Manipulator hydraulic control system and manipulator
By designing a hydraulic control system for the robotic arm, a two-way control of hydraulic oil is achieved using an oil suction device and a hydraulic control valve. This solves the safety hazards of robotic arms in explosion-proof and power-restricted environments in existing technologies, enabling the safe and stable operation and widespread application of the robotic arm.
Patent Information
- Application Number
- CN202423260578.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-12-12
- Estimated Expiration
- 2034-12-27
AI Technical Summary
Existing hydraulic control systems for robotic arms pose safety hazards when used in explosion-proof or power-restricted environments, and the opening and closing times of solenoid valves are sensitive to external factors, leading to instability in the hydraulic system.
The robotic arm adopts a hydraulic control system, which utilizes an oil suction device, a check valve, and a hydraulic control valve to achieve bidirectional control of the hydraulic oil inflow and outflow. The robotic arm is opened and closed by fixing the robotic arm and controlling the extension and retraction of the hydraulic cylinder. It requires almost no electricity to drive, and the hydraulic circuit design ensures the safe and stable operation of the robotic arm.
The robot has achieved safe and stable operation in various scenarios, expanding its application range, reducing power dependence, and improving the reliability and safety of the system.
Smart Images
Figure CN223662215U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to mechanical control technical field, especially mechanical arm hydraulic control system and manipulator. BACKGROUND
[0002] Current manipulator generally adopts electric drive mainly, although electric drive can reach relatively higher level on control precision, but the torque produced by electric drive is small, cannot realize the capture of heavy workpiece. Although there is a hydraulic control system in the existing manipulator control system patent, the opening and closing of the oil return path is controlled by the solenoid valve in the whole system, which needs electric drive and will be limited in some explosion-proof places or other places where the use of electricity is limited, and there is a certain risk. Moreover, the use effect of the solenoid valve will be affected by various external factors such as oil temperature, the opening and closing time of the solenoid valve must be accurately controlled, otherwise the work of the hydraulic system may be disturbed and unstable. Therefore, a manipulator hydraulic control system and manipulator are needed to solve the above technical problems. SUMMARY
[0003] The utility model aims at providing a manipulator hydraulic control system and manipulator to solve the problems of the existing technology, which can be applied to various scenes and is more safe and stable.
[0004] To achieve the above object, the utility model provides the following scheme:
[0005] The utility model provides a kind of manipulator hydraulic control system, including oil suction device, check valve, hydraulic control valve the oil suction device is connected with oil tank, for pumping the hydraulic oil in the oil tank, and the oil suction device is provided with two oil outlets, respectively first oil outlet and second oil outlet;The check valve includes first check valve and second check valve, the import of the first check valve and the import of the second check valve are connected with the first oil outlet and the second oil outlet of the oil suction device respectively;The hydraulic control valve can bidirectional oil inlet and oil outlet, the hydraulic control valve includes first hydraulic control valve and second hydraulic control valve, the first import of the first hydraulic control valve is connected with the rodless chamber of the control cylinder of manipulator, the first import of the second hydraulic control valve is connected with the rod chamber of the control cylinder of manipulator, the second import of the first hydraulic control valve is connected with the second oil outlet, the second import of the second hydraulic control valve is connected with the first oil outlet, the outlet of the first hydraulic control valve and the outlet of the second hydraulic control valve are connected with the oil tank;The rodless chamber end of the control cylinder is connected with the fixing device of manipulator, and the rod chamber end is connected with the clamping jaw of manipulator, the control cylinder is closed and opened by telescopic control manipulator, the rodless chamber and the rod chamber of the control cylinder are connected with the outlet of the first check valve and the second check valve respectively, the hydraulic oil of the first oil outlet flows into the control cylinder by the rodless chamber, makes the piston rod of the control cylinder stretch out, for controlling the manipulator closing, the hydraulic oil of the second oil outlet flows into the control cylinder by the rod chamber, makes the piston rod of the control cylinder retract, for controlling the manipulator opening, and the hydraulic oil of the first oil outlet can enter the outlet of the second hydraulic control valve from the second import of the second hydraulic control valve, for controlling the hydraulic oil that the manipulator opens flows out, the hydraulic oil of the second oil outlet can enter the outlet of the first hydraulic control valve from the second import of the first hydraulic control valve, for controlling the hydraulic oil that the manipulator closes flows out.
