Pilot oil source valve group and pressure reducing valve applied to multi-stage mechanical arm of tool changing robot

Abstract

The invention relates to the technical field of pilot oil source valves, and discloses a pilot oil source valve group and pressure reducing valve applied to a multi-stage mechanical arm of a tool changing robot, the pilot oil source valve group comprises a main valve body, a first distribution unit and a second distribution unit are arranged in the main valve body, and an inner cavity is formed in the main valve body; the first distribution unit comprises a valve element, a first oil passing opening is formed in the valve element, and an oil outlet is formed in the side face of the main valve body. A driving unit is further arranged in the main valve body, the driving unit comprises a transfer cavity, and the transfer cavity is provided with an oil inlet pipeline and an oil outlet pipeline in a communicating mode; the main valve body is further provided with a locking unit, the locking unit comprises a supporting seat, and a positioning rod is movably connected into the supporting seat in an inserted mode. According to the pilot oil source valve, the first oil passing opening is formed in the valve element, the position relation between the first oil passing opening and the oil outlets is adjusted to control the oil outlets in different positions, all the oil outlets can communicate with the multi-stage mechanical arm, and therefore the purpose that the multi-stage mechanical arm is controlled through the pilot oil source valve is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of pilot oil source valves, and in particular relates to a pilot oil source valve group and a pressure reducing valve applied to a multi-stage mechanical arm of a tool changing robot. Background Art

[0002] The precision and response speed of the multi-stage arm of a tool-changing robot are crucial to machining efficiency and quality. The pilot oil source valve assembly is a key control component in its hydraulic drive system. The existing pilot oil source valve's inlet coupling is direct-acting. When the unloading flow reaches 60L, severe heat generation and high pressure loss can occur, potentially damaging the valve body.

[0003] Chinese patent application publication number CN114321073A discloses a pilot oil source valve. During unloading, the oil source flows through the valve chamber to the return oil channel. Due to the large cross-sectional area and short flow path within the valve chamber, pressure loss and heat generation are minimized, even with high unloading flows. Even when used in a multi-way valve, the unloading pressure remains low. This invention offers a reliable unloading mechanism, a compact structure, convenient centralized operation, and low manufacturing costs, making it particularly suitable for use in vehicle hydraulic systems in industries such as agriculture and sanitation.

[0004] However, this technical solution still has at least the following drawbacks: The pilot oil source valve in this solution, due to its internal structure that controls the outlets, cannot effectively adjust each outlet. Therefore, when controlling a multi-stage robotic arm, the pilot oil source valve cannot achieve individual control of the multi-stage robotic arm. In view of this, the present invention is proposed. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a pilot oil source valve group applied to the multi-stage robotic arm of a tool changing robot, which realizes the control of the oil outlets at different positions by setting a first oil port on the valve core and adjusting the positional relationship between the first oil port and the oil outlet. Each oil outlet can be connected to the multi-stage robotic arm to achieve the purpose of controlling the multi-stage robotic arm through the pilot oil source valve; a part of the hydraulic oil in the oil inlet is separated and transported to the inner cavity by setting a transfer chamber, and the valve core is driven to move under the action of pressure to realize the adjustment of the positional relationship between the first oil port and the oil outlet; the valve core is unlocked by setting a first electromagnet and driving the positioning rod to move, and is fixed when the positioning rod is inserted into the valve core.

[0006] The technical solution adopted by the present invention to solve its technical problem is:

[0007] A pilot oil source valve group for a multi-stage robot arm of a tool-changing robot includes a main valve body, a first distribution unit and a second distribution unit disposed therein, an inner cavity being defined within the main valve body, the first distribution unit and the second distribution unit being located within the inner cavity, and having the same structure as the first distribution unit;

[0008] The first distribution unit includes a valve core, a first oil port is formed on the valve core, an oil outlet is formed on the side of the main valve body, and the valve core is adjusted to adjust the overlapping position of the first oil port and the oil outlet by moving;

[0009] A drive unit is further provided inside the main valve body, and the drive unit includes a transfer chamber, and the transfer chamber is connected to an oil inlet pipeline and an oil outlet pipeline, and the oil inlet pipeline and the oil outlet pipeline alternately connect the inner chamber and the transfer chamber up and down;

[0010] The main valve body is further provided with a locking unit, which includes a support seat. A positioning rod is movably inserted into the support seat, and the positioning rod movably passes through the main valve body and extends to the inner cavity.

