Tool changing robot hydraulic control system energy accumulator and energy accumulator safety valve group

Abstract

The invention relates to the technical field of energy storage devices, in particular to an energy accumulator of a hydraulic control system of a tool changing robot and an energy accumulator safety valve group, which comprises a valve seat assembly, a safety valve and an oil liquid filter connected with the safety valve, an inner cavity is formed in the inner wall of the oil filter, and a filter element and a moving part are arranged on the inner wall of the inner cavity; the oil liquid filter is connected with the safety valve, hydraulic oil entering the safety valve is subjected to two-stage filtration, the filtering ring in the moving part primarily filters a medium, then the filtering element secondarily filters the medium, impurities entering the safety valve are greatly reduced, a valve port and a channel of the safety valve are effectively prevented from being blocked, and normal work of the safety valve is guaranteed. Meanwhile, the backflow-preventing channel can introduce the scraped impurities into the collecting cavity, and when the hydraulic oil pressure of the system changes, the impurities are prevented from flowing back to the filtering cavity by utilizing a special channel structure and the action of a moving part, so that the filtering effect and the system cleanness are maintained.

Description

Technical Field

[0001] The present application relates to the technical field of energy storage devices, in particular to an accumulator of a hydraulic control system of a tool changing robot and an accumulator safety valve group. Background Art

[0002] A tool-changing robot usually consists of a base, multiple joints, and an end effector. The coordinated movement of these joints enables rapid tool replacement. In the hydraulic control system of the tool-changing robot, the accumulator and its safety valve group play a vital role. They are responsible for storing and releasing energy, as well as protecting the system safety when the system pressure is too high.

[0003] During use, impurities and contaminants in the oil may clog the safety valve, causing it to malfunction. At the same time, oil leakage may also affect the performance of the accumulator.

[0004] Chinese patent publication number CN102996532B discloses a plate-type accumulator control safety valve, which consists of a valve body. Two oil circuits, oil circuit P and oil circuit T, are formed on the valve body by drilling or casting. One end of oil circuit T is closed, and an oil inlet shut-off device is provided at the oil inlet end of oil circuit P. Two bypasses are provided between the oil outlet of the oil inlet shut-off device and the oil outlet of oil circuit P, connected to oil circuit T. An oil drain shut-off device is installed on one of the bypasses via a plug, and a safety overflow device is provided on the other bypass. This enables plate-type installation of the accumulator, making it very convenient to repair, replace, or interchange the accumulator.

[0005] However, this patent still has some problems: when the safety valve is in use, impurities and dirt in the hydraulic oil can easily clog the gap between the valve core and the valve seat of the safety valve, which will hinder the valve core from returning to its seat, resulting in the safety valve not closing in time, causing the medium in the system to continue to leak, resulting in medium waste and unstable system pressure. Summary of the Invention

[0006] In view of the above problems in the prior art, this application is proposed.

[0007] In order to solve the above technical problems, the present application provides the following technical solutions: an accumulator for the hydraulic control system of a tool changing robot, which includes an accumulator assembly, including an accumulator body, an airbag is provided on the inner wall of the accumulator body, an air inlet is provided at the end of the airbag and the end of the air inlet extends to the outer wall of the accumulator body, and gas is replenished to the interior of the airbag through the air inlet.

[0008] As a preferred solution of the accumulator of the hydraulic control system of the tool changing robot described in the present application, wherein: a mounting seat is provided at the end of the accumulator body for fixing the accumulator body, an oil inlet is provided at the end of the accumulator body, a connecting rod is movably provided on the inner wall of the oil inlet, and a valve seat is provided at the end of the connecting rod, and a first elastic member is provided at the end of the valve seat. When the pressure of the hydraulic system increases, hydraulic oil enters the accumulator body through the oil inlet, squeezing the airbag and compressing the gas in the airbag, thereby increasing the gas pressure, and converting the pressure energy of the hydraulic oil into the compression energy of the gas;

[0009] When the pressure in the hydraulic system drops, the compressed gas in the airbag expands, pushing the hydraulic oil outside the airbag out of the oil inlet and back into the hydraulic system, converting the compression energy of the gas into the pressure energy of the hydraulic oil.

