Load loading manipulator for animal load test

Abstract

The invention belongs to the technical field of clamping manipulators, and particularly discloses a load loading manipulator for animal load testing, which comprises an automatic unlocking type hydraulic valve, a loading manipulator, a load bearing mechanism and a clamping limiting mechanism, the automatic unlocking type hydraulic valve comprises a valve control assembly and a valve core assembly, the valve element assembly is arranged in the valve control assembly in a sliding mode, the automatic unlocking type hydraulic valve can be locked or controlled through the clamping and limiting mechanism, the loading mechanical arm comprises a mechanical arm, and the mechanical arm is driven through the automatic unlocking type hydraulic valve. Animals of different sizes and body types can be limited through the telescopic adjusting assembly capable of being flexibly adjusted, the gears of the automatic unlocking type hydraulic valve are automatically switched after limiting is completed, and therefore the function that the mechanical arm cannot be operated before the animals are limited is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of clamping manipulators, and in particular relates to a load-bearing manipulator for animal load-bearing tests. Background Art

[0002] In many working conditions, robots can replace manual labor in operations such as gripping and transferring goods. However, the general grippers at the end of the robots usually have low gripping force. For larger loads, a dedicated locking mechanism is generally required. The structure and function of the locking mechanism should be adapted to the picking and releasing of the robot as well as the type and weight of the load.

[0003] In human production activities, many animals have assisted humans in transportation and labor. Although vehicles are now more involved, animal power is still needed to assist transportation on rugged mountain roads with poor road conditions. Therefore, studying animal loads and planning reasonable load-bearing plans have the following positive significance: A: Assess safe load: Determine the maximum weight an animal can bear without affecting its health.

[0004] B: Optimize labor efficiency: For example, reasonably distribute loads in agriculture or transportation to improve efficiency.

[0005] C: Scientific research: Study the effects of weight-bearing on animal bones, muscles, and metabolism.

[0006] D: Animal protection: Preventing the abuse or excessive use of animal labor.

[0007] In addition, load-bearing tests on different animals are also of certain significance for biological research. However, most current testing processes rely on manual load control and evaluation, making it difficult to provide complete experimental data. As we all know, animals used for carrying loads are mostly large in size, carry heavy loads, and are also tall. If the load is installed manually each time, the labor intensity is high. Therefore, the present invention aims to provide a manipulator that can be used to adapt to the above-mentioned working conditions of clamping counterweight blocks. Summary of the Invention

[0008] In view of the above situation, in order to reduce the labor intensity of workers, and at the same time to limit the activities of animals when loading and unloading loads and ensure the safety of operators, the present invention proposes a robot arm for controlling animals and capable of loading and unloading animal loads; due to the large weight of the counterweight plate, the robot arm is more suitable for hydraulic drive. Based on this feature, the present invention creatively proposes a clamping limit mechanism and an automatic unlocking hydraulic valve, which can limit animals of different sizes and shapes through a flexibly adjustable telescopic adjustment component, and automatically switch the gear of the automatic unlocking hydraulic valve after the limitation is completed, thereby realizing the function that the robot arm cannot be operated before the animal is restrained; this safety attribute greatly improves the stability and safety of the machine during loading.

[0009] Not only that, the present invention also proposes a counterweight loading scheme that cooperates with the mounting catheter and the load-bearing catheter. It can not only freely select the number of counterweight discs to be left on the load-bearing catheter, but also automatically control the limiting teeth to achieve the technical effects of automatic unlocking during loading (allowing the counterweight disc to pass through) and automatic locking after loading is completed (to prevent the counterweight disc from falling off).

[0010] The technical solution adopted by the present invention is as follows: The present invention proposes a load-bearing manipulator for animal load testing, comprising an automatic unlocking hydraulic valve, a loading manipulator, a load-bearing mechanism, and a clamping and limiting mechanism. The automatic unlocking hydraulic valve comprises a valve control assembly and a valve core assembly, the valve core assembly being slidably disposed in the valve control assembly, and the automatic unlocking hydraulic valve can be locked or controlled by the clamping and limiting mechanism. The loading manipulator comprises a mechanical arm, which is driven by the automatic unlocking hydraulic valve; The driving and disconnection of the robotic arm can be controlled by the automatic unlocking hydraulic valve, and the locking and unlocking of the automatic unlocking hydraulic valve can be automatically controlled by whether the clamping limit mechanism has clamped the animal to a limit.