[0006] Preferably, the oil suction device is a bidirectional oil pump, and the bidirectional oil pump is provided with a first oil inlet and a second oil inlet, the first oil inlet is connected with the oil tank and provided with a third check valve on the connecting pipeline, and the second oil inlet is connected with the oil tank and provided with a fourth check valve on the connecting pipeline.
[0007] Preferably, the first hydraulic control valve is a first hydraulic control check valve, and the second hydraulic control valve is a second hydraulic control check valve.
[0008] Preferably, further comprising a pressure control device, the pressure control device is provided with a first oil inlet, a second oil inlet and an oil outlet, the first oil inlet of the pressure control device is connected with the oil suction device, the second oil inlet is connected with the outlet of the check valve, and the oil outlet is connected with the oil tank, the pressure control device is used to control the pressure of oil circuit and unloading.
[0009] Preferably, the pressure control device is provided with two first pressure control devices and second pressure control devices, respectively, the first inlet of the first pressure control device is connected with the first oil outlet, the second inlet is connected with the outlet of the first one-way valve, and the oil discharge port is connected with the oil tank; the first inlet of the second pressure control device is connected with the second oil outlet, the second inlet is connected with the outlet of the second one-way valve, and the oil discharge port is connected with the oil tank.
[0010] Preferably, the first pressure control device is a first unloading valve, and the second pressure control device is a second unloading valve.
[0011] Preferably, the control oil cylinder is a double-acting hydraulic cylinder.
[0012] The utility model also provides a manipulator, including manipulator body and as above described manipulator hydraulic control system, manipulator hydraulic control system is used for controlling the closing and opening of manipulator body.
[0013] Preferably, the fixing device is a rotating shaft, the manipulator body includes a first petal body and a second petal body, one end of the first petal body and the second petal body is rotatably connected through the rotating shaft, and the other end is used for grabbing objects.
[0014] Preferably, the first petal body and the second petal body are both V-shaped petal bodies, the V-shaped petal body includes a first fixed leg and a second fixed leg fixedly connected, the first fixed leg of the first petal body is rotatably connected with the first fixed leg of the second petal body, and the first fixed leg of the first petal body and the first fixed leg of the second petal body are both provided with the control oil cylinder, which are respectively a first control oil cylinder and a second control oil cylinder, the rodless cavity end of the first control oil cylinder is hinged with the rotating shaft, and the rod cavity end is fixedly connected with the first fixed leg of the first petal body, the rodless cavity end of the second control oil cylinder is hinged with the rotating shaft, and the rod cavity end is fixedly connected with the first fixed leg of the second petal body. The utility model has achieved the following technical effects compared with the prior art:
[0015] The utility model discloses an oil tank is used for containing hydraulic oil, and the oil sucking device is connected with the oil tank and is used for sucking hydraulic oil, and the oil sucking device is provided with two oil outlets, which are a first oil outlet and a second oil outlet respectively, the one-way valve includes a first one-way valve and a second one-way valve, the inlet of the first one-way valve and the inlet of the second one-way valve are connected with the first oil outlet and the second oil outlet of the oil sucking device respectively, the hydraulic control valve can be bidirectional oil inlet and oil outlet, and the hydraulic control valve includes a first hydraulic control valve and a second hydraulic control valve, the first inlet of the first hydraulic control valve is connected with the rodless cavity of the control oil cylinder, the first inlet of the second hydraulic control valve is connected with the rod cavity of the control oil cylinder, the second inlet of the first hydraulic control valve is connected with the second oil outlet, the second inlet of the second hydraulic control valve is connected with the first oil outlet, and the outlet of the first hydraulic control valve and the outlet of the second hydraulic control valve are connected with the oil tank, the rodless cavity end of the control oil cylinder is connected with the fixing device of the manipulator, the rod cavity end is connected with the clamping jaw of the manipulator, the control oil cylinder controls the closing and opening of the manipulator through telescopic, the rodless cavity and the rod cavity of the control oil cylinder are connected with the outlet of the first one-way valve and the