Hydraulic positioner

Abstract

The utility model relates to a hydraulic positioner. The device comprises a base, wherein a first rotating supporting part, a second rotating supporting part and a third rotating supporting part are sequentially arranged along the length direction of the base; the supporting arm comprises a first end, a second end and a third end which are sequentially arranged in the length direction; the overturning seat comprises a first rotating part and a second rotating part, the first end of the supporting arm is rotationally connected to the first rotating part, and the third end of the supporting arm is rotationally connected to the second rotating part; the rotary driving device is mounted on the overturning seat; the rotary device is connected with the driving end of the rotary driving device; the mounting end of the jacking oil cylinder is rotationally connected to the third rotating supporting part, and the telescopic end of the jacking oil cylinder is rotationally connected to the second end of the supporting arm; and the mounting end of the overturning oil cylinder is rotationally connected to the first rotating supporting part, and the telescopic end of the overturning oil cylinder is rotationally connected to the second rotating part. The mechanism is compact in structure and can realize multi-degree-of-freedom motion control.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a hydraulic positioner. Background Art

[0002] With the widespread application of robotics in various industries such as steel structure, machinery manufacturing, and medical device manufacturing, the functions of traditional positioners can no longer meet the needs of complex working conditions. Traditional positioners mainly have flipping and rotation functions.

[0003] Traditional hydraulic positioners are usually composed of multiple independent components and drive systems, such as tilting cylinders, lifting cylinders, and rotary devices. A large installation space is required between each component, making the overall structure not compact enough and difficult to adapt to operating requirements in a small space. Summary of the Invention

[0004] To this end, the utility model provides a hydraulic positioner, which has a compact structure and can realize multi-degree-of-freedom motion control.

[0005] In order to solve the above technical problems, the present invention provides a hydraulic positioner, comprising:

[0006] The base is provided with a first rotation support portion, a second rotation support portion and a third rotation support portion in sequence along the length direction thereof;

[0007] The support arm comprises a first end, a second end and a third end sequentially arranged along the length direction;

[0008] The flip seat comprises a first rotating portion and a second rotating portion, wherein the first end of the support arm is rotatably connected to the first rotating portion, and the third end of the support arm is rotatably connected to the second rotating support portion;

[0009] A rotation drive device, mounted on the flip seat;

[0010] a rotary device connected to the driving end of the rotary drive device;

[0011] a jacking oil cylinder, wherein the mounting end of the jacking oil cylinder is rotatably connected to the third rotating support portion, and the telescopic end of the jacking oil cylinder is rotatably connected to the second end of the support arm;

[0012] A tilting oil cylinder, wherein the mounting end of the tilting oil cylinder is rotatably connected to the first rotation support portion, and the telescopic end of the tilting oil cylinder is rotatably connected to the second rotation portion.

[0013] In one embodiment of the present invention, a first hinge shaft is installed at each of the first rotation support portion, the second rotation support portion, and the third rotation support portion.

[0014] In one embodiment of the present invention, two of the first rotation support portion, the second rotation support portion, and the third rotation support portion are each provided along the width direction of the base.

[0015] In one embodiment of the present invention, the base is provided with a protruding hinge seat, the first rotation support part and the second rotation support part are arranged on the hinge seat, and the horizontal height of the first rotation support part is higher than the horizontal height of the second rotation support part.

[0016] In one embodiment of the present invention, a second hinge shaft is installed at both the first rotating part and the second rotating part.

[0017] In one embodiment of the present invention, the rotation drive device is a reduction motor.

[0018] In one embodiment of the present invention, the rotating device includes a rotating disk and a supporting disk connected to the rotating disk, and the middle portion of the supporting disk is connected to the driving end of the rotary driving device.

[0019] In one embodiment of the present invention, a second hinge shaft is installed on the second end of the support arm.

[0020] The above technical solution of the utility model has the following advantages compared with the prior art:

[0021] The hydraulic positioner described in the present invention, through the above-mentioned design, arranges the first rotating support part, the second rotating support part and the third rotating support part in sequence in the length direction of the base, and tightly integrates the various driving devices (lifting cylinder, flip cylinder, rotation driving device) between the flip seat and the support arm, which significantly reduces the redundant space between the various components in the traditional hydraulic positioner. The structure is compact, so that the positioner can still operate efficiently in a limited space, and is particularly suitable for robot applications in a small operating environment.

[0022] By setting up a flip cylinder, a lifting cylinder and a rotary drive device, three movement modes of lifting, flipping and rotating of the rotary device are realized. The multi-degree-of-freedom control greatly improves the flexibility of the equipment, enabling it to better cope with complex working conditions, such as multi-angle welding, precision assembly and other operations, and enhances the adaptability and practicality of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0024] Figure 1 It is a main structural diagram of the hydraulic positioner of the utility model.

[0025] Figure 2 It is a schematic diagram of the shaft side structure of the hydraulic positioner of the utility model.

