Mechanical arm power unit hydraulic system of tool changing robot

Abstract

The invention relates to the technical field of energy storage devices, in particular to a mechanical arm power unit hydraulic system of a tool changing robot, which comprises a bearing base, an electric power storage part fixedly arranged on the bearing base and a ball valve, the transmission adjusting mechanism is fixedly installed on the bearing base, the transmission adjusting mechanism comprises a transmission assembly and a driving assembly, and the transmission assembly is used for connecting the driving assembly and the ball valve and reducing a liquid passing opening of the ball valve according to the increase condition of the liquid flow, so that internal hydraulic pressure is always in a stable state; the driving assembly generates currents with different magnitudes according to the liquid flow magnitude condition, and the currents are stored in the electric power storage part; the filtering mechanism is fixedly arranged on the bearing base, is located on one side of the transmission adjusting mechanism and is used for cleaning impurities in the liquid; a ball valve liquid passing opening can be reduced through the transmission assembly according to the liquid flow increasing condition, and the service life of a hydraulic system is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of energy storage devices, in particular to a hydraulic system of a mechanical arm power unit of a tool changing robot. 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 the safety valve to fail to work properly.

[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 technical solution 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, hindering 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, the present invention is proposed.

[0007] To solve the above technical problems, the present invention provides the following technical solution: a hydraulic system of a mechanical arm power unit of a tool changing robot, comprising a bearing base and an electric storage component fixed on the bearing base, further comprising:

[0008] ball valve;

[0009] a transmission adjustment mechanism, the transmission adjustment mechanism being fixedly mounted on the bearing base and comprising a transmission assembly and a drive assembly. The transmission assembly is configured to connect the drive assembly and the ball valve and reduce the liquid passage opening of the ball valve in response to an increase in liquid flow, thereby maintaining a stable internal hydraulic pressure. The drive assembly generates currents of varying magnitudes in response to the liquid flow, and directs the currents to the storage element for storage.

[0010] The filtering mechanism is fixedly arranged on the supporting base and located on one side of the transmission adjustment mechanism, and is used for cleaning impurities inside the liquid.

[0011] As a preferred solution of the hydraulic system of the mechanical arm power unit of the tool changing robot described in the present invention, the transmission assembly includes a mounting frame 2 fixedly arranged on the supporting base for fixing the ball valve, a supporting cylinder is also provided on the supporting base, a mounting frame 1 is also fixedly provided on the supporting cylinder, an assembly plate is also fixedly provided on the mounting frame 1, an engaging disk is rotatably provided on the assembly plate, a transmission member is rotatably provided on the mounting frame 1, when the transmission member rotates to a preset speed, it engages the engaging disk and drives it to rotate synchronously, a permanent magnet 1 is rotatably provided on the ball valve, and the permanent magnet 1 is transmission-connected to the transmission member.

[0012] As a preferred solution of the hydraulic system of the mechanical arm power unit of the tool changing robot of the present invention, wherein: the transmission member includes a pulley 2 rotatably arranged on the mounting frame 1, the other end of the pulley 2 is fixedly provided with a carrier, a plurality of locking teeth are hingedly provided on the carrier, and a plurality of fixing seats are also fixed on the carrier, the fixing seats correspond to the locking teeth one by one, springs are flexibly provided between the corresponding locking teeth and the fixing seats, and the fixing seats are evenly distributed circumferentially along the axis of the carrier;

[0013] A second permanent magnet is fixedly provided at the center of the bottom end of the carrier, and the second permanent magnet is magnetically coupled to the first permanent magnet.

[0014] As a preferred solution of the hydraulic system of the mechanical arm power unit of the tool changing robot described in the present invention, the driving component includes a connecting pipe connected to the other end of the ball valve, and spiral blades and magnetic rods are respectively rotated at the axis of the connecting pipe, and the spiral blades and magnetic rods are coaxially distributed. A pulley is rotated at the top of the connecting pipe and the pulley is connected to the rotating shaft of the spiral blade. A driving mechanism is provided on the outer wall of the connecting pipe, and the driving mechanism is electrically connected to the storage component.