[0010] An accumulator safety valve group is applied to the accumulator of the hydraulic control system of the tool changing robot mentioned above, which includes: a valve seat assembly, including a safety valve, an oil filter connected to the safety valve, the inner wall of the oil filter is provided with an inner chamber and the inner wall of the inner chamber is provided with a filter core and a moving part, the moving part is located at the end of the filter core and is used for preliminary cleaning at the end of the filter core, and impurities and dirt in the medium enter the collection chamber provided at the bottom of the oil filter through the anti-backflow channel below the moving part.

[0011] As a preferred solution of the accumulator safety valve group described in the present application, the anti-backflow channel is opened at the end of the oil filter, including a slag inlet, the lower end of the slag inlet is connected to the slag inlet channel and the outer wall of the slag inlet channel is connected to the anti-backflow channel, the end of the slag inlet channel is connected to the slag outlet and the slag outlet is connected to the collection chamber.

[0012] As a preferred solution of the accumulator safety valve group described in the present application, wherein: the moving part includes a limiting ring, the limiting ring is fixed to the inner wall of the inner chamber, a limiting column is provided at the end of the limiting ring and the end of the limiting column is located on the inner wall of the filter element, the limiting column is used to fix the filter element and the end face of the limiting ring is provided with a through hole for medium to pass through.

[0013] As a preferred solution of the accumulator safety valve group described in the present application, a filter ring is provided at the end of the limiting ring and a fixing ring is installed on the outer wall of the filter ring, the filter ring is fixedly fitted under the limiting ring through the fixing ring, the filter ring performs preliminary filtration on the medium, and the medium is upwardly filled into the inner chamber through the limiting ring, the fixing ring is fitted to the limiting ring and a movable groove is provided on the end face of the fixing ring.

[0014] As a preferred solution of the accumulator safety valve group described in the present application, wherein: a movable ring is provided at the end of the fixed ring and a moving plate is provided in the internal array of the movable ring, a support rod is provided on the outer wall of the moving plate, the end face of the support rod is in contact with the lower end face of the filter ring and the support rods of the outer walls of adjacent moving plates are in contact with each other, a movable column is provided on the end face of the moving plate and the end of the movable column extends to the inner wall of the movable groove and slides with it, and when the moving plate moves, the lower end face of the filter ring is scraped by the support rod on the outer wall.

[0015] As a preferred solution of the accumulator safety valve group described in the present application, the inner wall of the movable ring is provided with a fitting surface and the inner wall of the fitting surface is provided with a sliding groove, the movable plate is installed at the end of the fitting surface and the movable column extends to the inner wall of the sliding groove, and when the movable ring rotates, the movable plate is driven to move inside the movable ring through the sliding groove.

[0016] As a preferred solution of the accumulator safety valve group described in the present application, wherein: a fixed block is fixed to the inner wall of the inner chamber and the fixed block is located at the end of the movable ring, a fixed plate is provided at the end of the fixed block and a moving column is movably installed at the axis of the fixed plate, a fitting block is provided at the end of the moving column, and the fitting block is located at the end of the inner chamber. When the medium enters the inner chamber, the fitting block moves downward, completely fits to the bottom of the inner chamber and covers the slag inlet.

[0017] As a preferred solution of the accumulator safety valve group described in the present application, wherein: a hinged rod is provided at the end of the moving column and a movable block is hinged to the end of the hinged rod, the movable block slides on the inner wall of the fixed block, and the sliding column provided at the end of the movable block extends into the arc groove opened on the end face of the movable ring and slides with it. When the movable block slides, the movable ring is driven to rotate by the sliding of the sliding column in the arc groove.

[0018] The beneficial effects of this application are as follows: The oil filter is connected to the safety valve, performing two-stage filtration on the hydraulic oil entering the safety valve. The filter ring in the moving component performs initial filtration of the medium, followed by a secondary filtration by the filter element, significantly reducing impurities entering the safety valve, effectively preventing blockage of the valve port and passage, and ensuring the normal operation of the safety valve. Furthermore, the anti-backflow channel can direct scraped impurities into the collection chamber. When the system hydraulic oil pressure changes, the special channel structure and the movement of the moving component prevent impurities from flowing back into the internal chamber, maintaining the filtration effect and system cleanliness. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 This is a schematic diagram of the overall structure of the accumulator and accumulator safety valve group of the hydraulic control system of the tool changing robot in this application;

[0021] Figure 2 It is a structural diagram of the accumulator assembly in this application;

[0022] Figure 3 Schematic diagram of the structure of the valve seat assembly in this application;

[0023] Figure 4 A side cross-sectional view of the oil filter in this application;

[0024] Figure 5 For this application Figure 4 A schematic diagram of the structure at point A in the middle;

[0025] Figure 6 This is a schematic diagram of the structure of the filter element in this application;

[0026] Figure 7 Schematic diagram of the positional relationship between the moving parts and the filter ring in this application;

[0027] Figure 8 For this application Figure 7 A magnified schematic diagram of the structure at B in the middle;

[0028] Figure 9 This is a schematic diagram of the exploded structure of the moving parts in this application;

[0029] Figure 10 This is a schematic diagram of the connection relationship between the movable block and the movable ring in this application.