[0011] As a preferred embodiment of the present invention, an oil inlet is provided inside the main valve body, and the oil inlet is communicated with the inner cavity where the first distribution unit and the second distribution unit are located. A second oil port is provided on the side of the valve core, and the second oil port is adapted to the oil inlet. The oil inlet and the oil outlet are communicated with the first oil port through the second oil port.

[0012] As a preferred embodiment of the present invention, a first rotating plate is rotatably installed in the support seat, a second rotating plate is rotatably installed at one end of the first rotating plate, a first pull rod is rotatably installed at one end of the second rotating plate, and a top plate is fixedly installed on the top of the first pull rod. The locking unit also includes a first electromagnet, which is installed on the top of the main valve body, and the position of the first electromagnet is adapted to the top plate. A blocking column is fixedly installed on one side of the positioning rod, a sliding groove is opened on one side of the first rotating plate, the blocking column is slidably installed on the sliding groove, and a first spring is movably sleeved on the positioning rod.

[0013] As a preferred embodiment of the present invention, the drive unit also includes an oil inlet channel, the oil inlet is connected to both ends of the transfer chamber through the oil inlet channel, and an oil outlet channel is also provided at both ends of the oil inlet and the transfer chamber, and a one-way valve is installed between the oil outlet channel and the oil inlet and between the oil outlet pipeline and the transfer chamber, and an adjusting plug is slidably installed inside the transfer chamber, a second pull rod is fixedly installed on the top of the adjusting plug, a magnetic sheet is installed at one end of the second pull rod, a sealing plug is fixedly installed on the second pull rod, and a second spring is movably sleeved on the second pull rod, and the drive unit also includes a second electromagnet, and the second electromagnet is adapted to the position of the second pull rod.

[0014] As a preferred embodiment of the present invention, a filter unit is provided on one side of the main valve body, and the filter unit includes a mounting seat, a mounting tube is installed on one side of the mounting seat, a connecting tube is installed at one end of the mounting tube, and the connecting tube is connected to the oil outlet, a filter element is installed inside the mounting tube, and a detection unit is also provided on one side of the mounting tube, and the detection unit is used to detect the blockage of the filter element.

[0015] As a preferred embodiment of the present invention, the detection unit includes a guide tube, both ends of the guide tube are connected with the mounting seat and the connecting tube, a movable plug is movably installed inside the guide tube, a third spring is installed at one end of the movable plug, a fixed plate is installed at one end of the third spring, the fixed plate is fixedly connected to the guide tube, a sleeve is installed on one side of the guide tube, and the sleeve is connected to the guide tube, a connecting shaft is movably installed in the sleeve, and a baffle is installed at one end of the connecting shaft, a guide block is installed at one end of the connecting shaft, a protrusion is installed on the side of the connecting shaft, and a fourth spring is movably sleeved on the connecting shaft.

[0016] As a preferred embodiment of the present invention, a connecting unit is provided between the mounting seat and the main valve body, and the connecting unit includes a first mounting bracket and a second mounting bracket, the first mounting bracket is fixedly connected to the mounting seat, and the second mounting bracket is fixedly connected to the main valve body, and a sliding rod is installed on the first mounting bracket, and the sliding rod is slidably connected to the second mounting bracket.

[0017] As a preferred embodiment of the present invention, one side of the second mounting bracket is rotatably connected to a side clamping plate, one side of the side clamping plate is installed with a guide plate, the second mounting bracket is also fixedly installed with a fixed block, the fixed block is movably plugged with a connecting rod, one end of the connecting rod is fixedly installed with a movable plate, the movable plate is movably sleeved on the sleeve, a groove opposite to the guide plate is provided on the side of the movable plate, the other end of the connecting rod is fixedly installed with a connecting block, and one end of the first mounting bracket and the second mounting bracket is fixedly installed with a locking block, and the locking block is adapted to the connecting block.