[0015] As a preferred solution of the hydraulic system of the mechanical arm power unit of the tool changing robot of the present invention, wherein: the filtering mechanism includes a first filtering component, a second filtering component and a bubble removal component;

[0016] The first filter assembly and the second filter assembly are coaxially distributed, the bubble removal assembly is arranged on the outer wall of the second filter assembly and is used to remove bubbles in the second filter assembly, the first filter assembly is used to coarsely filter the liquid transported by the ball valve, and the second filter assembly is used to filter the liquid coarsely filtered by the first filter assembly again.

[0017] As a preferred solution of the hydraulic system of the mechanical arm power unit of the tool changing robot of the present invention, wherein: one side of the carrying cylinder is connected to the connecting pipe through a bend pipe;

[0018] A partition plate is fixedly provided in the bearing cylinder. The partition plate is Z-shaped and is used to divide the internal space of the bearing cylinder into an upper space and a lower space. A plurality of coarse filter tubes are connected through the top of the partition plate. The coarse filter tubes communicate with the upper space and the lower space. A baffle is provided on the inner wall of the bearing cylinder to prevent the liquid in the elbow from impacting the coarse filter tube.

[0019] A stirring member is provided on the outer wall of the supporting cylinder, and the stirring member includes a mounting seat, a connecting rod is fixed on the mounting seat, and a rotating rod is rotatably provided on the other end of the connecting rod. A plurality of stirring blades are evenly provided on the outer peripheral surface of the rotating rod, and the stirring blades are used to stir the liquid in the upper space.

[0020] As a preferred solution of the hydraulic system of the mechanical arm power unit of the tool changing robot described in the present invention, the second filtering component includes a filter plate fixedly arranged on the inner wall of the supporting cylinder, and a mounting plate is also fixedly arranged on the inner wall of the supporting cylinder, a plurality of holes are opened on the filter plate, and a plurality of fine filter tubes are fixedly arranged on the mounting plate, the holes correspond one-to-one to the fine filter tubes, the top end of the fine filter tube is connected to the holes, and the bottom end of the fine filter tube passes through the mounting plate.

[0021] As a preferred solution of the hydraulic system of the manipulator power unit of the tool-changing robot of the present invention, wherein: the bubble removal assembly is fixedly mounted on the outer wall of the carrying cylinder, the bubble removal assembly includes a liquid outlet pipe and a liquid inlet pipe connected to the upper space, a connecting pipe is provided between the liquid outlet pipe and the liquid inlet pipe, and an end of the connecting pipe away from the carrying cylinder is connected to an outlet pipe for exhausting gas;

[0022] Each of the bubble removal components is electrically connected to the electrical storage element.

[0023] As a preferred solution of the hydraulic system of the mechanical arm power unit of the tool changing robot described in the present invention, wherein: a first filter screen is provided at the top of each coarse filter tube, and a second filter screen is provided at the hole connected to the top of each fine filter tube, and the diameter of the filter hole on the first filter screen is larger than the diameter of the filter hole on the second filter screen.

[0024] As a preferred solution of the hydraulic system of the mechanical arm power unit of the tool changing robot described in the present invention, the pulley 1 is connected to the connecting rod via a belt transmission, and the magnetic rod is electromagnetically connected to the driving mechanism.

[0025] Beneficial effects of the present invention:

[0026] The present invention can reduce the ball valve opening according to the increase of liquid flow through the transmission component in the transmission adjustment mechanism, so that the internal hydraulic pressure is always in a stable state, ensuring the stable operation of the hydraulic system of the tool changing robot arm power unit, and avoiding the adverse effects of hydraulic fluctuations on the movement accuracy of the arm and the life of the equipment; at the same time, a first filter component, a second filter component and a bubble removal component are provided in the filtering mechanism, the first filter component performs coarse filtering on the liquid, and the second filter component filters again, and filter screens with different filtration accuracies are respectively provided at the coarse filter tube and the fine filter tube to effectively remove liquid impurities; the bubble removal component removes bubbles in the liquid, ensures the purity of the hydraulic oil, reduces the damage of impurities and bubbles to the hydraulic system components, such as wear, corrosion and cavitation, thereby extending the service life of the system and improving the system working reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 This is a schematic diagram of the overall structure of the hydraulic system of the mechanical arm power unit of the tool changing robot of the present invention;