[0030] Reference numerals: 100, accumulator assembly; 101, accumulator body; 1011, airbag; 1012, air inlet; 1013, oil inlet; 1014, connecting rod; 1015, valve seat; 1016, first elastic member; 102, mounting seat;

[0031] 200, valve seat assembly; 201, safety valve; 202, oil filter; 2021, inner chamber; 2022, first connection port; 2023, slag inlet; 2024, slag inlet channel; 2025, anti-backflow channel; 2026, slag outlet; 203, filter element; 2031, connector; 2032, opening; 204, mounting head; 2041, second connection port; 2042, mounting cover; 2043, mounting ring; 205, collection chamber;

[0032] 301. Limiting ring; 3011. Limiting column; 302. Filter ring; 303. Fixed ring; 3031. Movable groove; 304. Moving plate; 3041. Support rod; 3042. Movable column; 305. Movable ring; 3051. Fitting surface; 3052. Slide groove; 3053. Arc groove; 306. Fixed block; 3061. Fixed plate; 307. Moving column; 3071. Fitting block; 3072. Articulated rod; 3073. Second elastic member; 308. Movable block; 3081. Slide column. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the drawings in the specification.

[0034] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0035] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present application. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0036] Example 1

[0037] This is the first embodiment of the present application, which provides an accumulator for a hydraulic control system of a tool changing robot.

[0038] Specifically, refer to Figure 1 and Figure 2 The accumulator of the hydraulic control system of the tool changing robot includes: an accumulator assembly 100, including an accumulator body 101, an air bag 1011 is provided on the inner wall of the accumulator body 101, an air inlet 1012 is provided at the end of the air bag 1011, and the end of the air inlet 1012 extends to the outer wall of the accumulator body 101, and gas is replenished into the air bag 1011 through the air inlet 1012.

[0039] A mounting seat 102 is provided at the end of the accumulator body 101 for fixing the accumulator body 101. An oil inlet 1013 is provided at the end of the accumulator body 101. A connecting rod 1014 is movably provided on the inner wall of the oil inlet 1013, and a valve seat 1015 is provided at the end of the connecting rod 1014. A first elastic member 1016 is provided at the end of the valve seat 1015. When the pressure of the hydraulic system increases, hydraulic oil enters the accumulator body 101 through the oil inlet 1013, squeezing the airbag 1011 and compressing the gas in the airbag 1011. The gas pressure increases, and the pressure energy of the hydraulic oil is converted into the compression energy of the gas.

[0040] When the pressure of the hydraulic system drops, the compressed gas in the airbag 1011 expands, pushing the hydraulic oil outside the airbag 1011 out of the oil inlet 1013 and back into the hydraulic system, converting the compression energy of the gas into the pressure energy of the hydraulic oil.

[0041] Among them, inert gas is added to the interior of the airbag 1011 through the air inlet 1012. When the system pressure increases, the hydraulic oil enters the interior of the accumulator body 101 through the oil inlet 1013, squeezing the airbag 1011, so that the gas inside the airbag 1011 is compressed, and the hydraulic oil is stored in the interior of the accumulator. During the tool changing process, the tool exchange requires fast action. At this time, the compressed gas in the airbag 1011 in the accumulator body 101 expands, pushing the hydraulic oil back to the system, and supplying oil at the same time as the hydraulic pump to quickly complete the tool changing action.

[0042] After completing the tool change, the tool changing robot may need to maintain a certain pressure to ensure the tool clamping state. When the hydraulic pump stops working, the accumulator body 101 can use the stored hydraulic oil to make up for system leakage, maintain system pressure, ensure the stability of the tool clamping force, and prevent the tool from loosening.

[0043] When the flow of hydraulic oil through the accumulator body 101 is too large, it may generate a large impact force on the airbag 1011 when entering and exiting the accumulator body 101, causing the airbag 1011 to be squeezed and deformed in an instant, and then touch the valve seat 1015, causing it to squeeze the first elastic member 1016 downward and block the oil inlet 1013. At this time, the hydraulic oil cannot enter the interior of the accumulator body 101 through the oil inlet 1013, thereby protecting the airbag 1011.

