folding plate structure of the present invention;

[0022] Figure 4 It is a schematic diagram of the solid-air oil column structure of the present invention;

[0023] Figure 5 It is a schematic diagram of the structure of the sliding column of the present invention;

[0024] Figure 6 For the present invention Figure 5 A schematic diagram of the structure at A;

[0025] Figure 7 It is a schematic diagram of the structure of the friction-reducing roller of the present invention;

[0026] Figure 8 This is a schematic diagram of the internally fixed cylindrical structure of the present invention;

[0027] Fig. 9 This is a schematic diagram of the cross-section structure of the passive moving block of the present invention;

[0028] Fig.10 This is a schematic diagram of the structure of the second liquid flow hole of the present invention;

[0029] Fig.11 This is a schematic diagram of the structure of the robot assembly of the present invention;

[0030] Fig.12 It is a schematic diagram of the structure of the lower rotating plate of the present invention.

[0031] In the figure: 1. Central solid cylinder; 101. Water pump; 102. Oil distribution barrel; 103. Support middle plate; 104. Lower liquid flow hole; 105. Central oil tank; 106. Pump water inlet pipe; 2. Upper sliding bracket; 3. Solid empty oil column; 301. Sliding empty column; 302. Oil through port; 303. Sealing ring; 304. Outlet oil hole; 305. Central hole; 306. Inlet oil hole; 4. Sliding folding plate; 401. Wheel groove; 402. Friction-reducing roller; 5. Take-up wheel group; 501. Guide take-up wheel; 502. Housing; 503. First spring; 504. Restriction ring; 505. Inner solid cylinder; 506. Spring groove; 6. Passive Shift block; 601, oil outlet groove; 602, first solenoid valve; 603, oil inlet groove; 604, second solenoid valve; 605, hydraulic oil outlet pipe; 606, hydraulic oil inlet pipe; 7, column coil; 701, second flow hole; 702, third solenoid valve; 703, first flow hole; 704, fourth one-way valve; 8, manipulator assembly; 801, upper rotating plate; 802, lower rotating plate; 8021, rubber ball; 8022, inner limit rotating column; 8023, second clockwork spring; 803, ear seat; 804, telescopic rod; 805, second oil delivery hose; 806, first oil delivery hose; 9, oil support rod; 10, guide wheel. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] See also Figure 1-12 , the present invention provides a technical solution:

[0034] A multi-station machine tool manipulator comprises a central fixed barrel 1 and an upper sliding bracket 2, wherein one side of the central fixed barrel 1 is fixedly connected to the upper sliding bracket 2, the inner side of one end of the upper sliding bracket 2 is fixedly connected to a solid empty oil column 3, the inner side of the upper sliding bracket 2 is rotatably connected to a take-up wheel group 5, one side of the solid empty oil column 3 is fixedly connected to a passive moving block 6, the upper end of the passive moving block 6 is fixedly connected to a sliding folding plate 4, the lower end of the passive moving block 6 is fixedly connected to an oil-passing support rod 9, the lower end of the oil-passing support rod 9 is fixedly connected to a column disc 7, the inner side of the lower end of the column disc 7 is rotatably connected to a manipulator assembly 8, the upper end of the central fixed barrel 1 is fixedly connected to an oil separation barrel 102, and the central fixed barrel 1 is fixedly connected to an oil separation barrel 102. The inner side of the central solid cylinder 1 is fixedly connected with a supporting middle plate 103, the upper end of the supporting middle plate 103 is fixedly connected with a water pump 101, the inner side of the supporting middle plate 103 is provided with a lower liquid flow hole 104, the inner side of the lower end of the central solid cylinder 1 is provided with a concentrated oil groove 105, the inner side of the solid hollow oil column 3 is slidably connected with a sliding hollow column 301, the inner side of one end of the sliding hollow column 301 is provided with an oil passage 302, the outer side of one end of the sliding hollow column 301 is fixedly connected with a sealing ring 303, the inner side of one end of the sliding hollow column 301 is provided with an outlet oil hole 304, the inner side of one end of the sliding hollow column 301 is provided with a concentrated hole 305, and the inner side of one end of the sliding hollow column 301 is provided with an inlet The oil hole 306 is provided, a wheel groove 401 is provided on the inner side of the upper end of the sliding folding plate 4, and a friction reducing roller 402 is rotatably connected to the inner side of the wheel groove 401. An oil outlet groove 601 is provided on the inner side of the passive moving block 6, and a first solenoid valve 602 is provided on the inner side of one end of the oil outlet groove 601. An oil inlet groove 603 is provided on the inner side of the passive moving block 6, and a second solenoid valve 604 is provided on the inner side of one end of the oil inlet groove 603. A hydraulic oil outlet pipe 605 is fixedly connected to the inner side of the first solenoid valve 602, and a hydraulic oil inlet pipe 606 is fixedly connected to the inner side of the oil inlet groove 603. A second liquid flow hole 701 is provided on the inner side of the column disk ring 7, and the second liquid flow hole 701 is provided on the inner side of the column disk ring 7. A third solenoid valve 702 is provided on the inner side of the hole 701, a first liquid flow hole 703 is provided on the inner side of the column disk ring 7, a fourth one-way valve 704 is provided on the inner side of the first liquid flow hole 703, the manipulator assembly 8 comprises an upper rotating plate 801, the inner side of the lower end of the upper rotating plate 801 is rotatably connected to the lower rotating plate 802, one side of the manipulator assembly 8 is fixedly connected to an ear seat 803, the inner side of the ear seat 803 is rotatably connected to a telescopic rod 804, one side of the telescopic rod 804 is fixedly connected to a second oil delivery hose 805, one side of the telescopic rod 804 is fixedly connected to a first oil delivery hose 806, and the inner side of the upper sliding bracket 2 is rotatably connected to a guide wheel 10.

