Two-dimensional hydraulic floating device and robot

Abstract

The two-dimensional hydraulic floating device comprises a two-dimensional moving mechanism, the two-dimensional moving mechanism comprises a transverse moving module, the transverse moving module comprises a first static hydraulic actuator and at least one transverse moving block, the first static hydraulic actuator and the at least one transverse moving block are connected with each other, and the at least one transverse moving block moves in the first direction; the longitudinal moving module is connected to the at least one transverse moving block and comprises a second hydrostatic actuator and at least one longitudinal moving block which are connected with each other, and the at least one longitudinal moving block moves in the second direction; and the bearing mechanism is connected to the at least one longitudinal moving block, and the electric spindle is fixed in the bearing mechanism. According to the two-dimensional hydraulic floating device and the robot, fine operation position adjustment can be conducted, the application range is larger, meanwhile, the two-dimensional hydraulic floating device has the advantages of being small in size, high in rigidity, high in response speed and the like, and the novel two-dimensional hydraulic floating device and the robot have wide use prospects.

Description

Technical Field

[0001] The utility model relates to the technical field of driving equipment, in particular to a two-dimensional hydraulic floating device and a robot. Background Art

[0002] In the traditional machining field, cylinder motion control is widely used in floating control devices of various equipment. This one-dimensional floating device can realize the single-direction movement of the workpiece under the action of the cylinder, such as up and down, left and right, etc.

[0003] However, this one-dimensional floating device has some obvious defects. First, this type of equipment has a single function and can only float the workpiece in a single direction, and cannot move in multiple directions at the same time, which limits its application in complex processing scenarios. Secondly, this type of equipment is large in size: traditional cylinder motion control devices usually require a large space to install components such as air sources, cylinders, and control valves, resulting in a larger overall installation space. In addition, conventional floating devices also have problems such as poor rigidity and low response speed, which seriously limits their scope of use and operating efficiency. Summary of the invention

[0004] Therefore, the technical problem to be solved by the utility model is to overcome the problems of single function and large volume of the floating device in the prior art, and to provide a two-dimensional hydraulic floating device and a robot.

[0005] In order to solve the above technical problems, the utility model provides a two-dimensional hydraulic floating device, which includes: a two-dimensional moving mechanism, which includes: a transverse movement module, which includes a first hydrostatic actuator and at least one transverse movement block connected to each other, and at least one of the transverse movement blocks moves along a first direction; a longitudinal movement module, which is connected to at least one of the transverse movement blocks, and includes a second hydrostatic actuator and at least one longitudinal movement block connected to each other, and at least one of the longitudinal movement blocks moves along a second direction; a bearing mechanism, which is connected to at least one of the longitudinal movement blocks, and the electric spindle is fixed inside the bearing mechanism.

[0006] In one embodiment of the present invention, the transverse movement module includes two transverse guide rails and two transverse movement blocks spaced apart along the second direction, and the two transverse movement blocks are correspondingly slidably connected to the two transverse guide rails.

[0007] In one embodiment of the present invention, the first hydrostatic actuator is connected between the two lateral moving blocks, and the two lateral moving blocks are synchronously moved by the first hydrostatic actuator.

[0008] In one embodiment of the present invention, the longitudinal movement module includes two longitudinal guide rails and two longitudinal movement blocks spaced apart along the first direction, and the two longitudinal movement blocks are correspondingly slidably connected to the two longitudinal guide rails.

[0009] In one embodiment of the present invention, the second hydrostatic actuator is connected between the two longitudinal moving blocks, and the two longitudinal moving blocks are synchronously moved by the second hydrostatic actuator.

[0010] In one embodiment of the present invention, the two-dimensional moving mechanism further includes two control components, and the two control components are respectively connected to the first hydrostatic actuator and the second hydrostatic actuator.

[0011] In one embodiment of the present invention, the two-dimensional moving mechanism further includes two display components, and the two display components are respectively connected to the first hydrostatic actuator and the second hydrostatic actuator.

[0012] In one embodiment of the utility model, the supporting mechanism also includes a mounting plate and at least one connecting frame, one side of the mounting plate is connected to at least one longitudinal moving block, and the other side is connected to at least one connecting frame, at least one connecting frame is connected to the mounting plate along a third direction, and a connecting through hole is provided thereon, and the electric spindle is inserted into at least one of the connecting through holes.