[0044] Example 2

[0045] This is the second embodiment of the present application, which provides an accumulator safety valve group.

[0046] Specifically, refer to Figures 3 to 6An accumulator safety valve group includes: a valve seat assembly 200, including a safety valve 201, an oil filter 202 connected to the safety valve 201, an inner chamber 2021 is opened on the inner wall of the oil filter 202, and a filter element 203 and a moving part are arranged on the inner wall of the inner chamber 2021. The moving part is located at the end of the filter element 203 and is used to perform preliminary cleaning at the end of the filter element 203. Impurities and dirt in the medium enter the collection chamber 205 at the bottom of the oil filter 202 through the anti-backflow channel below the moving part.

[0047] Among them, the safety valve 201 is used to control the on-off of the accumulator body 101 and the system. The internal direct-controlled relief valve will open when the system pressure exceeds the set value, discharging excess oil back to the oil tank to prevent the system pressure from being too high. In addition, the internal unloading valve safely releases the pressurized oil in the accumulator body 101 during maintenance or overhaul.

[0048] The safety valve 201 is connected to the oil filter 202. The hydraulic oil first passes through the oil filter 202 and then enters the safety valve 201. The hydraulic oil in the system is filtered by the oil filter 202. The moving parts will perform preliminary filtration on the hydraulic oil. Then the filter element 203 inside the inner chamber 2021 performs secondary filtration on the hydraulic oil after the initial filtration to reduce impurities entering the safety valve 201, and prevent impurities, dirt, metal chips, etc. in the hydraulic system from entering the safety valve group, clogging the valve port, throttling channel or filter, etc., affecting the normal operation of the safety valve 201, resulting in an inability to open or close.

[0049] Preferably, the anti-backflow channel is opened at the end of the oil filter 202, including a slag inlet 2023, the lower end of the slag inlet 2023 is connected to the slag inlet channel 2024 and the outer wall of the slag inlet channel 2024 is connected to the anti-backflow channel 2025, the end of the slag inlet channel 2024 is connected to the slag outlet 2026 and the slag outlet 2026 is connected to the collection chamber 205.

[0050] Among them, there are multiple anti-backflow channel arrays and they are located at the bottom of the oil filter 202. Figure 5 The slag inlet 2023 is connected to the slag inlet channel 2024, the slag inlet channel 2024 is bent in multiple sections, the slag outlet 2026 at the bottom is directly connected to the collecting chamber 205 at the bottom, and an anti-return channel 2025 is extended at the turning point of the slag inlet channel 2024. The other end of the anti-return channel 2025 is connected to the middle section of the slag inlet channel 2024.

[0051] When the moving parts above move, the impurities and dirt that have been initially filtered will be scraped off and fall to the bottom of the oil filter 202 and fall downward through the slag inlet 2023. Since the anti-return channel 2025 is located outside the slag inlet channel 2024, the impurities will not pass through the anti-return channel 2025 when entering the slag inlet channel 2024. They will go all the way down along the slag inlet channel 2024 and finally fall into the collection chamber 205 at the bottom through the slag outlet 2026.

[0052] When the hydraulic oil in the system enters the inner chamber 2021, the internal pressure of the inner chamber 2021 increases, and part of the hydraulic oil will enter the collecting chamber 205 through the anti-backflow channel, impacting the impurities at the bottom, causing them to move upward and flow back upward through the slag outlet 2026. However, due to the setting of the anti-backflow channel 2025, when the hydraulic oil carrying impurities flows back upward, part of it will pass through the anti-backflow channel 2025 and flow out from the outlet of the anti-backflow channel 2025 located in the middle section of the slag inlet channel 2024, and impact the hydraulic oil in the slag inlet channel 2024, offsetting the upward momentum of the hydraulic oil. At the same time, as the internal pressure of the inner chamber 2021 increases, the moving parts move, blocking the bottom of the inner chamber 2021 and sealing the slag inlet 2023. At this time, the impurities that fall into the collecting chamber 205 cannot be returned to the interior of the inner chamber 2021 with the help of hydraulic oil.

[0053] Through the cooperation of the moving parts and the filter element 203, the impurities entering the safety valve 201 are reduced, the blockage of the valve port and the channel inside the safety valve 201 is reduced, and the preliminary filtering of the moving parts also extends the service life and filtering effect of the filter element 203.