[0011] Furthermore, the valve control assembly includes a valve body, a hydraulic push rod, a drive pipe and a reflux pressure relief pipe. A avoidance groove is provided on one side of the valve body. The hydraulic push rod is fixed to one end of the valve body, and the drive pipe and the reflux pressure relief pipe are provided on the other side of the valve body.

[0012] The driving pipe is connected to the robotic arm, and the reflux pressure relief pipe is connected to the external reflux pipe. When the liquid inlet pipe and the driving pipe are connected, the robotic arm can be driven and controlled. When the liquid inlet pipe and the reflux pressure relief pipe are connected, the robotic arm will remain in the current state due to the closure of the driving pipe. When the liquid inlet pipe supplies transmission fluid, the transmission fluid will directly flow back into the fluid storage tank and will not drive the robotic arm.

[0013] Preferably, the valve core assembly includes a sliding valve core, an end plate and a stop spring. The sliding valve core is engaged and slidably arranged in the valve body. A liquid inlet pipe is provided on the sliding valve core. The liquid inlet pipe is located in the avoidance slide groove. When the sliding valve core is located at both ends, the liquid inlet pipe is respectively connected to the drive pipe and the reflux pressure relief pipe. The end plate is fixed to the other end of the valve body. A magnetic ring that attracts the sliding valve core is provided on the end plate. The stop spring is arranged between the end plate and the sliding valve core.

[0014] The attraction between the sliding valve core and the magnetic ring is greatly affected by the distance between the two. Therefore, when the sliding valve core and the magnetic ring are in contact, the attraction between the two is greater than the elastic force of the stop spring. When the distance between the sliding valve core and the magnetic ring is far, the attraction between the two is less than the elastic force of the stop spring. Therefore, by pushing or retracting the hydraulic push rod, the sliding valve core can be quickly switched between the two positions, thereby realizing the control and locking of the robotic arm.

[0015] Furthermore, the loading robot also includes a mounting assembly and a hook retraction assembly, the mounting assembly is arranged at the end of the robot arm, and the hook retraction assembly is arranged in the mounting assembly.

[0016] Preferably, the mounting assembly includes a mounting tube and a limiting hook. The mounting tube is arranged at the end of the robotic arm. Guide wings are evenly distributed in a ring on the mounting tube. Slope protrusions are evenly distributed in a ring on the bottom of the mounting tube. A pressure sensor is also provided at the bottom of the slope protrusion. The end of the limiting hook is fixed to the inner wall of the mounting tube.

[0017] As a further preferred embodiment of the present invention, the hook retraction assembly includes a telescopic cylinder, a limiting ring and a linkage pull rope, the telescopic cylinder is fixed in the mounting tube, the limiting ring is fixed in the mounting tube, one end of the linkage pull rope is arranged on the telescopic rod of the telescopic cylinder, the other end of the linkage pull rope is arranged on the slope protrusion, and the linkage pull rope passes through the center hole of the limiting ring.

[0018] By extending and retracting the telescopic cylinder, the retraction and opening of the limiting hook can be controlled, thereby achieving the limitation and release of the counterweight plate, and then the counterweight plate originally located on the mounting tube can be installed on the load-bearing tube, or the counterweight plate originally on the load-bearing tube can be transferred to the mounting tube.

[0019] Furthermore, the load-bearing mechanism includes a saddle, a counterweight plate and an automatic limiting assembly. The saddle is fixed to the back of the animal by a strap. The saddle is provided with a load-bearing tube. The load-bearing tube is provided with vertical slide grooves that match the guide wings in a circular manner. The guide wings are engaged and slidably arranged in the vertical slide grooves. The top of the load-bearing tube is also provided with horizontal slide grooves that are evenly distributed in a circular manner. The counterweight plate is mounted on the load-bearing tube.