[0013] In one embodiment of the present invention, the two-dimensional moving mechanism further includes a three-axis gyroscope, and the three-axis gyroscope is connected to the transverse movement module and the longitudinal movement module.

[0014] The present invention also provides a robot, which includes the above-mentioned two-dimensional hydraulic floating device.

[0015] The above technical solution of the utility model has the following advantages compared with the prior art:

[0016] The two-dimensional hydraulic floating device and robot described in the utility model adjust the moving position in the first direction through the transverse movement module, and adjust the moving position in the second direction through the longitudinal movement module, thereby realizing a two-dimensional floating adjustment process. The above-mentioned movement process can be carried out separately or synchronously, thereby driving the electric spindle thereon to perform fine operation position adjustment to expand its scope of application. In addition, compared with conventional floating control devices, the two-dimensional hydraulic floating device also has the advantages of small size, strong rigidity, and fast response speed. It is a new two-dimensional hydraulic floating device and robot with broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the content of the utility model more clearly understood, the utility model is further described in detail below based on specific embodiments of the utility model in combination with the accompanying drawings.

[0018] Figure 1 It is a three-dimensional structural schematic diagram of a two-dimensional hydraulic floating device in a preferred embodiment of the utility model;

[0019] Figure 2 yes Figure 1 The schematic diagram of the internal structure of the two-dimensional hydraulic floating device shown;

[0020] Figure 3 yes Figure 1 A schematic diagram of the three-dimensional structure of the two-dimensional moving mechanism in the two-dimensional hydraulic floating device is shown.

[0021] Explanation of the reference numerals in the specification: 100, supporting mechanism; 110, mounting plate; 120, connecting frame; 200, two-dimensional moving mechanism; 210, transverse moving module; 211, transverse guide rail; 212, transverse moving block; 213, first hydrostatic actuator; 220, longitudinal moving module; 221, longitudinal guide rail; 222, longitudinal moving block; 223, second hydrostatic actuator; 230, control element; 240, display element; 300, electric spindle; 400, housing; X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0023] Embodiment 1

[0024] See also Figures 1 to 3 As shown, this embodiment provides a two-dimensional hydraulic floating device, which includes: a two-dimensional moving mechanism 200, the two-dimensional moving mechanism 200 includes: a transverse movement module 210, the transverse movement module 210 includes a first hydrostatic actuator 213 connected to each other and at least one transverse movement block 212, at least one of the transverse movement blocks 212 moves along a first direction X; a longitudinal movement module 220, the longitudinal movement module 220 is connected to at least one of the transverse movement blocks 212, and includes a second hydrostatic actuator 223 connected to each other and at least one longitudinal movement block 222, at least one of the longitudinal movement blocks 222 moves along a second direction Y; a supporting mechanism 100, the supporting mechanism 100 is connected to at least one of the longitudinal movement blocks 222, and the electric spindle 300 is fixed inside the supporting mechanism 100.

[0025] The two-dimensional hydraulic floating device described in the utility model adjusts the moving position in the first direction X through the transverse movement module 210, and adjusts the moving position in the second direction Y through the longitudinal movement module 220, thereby realizing the two-dimensional floating adjustment process of the device. The above-mentioned movement processes can be carried out separately or synchronously, thereby driving the electric spindle 300 thereon to perform fine operation position adjustment to expand the application scope of the device. In addition, compared with conventional floating control devices, the two-dimensional hydraulic floating device also has the advantages of small size, strong rigidity, and fast response speed. It is a new two-dimensional hydraulic floating device with broad application prospects.

[0026] In this embodiment, Figure 1 The two-dimensional hydraulic floating device is a reference object. The transverse movement module 210, the longitudinal movement module 220 and the bearing mechanism 100 are arranged in sequence from bottom to top. The two-dimensional hydraulic floating device also includes a shell 400. The two-dimensional moving mechanism 200 is arranged inside the shell 400. The shell 400 can protect the two-dimensional moving mechanism 200 and also facilitate the connection, installation and fixation of the two-dimensional hydraulic floating device. The bearing mechanism 100 is used to connect the electric spindle 300 so that the two-dimensional hydraulic floating device can complete grinding, polishing and milling and other processing operations.