[0054] In summary, when in use, the hydraulic oil in the hydraulic system enters the interior of the inner chamber 2021 through the first connecting port 2022 on the surface of the oil filter 202, and then gradually fills the inner chamber 2021 upwards. The moving parts are located below the filter element 203. When the hydraulic pump starts or stops delivering hydraulic oil into the interior of the inner chamber 2021, the moving parts will move, and preliminary cleaning will be performed below the filter element 203 to clean the impurities and dirt preliminarily filtered out of the hydraulic oil, and fall to the bottom of the inner chamber 2021 and enter the slag inlet channel 2024 through the slag inlet 2023, and finally fall into the collection chamber 205 at the bottom from the slag outlet 2026. Due to the anti-return channel 2025, impurities at the bottom are prevented from following the hydraulic oil back into the inner chamber 2021.

[0055] After that, the hydraulic oil that has undergone preliminary filtration enters the filter element 203 for secondary filtration, and enters the mounting head 204 on the top of the oil filter 202 from the opening 2032 opened by the connector 2031 above the filter element 203. The mounting cover 2042 is located at the top of the mounting head 204, and the mounting ring 2043 provided on its inner surface contacts the upper surface of the connector 2031 to limit the filter element 203. At the same time, the hydraulic oil after secondary filtration enters the safety valve 201 through the second connecting port 2041 on the outer wall of the mounting head 204.

[0056] Example 3

[0057] This is the third embodiment of the present application, and is implemented based on the previous embodiment.

[0058] Specifically, refer to Figures 7 to 9 The moving parts include a limiting ring 301, which is fixed to the inner wall of the inner chamber 2021. A limiting column 3011 is provided at the end of the limiting ring 301 and the end of the limiting column 3011 is located on the inner wall of the filter element 203. The limiting column 3011 is used to fix the filter element 203 and a through hole is opened on the end face of the limiting ring 301 for the medium to pass through.

[0059] Among them, the limiting ring 301 is fixed on the inner wall of the inner chamber 2021, and the limiting column 3011 at the axis extends into the interior of the filter element 203, and the filter element 203 is supported and fixed by the limiting column 3011. A number of through holes are opened in the surface array of the limiting ring 301 and the limiting column 3011 for the circulation of hydraulic oil after preliminary filtration.

[0060] Preferably, a filter ring 302 is provided at the end of the limiting ring 301 and a fixing ring 303 is installed on the outer wall of the filter ring 302. The filter ring 302 is fixedly fitted under the limiting ring 301 through the fixing ring 303. The filter ring 302 performs preliminary filtration on the medium, and the medium is upwardly filled into the inner chamber 2021 through the limiting ring 301. The fixing ring 303 is fitted to the limiting ring 301 and a movable groove 3031 is opened on the end face of the fixing ring 303.

[0061] The filter ring 302 is closely attached to the bottom of the limiting ring 301 , and the hydraulic oil is preliminarily filtered by the filter ring 302 . The filtered hydraulic oil enters the top through the limiting ring 301 and is further filtered twice through the filter core 203 .

[0062] The fixing ring 303 is fixed to the lower surface of the limiting ring 301 and does not move. At the same time, the filter ring 302 is fixed below the limiting ring 301 by the fixing ring 303 .

[0063] Reference Figure 9 and Figure 10A movable ring 305 is provided at the end of the fixed ring 303 and a moving plate 304 is provided in an array inside the movable ring 305. A support rod 3041 is provided on the outer wall of the moving plate 304. The end face of the support rod 3041 fits the lower end face of the filter ring 302 and the support rods 3041 on the outer walls of adjacent moving plates 304 fit together. A movable column 3042 is provided on the end face of the moving plate 304 and the end of the movable column 3042 extends to the inner wall of the movable groove 3031 and slides with it. When the moving plate 304 moves, the lower end face of the filter ring 302 is scraped by the support rod 3041 on the outer wall.

[0064] Among them, the movable ring 305 is located below the fixed ring 303 and can be driven to rotate. The movable plate 304 array is provided with multiple and is installed inside the movable ring 305. The support rods 3041 provided on the outer wall of the movable plate 304 touch each other at the top in the initial state. The movable column 3042 on the surface of the movable plate 304 runs through the entire movable plate 304, and the top position of the movable column 3042 slides with the movable groove 3031 on the lower surface of the fixed ring 303. When the movable plate 304 is driven by the movable ring 305 to move inside, the support rod 3041 on the outside of the movable plate 304 moves under the filter ring 302 to scrape off impurities left on the surface of the filter ring 302 during filtering. The support rods 3041 between adjacent movable plates 304 move in close fit to clean the entire surface of the filter ring 302.