[0029] Figure 2 This is a schematic diagram of the internal structure of the hydraulic system of the mechanical arm power unit of the tool changing robot of the present invention;

[0030] Figure 3 Schematic diagram of the structure of the bubble removal component of the present invention;

[0031] Figure 4 For the present invention Figure 2 A schematic diagram of the partially enlarged structure at center A;

[0032] Figure 5 Schematic diagram of the internal structure of the drive assembly in the present invention;

[0033] Figure 6 It is a structural schematic diagram of the transmission assembly in the present invention;

[0034] Figure 7 It is a structural schematic diagram of the transmission part in the present invention.

[0035] Reference numerals: 100, filter mechanism; 101, supporting base; 102, storage element; 103, supporting cylinder; 1031, liquid outlet; 1032, elbow; 104, partition plate; 105, coarse filter tube; 106, stirring element; 1061, mounting base; 1062, connecting rod; 1063, rotating rod; 1064, stirring blade; 107, driving mechanism; 1071, pulley 1; 1072, magnetic rod; 1073, connecting pipe; 1074, spiral blade; 108, filter plate; 1081, fine filter tube ;1082, mounting plate;109, bubble removal assembly;1091, liquid outlet pipe;1092, connecting pipe;1093, liquid inlet pipe;1094, air outlet pipe;200, transmission adjustment mechanism;201, mounting frame one;202, mounting frame two;203, ball valve;204, permanent magnet one;205, assembly plate;2051, meshing disk;206, transmission part;2061, carrier;2062, pulley two;2063, spring;2064, locking tooth;2065, fixing seat;2066, permanent magnet two. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0037] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention 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 invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0038] 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 invention. 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 of other embodiments.

[0039] Example 1

[0040] Reference Figures 1-4 , which is the first embodiment of the present invention, provides a hydraulic system for the manipulator power unit of a tool changing robot.

[0041] Specifically, it includes: a supporting base 101 and an electric storage component 102 fixed on the supporting base 101, and further includes:

[0042] Ball valve 203;

[0043] The transmission adjustment mechanism 200 is fixedly mounted on the supporting base 101 and includes a transmission assembly and a drive assembly. The transmission assembly is used to connect the drive assembly and the ball valve 203 and reduce the liquid opening of the ball valve 203 in response to an increase in liquid flow, thereby maintaining a stable internal hydraulic pressure. The drive assembly generates current of varying magnitudes in response to the liquid flow and directs the current to the storage element 102 for storage.

[0044] The filtering mechanism 100 is fixed on the supporting base 101 and is located on one side of the transmission and adjustment mechanism 200 , and is used to clean impurities in the liquid.

[0045] The transmission assembly includes a mounting frame 202 fixedly arranged on the bearing base 101 for fixing the ball valve 203, a bearing cylinder 103 is also provided on the bearing base 101, a mounting frame 201 is also fixedly provided on the bearing cylinder 103, an assembly plate 205 is also fixedly provided on the mounting frame 201, an engaging disk 2051 is rotatably provided on the assembly plate 205, a transmission member 206 is rotatably provided on the mounting frame 201, and when the transmission member 206 rotates to a preset speed, it engages the engaging disk 2051 and drives it to rotate synchronously, a permanent magnet 204 is rotatably provided on the ball valve 203, and the permanent magnet 204 is transmission-connected to the transmission member 206.