[0020] The mounting tube and the load-bearing tube are engaged with each other. By pressing the pressure sensor, the robotic arm can be reset to zero during the transfer of the counterweight block. With this position as the origin, the number of counterweight discs remaining on the load-bearing tube can be accurately controlled.

[0021] Preferably, the automatic limiting assembly includes a rotating pin, a limiting tooth and a torsion spring, the rotating pin is arranged in the transverse sliding groove, the limiting tooth is rotatably arranged on the rotating pin, and the two ends of the torsion spring are respectively arranged between the inner wall of the transverse sliding groove and the limiting tooth.

[0022] By moving the rotating pin with the ramp protrusion, the counterweight plate can be first released from the limit when the mounting tube is inserted into the load-bearing tube. After the mounting tube leaves the load-bearing tube, the counterweight plate can be automatically limited again by the elastic force of the torsion spring to prevent the counterweight plate from slipping during the test.

[0023] Furthermore, the clamping and limiting mechanism includes a base, an angle sensing component and a telescopic adjustment component. The base is provided with a base, the robotic arm and the valve body are provided on the base, the angle sensing component is rotatably provided on the base, and the telescopic adjustment component is provided on the angle sensing component.

[0024] Preferably, the angle sensing assembly includes a first fence, a hydraulic cylinder and a reset spring, the first fence is rotatably arranged on the base, the hydraulic cylinder is hinged to the first fence and the base, and the two ends of the reset spring are respectively arranged on the cylinder body and push rod of the hydraulic cylinder.

[0025] The hydraulic cylinder can sense the angle of the first fence. When the first fences on both sides are squeezed by animals (this means that the animal's movement has been restricted to a certain extent), the automatic unlocking hydraulic valve will switch to the state of driving the mechanical arm. As a further preferred embodiment of the present invention, the telescopic adjustment assembly includes a second fence, a third fence and a magnetic lock. The second fence is slidably arranged on the first fence. The tail of the second fence is provided with an elastic rope connected to the first fence. The third fence is hinged to the end of the second fence, and the magnetic lock is hinged to the end of the third fence.

[0026] By extending and retracting the second fence and swinging the third fence, the clamping and limiting mechanism can be adapted to animals of different sizes and shapes.

[0027] The beneficial effects achieved by the present invention using the above structure are as follows: (1) The driving and disconnection of the robotic arm can be controlled by the automatic unlocking hydraulic valve, and the locking and unlocking of the automatic unlocking hydraulic valve can be automatically controlled by whether the clamping limit mechanism has clamped the animal.

[0028] (2) The driving pipe is connected to the robot arm, and the reflux pressure relief pipe is connected to the external reflux pipe. When the liquid inlet pipe and the driving pipe are connected, the robot arm can be driven and controlled. When the liquid inlet pipe and the reflux pressure relief pipe are connected, the robot arm will remain in the current state due to the closure of the driving pipe. Even if the liquid inlet pipe supplies transmission fluid, it will not drive the robot arm.

[0029] (3) The attraction between the sliding valve core and the magnetic ring is greatly affected by the distance between the two. Therefore, when the sliding valve core and the magnetic ring are in contact, the attraction between the two is greater than the elastic force of the stop spring. When the distance between the sliding valve core and the magnetic ring is far, the attraction between the two is less than the elastic force of the stop spring. Therefore, by pushing or retracting the hydraulic push rod, the sliding valve core can be quickly switched between the two positions, thereby realizing the control and locking of the robotic arm.

[0030] (4) By extending and retracting the telescopic cylinder, the retraction and opening of the limit hook can be controlled, thereby achieving the limitation and release of the counterweight plate, and then the counterweight plate originally located on the mounting tube can be installed on the load-bearing tube, or the counterweight plate originally on the load-bearing tube can be transferred to the mounting tube.

[0031] (5) The mounting tube and the load-bearing tube are engaged with each other. By pressing the pressure sensor, the robot arm can be reset to zero during the transfer of the counterweight block. With this position as the origin, the number of counterweight discs remaining on the load-bearing tube can be accurately controlled.