[0026] Description of the accompanying drawings:

[0027] 1. Base; 11. First rotation support; 12. Second rotation support; 13. Third rotation support; 14. Articulated seat;

[0028] 2. Support arm; 21. First end; 22. Second end; 23. Third end;

[0029] 3. Turning seat; 31. First rotating part; 32. Second rotating part;

[0030] 4. Rotation drive device;

[0031] 5. Rotating device; 51. Rotating plate; 52. Support plate;

[0032] 6. Lifting cylinder;

[0033] 7. Turn over the oil cylinder. DETAILED DESCRIPTION

[0034] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0035] In the present invention, if there is a description of directions (up, down, left, right, front and back), it is only for the convenience of describing the technical solution of the present invention, and does not indicate or imply that the technical features referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0036] In this utility model, "several" means one or more, "multiple" means more than two, "greater than," "less than," "exceeds," etc. are understood to exclude the number itself; "above," "below," "within," etc. are understood to include the number itself. In the description of this utility model, the use of "first" or "second" is solely for the purpose of distinguishing technical features and is not to be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0037] In this utility model, unless otherwise expressly defined, terms such as "disposed," "installed," and "connected" should be interpreted broadly. For example, they may refer to direct connection or indirect connection through an intermediate medium; fixed connection or detachable connection or integral molding; mechanical connection or electrical connection or mutual communication; and internal connection between two components or interaction between two components. Those skilled in the art can reasonably determine the specific meanings of these terms in this utility model based on the specific content of the technical solution.

[0038] Reference Figure 1 、 Figure 2 As shown, a hydraulic positioner of the utility model comprises:

[0039] The base 1 is provided with a first rotation support portion 11, a second rotation support portion 12 and a third rotation support portion 13 in sequence along its length direction;

[0040] The support arm 2 includes a first end 21, a second end 22 and a third end 23 arranged in sequence along the length direction;

[0041] The flip seat 3 includes a first rotating portion 31 and a second rotating portion 32. The first end 21 of the support arm 2 is rotatably connected to the first rotating portion 31, and the third end 23 of the support arm 2 is rotatably connected to the second rotating support portion 12.

[0042] A rotation drive device 4 is installed on the flip seat 3;

[0043] A rotating device 5 connected to the driving end of the rotary drive device 4;

[0044] A lifting cylinder 6, wherein the mounting end of the lifting cylinder 6 is rotatably connected to the third rotating support portion 13, and the telescopic end of the lifting cylinder 6 is rotatably connected to the second end 22 of the support arm 2;

[0045] The tilting oil cylinder 7 has a mounting end that is rotatably connected to the first rotation support portion 11 , and a telescopic end that is rotatably connected to the second rotation portion 32 .

[0046] Through the above design, the first rotating support part 11, the second rotating support part 12 and the third rotating support part 13 are arranged in sequence in the length direction of the base 1, and the lifting cylinder 6, the flip cylinder 7 and the rotation drive device 4 of each driving device are tightly integrated between the flip seat 3 and the support arm 2, which significantly reduces the redundant space between the components in the traditional hydraulic positioner. The structure is compact, so that the positioner can still operate efficiently in a limited space, which is particularly suitable for robot applications in a small operating environment.

[0047] The lifting and retracting of the lifting cylinder 6 enables the lifting of the slewing device 5, the retracting and retracting of the tilting cylinder 7 enables the tilting of the slewing device 5, and the driving of the rotary drive device 4 enables the rotation of the slewing device 5. By providing the tilting cylinder 7, the lifting cylinder 6, and the rotary drive device 4, the three motion modes of lifting, tilting, and rotating the slewing device 5 are realized. The multi-degree-of-freedom control greatly improves the flexibility of the equipment, enabling it to better cope with complex working conditions such as multi-angle welding and precision assembly, and enhancing the adaptability and practicality of the equipment.

[0048] In one embodiment, a first articulated shaft is installed at the first rotating support part 11, the second rotating support part 12 and the third rotating support part 13, which enhances the structural stability and reliability of the entire hydraulic positioner, ensures smoother rotation connection of each supporting component, reduces wear and movement resistance, and improves the service life and movement accuracy of the equipment.

[0049] In one embodiment, two of the first rotation support 11, the second rotation support 12, and the third rotation support 13 are provided along the width direction of the base 1. This can effectively disperse the load, enhance the bearing capacity of the entire system, improve the stability of the hydraulic positioner when bearing heavy workpieces, and reduce stress concentration.

[0050] In one embodiment, the base 1 is provided with a protruding hinge seat 14 , the first rotation support portion 11 and the second rotation support portion 12 are arranged on the hinge seat 14 , and the horizontal height of the first rotation support portion 11 is higher than the horizontal height of the second rotation support portion 12 .