[0046] The transmission member 206 includes a second pulley 2062 rotatably mounted on the first mounting frame 201, a carrier 2061 being fixedly mounted on the other end of the second pulley 2062, a plurality of locking teeth 2064 being hingedly mounted on the carrier 2061, and a plurality of fixing seats 2065 being fixedly mounted on the carrier 2061, wherein the fixing seats 2065 correspond one-to-one to the locking teeth 2064, and springs 2063 are flexibly mounted between the corresponding locking teeth 2064 and the fixing seats 2065, and the fixing seats 2065 are evenly distributed circumferentially along the axis of the carrier 2061;

[0047] A second permanent magnet 2066 is fixedly provided at the center of the bottom end of the carrier 2061 , and the second permanent magnet 2066 is magnetically coupled to the first permanent magnet 204 .

[0048] Mounting frame 202 is fixed to the support base 101 and serves to stabilize the position of the ball valve 203. Mounting frame 101 is fixed to the support cylinder 103. Mounting frame 101 is mounted on mounting frame 101, with an assembly plate 205 mounted on mounting frame 101. Assembly plate 205 is provided with a rotatable engagement plate 2051. Mounting frame 101 is also equipped with a transmission member 206, which is capable of rotating about its own axis.

[0049] The transmission member 206 is composed of a second pulley 2062, a carrier 2061, a locking tooth 2064, a fixed seat 2065, a spring 2063 and a second permanent magnet 2066. The second pulley 2062 can rotate freely on the mounting frame 201, and one end thereof is fixedly connected to the carrier 2061. A plurality of locking teeth 2064 are hinged on the carrier 2061, and each locking tooth 2064 is connected to a corresponding fixed seat 2065 via a spring 2063. The fixed seats 2065 are evenly distributed along the axis of the carrier 2061. This structure allows the locking teeth 2064 to produce different position states due to changes in centrifugal force at different speeds. A second permanent magnet 2066 is installed at the bottom center of the carrier 2061, which forms a magnetic coupling connection with the first permanent magnet 204 on the ball valve 203, thereby realizing power transmission between the transmission member 206 and the ball valve 203.

[0050] Furthermore, when the liquid flow rate is small, the rotation speed of the pulley 2062 and the carrier 2061 is slow, and the centrifugal force on the locking tooth 2064 is small. Under the tension of the spring 2063, the locking tooth 2064 is in a contracted state. At this time, the transmission member 206 is not engaged with the engaging disk 2051, and the liquid opening of the ball valve 203 remains large to meet the system's basic flow requirements.

[0051] As the liquid flow rate increases, the rotation of spiral blade 1074 accelerates, and the rotation speed of pulley 2062 and carrier 2061 also increases accordingly. When the rotation speed of carrier 2061 reaches a certain level, the centrifugal force acting on locking tooth 2064 becomes greater than the tension of spring 2063, causing locking tooth 2064 to open outward and engage with engagement disk 2051, driving engagement disk 2051 to rotate synchronously. The magnetic coupling between permanent magnet 2066 and permanent magnet 1 204 transmits power to the valve core of ball valve 203, causing it to rotate and thereby reduce the liquid flow opening of ball valve 203. In this way, as the liquid flow rate increases, the liquid flow through ball valve 203 is automatically adjusted to maintain the stability of the internal pressure of the hydraulic system.

[0052] The driving assembly includes a connecting pipe 1073 connected to the other end of the ball valve 203, and a spiral blade 1074 and a magnetic rod 1072 are respectively rotatably provided at the axis center of the connecting pipe 1073. The spiral blade 1074 and the magnetic rod 1072 are coaxially distributed. A pulley 1071 is rotatably provided at the top of the connecting pipe 1073, and the pulley 1071 is connected to the rotating shaft of the spiral blade 1074. The outer wall of the connecting pipe 1073 is provided with a driving mechanism 107, and the driving mechanism 107 is electrically connected to the storage element 102.

[0053] The connecting pipe 1073 is connected to the other end of the ball valve 203. A spiral blade 1074 and a magnetic rod 1072 are coaxially mounted on the connecting pipe 1073. When liquid flows in the connecting pipe 1073, it impacts the spiral blade 1074, causing it to rotate around its axis, which in turn drives the coaxial magnetic rod 1072 to rotate.