[0032] (6) By moving the rotating pin with the ramp protrusion, the counterweight plate can be first released from the position limit when the mounting tube is inserted into the load-bearing tube. After the mounting tube leaves the load-bearing tube, the counterweight plate can be automatically limited again by the elastic force of the torsion spring to prevent the counterweight plate from slipping during the test.

[0033] (7) The angle of the first fence can be sensed by the hydraulic cylinder. When the first fences on both sides are squeezed by animals (this means that the animals' movements have been restricted to a certain extent), the automatic unlocking hydraulic valve will switch to the state of driving the mechanical arm; (8) By extending and retracting the second fence and swinging the third fence, the clamping and limiting mechanism can be adapted to animals of different sizes and shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A three-dimensional diagram of a load-bearing manipulator for animal load-bearing testing proposed by the present invention; Figure 2 This is a front view of a load-bearing manipulator for animal load-bearing testing proposed by the present invention; Figure 3 for Figure 2A cross-sectional view along the cutting line AA; Figure 4 for Figure 3 A cross-sectional view along the cutting line BB; Figure 5 for Figure 2 A cross-sectional view along the cutting line CC; Figure 6 for Figure 2 A cross-sectional view along the cutting line DD; Figure 7 This is a schematic diagram of the exploded structure of a load-bearing manipulator for animal load-bearing testing proposed by the present invention; Figure 8 for Figure 4 A partial enlarged view of point Ⅰ in the middle; Figure 9 for Figure 4 A partial enlarged view of the middle II; Figure 10 for Figure 5 A partial enlarged view of point III in the middle; Figure 11 for Figure 7 A partial enlarged view of the middle IV; Figure 12 for Figure 7 A partial enlarged view of point V in the middle.

[0035] Among them, 1. Automatic unlocking hydraulic valve, 2. Loading manipulator, 3. Load-bearing mechanism, 4. Clamping limit mechanism, 5. Valve control assembly, 6. Valve core assembly, 7. Valve body, 8. Hydraulic push rod, 9. Drive pipe, 10. Backflow pressure relief pipe, 11. Sliding valve core, 12. End plate, 13. Stop spring, 14. Avoidance slide, 15. Liquid inlet pipe, 16. Magnetic ring, 17. Robotic arm, 18. Mounting assembly, 19. Hook retraction assembly, 20. Mounting guide tube, 21. Press sensor, 22. Limit hook, 23. Telescopic Cylinder, 24. Limiting ring, 25. Linkage pull rope, 26. Guide wing, 27. Ramp bump, 28. Saddle, 29. Counterweight plate, 30. Automatic limiting assembly, 31. Load-bearing guide tube, 32. Rotating pin, 33. Limiting tooth, 34. Torsion spring, 35. Vertical slide, 36. Horizontal slide, 37. Base, 38. Angle sensing assembly, 39. Telescopic adjustment assembly, 40. Base, 41. First fence, 42. Hydraulic cylinder, 43. Return spring, 44. Second fence, 45. Third fence, 46. Magnetic lock, 47. Elastic rope.

[0036] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] In the description of the present invention, it should be understood that terms such as "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0039] like Figures 1 to 12 As shown, the present invention proposes a load-bearing manipulator for animal load testing, including an automatic unlocking hydraulic valve 1, a loading manipulator 2, a load-bearing mechanism 3, and a clamping and limiting mechanism 4. The automatic unlocking hydraulic valve 1 includes a valve control assembly 5 and a valve core assembly 6. The valve core assembly 6 is slidably disposed in the valve control assembly 5. The automatic unlocking hydraulic valve 1 can be locked or controlled by the clamping and limiting mechanism 4. The loading manipulator 2 includes a mechanical arm 17, which is driven by the automatic unlocking hydraulic valve 1. The driving and disconnection of the mechanical arm 17 can be controlled by the automatic unlocking hydraulic valve 1 , and the locking and unlocking of the automatic unlocking hydraulic valve 1 can be automatically controlled by whether the clamping and limiting mechanism 4 has clamped and limited the animal.