second one-way valve respectively, the hydraulic oil flowing out of the first oil outlet enters the control oil cylinder from the rodless cavity and is used for controlling the closing of the manipulator, the hydraulic oil flowing out of the second oil outlet enters the control oil cylinder from the rod cavity and is used for controlling the opening of the manipulator, and the hydraulic oil flowing out of the first oil outlet can enter the outlet of the second hydraulic control valve from the second inlet of the second hydraulic control valve and is used for controlling the opening of the hydraulic oil, the hydraulic oil flowing out of the second oil outlet can enter the outlet of the first hydraulic control valve from the second inlet of the first hydraulic control valve and is used for controlling the closing of the hydraulic oil. BRIEF DESCRIPTION OF DRAWINGS
[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.
[0017] Figure 1 The structural diagram of the mechanical hand hydraulic control system in some embodiments of the present application.
[0018] In the figure: 1-first pressure control device; 2-second pressure control device; 3-first check valve; 4-second check valve; 5-first hydraulic control valve; 51-first inlet of the first hydraulic control valve; 52-second inlet of the first hydraulic control valve; 53-outlet of the first hydraulic control valve; 6-second hydraulic control valve; 61-first inlet of the second hydraulic control valve; 62-second inlet of the second hydraulic control valve; 63-outlet of the second hydraulic control valve; 7-control oil cylinder; 8-oil suction device; 9-fourth check valve; 10-third check valve; 11-first fixed leg; 12-second fixed leg; 13-rotating shaft; 14-oil tank. DETAILED DESCRIPTION
[0019] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.
[0020] The purpose of the present application is to provide a mechanical hand hydraulic control system and a mechanical hand, so as to solve the problems in the prior art, and to be applied to various scenes and be more safe and stable.
[0021] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail in combination with the drawings and specific embodiments.
[0022] Embodiment one
[0023] As Figure 1The utility model provides a kind of manipulator hydraulic control system, including oil tank 14, oil suction device 8, check valve, hydraulic control valve and control cylinder 7, oil tank 14 is used to accommodate hydraulic oil;Oil suction device 8 is connected with oil tank 14, for pumping hydraulic oil, and oil suction device 8 is provided with two oil outlets, and it is first oil outlet and second oil outlet respectively;Check valve specifically provides first check valve 3 and second check valve 4, the inlet of first check valve 3 is connected with the inlet of second check valve 4 with the first oil outlet and the second oil outlet of oil suction device 8 respectively;Hydraulic control valve can bidirectional oil inlet and oil outlet, hydraulic control valve specifically provides first hydraulic control valve 5 and second hydraulic control valve 6, the first inlet 51 of first hydraulic control valve is connected with the rodless cavity of control cylinder 7, the first inlet 61 of second hydraulic control valve is connected with the rod cavity of control cylinder 7, the second inlet 52 of first hydraulic control valve is connected with second oil outlet, the second inlet 62 of second hydraulic control valve is connected with first oil outlet, the outlet 53 of first hydraulic control valve is connected with the outlet 63 of second hydraulic control valve, and oil tank 14 is connected with the outlet 63 of second hydraulic control valve;The rodless cavity end of control cylinder 7 is connected with the fixing device of manipulator, and the rod cavity end is connected with the clamping jaw of manipulator, and control cylinder 7 controls the closing and opening of manipulator by telescopic, and the rodless cavity and rod cavity of control cylinder 7 are connected with the outlet of first check valve 3 and second check valve 4 respectively, and the hydraulic oil of first oil outlet flows into control cylinder 7 by rodless cavity, so that the piston rod of control cylinder 7 extends, for controlling manipulator closing, the hydraulic oil of second oil outlet flows into control cylinder 7 by rod cavity, so that the piston rod of control cylinder 7 retracts, for controlling manipulator opening, and the hydraulic oil of first oil outlet can enter the second inlet 62 of second hydraulic control valve from second hydraulic control valve, so that the hydraulic oil of rod cavity flows out, it needs to be explained that the hydraulic oil of rod cavity is used to control piston rod to retract, in turn, the clamping jaw of manipulator is opened, and the hydraulic oil of second oil outlet can enter the second inlet 52 of first hydraulic control valve from first hydraulic control valve, so that the hydraulic oil of rodless cavity flows out, it needs to be explained that the hydraulic oil of rodless cavity is used to control piston rod to extend, in turn, the clamping jaw of manipulator is closed.