[0054] A pulley 1071 is mounted on the top of the connecting tube 1073 and is connected to the rotating shaft of the spiral blade 1074. The rotation of the spiral blade 1074 drives the rotation of the pulley 1071. A drive mechanism 107 is mounted on the outer wall of the connecting tube 1073. The rotating magnetic rod 1072 interacts with the drive mechanism 107, generating current based on the principle of electromagnetic induction. The drive mechanism 107 is electrically connected to the storage element 102 via a wire, transmitting the generated current to the storage element 102 for storage.

[0055] Furthermore, when the liquid in the hydraulic system flows from the ball valve 203 into the connecting pipe 1073, the impact force of the liquid flow acts on the spiral blade 1074, causing the spiral blade 1074 to begin to rotate around its own axis. Since the spiral blade 1074 and the magnetic rod 1072 are installed coaxially, the magnetic rod 1072 will rotate with the spiral blade 1074.

[0056] The rotating magnetic rod 1072 generates electromagnetic induction with the drive mechanism 107, which is mounted on the outer wall of the connecting tube 1073. This generates an induced current. The greater the fluid flow rate, the faster the spiral blade 1074 rotates, and the magnetic rod 1072 rotates accordingly, generating a greater current. This generated current is then transferred via wires to the electrical storage element 102 for storage, thus recycling the fluid flow energy in the hydraulic system.

[0057] At the same time, the rotation of the spiral blade 1074 drives the pulley 1071 connected thereto to rotate, and the pulley 1071 transmits power to the pulley 2 2062 through the belt, causing the transmission member 206 to start rotating.

[0058] Example 2

[0059] Reference Figures 5 to 7 , which is the second embodiment of the present invention, and is implemented based on the previous embodiment.

[0060] Specifically, the filtering mechanism 100 includes a first filtering component, a second filtering component and a bubble removal component 109;

[0061] The first filter component and the second filter component are coaxially distributed, the bubble removal component 109 is arranged on the outer wall of the second filter component and is used to remove bubbles in the second filter component, the first filter component is used to coarsely filter the liquid transported by the ball valve 203, and the second filter component is used to filter the liquid coarsely filtered by the first filter component again.

[0062] The first filter assembly includes a supporting cylinder 103 fixed on the supporting base 101, and one side of the supporting cylinder 103 is connected to the connecting pipe 1073 through a bend pipe 1032;

[0063] A partition plate 104 is fixedly provided inside the supporting cylinder 103. The partition plate 104 is Z-shaped and is used to divide the internal space of the supporting cylinder 103 into an upper space and a lower space. A plurality of coarse filter tubes 105 are connected through the top of the partition plate 104. The coarse filter tubes 105 communicate with the upper space and the lower space. A baffle is provided on the inner wall of the supporting cylinder 103 to prevent the liquid in the elbow 1032 from impacting the coarse filter tubes 105.

[0064] A stirring member 106 is provided on the outer wall of the supporting cylinder 103, and the stirring member 106 includes a mounting seat 1061, a connecting rod 1062 is fixed on the mounting seat 1061, and a rotating rod 1063 is rotatably provided on the other end of the connecting rod 1062. A plurality of stirring blades 1064 are evenly provided on the outer peripheral surface of the rotating rod 1063, and the stirring blades 1064 are used to stir the liquid in the upper space.

[0065] The bearing cylinder 103 is fixed on the bearing base 101 , and one side thereof is connected to the connecting pipe 1073 via the elbow 1032 , so that the liquid flowing out of the ball valve 203 can enter the bearing cylinder 103 ;

[0066] A Z-shaped partition plate 104 divides the interior space of the supporting cylinder 103 into upper and lower parts. Multiple coarse filter tubes 105 pass through the top of the partition plate 104, connecting the upper and lower spaces and providing a channel for liquid to flow from the upper space to the lower space.