[0040] The clamping and limiting mechanism 4 includes a base 37, an angle sensing component 38 and a telescopic adjustment component 39. A base 40 is provided on the base 37, the robotic arm 17 and the valve body 7 are provided on the base 40, the angle sensing component 38 is rotatably provided on the base 37, and the telescopic adjustment component 39 is provided on the angle sensing component 38.

[0041] The angle sensing assembly 38 includes a first fence 41, a hydraulic cylinder 42 and a return spring 43. The first fence 41 is rotatably arranged on the base 40. The hydraulic cylinder 42 is hinged to the first fence 41 and the base 40. The two ends of the return spring 43 are respectively arranged on the cylinder body and the push rod of the hydraulic cylinder 42.

[0042] The hydraulic cylinder 42 can sense the angle of the first fence 41. When the first fences 41 on both sides are squeezed by animals (this indicates that the animal's movement has been restricted to a certain extent), the automatic unlocking hydraulic valve 1 will switch to the state of driving the mechanical arm 17. The telescopic adjustment assembly 39 includes a second fence 44, a third fence 45 and a magnetic lock 46. The second fence 44 is slidably arranged on the first fence 41. The tail of the second fence 44 is provided with an elastic rope 47 connected to the first fence 41. The third fence 45 is hinged to the end of the second fence 44, and the magnetic lock 46 is hinged to the end of the third fence 45.

[0043] By extending and retracting the second fence 44 and swinging the third fence 45 , the clamping and limiting mechanism 4 can be adapted to animals of different sizes and shapes.

[0044] The valve control assembly 5 includes a valve body 7, a hydraulic push rod 8, a drive pipe 9 and a reflux pressure relief pipe 10. A avoidance groove 14 is provided on one side of the valve body 7. The hydraulic push rod 8 is fixed to one end of the valve body 7, and the drive pipe 9 and the reflux pressure relief pipe 10 are provided on the other side of the valve body 7.

[0045] The driving pipe 9 is connected to the robotic arm 17, and the reflux pressure relief pipe 10 is connected to the external reflux pipe. When the liquid inlet pipe 15 and the driving pipe 9 are connected, the robotic arm 17 can be driven and controlled. When the liquid inlet pipe 15 and the reflux pressure relief pipe 10 are connected, due to the closure of the driving pipe 9, the robotic arm 17 will remain in the current state, and even if the liquid inlet pipe 15 supplies transmission fluid, it will not drive the robotic arm 17.

[0046] The valve core assembly 6 includes a sliding valve core 11, an end plate 12 and a stop spring 13. The sliding valve core 11 is engaged and slidably arranged in the valve body 7. A liquid inlet pipe 15 is provided on the sliding valve core 11. The liquid inlet pipe 15 is located in the avoidance slide groove 14. When the sliding valve core 11 is located at both ends, the liquid inlet pipe 15 is respectively connected to the drive pipe 9 and the reflux pressure relief pipe 10. The end plate 12 is fixed to the other end of the valve body 7. A magnetic ring 16 that attracts the sliding valve core 11 is provided on the end plate 12. The stop spring 13 is arranged between the end plate 12 and the sliding valve core 11.

[0047] The attraction between the sliding valve core 11 and the magnetic ring 16 is greatly affected by the distance between the two. Therefore, when the sliding valve core 11 and the magnetic ring 16 are in contact, the attraction between the two is greater than the elastic force of the stop spring 13. When the distance between the sliding valve core 11 and the magnetic ring 16 is far, the attraction between the two is less than the elastic force of the stop spring 13. Therefore, by pushing or retracting the hydraulic push rod 8, the sliding valve core 11 can be quickly switched between the two positions, thereby realizing the control and locking of the robotic arm 17.

[0048] The loading robot 2 further includes a mounting assembly 18 and a hook retracting assembly 19 . The mounting assembly 18 is disposed at the end of the robot arm 17 , and the hook retracting assembly 19 is disposed in the mounting assembly 18 .

[0049] The mounting assembly 18 includes a mounting tube 20 and a limiting hook 22. The mounting tube 20 is arranged at the end of the robotic arm 17. Guide wings 26 are evenly distributed in a ring on the mounting tube 20. Slope protrusions 27 are evenly distributed in a ring at the bottom of the mounting tube 20. A pressure sensor 21 is also provided at the bottom of the slope protrusion 27. The end of the limiting hook 22 is fixed to the inner wall of the mounting tube 20.