[0051] The first rotating support 11 and the second rotating support 12 are arranged at different levels, which can effectively optimize the force transmission path, increase the rigidity and stability of the system, and especially help improve the working efficiency of the jacking cylinder 6, reduce the cylinder stroke, and optimize the energy utilization of the hydraulic system.

[0052] In one embodiment, a second hinge shaft is installed at both the first rotating portion 31 and the second rotating portion 32 .

[0053] In one embodiment, the rotation drive device 4 is a reduction motor, which can provide higher torque output, adapt to heavy load conditions, and achieve more stable and precise rotation control.

[0054] In one embodiment, the rotating device 5 includes a rotating disk 51 and a support disk 52 connected to the rotating disk 51. The middle portion of the support disk 52 is connected to the driving end of the rotary drive device 4. The design of the support disk 52 can improve the stability of the rotating device 5 under high-speed rotation and avoid vibration and swing caused by eccentric loads.

[0055] It is understood that the rotary drive device 4 is mounted on the tilting base 3, and its output shaft is connected to the rotary disk 51 of the rotary device 5 via a coupling or gear meshing. Activation of the rotary drive device 4 drives the rotary disk 51 to rotate, thereby driving the entire rotary device 5 to rotate around its vertical axis.

[0056] In one embodiment, a second hinge shaft is installed at the second end 22 of the support arm 2 .

[0057] When the rotary device 5 needs to be raised or lowered, the control system activates the hydraulic system of the lifting cylinder 6. The extension and retraction of the lifting cylinder 6 raises or lowers the second end 22 of the support arm 2, thereby driving the entire rotary device 5 to move up or down to adjust the height of the workpiece on the rotary disk 51.

[0058] When the rotary device 5 needs to be flipped, the control system starts the flip cylinder 7. When the telescopic end of the flip cylinder 7 is extended or retracted, a thrust or pull is generated to drive the flip seat 3 to flip around the first rotating part 31, so that the workpiece can be operated at multiple angles.

[0059] When rotation of the rotary device 5 is required, the rotary drive device 4 (reduction motor) is activated. This activation of the rotary drive device 4 drives the turntable 51, thereby rotating the entire rotary device 5 around its vertical axis. This allows for continuous 360-degree rotation of the workpiece or rotation to a desired angle, making it suitable for applications requiring full-scale manipulation of the workpiece.

[0060] Finally, it should be noted that the above specific implementation methods are only used to illustrate the technical solution of the utility model and are not limiting. Although the utility model is described in detail with reference to examples, ordinary technicians in this field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A hydraulic positioner, characterized in that: include: A base (1) is provided with a first rotation support portion (11), a second rotation support portion (12) and a third rotation support portion (13) in sequence along its length direction; A support arm (2) comprising a first end (21), a second end (22), and a third end (23) sequentially arranged along a length direction; The flip seat (3) comprises a first rotating portion (31) and a second rotating portion (32), wherein the first end (21) of the support arm (2) is rotatably connected to the first rotating portion (31), and the third end (23) of the support arm (2) is rotatably connected to the second rotating support portion (12); A rotation drive device (4) mounted on the flip seat (3); A rotating device (5) connected to the driving end of the rotary drive device (4); A lifting cylinder (6), wherein the mounting end of the lifting cylinder (6) is rotatably connected to the third rotating support portion (13), and the telescopic end of the lifting cylinder (6) is rotatably connected to the second end (22) of the support arm (2); A tilting oil cylinder (7), wherein the mounting end of the tilting oil cylinder (7) is rotatably connected to the first rotating support portion (11), and the telescopic end of the tilting oil cylinder (7) is rotatably connected to the second rotating portion (32).

2. A hydraulic positioner according to claim 1, characterized in that: A first hinge shaft is installed at each of the first rotation support portion (11), the second rotation support portion (12) and the third rotation support portion (13).

3. The hydraulic positioner according to claim 1, characterized in that: Two of the first rotation support part (11), the second rotation support part (12) and the third rotation support part (13) are provided along the width direction of the base (1).

4. A hydraulic positioner according to claim 1, characterized in that: The base (1) is provided with a hinge seat (14) protruding therefrom, the first rotation support portion (11) and the second rotation support portion (12) are arranged on the hinge seat (14), and the horizontal height of the first rotation support portion (11) is higher than the horizontal height of the second rotation support portion (12).

5. The hydraulic positioner according to claim 1, characterized in that: A second hinge shaft is installed at both the first rotating part (31) and the second rotating part (32).

6. The hydraulic positioner according to claim 1, characterized in that: The rotary drive device (4) is a reduction motor.

7. The hydraulic positioner according to claim 1, characterized in that: The rotating device (5) comprises a rotating disk (51) and a supporting disk (52) connected to the rotating disk (51), and the middle portion of the supporting disk (52) is connected to the driving end of the rotary driving device (4).

8. The hydraulic positioner according to claim 1, characterized in that: The second end (22) of the support arm (2) is mounted with a second hinge shaft.

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