[0065] The inner wall of the movable ring 305 is provided with a fitting surface 3051 and the inner wall of the fitting surface 3051 is provided with a sliding groove 3052. The moving plate 304 is installed at the end of the fitting surface 3051 and the movable column 3042 extends to the inner wall of the sliding groove 3052. When the movable ring 305 rotates, the moving plate 304 is driven to move inside the movable ring 305 through the sliding groove 3052.

[0066] Among them, the moving plate 304 array is installed above the fitting surface 3051 of the inner wall of the movable ring 305, and the movable column 3042 on the surface of the moving plate 304 slides with it in the slide groove 3052 on the surface of the fitting surface 3051. When the movable ring 305 rotates, the moving plate 304 is driven to move through the slide groove 3052 of the fitting surface 3051. Since the other end of the movable column 3042 extends into the movable groove 3031 on the lower surface of the fixed ring 303, the movable column 3042 is driven to slide in the movable groove 3031 through the slide groove 3052, so that the moving plate 304 moves inside the movable ring 305, and the support rods 3041 on the outer walls of adjacent moving plates 304 fit together and move, thereby scraping off impurities on the surface of the filter ring 302.

[0067] Reference Figure 7 and Figure 8A fixed block 306 is fixed to the inner wall of the inner chamber 2021 and the fixed block 306 is located at the end of the movable ring 305. A fixed plate 3061 is provided at the end of the fixed block 306 and a moving column 307 is movably installed at the axis of the fixed plate 3061. A fitting block 3071 is provided at the end of the moving column 307. The fitting block 3071 is located at the end of the inner chamber 2021. When the medium enters the inner chamber 2021, the fitting block 3071 moves downward, completely fitting to the bottom of the inner chamber 2021 and covering the slag inlet 2023.

[0068] Among them, the fixed block 306 is symmetrically fixed on the inner wall of the inner chamber 2021, with a movable channel in the middle, the fixed plate 3061 is fixed under the two fixed blocks 306, and the moving column 307 moves in the middle of the fixed plate 3061. The bottom of the moving column 307 is provided with a fitting block 3071, and the bottom surface of the fitting block 3071 is consistent with the shape of the bottom surface of the inner chamber 2021. In the initial state, there is a certain distance between the fitting block 3071 and the bottom surface of the inner chamber 2021. When the hydraulic pump delivers hydraulic oil to the interior of the oil filter 202, the fitting block 3071 moves downward under the action of pressure and is completely fitted on the bottom of the inner chamber 2021.

[0069] Better, refer to Figure 8 A hinged rod 3072 is provided at the end of the moving column 307, and a movable block 308 is hinged at the end of the hinged rod 3072. The movable block 308 slides on the inner wall of the fixed block 306. The sliding column 3081 provided at the end of the movable block 308 extends into the arc groove 3053 opened on the end face of the movable ring 305 and slides with it. When the movable block 308 slides, the sliding of the sliding column 3081 in the arc groove 3053 drives the movable ring 305 to rotate.

[0070] Among them, the hinge rod 3072 is hinged on both sides of the upper end of the motion column 307, and the other end of the hinge rod 3072 is hinged below the movable block 308. The movable block 308 slides in the movable channel opened on the inner wall of the fixed block 306. The outer sleeve of the motion column 307 is provided with a second elastic member 3073, which is located below the hinge point of the hinge rod 3072. The sliding column 3081 on the upper surface of the movable block 308 extends into the arc groove 3053 opened on the lower surface of the movable ring 305. When the motion column 307 is driven by the fitting block 3071 to move downward, The movable block 308 is driven to slide inside the fixed block 306 by the hinged rod 3072, and then the movable ring 305 is driven to rotate, so that the internal movable plate 304 moves, and the lower surface of the filter ring 302 is scraped and cleaned by the support rod 3041. When the pressure in the inner chamber 2021 decreases, the moving column 307 is reset under the drive of the second elastic member 3073, and the movable block 308 is once again driven to slide inside the fixed block 306 by the hinged rod 3072, so that the support rod 3041 once again scrapes the lower surface of the filter ring 302.