[0035] A rubber ball 8021 is fixedly connected to one side of the lower rotating plate 802, an inner limit rotating column 8022 is fixedly connected to the outer side of one end of the lower rotating plate 802, a second spring 8023 is fixedly connected to the outer side of the inner limit rotating column 8022, the number of rubber balls 8021 is several, the number of inner limit rotating columns 8022 is several groups, each group of inner limit rotating columns 8022 has two, the inner limit rotating column 8022 is rotatably connected to the inner side of the lower end of the manipulator assembly 8, a "convex" shaped groove is provided on the inner side of the lower end of the manipulator assembly 8, one end of the second spring 8023 is fixedly connected to the inner groove of the lower end of the manipulator assembly 8, a limiting plate is fixedly connected to one side of the lower end of the manipulator assembly 8, one side of the lower rotating plate 802 is fitted with the limiting plate on one side of the lower end of the manipulator assembly 8, so as to increase the friction with the workpiece. The force can be exerted while protecting the workpiece from being damaged. The inner side of the central solid cylinder 1 is hollow, and the lower liquid flow hole 104 is connected to the concentrated oil tank 105. The lower end of the water pump 101 is fixedly connected with a pump water inlet pipe 106, and the pump water inlet pipe 106 is located inside the concentrated oil tank 105. The water outlet of the water pump 101 is connected to the inner side of the oil separator 102. The inner side of the oil separator 102 is hollow, and the inner side of the oil separator 102 is connected to the inner side of the hydraulic oil inlet pipe 606. The inner side of the upper end of the central solid cylinder 1 is connected to the inner side of the hydraulic oil outlet pipe 605, which is convenient for entering the inner side of the hydraulic oil inlet pipe 606 fixedly connected from the inside of the oil separator 102, and entering the second solenoid valve 604 from the inside of the hydraulic oil inlet pipe 606. There are a number of upper sliding brackets 2, and a limited sliding bracket 2 is provided on the upper end. The groove is hollow at the lower end of the upper sliding bracket 2, and the shape of one side of the sliding folding plate 4 is "T" shaped. The upper end of the sliding folding plate 4 slides in the limiting groove at the upper end of the upper sliding bracket 2 through the friction-reducing roller 402. The wheel groove 401 is provided on the inner side of both ends of the sliding folding plate 4, and the friction-reducing roller 402 is rotatably connected to the inner side of both ends of the sliding folding plate 4 through the wheel groove 401, which has the effect of limiting the friction-reducing roller 402. The inner side of the solid empty oil column 3 is hollow, and the number of sliding empty columns 301 is several groups, and the number of sliding empty columns 301 in each group is between two and five. The inner side of the sliding empty column 301 is hollow, and the inner side of the sliding empty column 301, the outlet oil hole 304, the concentration hole 305 and the inlet oil hole 306 are connected. The outer side of one end of the sliding empty column 301 is connected to the inner side of the solid empty oil column 3 through the sealing ring 303. The oil passage 302, the inner side of the solid air oil column 3 and the inner side of the sliding air column 301 are connected, the inner side of the hydraulic oil inlet pipe 606 is connected to the inner side of the inlet oil hole 306, and the inner side of the hydraulic oil outlet pipe 605 is connected to the inner side of the outlet oil hole 304. There are two solid air oil columns 3 and two sliding air columns 301. The sliding air column 301 is fixed at both ends of the passive shift block 6. The solid air oil column 3 is fixedly connected to the inner side of both ends of the upper sliding bracket 2, so that the hydraulic oil can enter the sliding air column 301 from the inside of the outlet oil hole 304 through the concentrated hole 305. The take-up wheel group 5 includes a guide take-up wheel 501, and the inner side of the guide take-up wheel 501 is fixedly connected with a sleeve shell 502, and the inner side of the sleeve shell 502 is provided with a fixed spring groove 506, and the inner side of the fixed spring groove 506 is fixedly connected with a first clockwork spring 503.One end of the first clockwork spring 503 is fixedly connected to an inner fixed cylinder 505, and the outer side of the inner fixed cylinder 505 is fixedly connected to a limited swivel ring 504, and the inner fixed cylinder 505 is rotatably connected to the inner side of the casing 502 through the limited swivel ring 504, and a limited position groove is provided on the inner side of the casing 502. The take-up wheel group 5 is fixedly connected to the inner side of the upper sliding bracket 2 through the inner fixed cylinder 505, and the hydraulic oil inlet pipe 606 and the hydraulic oil outlet pipe 605 are wound around the outer side of the guide take-up wheel 501, and a part of the hydraulic oil inlet pipe 606 and the hydraulic oil outlet pipe 605 are fixed on the outer side of the guide take-up wheel 501, so as to improve the neatness inside the device and reduce the probability of damage to the hydraulic oil outlet pipe 605 and the hydraulic oil inlet pipe 606. Two-way pipes are fixedly connected, one end of the hydraulic oil inlet pipe 606 is fixedly connected with two-way pipes, the inner side of the hydraulic oil outlet pipe 605 is connected with the inner side of the oil outlet groove 601, the inner side of the hydraulic oil inlet pipe 606 is connected with the inner side of the oil inlet groove 603, the number of the oil outlet groove 601, the first solenoid valve 602, the oil inlet groove 603 and the second solenoid valve 604 are all two, the oil outlet groove 601, the first solenoid valve 602, the oil inlet groove 603 and the second solenoid valve 604 are symmetrically arranged on the inner sides of the two ends of the passive shift block 6, one end of the hydraulic oil inlet pipe 606 passes through and is fixedly connected to the inside of the passive shift block 6, and one side of the hydraulic oil inlet pipe 606 is fixedly connected to the upper end of the second flow hole 701, and the inner side of the hydraulic oil inlet pipe 606 is connected to the second flow hole 701. The inner side of one end of hole 701 is connected, the hydraulic oil outlet pipe 605 passes through and is fixedly connected to the inside of the passive shift block 6, the lower end of the hydraulic oil outlet pipe 605 is fixedly connected to the upper end of the first flow hole 703, the inner side of the hydraulic oil outlet pipe 605 is connected to the inner side of one end of the first flow hole 703, two through grooves are provided on the inner side of the oil support rod 9, the inner side of one end of the second flow hole 701 is connected to the inner side of the second oil delivery hose 805 through the oil support rod 9, and the first flow hole 703 is connected to the inner side of the first oil delivery hose 806 through the oil support rod 9, so as to realize the on-off and flow direction of the hydraulic oil, thereby controlling the movement of the manipulator device and the grasping work of the manipulator at the same time. The manipulator assembly 8 is rotatably connected to the lower end of the column disk ring 7 through the limit rotating column. The inner limit rotation groove, the number of ear seat 803 and telescopic rod 804 are several groups, and the number of ear seat 803 and telescopic rod 804 in each group is two. One side of the lower rotating plate 802 is fixedly connected to one side of the ear seat 803. The outer side of the upper end of the telescopic rod 804 is rotatably connected to the lower end of the column circle 7. The telescopic rod 804 is a two-section cylinder. The diameter of the telescopic rod 804 is a thinner solid cylinder. The solid cylinder of the telescopic rod 804 is slidably connected to the inner side of the hollow cylinder of the telescopic rod 804. The telescopic rods 804 are fitted together through sealing rings. The inner sides of the second oil delivery hose 805 and the first oil delivery hose 806 are both connected to the inner side of one end of the telescopic rod 804, so that the hydraulic oil enters the interior of the telescopic rod 804 and the telescopic rod 804 is extended.