[0050] The hook retraction assembly 19 includes a telescopic cylinder 23, a limiting ring 24 and a linkage rope 25. The telescopic cylinder 23 is fixedly connected to the mounting tube 20, the limiting ring 24 is fixedly connected to the mounting tube 20, one end of the linkage rope 25 is arranged on the telescopic rod of the telescopic cylinder 23, and the other end of the linkage rope 25 is arranged on the slope protrusion 27. The linkage rope 25 passes through the center hole of the limiting ring 24.

[0051] By extending and retracting the telescopic cylinder 23, the retraction and opening of the limiting hook 22 can be controlled, thereby achieving the limitation and release of the counterweight plate 29, and then the counterweight plate 29 originally located on the mounting tube 20 can be installed on the load-bearing tube 31, or the counterweight plate 29 originally on the load-bearing tube 31 can be transferred to the mounting tube 20.

[0052] The load-bearing mechanism 3 includes a saddle 28, a counterweight plate 29 and an automatic limit assembly 30. The saddle 28 is fixed to the back of the animal by a strap. A load-bearing conduit 31 is provided on the saddle 28. Vertical slide grooves 35 matching the guide wings 26 are evenly distributed in an annular pattern on the load-bearing conduit 31. The guide wings 26 are engaged and slidably arranged in the vertical slide grooves 35. Horizontal slide grooves 36 are also evenly distributed in an annular pattern on the top of the load-bearing conduit 31. The counterweight plate 29 is sleeved on the load-bearing conduit 31.

[0053] The mounting tube 20 and the carrying tube 31 are engaged with each other. By pressing the pressure sensor 21, the robotic arm 17 can be reset to zero during the transfer of the counterweight block. With this position as the origin, the number of counterweight plates 29 remaining on the carrying tube 31 can be accurately controlled.

[0054] The automatic limiting assembly 30 includes a rotating pin 32, a limiting tooth 33 and a torsion spring 34. The rotating pin 32 is arranged in the horizontal sliding groove 36, the limiting tooth 33 is rotatably arranged on the rotating pin 32, and the two ends of the torsion spring 34 are respectively arranged between the inner wall of the horizontal sliding groove 36 and the limiting tooth 33.

[0055] By moving the rotating pin 32 with the ramp protrusion 27, the counterweight plate 29 can be first released from the position limit when the mounting tube 20 is inserted into the load-bearing tube 31. After the mounting tube 20 leaves the load-bearing tube 31, the counterweight plate 29 can be automatically limited again by the elastic force of the torsion spring 34 to prevent the counterweight plate 29 from slipping during the test.

[0056] During use, the user first drives the animal from behind between the two first fences 41 and then drives it forward as far as possible. Due to the angle between the two first fences 41, the animal will gradually be clamped by the first fences 41 and simultaneously press both first fences 41 outward, causing the hydraulic cylinder 42 to retract. If the animal is relatively small, the animal's activity space can be further reduced by extending the second fence 44 .

[0057] When the hydraulic cylinder 42 retracts, the liquid in the hydraulic cylinder 42 can enter the hydraulic push rod 8 through the pipeline, thereby extending the hydraulic push rod 8. By designing the inner diameters of the hydraulic cylinder 42 and the hydraulic push rod 8, the hydraulic push rod 8 can only be fully extended when both hydraulic cylinders 42 are fully retracted. At this time, the two groups of first fences 41 are all squeezed, indicating that the animal's range of movement has been restricted to a certain extent.

[0058] When the hydraulic push rod 8 is extended, the sliding valve core 11 will slide quickly from a position away from the end plate 12 to a position close to the magnetic ring 16; the attraction between the sliding valve core 11 and the magnetic ring 16 is greatly affected by the distance between the two. Therefore, when the sliding valve core 11 and the magnetic ring 16 are in contact, the attraction between the two is greater than the elastic force of the stop spring 13. When the distance between the sliding valve core 11 and the magnetic ring 16 is far, the attraction between the two is less than the elastic force of the stop spring 13. Therefore, by pushing or retracting the hydraulic push rod 8, the sliding valve core 11 can be quickly switched between the two positions.