[0018] A pressure reducing valve comprises a pressure reducing valve body, the pressure reducing valve body being mounted in a main valve body, an adjusting unit being provided in the pressure reducing valve body, the adjusting unit comprising a telescopic rod, a piston plate being mounted at one end of the telescopic rod, the piston plate being sealingly connected to the pressure reducing valve body, and a rotating disk being mounted at the other end of the telescopic rod.

[0019] As a preferred embodiment of the present invention, an adjusting rod is installed on the side of the rotating disk, a spiral groove is opened on the inner wall of the pressure reducing valve body, the spiral groove is adapted to the adjusting rod, and an adjusting spring is movably sleeved on the telescopic rod. A knob is rotatably connected to one end of the pressure reducing valve body, and the knob is slidably connected to the telescopic rod through a spline shaft.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The present invention realizes control of oil outlets at different positions by setting a first oil port on the valve core and adjusting the positional relationship between the first oil port and the oil outlet. Each oil outlet can be connected to a multi-stage robotic arm to achieve the purpose of controlling the multi-stage robotic arm through the pilot oil source valve;

[0022] The present invention separates a portion of the hydraulic oil in the oil inlet and delivers it to the inner cavity by setting a transfer chamber, and drives the valve core to move under the action of pressure to achieve the adjustment of the position relationship between the first oil port and the oil outlet;

[0023] The present invention realizes unlocking of the valve core by arranging a first electromagnet and driving the positioning rod to move, and realizes fixation when the positioning rod is inserted into the valve core. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure of the pilot oil source valve group of the present invention;

[0025] Figure 2 This is a schematic diagram of the internal structure of the main valve body of the present invention;

[0026] Figure 3 This is a structural diagram of the valve core of the present invention;

[0027] Figure 4 This is a schematic diagram of the internal structure of the support base of the present invention;

[0028] Figure 5 This is a structural diagram of the positioning rod of the present invention;

[0029] Figure 6 This is a schematic diagram of the oil inlet arrangement structure of the present invention;

[0030] Figure 7 This is a schematic diagram of the transfer chamber and its connecting pipe arrangement structure of the present invention;

[0031] Figure 8 This is a structural diagram of the second spring of the present invention;

[0032] Figure 9 This is a schematic diagram of the structure of the filter unit of the present invention;

[0033] Figure 10 This is a structural diagram of the movable plate of the present invention;

[0034] Figure 11 This is a structural diagram of the filter element of the present invention;

[0035] Figure 12 This is a structural diagram of the side splint of the present invention;

[0036] Figure 13This is a structural diagram of the connection block of the present invention;

[0037] Figure 14 This is a structural diagram of the movable plug of the present invention;

[0038] Figure 15 Schematic diagram of the internal structure of the pressure reducing valve of the present invention.

[0039] Description of reference numerals:

[0040] 100, main valve body; 101, inner cavity; 102, oil outlet; 103, valve core; 104, first oil port; 105, second oil port;

[0041] 200, support base; 201, positioning rod; 202, first spring; 203, blocking column; 204, first rotating plate; 205, slide groove; 206, second rotating plate; 207, first pull rod; 208, top plate; 209, first electromagnet;

[0042] 300, oil inlet; 301, oil inlet channel; 302, transfer chamber; 303, oil inlet pipeline; 304, oil outlet pipeline; 305, oil outlet channel; 306, regulating plug; 307, second pull rod; 308, sealing plug; 309, second spring; 310, second electromagnet;

[0043] 400, pressure reducing valve body; 401, piston plate; 402, spiral groove; 403, rotating disk; 404, adjusting rod; 405, telescopic rod; 406, adjusting spring; 407, knob;

[0044] 500, connecting pipe; 501, mounting pipe; 502, mounting seat; 503, filter element; 504, guide pipe; 505, movable plug; 506, third spring; 507, fixing plate; 508, sleeve; 509, guide block; 510, connecting shaft; 511, stop rod; 512, fourth spring; 513, bump;

[0045] 600, first mounting frame; 601, sliding rod; 602, second mounting frame; 603, side clamping plate; 604, guide plate; 605, movable plate; 606, groove; 607, connecting rod; 608, fixing block; 609, connecting block; 610, locking block. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention.