[0036] Working process: When the device is in use, the external power supply is powered on. When the manipulator device needs to be moved, the water pump 101 is started. The water pump 101 extracts hydraulic oil from the concentrated oil tank 105 through the pump inlet pipe 106, and the hydraulic oil is transported to the oil separator 102. From the inside of the oil separator 102, the hydraulic oil enters the inside of the hydraulic oil inlet pipe 606 fixedly connected to the inside, and then enters the inside of the second solenoid valve 604 from the inside of the hydraulic oil inlet pipe 606. Figure 9As shown, when the second solenoid valve 604 inside the front end oil inlet groove 603 is closed, the hydraulic oil enters the rear end oil outlet groove 601 from the hydraulic oil inlet pipe 606, enters the rear end oil inlet hole 306 from the rear end oil outlet groove 601, and enters the concentration hole 305 from the inlet oil hole 306. At this time, the second solenoid valve 604 at the rear end needs to be closed, and then the hydraulic oil enters the sliding column 301 from the outlet oil hole 304 through the concentration hole 305, and enters the solid empty oil column 3 from the oil passage 302. At this time, the hydraulic oil in the solid empty oil column 3 and the sliding column 301 increases, so that the sliding column 301 slides inside the solid empty oil column 3, and the outer side of one end of the sliding column 301 is sealed by the sealing ring 303 to prevent the hydraulic oil from entering the solid empty oil column 3 and 601, and the hydraulic oil in the front solid oil column 3 and the sliding column 301 flows from the inside of the oil outlet groove 601 into the inside of the hydraulic oil outlet pipe 605, and flows from the inside of the hydraulic oil outlet pipe 605 into the upper end of the central solid cylinder 1, and flows back into the concentrated oil tank 105 through the lower liquid flow hole 104 opened on the inner side of the supporting middle plate 103, so as to facilitate the recycling of the hydraulic oil. At the same time, the third solenoid valve 702 in the second liquid flow hole 701 and the fourth one-way valve 704 in the first liquid flow hole 703 are both in a closed state. At this time, the solid oil column 3 at the rear end and the sliding column 301 are stretched, and the solid oil column 3 at the front end and the sliding column 301 are contracted, bringing The sliding folding plate 4 fixedly connected to one side of the movable sliding column 301 moves, and the upper end of the sliding folding plate 4 is slidably connected to the inner groove at the upper end of the upper sliding bracket 2 through the friction-reducing roller 402. The friction-reducing roller 402 has the effect of reducing friction. The friction-reducing roller 402 is rotatably connected to the inner side of the wheel groove 401, which has the effect of limiting the friction-reducing roller 402. According to the above principle, the second solenoid valve 604 at the front end is opened, the oil inlet groove 603 at the front end is closed, and the second solenoid valve 604 at the rear end is closed. When the first solenoid valve 602 at the rear end is opened, the sliding folding plate 4 can move forward, and the hydraulic oil outlet pipe 605 and the hydraulic oil inlet pipe 606 can be stored or released. The sliding column 301 and the solid oil column 3 at both ends move, and the hydraulic oil outlet pipe 605 and the hydraulic oil inlet pipe 606 are When the sliding folding plate 4 moves backward, the elastic force of the first spring 503 drives the casing 502 to rotate, and the casing 502 drives the guide wire-taking wheel 501 to rotate, thereby storing the hydraulic oil inlet pipe 606 and the hydraulic oil outlet pipe 605. The limiting ring 504 has the effect of limiting the rotation of the casing 502. The inner solid cylinder 505 is fixedly connected to the inner side of the upper sliding bracket 2. When the sliding folding plate 4 moves forward, the hydraulic oil outlet pipe 605 and the hydraulic oil inlet pipe 606 pull the guide wire-taking wheel 501 to rotate, so that the first spring 503 is deformed and elastic force is stored. When the workpiece needs to be clamped, the first solenoid valve 602 and the second solenoid valve 604 of the single track are closed at the same time, and the fourth one-way valve 704 is closed.The third solenoid valve 702 is opened, and the hydraulic pressure enters the second oil delivery hose 805 from the second flow hole 701, and enters the telescopic rod 804 from the second oil delivery hose 805. According to the shape of the telescopic rod 804, the telescopic rod 804 is extended at this time. The two telescopic rods 804 are connected through the second flow hole 701 opened in the column disk ring 7 in the same principle as above. At this time, both telescopic rods 804 are extended, and the outer side of one end of the telescopic rod 804 is connected to the inner side of the column disk ring 7. When the second oil delivery hose 805 is extended, the second oil delivery hose 805 pushes the ear seat 803 and the upper rotating plate 801 to which