[0067] The baffle on the inner wall of the supporting cylinder 103 can prevent the liquid flowing into the elbow 1032 from directly impacting the coarse filter tube 105, thereby avoiding damage to the coarse filter tube 105 due to the impact of the liquid, and at the same time make the liquid more evenly distributed in the upper space of the supporting cylinder 103;

[0068] The stirring member 106 is mounted on the outer wall of the bearing cylinder 103, and the mounting seat 1061 is fixed to the bearing cylinder 103. One end of the connecting rod 1062 is fixed to the mounting seat 1061, and the other end is rotatably connected to the rotating rod 1063. A plurality of stirring blades 1064 are evenly arranged on the outer periphery of the rotating rod 1063 to stir the liquid in the upper space, so that impurities are more evenly distributed and the coarse filtration effect is improved;

[0069] Furthermore, the liquid flowing out of the ball valve 203 enters the upper space of the supporting cylinder 103 through the connecting pipe 1073 and the elbow 1032. Due to the presence of the baffle, the liquid does not directly impact the coarse filter tube 105, but is more evenly distributed in the upper space;

[0070] The pulley 1071 rotates along with the spiral blade 1074, and drives the connecting rod 1062 to rotate through the belt transmission, thereby rotating the rotating rod 1063 and the stirring blade 1064, stirring the liquid in the upper space to make the impurities more evenly distributed;

[0071] The liquid passes through the first filter screen at the top of the coarse filter tube 105, where larger impurities are intercepted and coarse filtration is achieved. The coarsely filtered liquid then flows through the coarse filter tube 105 into the lower space of the supporting cylinder 103.

[0072] The second filter assembly includes a filter plate 108 fixed to the inner wall of the supporting cylinder 103, and a mounting plate 1082 is also fixed to the inner wall of the supporting cylinder 103. A plurality of holes are opened on the filter plate 108, and a plurality of fine filter tubes 1081 are fixed on the mounting plate 1082. The holes correspond one-to-one to the fine filter tubes 1081, and the top end of the fine filter tube 1081 is connected to the holes, and the bottom end of the fine filter tube 1081 passes through the mounting plate 1082.

[0073] The filter plate 108 and the mounting plate 1082 are fixed to the inner wall of the supporting cylinder 103. The filter plate 108 has multiple holes, and the mounting plate 1082 is fixed with multiple fine filter tubes 1081. The holes correspond to the fine filter tubes 1081 and are connected, providing a channel for further filtration of the liquid after the coarse filtration of the first filter assembly.

[0074] A first filter is provided at the top of the coarse filter tube 105, and a second filter is provided at the communicating hole at the top of the fine filter tube 1081. The diameter of the filter holes on the first filter is larger than the diameter of the filter holes on the second filter, thus achieving filtration of different precisions. The coarse filtration is used to remove larger impurities, and the fine filtration is used to remove smaller impurities.

[0075] Furthermore, the liquid, after coarse filtration by the first filter assembly, rises from the lower space of the carrier cylinder 103, enters the holes in the filter plate 108, and then passes through the second filter screen at the top of the fine filter tube 1081. Because the filter holes of the second filter screen are smaller, it can further intercept smaller impurities, achieving fine filtration. The finely filtered liquid flows out of the bottom of the fine filter tube 1081 and enters the subsequent hydraulic system, such as through the liquid outlet 1031 located on the side of the carrier cylinder 103.

[0076] The debubble assembly 109 is fixed to the outer wall of the supporting cylinder 103. The debubble assembly 109 includes a liquid outlet pipe 1091 and a liquid inlet pipe 1093 communicating with the upper space. A connecting pipe 1092 is connected between the liquid outlet pipe 1091 and the liquid inlet pipe 1093. An end of the connecting pipe 1092 away from the supporting cylinder 103 is connected to an outlet pipe 1094 for discharging gas.

[0077] Each of the bubble removal components 109 is electrically connected to the electrical storage element 102 .

[0078] The pulley 1071 is connected to the connecting rod 1062 via a belt transmission, and the magnetic rod 1072 is electromagnetically connected to the driving mechanism 107 .

[0079] The bubble removal assembly 109 is fixed to the outer wall of the carrier cylinder 103. The liquid outlet pipe 1091 and the liquid inlet pipe 1093 are connected to the upper space of the carrier cylinder 103. The two are connected by a connecting pipe 1092. The end of the connecting pipe 1092 away from the carrier cylinder 103 is connected to the air outlet pipe 1094. As the liquid flows in the bubble removal assembly 109, bubbles rise due to their low density and are discharged through the air outlet pipe 1094.