[0047] Example 1

[0048] like Figures 1 to 8As shown, a pilot oil source valve group for a multi-stage robot arm of a tool-changing robot includes a main valve body 100, wherein a first distribution unit and a second distribution unit are provided inside the main valve body 100. An inner cavity 101 is defined in the main valve body 100, and the first distribution unit and the second distribution unit are located in the inner cavity 101. The first distribution unit and the second distribution unit have the same structure.

[0049] The first distribution unit includes a valve core 103, a first oil port 104 is formed on the valve core 103, and an oil outlet 102 is formed on the side of the main valve body 100. The valve core 103 adjusts the overlapping position of the first oil port 104 and the oil outlet 102 by moving;

[0050] A drive unit is further provided inside the main valve body 100. The drive unit includes a transfer chamber 302. The transfer chamber 302 is connected to an oil inlet line 303 and an oil outlet line 304. The oil inlet line 303 and the oil outlet line 304 connect the inner chamber 101 and the transfer chamber 302 alternately up and down.

[0051] The main valve body 100 is further provided with a locking unit, which includes a support seat 200 . A positioning rod 201 is movably inserted into the support seat 200 . The positioning rod 201 movably passes through the main valve body 100 and extends to the inner cavity 101 .

[0052] like Figure 2 、 Figure 3 、 Figure 6 As shown, in a specific embodiment, the main valve body 100 has an oil inlet 300 formed inside, which communicates with the inner cavity 101 where the first and second distribution units are located. A second oil port 105 is formed on the side of the valve core 103, which is adapted to the oil inlet 300. The oil inlet 300 and the oil outlet 102 are connected to the first oil port 104 through the second oil port 105. In this arrangement, when the valve core 103 moves, the second oil port 105 always remains connected to the oil inlet 300.

[0053] like Figure 1 、 Figure 4 、 Figure 5As shown, further, a first rotating plate 204 is rotatably mounted within the support base 200, a second rotating plate 206 is rotatably mounted on one end of the first rotating plate 204, a first pull rod 207 is rotatably mounted on one end of the second rotating plate 206, a top plate 208 is fixedly mounted on the top of the first pull rod 207, and the locking unit further includes a first electromagnet 209, which is mounted on the top of the main valve body 100 and is positioned to match the top plate 208. A stopper 203 is fixedly mounted on one side of the positioning rod 201, a slide groove 205 is defined on one side of the first rotating plate 204, and the stopper 203 is slidably mounted on the slide groove 205. A first spring 202 is movably mounted on the positioning rod 201. In this configuration, the top plate 208 is made of a magnetic material, and the first electromagnet 209 operates in an instantaneous mode, that is, after power is applied, it only generates magnetic force for a very short time, thereby driving the top plate 208 to move.

[0054] like Figure 2 、 Figures 6 to 8 As shown, further, the drive unit also includes an oil inlet channel 301, and the oil inlet 300 is connected to both ends of the transfer chamber 302 through the oil inlet channel 301. An oil outlet channel 305 is also opened at both ends of the oil inlet 300 and the transfer chamber 302. A one-way valve is installed between the oil outlet channel 305 and the oil inlet 300 and between the oil outlet pipeline 304 and the transfer chamber 302. An adjusting plug 306 is slidably installed inside the transfer chamber 302, and a second pull rod 307 is fixedly installed on the top of the adjusting plug 306. A magnetic sheet is installed at one end of the second pull rod 307, a sealing plug 308 is fixedly installed on the second pull rod 307, and a second spring 309 is movably sleeved on the second pull rod 307. The drive unit also includes a second electromagnet 310, and the second electromagnet 310 is adapted to the position of the second pull rod 307. In this configuration, the one-way valve can effectively prevent the hydraulic oil in the oil inlet 300 from entering the oil outlet channel 305 and the hydraulic oil in the transfer chamber 302 from entering the oil outlet pipeline 304 .