the outer side is connected to rotate at one end to rotate, and at the same time, the telescopic rod 804 at the lower end pushes the lower rotating plate 802 to rotate. Connected to the inner side of the lower end of the upper rotating plate 801, the upper rotating plate 801 and the lower rotating plate 802 rotate at the same time, thereby realizing the workpiece clamping operation. The rubber ball 8021 fixedly connected to one side of the lower rotating plate 802 increases the friction with the workpiece and protects the workpiece from being damaged. When the upper rotating plate 801 and the lower rotating plate 802 need to be reset, the second flow hole 701 is closed and the fourth one-way valve 704 is opened. At this time, the lower rotating plate 802 is driven to rotate under the reset of the second spring 8023. The lower rotating plate 802 is connected to the inner side of the lower end of the upper rotating plate 801 through the inner limit rotating column 8022. At this time, the two telescopic rods 804 are contracted at the same time, and the hydraulic oil is returned to the concentrated oil tank 105 through the above principle.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-station machine tool manipulator, comprising a central fixed barrel (1) and an upper sliding bracket (2), characterized in that: One side of the central fixed cylinder (1) is fixedly connected to an upper sliding bracket (2), one end of the upper sliding bracket (2) is fixedly connected to a solid empty oil column (3), the inner side of the upper sliding bracket (2) is rotatably connected to a take-up wheel group (5), one side of the solid empty oil column (3) is fixedly connected to a passive moving block (6), the upper end of the passive moving block (6) is fixedly connected to a sliding folding plate (4), the lower end of the passive moving block (6) is fixedly connected to an oil-passing support rod (9), the lower end of the oil-passing support rod (9) is fixedly connected to a column coil (7), the lower end of the column coil (7) is rotatably connected to a manipulator assembly (8), the upper end of the central fixed cylinder (1) is fixedly connected to an oil separation barrel (102), the inner side of the central fixed cylinder (1) is fixedly connected to a support middle plate (102), and the inner side of the central fixed cylinder (1) is fixedly connected to a support middle plate (103). 3), a water pump (101) is fixedly connected to the upper end of the supporting middle plate (103), a lower liquid flow hole (104) is opened on the inner side of the supporting middle plate (103), a concentrated oil groove (105) is opened on the inner side of the lower end of the central solid cylinder (1), a sliding column (301) is slidably connected to the inner side of the solid hollow oil column (3), an oil passage (302) is opened on the inner side of one end of the sliding column (301), a sealing ring (303) is fixedly connected to the outer side of one end of the sliding column (301), an outlet oil hole (304) is opened on the inner side of one end of the sliding column (301), a concentrated hole (305) is opened on the inner side of one end of the sliding column (301), an inlet oil hole (306) is opened on the inner side of one end of the sliding column (301), and the sliding folding plate (4) A wheel groove (401) is provided on the inner side of the upper end, and a friction-reducing roller (402) is rotatably connected to the inner side of the wheel groove (401); an oil outlet groove (601) is provided on the inner side of the passive moving block (6), and a first solenoid valve (602) is provided on the inner side of one end of the oil outlet groove (601); an oil inlet groove (603) is provided on the inner side of the passive moving block (6), and a second solenoid valve (604) is provided on the inner side of one end of the oil inlet groove (603); a hydraulic oil outlet pipe (605) is fixedly connected to the inner side of the first solenoid valve (602), and a hydraulic oil inlet pipe (606) is fixedly connected to the inner side of the oil inlet groove (603); a second liquid flow hole (701) is provided on the inner side of the column disk ring (7), and a second liquid flow hole (701) is provided on the inner side of the second liquid flow hole (701). A third solenoid valve (702) is provided, a first liquid flow hole (703) is provided on the inner side of the column disk ring (7), a fourth one-way valve (704) is provided on the inner side of the first liquid flow hole (703), the manipulator assembly (8) comprises an upper rotating plate (801), the inner side of the lower end of the upper rotating plate (801) is rotatably connected to a lower rotating plate (802), one side of the manipulator assembly (8) is fixedly connected to an ear seat (803), the inner side of the ear seat (803) is rotatably connected to a telescopic rod (804), one side of the telescopic rod (804) is fixedly connected to a second oil delivery hose (805), one side of the telescopic rod (804) is fixedly connected to a first oil delivery hose (806), and the inner side of the upper sliding bracket (2) is rotatably connected to a guide wheel (10).