[0024] The hydraulic control system of the mechanical hand of the embodiment hardly needs electricity, and the only possible electric component is the oil suction device 8, but the oil suction device 8 can be arranged at a position far from the explosion-proof site, and can be in a different space from the mechanical hand body, and is safer to use, and can be applied to more occasions, and the hydraulic oil flowing out of the first oil outlet is used to control the opening of the second hydraulic control valve 6, and the hydraulic oil flowing out of the second oil outlet is used to control the opening of the first hydraulic control valve 5, which is equivalent to that the hydraulic oil of the oil circuit for closing the clamping jaw makes the second hydraulic control valve 6 open, at this time, the hydraulic oil for opening the control cylinder 7 flows back to the oil tank 14 through the second hydraulic control valve 6, and the mechanical hand body loses the opening force, and the hydraulic oil of the closing oil circuit reaches the control cylinder 7 at the same time, and the mechanical hand body obtains the closing force and can close and grasp the object, in the normal working state, the opening oil circuit can reliably maintain the working state, and only when the hydraulic oil of the oil circuit for closing the clamping jaw flows to the second hydraulic control valve 6 and acts, the second hydraulic control valve 6 is opened, so as to prevent accidental oil circuit conduction, thereby ensuring the safe operation of the equipment, otherwise, when the mechanical hand body is grasping the object and needs to be released, the hydraulic oil flowing out of the second oil outlet reaches the first hydraulic control valve 5 and the control cylinder 7 at almost the same time, the hydraulic oil reaching the first hydraulic control valve 5 controls the opening of the first hydraulic control valve 5, the hydraulic oil for opening the mechanical hand body flows back to the oil tank 14 through the first hydraulic control valve 5, and the hydraulic oil passing through the first check valve 3 reaches the control cylinder 7, thereby controlling the mechanical hand body to close.
[0025] In some embodiments, the oil suction device 8 is a bidirectional oil pump, and a third check valve 10 is arranged on the connecting pipeline between the first oil inlet of the bidirectional oil pump and the oil tank 14, and a fourth check valve 9 is arranged on the connecting pipeline between the second oil inlet of the bidirectional oil pump and the oil tank 14. The third check valve 10 and the fourth check valve 9 are used to prevent the backflow of hydraulic oil, and the bidirectional oil pump as the oil suction device 8 can provide hydraulic oil flow in two directions, which matches the design of the oil circuit for bidirectional control of the mechanical hand to close and open. When the mechanical hand needs to be closed, the bidirectional oil pump can deliver hydraulic oil to the control cylinder 7 through one oil outlet; and when the mechanical hand needs to be opened, the bidirectional oil pump can provide hydraulic oil from the other oil outlet, thereby ensuring the diversity of the supply direction of the hydraulic oil required by the action of the mechanical hand. In the automatic production line, the mechanical hand needs to frequently grasp and place the object, and the bidirectional oil pump can quickly switch the oil outlet direction according to the control signal, thereby meeting the needs of the hydraulic oil in different action stages of the mechanical hand.