[0055] The implementation principle of the pilot oil source valve group applied to the multi-stage manipulator arm of the tool changing robot of this embodiment is as follows: when in use, the hydraulic oil enters the second oil port 105 through the oil inlet 300, thereby entering the valve core 103, and enters the oil outlet 102 through the first oil port 104;

[0056] At the same time, the hydraulic oil in the oil inlet 300 enters the transfer chamber 302 through the oil inlet channel 301, and enters the oil inlet line 303 through the transfer chamber 302. The hydraulic oil enters one end of the inner chamber 101 through the oil inlet line 303, so that the valve core 103 is continuously subjected to the thrust from the hydraulic oil.

[0057] When the oil outlet 102 needs to be adjusted, the first electromagnet 209 is started and the first electromagnet 209 works instantaneously. Its magnetic force acts on the top plate 208 and pulls the first rotating plate 204 to rotate through the first pull rod 207 and the second rotating plate 206. The first rotating plate 204 drives the positioning rod 201 to move and disengage from the valve core 103. At this time, the valve core 103 moves under the thrust of the hydraulic oil. At the same time, the first electromagnet 209 is powered off immediately after working, so that the elastic force of the first spring 202 acts on the positioning rod 201 and drives the positioning rod 201 to press against the valve core 103. As the valve core 103 moves, the positioning rod 201 will be inserted into the valve core 103 again to fix the valve core 103. During the movement of the valve core 103, the overlapping position of the first oil port 104 and the oil outlet 102 changes, so as to achieve the purpose of adjusting the oil outlet 102.

[0058] When the valve core 103 needs to be moved, the second electromagnet 310 is started, and the second electromagnet 310 maintains a continuous working state and drives the regulating plug 306 to rise through the second pull rod 307. At this time, the oil inlet channel 301 and the oil inlet pipeline 303 originally connected to the transfer chamber 302 are blocked, and at the same time, the oil inlet channel 301 and the oil inlet pipeline 303 at the other end are opened, allowing the hydraulic oil to enter the other end of the inner cavity 101. When adjustment is required, the first electromagnet 209 is started again. At this time, the valve core 103 moves in the opposite direction. At the same time, the hydraulic oil originally existing at one end of the inner cavity 101 enters the transfer chamber 302 through the oil outlet pipeline 304 under the squeezing of the valve core 103.

[0059] Example 2

[0060] like Figures 9 to 14 As shown, a pilot oil source valve group is applied to a multi-stage robotic arm of a tool changing robot. A filter unit is provided on one side of the main valve body 100. The filter unit includes a mounting seat 502. A mounting tube 501 is installed on one side of the mounting seat 502. A connecting tube 500 is installed at one end of the mounting tube 501. The connecting tube 500 is connected to the oil outlet 102. A filter element 503 is installed inside the mounting tube 501. A detection unit is also provided on one side of the mounting tube 501. The detection unit is used to detect the blockage of the filter element 503.

[0061] like Figure 9 、 Figure 11 、 Figure 14As shown, in a specific embodiment, the detection unit includes a guide tube 504, both ends of the guide tube 504 are connected to the mounting seat 502 and the connecting tube 500, a movable plug 505 is movably installed inside the guide tube 504, one end of the movable plug 505 is installed with a third spring 506, one end of the third spring 506 is installed with a fixed plate 507, the fixed plate 507 is fixedly connected to the guide tube 504, a sleeve 508 is installed on one side of the guide tube 504, and the sleeve 508 is connected to the guide tube 504, a connecting shaft 510 is movably installed in the sleeve 508, and a blocking rod 511 is installed at one end of the connecting shaft 510, a guide block 509 is installed at one end of the connecting shaft 510, a protrusion 513 is installed on the side of the connecting shaft 510, and a fourth spring 512 is movably sleeved on the connecting shaft 510. In this configuration, when the filter element 503 is not blocked, the movable plug 505 abuts against the guide block 509 to prevent the guide block 509 from moving. A sealing gasket is installed between the guide block 509 and the sleeve 508 to prevent the hydraulic oil from leaking through the sleeve 508.