2. A multi-station machine tool manipulator according to claim 1, characterized in that: A rubber ball (8021) is fixedly connected to one side of the lower rotating plate (802); an inner limit rotating column (8022) is fixedly connected to the outer side of one end of the lower rotating plate (802); a second spring (8023) is fixedly connected to the outer side of the inner limit rotating column (8022); the rubber balls (8021) are in a plurality of numbers; the inner limit rotating columns (8022) are in a plurality of groups; each group of the inner limit rotating columns (8022) has two inner limit rotating columns (8022); the inner limit rotating columns (8022) are rotatably connected to the inner side of the lower end of the manipulator assembly (8); a "convex"-shaped groove is provided on the inner side of the lower end of the manipulator assembly (8); one end of the second spring (8023) is fixedly connected to the inner groove of the lower end of the manipulator assembly (8); a limiting plate is fixedly connected to one side of the lower end of the manipulator assembly (8); one side of the lower rotating plate (802) is in contact with the limiting plate on one side of the lower end of the manipulator assembly (8).

3. A multi-station machine tool manipulator according to claim 1, characterized in that: The inner side of the central fixed cylinder (1) is hollow, the lower liquid flow hole (104) is connected to the concentrated oil tank (105), the lower end of the water pump (101) is fixedly connected to a pump water inlet pipe (106), the pump water inlet pipe (106) is located inside the concentrated oil tank (105), the water outlet of the water pump (101) is connected to the inner side of the oil separator barrel (102), the inner side of the oil separator barrel (102) is hollow, the inner side of the oil separator barrel (102) is connected to the inner side of the hydraulic oil inlet pipe (606), and the inner side of the upper end of the central fixed cylinder (1) is connected to the inner side of the hydraulic oil outlet pipe (605).