[0026] It should be noted that the oil suction device 8 can also adopt other kinds of devices, but needs to have two different oil outlets, for example, two one-way oil pumps can be combined.
[0027] In some embodiments, the first hydraulic control valve 5 is a first hydraulic control check valve, and the second hydraulic control valve 6 is a second hydraulic control check valve. The hydraulic control check valve can reverse the flow of the check valve, can quickly respond to the flow direction and pressure of the control fluid, and has the function of the check valve. It should be noted that the hydraulic control valve can also use other types of devices, such as a two-way hydraulic lock, etc. The two-way hydraulic lock can achieve reliable locking function at both oil ports. When one oil port is filled with oil, the other oil port is locked to prevent backflow of oil, which can basically achieve the function of the hydraulic control check valve.
[0028] In some embodiments, the manipulator hydraulic control system further comprises a pressure control device, which is provided with a first oil inlet, a second oil inlet and an oil outlet. The first oil inlet of the pressure control device is connected with the oil suction device 8, the second oil inlet is connected with the outlet of the check valve, and the oil outlet is connected with the oil tank 14. The pressure control device is used to control the pressure of the oil path for opening and closing the gripper, and to unload. The oil outlet of the pressure control device is connected with the oil tank 14, and has an unloading function. After the manipulator completes a motion cycle, such as grabbing and placing an object, the hydraulic oil in the system may be in a high pressure state, or the pressure value reaches a preset value. The pressure control device can release the excess pressure, and directly return the hydraulic oil to the oil tank 14, which not only protects the hydraulic elements in the system from damage caused by excessive pressure, but also reduces energy waste. For example, in the automatic production line with frequent actions, the manipulator continuously performs closing and opening operations. The unloading function of the pressure control device can effectively reduce the energy consumption of the system and improve the working efficiency of the system.
[0029] In some embodiments, the pressure control device is provided with two first and second pressure control devices 1 and 2. The first oil inlet of the first pressure control device 1 is connected with the first oil outlet, the second oil inlet is connected with the outlet of the first check valve 3, and the oil outlet is connected with the oil tank 14. The first oil inlet of the second pressure control device 2 is connected with the second oil outlet, the second oil inlet is connected with the outlet of the second check valve 4, and the oil outlet is connected with the oil tank 14. The two pressure control devices are provided to enable independent pressure control of the two oil paths for controlling the closing and opening of the manipulator, so that the unloading process can be optimized according to the actual working conditions of the two oil paths. After the manipulator completes a motion, the pressure in different oil paths may be different. For example, after the manipulator grabs an object, the oil path for controlling closing may be in a high pressure state, while the oil path for controlling opening has a lower pressure. At this time, the first pressure control device 1 can unload the closing oil path to return the excess hydraulic oil to the oil tank 14, and the second pressure control device 2 can decide whether to perform unloading operation according to the pressure condition of the opening oil path. The separate unloading mode can more efficiently utilize energy, reduce unnecessary pressure loss and energy waste.
[0030] In some embodiments, the first pressure control device 1 is a first unloading valve, and the second pressure control device 2 is a second unloading valve. The unloading valve can accurately set the unloading pressure according to the specific working requirements. For the first unloading valve, it can be set according to the maximum safety pressure required for the closing action of the manipulator, and when the oil line pressure exceeds this value, it will automatically unload; the second unloading valve is the same, used to control the pressure of the opening action oil line. This accurate pressure setting can ensure that the manipulator can operate within a safe pressure range under different working conditions, such as grasping objects of different weights.
[0031] It should be noted that the pressure control device can also use other types of devices, but it needs to be able to achieve the function related to the pressure valve and be able to unload, such as a two-way cartridge valve, which is a hydraulic valve based on a cone valve. By controlling the opening and closing of the plug (cone valve), various hydraulic functions can be achieved, including unloading. In the unloading circuit, the main oil port can be controlled by a smaller pilot control oil port. When the pressure of the pilot control oil port reaches a certain value, the plug opens, allowing the oil in the main oil line to flow back to the tank 14, achieving the purpose of unloading. The characteristics are large flow capacity and fast response speed.