[0062] like Figure 9 、 Figure 10 As shown, a connection unit is further provided between the mounting base 502 and the main valve body 100. The connection unit includes a first mounting bracket 600 and a second mounting bracket 602. The first mounting bracket 600 is fixedly connected to the mounting base 502, and the second mounting bracket 602 is fixedly connected to the main valve body 100. A sliding rod 601 is mounted on the first mounting bracket 600, and the sliding rod 601 is slidably connected to the second mounting bracket 602. In this arrangement, the sliding connection between the first mounting bracket 600 and the second mounting bracket 602 via the sliding rod 601 enables the mounting base 502 to be disassembled.

[0063] like Figure 10 、 Figure 12 、 Figure 13As shown, further, one side of the second mounting frame 602 is rotatably connected to a side clamping plate 603, and one side of the side clamping plate 603 is installed with a guide plate 604. The second mounting frame 602 is also fixedly installed with a fixed block 608, and the fixed block 608 is movably plugged with a connecting rod 607. One end of the connecting rod 607 is fixedly installed with a movable plate 605, and the movable plate 605 is movably sleeved on the sleeve 508. A groove 606 opposite to the guide plate 604 is provided on the side of the movable plate 605, and a connecting block 609 is fixedly installed on the other end of the connecting rod 607. A locking block 610 is fixedly installed on one end of the first mounting frame 600 and the second mounting frame 602, and the locking block 610 is adapted to the connecting block 609. In this setting, the cooperation between the locking block 610 and the connecting block 609 enables the first mounting frame 600 and the second mounting frame 602 to maintain a mutually locked state. A torsion spring is installed between the side clamping plate 603 and the second mounting frame 602 so that the side clamping plate 603 always maintains a clamping state on the movable plate 605. The contact part between the side clamping plate 603 and the movable plate 605 is frosted to increase friction. Under the clamping action of the side clamping plate 603, the movable plate 605 remains fixed.

[0064] The implementation principle of the pilot oil source valve group applied to the multi-stage robot arm of the tool changing robot in this embodiment is as follows: the hydraulic oil enters the connecting pipe 500 through the oil outlet 102, and enters the installation pipe 501 through the connecting pipe 500, and enters the installation seat 502 after being filtered by the filter element 503 in the installation pipe 501. At the same time, a part of the hydraulic oil enters the guide pipe 504 and maintains the pressure balance on both sides of the movable plug 505 in the guide pipe 504. When the filter element 503 is blocked, the pressure on both sides of the filter element 503 changes. At this time, the pressure on both sides of the movable plug 505 changes, and the pressure difference causes the movable plug 505 to move to one side. When the filter element 503 is in the closed position, the filter element 503 is in the closed position, and the filter element 503 is in the closed position, so that the filter element 503 is in the closed position.

[0065] Example 3

[0066] like Figure 15As shown, a pressure reducing valve includes a pressure reducing valve body 400, which is installed in a main valve body 100. An adjusting unit is provided in the pressure reducing valve body 400, and the adjusting unit includes a telescopic rod 405. A piston plate 401 is installed at one end of the telescopic rod 405, and the piston plate 401 is sealed to the pressure reducing valve body 400. A rotating disk 403 is installed at the other end of the telescopic rod 405.

[0067] like Figure 15 As shown, in a specific embodiment, an adjusting rod 404 is installed on the side of the rotating disk 403, a spiral groove 402 is opened on the inner wall of the pressure reducing valve body 400, the spiral groove 402 is adapted to the adjusting rod 404, and an adjusting spring 406 is movably sleeved on the telescopic rod 405. A knob 407 is rotatably connected to one end of the pressure reducing valve body 400, and the knob 407 is slidably connected to the telescopic rod 405 through a spline shaft.