[0080] Pulley 1071 is connected to connecting rod 1062 via a belt drive. When pulley 1071 rotates with spiral blade 1074, it drives connecting rod 1062 and stirring element 106 to rotate. Magnetic rod 1072 is electromagnetically connected to drive mechanism 107. When magnetic rod 1072 rotates, electromagnetic induction generates current in drive mechanism 107, which is then transferred to storage element 102 for storage.

[0081] Furthermore, part of the liquid enters the connecting pipe 1092 of the bubble removal assembly 109 through the liquid outlet pipe 1091. In the connecting pipe 1092, the bubbles in the liquid rise because their density is lower than that of the liquid, and are eventually discharged through the air outlet pipe 1094. The liquid after the bubbles are removed flows back to the upper space of the carrier cylinder 103 through the liquid inlet pipe 1093, mixes with other liquids, and continues to participate in the filtration process.

[0082] The bubble removal assembly 109 is electrically connected to the power storage component 102 , and the power storage component 102 provides necessary power support for the bubble removal assembly 109 to ensure its normal operation.

[0083] 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 hydraulic system for a mechanical arm power unit of a tool changing robot, comprising a supporting base (101) and an electric storage element (102) fixedly mounted on the supporting base (101), characterized in that: Also includes: Ball valve (203); A transmission adjustment mechanism (200), the transmission adjustment mechanism (200) being fixedly mounted on the bearing base (101), the transmission adjustment mechanism (200) comprising a transmission assembly and a drive assembly, the transmission assembly being used to connect the drive assembly and the ball valve (203), and to reduce the liquid passage opening of the ball valve (203) according to an increase in liquid flow, so that the internal hydraulic pressure is in a stable state; the drive assembly generates currents of different magnitudes according to the magnitude of the liquid flow, and passes the currents into the storage element (102) for storage; A filtering mechanism (100) is fixedly mounted on the supporting base (101) and located on one side of the transmission adjustment mechanism (200), and is used to clean impurities in the liquid.

2. The hydraulic system of the tool-changing robot's arm power unit according to claim 1, characterized in that: The transmission assembly includes a second mounting frame (202) fixedly arranged on the bearing base (101) for fixing the ball valve (203), a bearing cylinder (103) is also provided on the bearing base (101), a mounting frame (201) is also fixedly provided on the bearing cylinder (103), an assembly plate (205) is also fixedly provided on the mounting frame (201), an engaging disk (2051) is rotatably provided on the assembly plate (205), a transmission member (206) is rotatably provided on the mounting frame (201), and when the transmission member (206) rotates to a preset speed, it engages with the engaging disk (2051) and drives the engaging disk to rotate synchronously, a permanent magnet (204) is rotatably provided on the ball valve (203), and the permanent magnet (204) is transmission-connected to the transmission member (206).

3. The hydraulic system of the tool-changing robot's arm power unit according to claim 2, characterized in that: The transmission member (206) includes a second pulley (2062) rotatably mounted on a first mounting frame (201); a carrier (2061) is fixedly mounted on the other end of the second pulley (2062); a plurality of locking teeth (2064) are hingedly mounted on the carrier (2061); a plurality of fixing seats (2065) are also fixedly mounted on the carrier (2061); the fixing seats (2065) correspond to the locking teeth (2064) in a one-to-one manner; springs (2063) are flexibly mounted between the corresponding locking teeth (2064) and the fixing seats (2065); and the fixing seats (2065) are evenly distributed along the circumference of the axis of the carrier (2061); A second permanent magnet (2066) is fixedly provided at the center of the bottom end of the carrier (2061), and the second permanent magnet (2066) is magnetically coupled to the first permanent magnet (204).