[0059] When the liquid inlet pipe 15 is transferred from the position where it is connected to the reflux pressure relief pipe 10 to the position where it is connected to the driving pipe 9 , the movement of the robotic arm 17 can be controlled by an external hydraulic device.

[0060] After the mounting tube 20 is adjusted to be directly above the load-bearing tube 31 by the robotic arm 17, the mounting tube 20 is inserted into the load-bearing tube 31. When the mounting tube 20 is lowered, the ramp protrusion 27 first moves the limiting tooth 33, causing the limiting tooth 33 to retract into the horizontal sliding groove 36. At this time, the counterweight plate 29 can slide on the mounting tube 20 and the load-bearing tube 31. As the mounting tube 20 extends into the load-bearing tube 31, the counterweight plate 29 originally located on the mounting tube 20 is also sleeved on the load-bearing tube 31. At this time, the telescopic cylinder 23 retracts, pulling the linkage rope 25, thereby retracting each limit hook 22 into the interior of the load-bearing tube 31. As the mounting tube 20 descends, when the pressure sensor 21 is squeezed, it indicates that the mounting tube 20 has slid to the bottom of the load-bearing tube 31. At this time, the pressure sensor 21 triggers the robot arm 17 to return to zero. Subsequently, based on the current position as the reference point, the number of counterweight discs 29 removed can be controlled by the rising of the mounting tube 20, thereby adjusting the number of counterweight discs 29 on the load-bearing tube 31. After the robotic arm 17 has moved the mounting tube 20 up to a specified height, the telescopic cylinder 23 extends to open the limit hook 22. The mounting tube 20 continues to be raised, and the limit hook 22 hooks onto the counterweight plate 29 above it, forcing it away from the carrying tube 31. When the mounting tube 20 leaves the limiting tooth 33, the limiting tooth 33 that has lost its limit will be reset to the open state under the elastic force of the torsion spring 34, thereby preventing the counterweight plate 29 on the carrying tube 31 from falling off during the test.

[0061] After the counterweight is loaded, the magnetic lock 46 is opened and the animal can be released.

[0062] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0063] The present invention and its embodiments are described above. This description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs structures and embodiments similar to this technical solution without inventiveness, they shall fall within the scope of protection of the present invention.

Claims

1. A load-bearing manipulator for animal load-bearing testing, characterized by: The invention comprises an automatic unlocking hydraulic valve (1), a loading manipulator (2), a load-bearing mechanism (3) and a clamping and limiting mechanism (4), wherein the automatic unlocking hydraulic valve (1) comprises a valve control component (5) and a valve core component (6), wherein the valve core component (6) is slidably arranged in the valve control component (5), and the automatic unlocking hydraulic valve (1) can be locked or controlled by the clamping and limiting mechanism (4), and the loading manipulator (2) comprises a mechanical arm (17), and the mechanical arm (17) is driven by the automatic unlocking hydraulic valve (1); The valve control assembly (5) includes a valve body (7), a hydraulic push rod (8), a drive pipe (9) and a return pressure relief pipe (10), one side of the valve body (7) is provided with a avoidance slide groove (14), the hydraulic push rod (8) is fixed to one end of the valve body (7), and the drive pipe (9) and the return pressure relief pipe (10) are provided on the other side of the valve body (7).

2. A load-bearing manipulator for animal load-bearing testing according to claim 1, characterized in that: The valve core assembly (6) includes a sliding valve core (11), an end plate (12) and a stop spring (13). The sliding valve core (11) is engaged and slidably arranged in the valve body (7). The sliding valve core (11) is provided with a liquid inlet pipe (15), and the liquid inlet pipe (15) is located in the avoidance groove (14). When the sliding valve core (11) is located at both ends, the liquid inlet pipe (15) is respectively connected to the drive pipe (9) and the reflux pressure relief pipe (10). The end plate (12) is fixed to the other end of the valve body (7). The end plate (12) is provided with a magnetic ring (16) that attracts the sliding valve core (11). The stop spring (13) is arranged between the end plate (12) and the sliding valve core (11).