[0071] In summary, when in use, the medium containing impurities enters the inner chamber 2021 of the oil filter 202, and is first preliminarily filtered through the filter ring 302. A fixing ring 303 is installed on the outer wall of the filter ring 302. The fixing ring 303 fixes the filter ring 302 under the limiting ring 301. The medium after preliminary filtration passes through a number of through holes opened in the surface array of the limiting ring 301 and the limiting column 3011, and is filled upward into the inner chamber 2021. Among them, the limiting ring 301 is fixed to the inner wall of the inner chamber 2021, and the limiting column 3011 at the end extends into the interior of the filter element 203, thereby supporting and fixing the filter element 203.

[0072] The medium that has undergone the primary filtration and passed through the limiting ring 301 continues to flow upward and further passes through the filter element 203 for secondary filtration.

[0073] When the medium continues to enter the inner chamber 2021, the pressure in the cavity increases, and a fixed plate 3061 is provided at the end of the fixed block 306 fixed on the inner wall of the inner chamber 2021. A fitting block 3071 is provided at the end of the moving column 307 movably installed at the axis of the fixed plate 3061. Under the action of pressure, the fitting block 3071 moves downward until it is completely fitted to the bottom of the inner chamber 2021 and covers the slag inlet 2023.

[0074] When the moving column 307 moves downward, the hinged rod 3072 hinged at its end drives the movable block 308 to slide on the inner wall of the fixed block 306, and the sliding column 3081 at the end of the movable block 308 extends into the arc groove 3053 opened on the end face of the movable ring 305. The sliding column 3081 slides in the arc groove 3053, thereby driving the movable ring 305 to rotate.

[0075] The inner wall of the movable ring 305 is provided with a fitting surface 3051, and the inner wall of the fitting surface 3051 is provided with a chute 3052. The movable plate 304 is mounted on the end of the fitting surface 3051, and the movable post 3042 extends to the inner wall of the chute 3052. When the movable ring 305 rotates, the chute 3052 drives the movable plate 304 to move within the movable ring 305. The outer wall of the movable plate 304 is provided with a support rod 3041, and the end surface of the support rod 3041 is fitted with the lower end surface of the filter ring 302. The support rods 3041 on the outer walls of adjacent movable plates 304 are fitted together. When the movable plate 304 moves, the support rod 3041 on the outer wall scrapes the lower end surface of the filter ring 302 to clean impurities left on the surface of the filter ring 302 during filtration.

[0076] When the pressure in the inner chamber 2021 decreases, the moving column 307 is reset under the action of the second elastic member 3073 mounted on the outside of the moving column 307. During the resetting process of the moving column 307, the movable block 308 is driven to slide in the fixed block 306 through the hinged rod 3072 again, so that the movable ring 305 rotates, and then drives the moving plate 304 to move, and the support rod 3041 scrapes the lower surface of the filter ring 302 again. This cycle continues to clean the filter ring 302 and ensure the filtering effect.

[0077] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application 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 application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application, and all of these should be included in the scope of the claims of the present application.

Claims

1. An accumulator safety valve group, characterized in that: include: A valve seat assembly (200) includes a safety valve (201), an oil filter (202) connected to the safety valve (201), an inner chamber (2021) formed on the inner wall of the oil filter (202), and a filter element (203) and a moving component provided on the inner wall of the inner chamber (2021), wherein the moving component is located at the end of the filter element (203) and is used for performing preliminary cleaning at the end of the filter element (203), and impurities and dirt in the medium enter into a collecting chamber (205) provided at the bottom of the oil filter (202) through an anti-backflow channel below the moving component.

2. The accumulator safety valve assembly according to claim 1, characterized in that: The anti-backflow channel is opened at the end of the oil filter (202), and includes a slag inlet (2023); the lower end of the slag inlet (2023) is connected to a slag inlet channel (2024), and the outer wall of the slag inlet channel (2024) is connected to an anti-backflow channel (2025); the end of the slag inlet channel (2024) is connected to a slag outlet (2026), and the slag outlet (2026) is connected to the collection chamber (205).

3. The accumulator safety valve assembly according to claim 2, characterized in that: The moving component comprises a limiting ring (301), the limiting ring (301) being fixed to the inner wall of the inner chamber (2021), a limiting column (3011) being provided at the end of the limiting ring (301), and the end of the limiting column (3011) being located on the inner wall of the filter core (203), the limiting column (3011) being used to fix the filter core (203), and a through hole being provided on the end face of the limiting ring (301) for allowing a medium to pass through.