4. The hydraulic system of the tool-changing robot's arm power unit according to claim 2, characterized in that: The driving component includes a connecting pipe (1073) connected to the other end of the ball valve (203), a spiral blade (1074) and a magnetic rod (1072) are respectively rotatably provided at the axis center of the connecting pipe (1073), the spiral blade (1074) and the magnetic rod (1072) are coaxially distributed, a pulley (1071) is rotatably provided at the top of the connecting pipe (1073), and the pulley (1071) is connected to the rotating shaft of the spiral blade (1074), and the outer wall of the connecting pipe (1073) is provided with a driving mechanism (107), and the driving mechanism (107) is electrically connected to the storage element (102).

5. The hydraulic system of the tool-changing robot's arm power unit according to claim 4, characterized in that: The filtering mechanism (100) comprises a first filtering component, a second filtering component and a bubble removal component (109); The first filter assembly and the second filter assembly are coaxially arranged, the bubble removal assembly (109) is arranged on the outer wall of the second filter assembly and is used to remove bubbles in the second filter assembly, the first filter assembly is used to coarsely filter the liquid transported by the ball valve (203), and the second filter assembly is used to re-filter the liquid coarsely filtered by the first filter assembly.

6. The hydraulic system of the tool-changing robot's arm power unit according to claim 5, characterized in that: One side of the supporting cylinder (103) is in communication with the connecting pipe (1073) via a curved pipe (1032); A partition plate (104) is fixedly provided inside the supporting cylinder (103), the partition plate (104) being Z-shaped and used to divide the internal space of the supporting cylinder (103) into an upper space and a lower space, a plurality of coarse filter tubes (105) are connected through the top of the partition plate (104), the coarse filter tubes (105) communicating with the upper space and the lower space, and a baffle is provided on the inner wall of the supporting cylinder (103) for preventing liquid in the bent pipe (1032) from impacting the coarse filter tubes (105); A stirring member (106) is provided on the outer wall of the supporting cylinder (103), and the stirring member (106) includes a mounting seat (1061). A connecting rod (1062) is fixedly provided on the mounting seat (1061), and a rotating rod (1063) is rotatably provided on the other end of the connecting rod (1062). A plurality of stirring blades (1064) are evenly provided on the outer peripheral surface of the rotating rod (1063), and the stirring blades (1064) are used to stir the liquid in the upper space.

7. The hydraulic system of the tool-changing robot's arm power unit according to claim 6, characterized in that: The second filter assembly includes a filter plate (108) fixedly mounted on the inner wall of the supporting cylinder (103), a mounting plate (1082) also fixedly mounted on the inner wall of the supporting cylinder (103), a plurality of holes formed on the filter plate (108), a plurality of fine filter tubes (1081) fixedly mounted on the mounting plate (1082), the holes corresponding to the fine filter tubes (1081) one-to-one, the top ends of the fine filter tubes (1081) being in communication with the holes, and the bottom ends of the fine filter tubes (1081) passing through the mounting plate (1082).

8. The hydraulic system of the tool-changing robot's arm power unit according to claim 7, characterized in that: The bubble removal assembly (109) is fixedly mounted on the outer wall of the supporting cylinder (103), and the bubble removal assembly (109) comprises a liquid outlet pipe (1091) and a liquid inlet pipe (1093) communicating with the upper space; a connecting pipe (1092) is provided between the liquid outlet pipe (1091) and the liquid inlet pipe (1093); and an end of the connecting pipe (1092) away from the supporting cylinder (103) is provided with an air outlet pipe (1094) for discharging gas; Each of the bubble removal components (109) is electrically connected to the electrical storage component (102).

9. The hydraulic system of the tool-changing robot's arm power unit according to claim 7, characterized in that: A first filter screen is provided at the top of each coarse filter tube (105), and a second filter screen is provided at the hole communicating with the top of each fine filter tube (1081). The diameter of the filter holes on the first filter screen is larger than the diameter of the filter holes on the second filter screen.

10. The hydraulic system of the tool-changing robot's arm power unit according to claim 9, characterized in that: The pulley 1 (1071) and the connecting rod (1062) are connected via a belt transmission, and the magnetic rod (1072) and the driving mechanism (107) are electromagnetically connected.

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