3. A load-bearing manipulator for animal load-bearing testing according to claim 2, characterized in that: The loading manipulator (2) further comprises a mounting assembly (18) and a hook retraction assembly (19), wherein the mounting assembly (18) is arranged at the end of the manipulator arm (17), and the hook retraction assembly (19) is arranged in the mounting assembly (18).

4. A load-bearing manipulator for animal load-bearing testing according to claim 3, characterized in that: The mounting assembly (18) includes a mounting tube (20) and a limiting hook (22), wherein the mounting tube (20) is provided at the end of the robotic arm (17), and guide wings (26) are evenly distributed in an annular pattern on the mounting tube (20), and sloped protrusions (27) are evenly distributed in an annular pattern on the bottom of the mounting tube (20), and a pressure sensor (21) is further provided at the bottom of the sloped protrusion (27), and the end of the limiting hook (22) is fixed to the inner wall of the mounting tube (20).

5. The load-bearing manipulator for animal load-bearing testing according to claim 4, characterized in that: The hook retraction assembly (19) includes a telescopic cylinder (23), a limiting ring (24) and a linkage pull rope (25), wherein the telescopic cylinder (23) is fixedly connected to the mounting tube (20), the limiting ring (24) is fixedly connected to the mounting tube (20), one end of the linkage pull rope (25) is arranged on the telescopic rod of the telescopic cylinder (23), the other end of the linkage pull rope (25) is arranged on the slope protrusion (27), and the linkage pull rope (25) passes through the center hole of the limiting ring (24).

6. The load-bearing manipulator for animal load-bearing testing according to claim 5, characterized in that: The load-bearing mechanism (3) includes a saddle (28), a counterweight plate (29) and an automatic limit assembly (30). The saddle (28) is fixed to the back of the animal by a strap. The saddle (28) is provided with a load-bearing conduit (31). The load-bearing conduit (31) is evenly distributed in an annular manner with vertical slide grooves (35) that match the guide wings (26). The guide wings (26) are engaged and slidably arranged in the vertical slide grooves (35). The top of the load-bearing conduit (31) is also evenly distributed in an annular manner with horizontal slide grooves (36). The counterweight plate (29) is sleeved on the load-bearing conduit (31).

7. The load-bearing manipulator for animal load-bearing testing according to claim 6, characterized in that: The automatic limiting assembly (30) includes a rotating pin (32), a limiting tooth (33) and a torsion spring (34), wherein the rotating pin (32) is arranged in a transverse sliding groove (36), the limiting tooth (33) is rotatably arranged on the rotating pin (32), and the two ends of the torsion spring (34) are respectively arranged between the inner wall of the transverse sliding groove (36) and the limiting tooth (33).

8. The load-bearing manipulator for animal load-bearing testing according to claim 2, characterized in that: The clamping and limiting mechanism (4) comprises a base (37), an angle sensing component (38) and a telescopic adjustment component (39); a base (40) is provided on the base (37); the mechanical arm (17) and the valve body (7) are provided on the base (40); the angle sensing component (38) is rotatably provided on the base (37); and the telescopic adjustment component (39) is provided on the angle sensing component (38).

9. The load-bearing manipulator for animal load-bearing testing according to claim 8, characterized in that: The angle sensing assembly (38) includes a first fence (41), a hydraulic cylinder (42) and a return spring (43), wherein the first fence (41) is rotatably arranged on a base (40), the hydraulic cylinder (42) is hinged to the first fence (41) and the base (40), and the two ends of the return spring (43) are respectively arranged on the cylinder body and the push rod of the hydraulic cylinder (42).

10. The load-bearing manipulator for animal load-bearing testing according to claim 9, characterized in that: The telescopic adjustment assembly (39) includes a second fence (44), a third fence (45) and a magnetic lock (46), wherein the second fence (44) is slidably arranged on the first fence (41), and the tail of the second fence (44) is provided with an elastic rope (47) connected to the first fence (41), the third fence (45) is hinged to the end of the second fence (44), and the magnetic lock (46) is hinged to the end of the third fence (45).

Images