[0027] See also Figure 1 and Figure 2 As shown, the bearing mechanism 100 also includes a mounting plate 110 and at least one connecting frame 120, one side of the mounting plate 110 is connected to at least one longitudinal moving block 222, and the other side is connected to at least one connecting frame 120, at least one connecting frame 120 is connected to the mounting plate 110 along the third direction Z, and a connecting through hole is provided thereon, and the electric spindle 300 is penetrated in at least one of the connecting through holes, specifically, the bearing mechanism 100 includes two connecting frames 120, and the two connecting frames 120 are arranged at intervals along the second direction Y. In this embodiment, the mounting plate 110 is preferably a rectangular plate arranged in the horizontal direction, and the two connecting frames 120 are fixed to the center of the mounting plate 110 through a connecting plate, and the top of any connecting frame 120 is set to an arc structure matching the shape of the electric spindle 300, and the connecting through holes are set at the center of the corresponding connecting frame 120, and the two ends of the electric spindle 300 are respectively penetrated with the connecting frame 120 and connected, and the electric spindle 300 is arranged horizontally along the second direction Y after being installed and fixed. In other embodiments, other numbers of connecting frames 120 may be provided according to actual usage conditions, and the present invention does not impose any specific limitation on this.

[0028] See also Figure 2 and Figure 3As shown, the transverse moving module 210 includes two transverse guide rails 211 and two transverse moving blocks 212 arranged at intervals along the second direction Y, the two transverse moving blocks 212 are correspondingly slidably connected to the two transverse guide rails 211, the first hydrostatic actuator 213 is connected between the two transverse moving blocks 212, and the two transverse moving blocks 212 are synchronously moved by the first hydrostatic actuator 213. In this embodiment, the two transverse guide rails 211 are arranged in parallel and at intervals to evenly divide the gravity exerted on the transverse moving module 210, and the two transverse guide rails 211 can also make the moving process of the longitudinal moving module 220 more stable under the premise of simplifying the device structure and production cost. Furthermore, the lateral moving blocks 212 in this embodiment are all slidably embedded in the lateral guide rail 211, and the first hydrostatic actuator 213 is preferably an EHA electric hydrostatic actuator, which adjusts the flow rate or pressure of the liquid by changing the rotation speed of the pump, thereby controlling the output of the hydraulic power, achieving efficient energy utilization and the possibility of providing energy on demand. Compared with conventional drive structures, electric hydrostatic actuators have significant advantages such as energy saving, high output force, good satisfaction of motion control requirements, simplified system structure, improved system reliability, easy maintenance and wide range of applications. Therefore, integrating it into this mechanism can greatly improve the performance of this two-dimensional hydraulic floating device.

[0029] Correspondingly, see Figure 3 As shown, the longitudinal movement module 220 includes two longitudinal guide rails 221 and two longitudinal moving blocks 222 arranged at intervals along the first direction X, the two longitudinal moving blocks 222 are correspondingly slidably connected to the two longitudinal guide rails 221, the second hydrostatic actuator 223 is connected between the two longitudinal moving blocks 222, and the two longitudinal moving blocks 222 are synchronously moved by the second hydrostatic actuator 223. In this embodiment, the two longitudinal guide rails 221 are arranged in parallel and at intervals to evenly divide the gravity exerted on the longitudinal movement module 220. At the same time, the arrangement of the two longitudinal guide rails 221 can also make the moving process more stable under the premise of simplifying the device structure and production cost. Further, the longitudinal moving blocks 222 in this embodiment are all slidably embedded in the longitudinal guide rails 221, and the second hydrostatic actuator 223 is also preferably an EHA electric hydrostatic actuator.

[0030] In addition, the present application also includes a three-axis gyroscope, which is connected to the lateral movement module 210 and the longitudinal movement module 220, and can comprehensively and accurately measure the actual motion trajectory of the two-dimensional moving mechanism 200, thereby making the operation process of the two-dimensional hydraulic floating device more reliable.