[0068] The operating principle of the pressure reducing valve of this embodiment is as follows: when adjusting, the rotating knob 407 drives the rotating disk 403 to rotate, and the rotating disk 403 drives the adjusting rod 404 to rotate. The adjusting rod 404 slides in the spiral groove 402 and is displaced in the axial direction of the telescopic rod 405. At this time, the distance between the rotating disk 403 and the piston plate 401 changes, thereby changing the elastic force of the adjusting spring 406, thereby achieving the adjustment effect of the pressure reducing valve.

[0069] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A pilot oil source valve group for a multi-stage robot arm of a tool changing robot, comprising a main valve body (100), characterized in that: A first distribution unit and a second distribution unit are provided inside the main valve body (100), an inner cavity (101) is provided inside the main valve body (100), the first distribution unit and the second distribution unit are located in the inner cavity (101), and the first distribution unit and the second distribution unit have the same structure; The first distribution unit comprises a valve core (103), a first oil port (104) is provided on the valve core (103), an oil outlet (102) is provided on the side of the main valve body (100), and the valve core (103) is adapted to adjust the overlapping position of the first oil port (104) and the oil outlet (102) by moving; A driving unit is further provided inside the main valve body (100), the driving unit comprising a transfer chamber (302), an oil inlet pipeline (303) and an oil outlet pipeline (304) being connected to the transfer chamber (302), the oil inlet pipeline (303) and the oil outlet pipeline (304) alternately connecting the inner chamber (101) and the transfer chamber (302) in an upper and lower direction. A locking unit is also provided on the main valve body (100), and the locking unit comprises a support seat (200). A positioning rod (201) is movably inserted into the support seat (200), and the positioning rod (201) movably passes through the main valve body (100) and extends to the inner cavity (101).

2. The pilot oil source valve group for a multi-stage robot arm of a tool changing robot according to claim 1 is characterized in that: An oil inlet (300) is provided inside the main valve body (100), and the oil inlet (300) is communicated with the inner cavity (101) where the first distribution unit and the second distribution unit are located. A second oil opening (105) is provided on the side of the valve core (103), and the second oil opening (105) is adapted to the oil inlet (300). The oil inlet (300) and the oil outlet (102) are communicated with the first oil opening (104) through the second oil opening (105).

3. The pilot oil source valve group for a multi-stage robot arm of a tool changing robot according to claim 2 is characterized in that: A first rotating plate (204) is rotatably mounted in the support seat (200), a second rotating plate (206) is rotatably mounted on one end of the first rotating plate (204), a first pull rod (207) is rotatably mounted on one end of the second rotating plate (206), a top plate (208) is fixedly mounted on the top of the first pull rod (207), the locking unit further comprises a first electromagnet (209), the first electromagnet (209) is mounted on the top of the main valve body (100), and the position of the first electromagnet (209) is adapted to the top plate (208), a blocking column (203) is fixedly mounted on one side of the positioning rod (201), a sliding groove (205) is provided on one side of the first rotating plate (204), the blocking column (203) is slidably mounted on the sliding groove (205), and a first spring (202) is movably sleeved on the positioning rod (201).

4. The pilot oil source valve group for a multi-stage robot arm of a tool changing robot according to claim 3 is characterized in that: The drive unit further comprises an oil inlet channel (301), the oil inlet (300) and the two ends of the transfer chamber (302) are communicated through the oil inlet channel (301), and the oil inlet (300) and the two ends of the transfer chamber (302) are also provided with oil outlet channels (305), and one-way valves are installed between the oil outlet channel (305) and the oil inlet (300) and between the oil outlet pipeline (304) and the transfer chamber (302). A valve is slidably installed inside the transfer chamber (302). An adjusting plug (306) is provided, wherein a second pull rod (307) is fixedly mounted on the top of the adjusting plug (306), a magnetic sheet is mounted on one end of the second pull rod (307), a sealing plug (308) is fixedly mounted on the second pull rod (307), a second spring (309) is movably sleeved on the second pull rod (307), and the driving unit further comprises a second electromagnet (310), and the position of the second electromagnet (310) is adapted to that of the second pull rod (307).