4. The multi-station machine tool manipulator according to claim 1, characterized in that: The number of the upper sliding brackets (2) is several, the upper end of the upper sliding bracket (2) is provided with a limited sliding groove, the lower end of the upper sliding bracket (2) is hollow, the shape of one side of the sliding folding plate (4) is "T" shaped, the upper end of the sliding folding plate (4) slides in the limited sliding groove in the upper end of the upper sliding bracket (2) through the friction-reducing roller (402), the wheel groove (401) is provided on the inner side of both ends of the sliding folding plate (4), and the friction-reducing roller (402) is rotatably connected to the inner side of both ends of the sliding folding plate (4) through the wheel groove (401).

5. The multi-station machine tool manipulator according to claim 1, characterized in that: The inner side of the solid hollow oil column (3) is hollow, the number of the sliding hollow columns (301) is several groups, the number of each group of sliding hollow columns (301) is between two and five, the inner side of the sliding hollow column (301) is hollow, the inner side of the sliding hollow column (301), the outlet oil hole (304), the concentration hole (305) and the inlet oil hole (306) are connected, the outer side of one end of the sliding hollow column (301) is in contact with the inner side of the solid hollow oil column (3) through a sealing ring (303), and the oil port (302), the inner side of the solid hollow oil column (3) is connected to the inner side of the sliding hollow column (301), the inner side of the hydraulic oil inlet pipe (606) is connected to the inner side of the inlet oil hole (306), the inner side of the hydraulic oil outlet pipe (605) is connected to the inner side of the outlet oil hole (304), the number of the solid hollow oil column (3) and the sliding hollow column (301) are both two, the sliding hollow column (301) is fixed at both ends of the passive moving block (6), and the solid hollow oil column (3) is fixedly connected to the inner side of both ends of the upper sliding bracket (2).