[0031] See him 1 to Figure 3As shown, the two-dimensional moving mechanism 200 further includes two control members 230, which are respectively connected to the first hydrostatic actuator 213 and the second hydrostatic actuator 223, and the two-dimensional moving mechanism 200 further includes two display members 240, which are respectively connected to the first hydrostatic actuator 213 and the second hydrostatic actuator 223. The two control members 230 respectively control the first hydrostatic actuator 213 and the second hydrostatic actuator 223 to achieve precise control of the transverse and longitudinal moving modules 220, and at the same time, the two display members 240 can also feedback the movement of the transverse and longitudinal moving modules 210 and 220 through data, thereby achieving real-time monitoring of the movement process of the device. In addition, the present application also includes a control system, and the first hydrostatic actuator 213 and the second hydrostatic actuator 223 are respectively connected to the control system, so that the operator can adjust the movement process of the transverse movement module 210 and the longitudinal movement module 220 in real time through the control system, and can also preset parameters for the movement path of the transverse movement module 210 and the longitudinal movement module 220 through the control system, thereby maximizing the degree of automation of the present application.

[0032] Embodiment 2

[0033] This embodiment provides a robot, which includes the two-dimensional hydraulic floating device described in the first embodiment.

[0034] In summary, the two-dimensional hydraulic floating device and robot described in the utility model adjust the moving position in the first direction X through the transverse movement module 210, and adjust the moving position in the second direction Y through the longitudinal movement module 220, thereby realizing the two-dimensional floating adjustment process of the device. The above-mentioned movement processes can be carried out separately or synchronously, thereby driving the electric spindle 300 thereon to perform fine working position adjustment to expand the scope of application of the device. In addition, compared with conventional floating control devices, the two-dimensional hydraulic floating device also has the advantages of small size, strong rigidity, and fast response speed. It is a new two-dimensional hydraulic floating device and robot with broad application prospects.

[0035] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A two-dimensional hydraulic floating device, characterized in that: include: A two-dimensional moving mechanism, the two-dimensional moving mechanism comprising: A transverse movement module, the transverse movement module comprising a first hydrostatic actuator and at least one transverse movement block connected to each other, at least one of the transverse movement blocks moves along a first direction; A longitudinal movement module, the longitudinal movement module is connected to at least one of the transverse movement blocks, and comprises a second hydrostatic actuator and at least one longitudinal movement block connected to each other, and at least one of the longitudinal movement blocks moves along the second direction; A bearing mechanism is connected to at least one of the longitudinal moving blocks, and the electric spindle is fixed inside the bearing mechanism.

2. The two-dimensional hydraulic floating device according to claim 1, characterized in that: The transverse movement module comprises two transverse guide rails and two transverse movement blocks which are spaced apart along the second direction. The two transverse movement blocks are correspondingly slidably connected to the two transverse guide rails.

3. The two-dimensional hydraulic floating device according to claim 1, characterized in that: The first hydrostatic actuator is connected between the two lateral moving blocks, and the two lateral moving blocks are synchronously moved by the first hydrostatic actuator.

4. The two-dimensional hydraulic floating device according to claim 1, characterized in that: The longitudinal movement module comprises two longitudinal guide rails and two longitudinal movement blocks which are spaced apart along a first direction, and the two longitudinal movement blocks are correspondingly slidably connected to the two longitudinal guide rails.

5. The two-dimensional hydraulic floating device according to claim 1, characterized in that: The second hydrostatic actuator is connected between the two longitudinal moving blocks, and the two longitudinal moving blocks are synchronously moved by the second hydrostatic actuator.

6. The two-dimensional hydraulic floating device according to claim 1, characterized in that: The two-dimensional moving mechanism further includes two control components, and the two control components are respectively connected to the first hydrostatic actuator and the second hydrostatic actuator.

7. The two-dimensional hydraulic floating device according to claim 1, characterized in that: The two-dimensional moving mechanism further includes two display components, and the two display components are respectively connected to the first hydrostatic actuator and the second hydrostatic actuator.

8. The two-dimensional hydraulic floating device according to claim 1, characterized in that: The supporting mechanism also includes a mounting plate and at least one connecting frame, one side of the mounting plate is connected to at least one longitudinal moving block, and the other side is connected to at least one connecting frame, at least one connecting frame is connected to the mounting plate along a third direction, and a connecting through hole is provided thereon, and the electric spindle is inserted into at least one of the connecting through holes.

9. The two-dimensional hydraulic floating device according to claim 8, characterized in that: The two-dimensional moving mechanism further includes a three-axis gyroscope, and the three-axis gyroscope is connected to the transverse moving module and the longitudinal moving module.

10. A robot, characterized in that: A two-dimensional hydraulic floating device comprising any one of claims 1 to 9.

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