5. The pilot oil source valve group for a multi-stage robot arm of a tool changing robot according to claim 4 is characterized in that: A filter unit is provided on one side of the main valve body (100), and the filter unit includes a mounting seat (502). A mounting tube (501) is installed on one side of the mounting seat (502). A connecting tube (500) is installed on one end of the mounting tube (501). The connecting tube (500) is communicated with the oil outlet (102). A filter element (503) is installed inside the mounting tube (501). A detection unit is also provided on one side of the mounting tube (501), and the detection unit is used to detect the blockage of the filter element (503).

6. The pilot oil source valve group for a multi-stage robot arm of a tool changing robot according to claim 5, characterized in that: The detection unit includes a guide tube (504), both ends of the guide tube (504) are connected to the mounting seat (502) and the connecting tube (500), a movable plug (505) is movably installed inside the guide tube (504), a third spring (506) is installed at one end of the movable plug (505), a fixed plate (507) is installed at one end of the third spring (506), the fixed plate (507) is fixedly connected to the guide tube (504), a sleeve (508) is installed on one side of the guide tube (504), and the sleeve (508) is connected to the guide tube (504), a connecting shaft (510) is movably installed in the sleeve (508), and a blocking rod (511) is installed at one end of the connecting shaft (510), a guide block (509) is installed at one end of the connecting shaft (510), a protrusion (513) is installed on the side of the connecting shaft (510), and a fourth spring (512) is movably sleeved on the connecting shaft (510).

7. The pilot oil source valve group for a multi-stage robot arm of a tool changing robot according to claim 6, characterized in that: A connecting unit is provided between the mounting seat (502) and the main valve body (100), and the connecting unit comprises a first mounting frame (600) and a second mounting frame (602), wherein the first mounting frame (600) is fixedly connected to the mounting seat (502), and the second mounting frame (602) is fixedly connected to the main valve body (100), and a sliding rod (601) is installed on the first mounting frame (600), and the sliding rod (601) is slidably connected to the second mounting frame (602).

8. The pilot oil source valve group for a multi-stage robot arm of a tool changing robot according to claim 7, characterized in that: One side of the second mounting frame (602) is rotatably connected to a side clamping plate (603), and one side of the side clamping plate (603) is installed with a guide plate (604). The second mounting frame (602) is also fixedly installed with a fixed block (608), and a connecting rod (607) is movably inserted into the fixed block (608). One end of the connecting rod (607) is fixedly installed with a movable plate (605), and the movable plate (605) is movably sleeved on the sleeve (508). A groove (606) opposite to the guide plate (604) is provided on the side of the movable plate (605), and a connecting block (609) is fixedly installed on the other end of the connecting rod (607). The first mounting frame (600) and one end of the second mounting frame (602) are fixedly installed with a locking block (610), and the locking block (610) is adapted to the connecting block (609).

9. A pressure reducing valve, applied to the pilot oil source valve group according to any one of claims 1 to 8, characterized in that: The invention comprises a pressure reducing valve body (400), wherein the pressure reducing valve body (400) is installed in a main valve body (100), an adjusting unit is provided in the pressure reducing valve body (400), and the adjusting unit comprises a telescopic rod (405), one end of the telescopic rod (405) is installed with a piston plate (401), the piston plate (401) is sealedly connected to the pressure reducing valve body (400), and the other end of the telescopic rod (405) is installed with a rotating disk (403).

10. The pressure reducing valve according to claim 9, characterized in that: An adjusting rod (404) is installed on the side of the rotating disk (403), a spiral groove (402) is opened on the inner wall of the pressure reducing valve body (400), and the spiral groove (402) is adapted to the adjusting rod (404). An adjusting spring (406) is also movably sleeved on the telescopic rod (405), and a knob (407) is rotatably connected to one end of the pressure reducing valve body (400), and the knob (407) is slidably connected to the telescopic rod (405) through a spline shaft.

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