4. The accumulator safety valve assembly according to claim 3, characterized in that: The end of the limiting ring (301) is provided with a filter ring (302) and the outer wall of the filter ring (302) is installed with a fixing ring (303). The filter ring (302) is fixedly attached to the bottom of the limiting ring (301) through the fixing ring (303). The filter ring (302) performs preliminary filtration on the medium, and the medium is upwardly filled into the inner chamber (2021) through the limiting ring (301). The fixing ring (303) is attached to the limiting ring (301) and a movable groove (3031) is opened on the end surface of the fixing ring (303).

5. The accumulator safety valve assembly according to claim 4, characterized in that: The fixed ring (303) is provided with a movable ring (305) at the end thereof, and a movable plate (304) is provided in an array inside the movable ring (305); a support rod (3041) is provided on the outer wall of the movable plate (304); the end face of the support rod (3041) is in contact with the lower end face of the filter ring (302), and the support rods (3041) on the outer walls of adjacent movable plates (304) are in contact with each other; a movable column (3042) is provided on the end face of the movable plate (304), and the end of the movable column (3042) extends to the inner wall of the movable groove (3031) and is slidably engaged therewith; when the movable plate (304) moves, the lower end face of the filter ring (302) is scraped by the support rod (3041) on the outer wall.

6. The accumulator safety valve assembly according to claim 5, characterized in that: The inner wall of the movable ring (305) is provided with a fitting surface (3051) and the inner wall of the fitting surface (3051) is provided with a slide groove (3052). The moving plate (304) is mounted on the end of the fitting surface (3051) and the movable column (3042) extends to the inner wall of the slide groove (3052). When the movable ring (305) rotates, the moving plate (304) is driven to move inside the movable ring (305) through the slide groove (3052).

7. The accumulator safety valve assembly according to claim 6, characterized in that: A fixed block (306) is fixed to the inner wall of the inner chamber (2021), and the fixed block (306) is located at the end of the movable ring (305). A fixed plate (3061) is provided at the end of the fixed block (306), and a moving column (307) is movably installed at the axis of the fixed plate (3061). A fitting block (3071) is provided at the end of the moving column (307). The fitting block (3071) is located at the end of the inner chamber (2021). When the medium enters the inner chamber (2021), the fitting block (3071) moves downward, completely fits the bottom of the inner chamber (2021) and covers the slag inlet (2023).

8. The accumulator safety valve assembly according to claim 7, characterized in that: The end of the moving column (307) is provided with a hinged rod (3072), and the end of the hinged rod (3072) is hinged with a movable block (308). The movable block (308) slides on the inner wall of the fixed block (306). The sliding column (3081) provided at the end of the movable block (308) extends into the arc groove (3053) opened on the end surface of the movable ring (305) and slides with it. When the movable block (308) slides, the sliding of the sliding column (3081) in the arc groove (3053) drives the movable ring (305) to rotate.

9. An accumulator for a hydraulic control system of a tool changing robot, comprising the accumulator safety valve assembly according to claim 8, characterized in that: Also includes: An accumulator assembly (100) comprises an accumulator body (101), an air bag (1011) is provided on the inner wall of the accumulator body (101), an air inlet (1012) is provided at the end of the air bag (1011), and the end of the air inlet (1012) extends to the outer wall of the accumulator body (101), and gas is replenished into the air bag (1011) through the air inlet (1012).

10. The accumulator for the hydraulic control system of a tool-changing robot according to claim 9, characterized in that: The end of the accumulator body (101) is provided with a mounting seat (102) for fixing the accumulator body (101), the end of the accumulator body (101) is provided with an oil inlet (1013), the inner wall of the oil inlet (1013) is movably provided with a connecting rod (1014), and the end of the connecting rod (1014) is provided with a valve seat (1015), and the end of the valve seat (1015) is provided with a first elastic member (1016). When the pressure of the hydraulic system increases, the hydraulic oil enters the accumulator body (101) through the oil inlet (1013), squeezes the airbag (1011), and compresses the gas in the airbag (1011), the gas pressure increases, and the pressure energy of the hydraulic oil is converted into the compression energy of the gas; When the pressure of the hydraulic system drops, the compressed gas in the airbag (1011) expands, pushing the hydraulic oil outside the airbag (1011) out of the oil inlet (1013) and back into the hydraulic system, converting the compression energy of the gas into the pressure energy of the hydraulic oil.

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