6. The multi-station machine tool manipulator according to claim 1, characterized in that: The wire take-up wheel assembly (5) comprises a guide wire take-up wheel (501), the inner side of the guide wire take-up wheel (501) is fixedly connected to a casing (502), the inner side of the casing (502) is provided with a spring fixing groove (506), the inner side of the spring fixing groove (506) is fixedly connected to a first spring spring (503), one end of the first spring spring (503) is fixedly connected to an inner fixing cylinder (505), the outer side of the inner fixing cylinder (505) is fixedly connected to a limited swivel ring (504), the inner fixing The cylinder (505) is rotatably connected to the inner side of the casing (502) via a rotation limiting ring (504); a limiting groove is provided on the inner side of the casing (502); the take-up wheel assembly (5) is fixedly connected to the inner side of the upper sliding bracket (2) via an inner fixed cylinder (505); the hydraulic oil inlet pipe (606) and the hydraulic oil outlet pipe (605) are wound around the outer side of the guide take-up wheel (501); and a part of the hydraulic oil inlet pipe (606) and the hydraulic oil outlet pipe (605) are fixed on the outer side of the guide take-up wheel (501).

7. The multi-station machine tool manipulator according to claim 1, characterized in that: One end of the hydraulic oil outlet pipe (605) is fixedly connected to two-way pipes, and one end of the hydraulic oil inlet pipe (606) is fixedly connected to two-way pipes. The inner side of the hydraulic oil outlet pipe (605) is connected to the inner side of the oil outlet groove (601), and the inner side of the hydraulic oil inlet pipe (606) is connected to the inner side of the oil inlet groove (603). The number of the oil outlet groove (601), the first solenoid valve (602), the oil inlet groove (603) and the second solenoid valve (604) is two. The oil outlet groove (601), the first solenoid valve (602), the oil inlet groove (603) and the second solenoid valve (604) are symmetrically arranged on the inner sides of both ends of the passive moving block (6). One end of the hydraulic oil inlet pipe (606) passes through and is fixedly connected to the interior of the passive moving block (6), and the hydraulic oil One side of the inlet pipe (606) is fixedly connected to the upper end of the second fluid flow hole (701), and the inner side of the hydraulic oil inlet pipe (606) is connected to the inner side of one end of the second fluid flow hole (701). The hydraulic oil outlet pipe (605) passes through and is fixedly connected to the interior of the passive shift block (6). The lower end of the hydraulic oil outlet pipe (605) is fixedly connected to the upper end of the first fluid flow hole (703). The inner side of the hydraulic oil outlet pipe (605) is connected to the inner side of one end of the first fluid flow hole (703). Two through grooves are provided on the inner side of the oil-passing support rod (9). The inner side of one end of the second fluid flow hole (701) is connected to the inner side of the second oil delivery hose (805) through the oil-passing support rod (9), and the first fluid flow hole (703) is connected to the inner side of the first oil delivery hose (806) through the oil-passing support rod (9).

8. The multi-station machine tool manipulator according to claim 1, characterized in that: The manipulator assembly (8) is rotatably connected to the limiting rotating groove on the inner side of the lower end of the column disc (7) through a limiting rotating column. The ear seat (803) and the telescopic rod (804) are provided in several groups, and each group of the ear seat (803) and the telescopic rod (804) has two ear seats (803) and the telescopic rod (804). One side of the lower rotating plate (802) is fixedly connected to one side of the ear seat (803). The outer side of the upper end of the telescopic rod (804) is rotatably connected to the lower end of the column disc (7). The telescopic rod (804) is a two-section cylinder. The diameter of the telescopic rod (804) is a thin solid cylinder. The solid cylinder of the telescopic rod (804) is slidably connected to the inner side of the hollow cylinder of the telescopic rod (804). The telescopic rods (804) are fitted together by sealing rings. The inner sides of the second oil delivery hose (805) and the first oil delivery hose (806) are both connected to the inner side of one end of the telescopic rod (804).

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