[0032] In some embodiments, the control oil cylinder 7 is a double-acting hydraulic cylinder, which can provide power in both directions. In the manipulator hydraulic control system, it can realize the bidirectional action of the manipulator, which can control the closing and grasping action of the manipulator, and also realize the opening and releasing action of the manipulator. When hydraulic oil enters from one oil port, the piston pushes the piston rod to extend, realizing one action; when hydraulic oil enters from the other oil port, the piston drives the piston rod to retract, completing the opposite action.
[0033] Embodiment Two
[0034] This embodiment also provides a manipulator, which comprises a manipulator body and a manipulator hydraulic control system as described in Embodiment One, the manipulator hydraulic control system being used to control the closing and opening of the manipulator body, the fixing device being arranged as a fixing seat, a rotating shaft being arranged on the fixing seat, the manipulator body comprising a first petal body and a second petal body, one end of the first petal body and the second petal body being rotatably connected through the rotating shaft 13, and the other end being used to grasp objects, which can stably and safely grasp objects and can be applied to various different scenes.
[0035] In some embodiments, the first and second petals are both V-shaped petals, the V-shaped petals comprising a first fixed leg 11 and a second fixed leg 12 fixedly connected, the first fixed leg 11 of the first petal and the first fixed leg 11 of the second petal being rotationally connected, and the first fixed leg 11 of the first petal and the first fixed leg 11 of the second petal both being provided with a control oil cylinder 7, which are respectively a first control oil cylinder and a second control oil cylinder, the rodless cavity end of the first control oil cylinder being hinged to the rotating shaft 13, the rod cavity end being rotationally connected to the first fixed leg 11 of the first petal, and the rodless cavity end of the second control oil cylinder 7 being hinged to the rotating shaft 13, the rod cavity end being rotationally connected to the first fixed leg 11 of the second petal. In the working process, the two control oil cylinders 7 act in concert and make the same motion state, and the closing and opening angles of the petals and the grabbing force applied to the object can be flexibly adjusted according to the shape, size and weight of the object, and the possibility of shaking and sliding of the object in the grabbing process is reduced.
[0036] The principle and implementation mode of the specific examples are described in the utility model, and the above embodiment is only used for helping to understand the method and core idea of the utility model; meanwhile, for the general skilled in the art, the specific implementation mode and application range will be changed according to the idea of the utility model. In conclusion, the content of the specification should not be understood as the limitation of the utility model.
Claims
1. A robot hydraulic control system, characterized by: The oil suction device, the one-way valve and the hydraulic control valve are connected with the oil tank, and are used for sucking hydraulic oil in the oil tank, and the oil suction device is provided with two oil outlets, which are a first oil outlet and a second oil outlet; the one-way valve comprises a first one-way valve and a second one-way valve, the inlets of the first one-way valve and the second one-way valve are connected with the first oil outlet and the second oil outlet of the oil suction device respectively; the hydraulic control valve can realize bidirectional oil inlet and outlet, and comprises a first hydraulic control valve and a second hydraulic control valve, the first inlet of the first hydraulic control valve is connected with the rodless chamber of the control oil cylinder of the manipulator, the first inlet of the second hydraulic control valve is connected with the rod chamber of the control oil cylinder of the manipulator, the second inlet of the first hydraulic control valve is connected with the second oil outlet, the second inlet of the second hydraulic control valve is connected with the first oil outlet, and the outlets of the first hydraulic control valve and the second hydraulic control valve are connected with the oil tank; the rodless chamber end of the control oil cylinder is connected with the fixing device of the manipulator, the rod chamber end is connected with the clamping jaw of the manipulator, the control oil cylinder controls the closing and opening of the manipulator through stretching and retracting, the rodless chamber and the rod chamber of the control oil cylinder are connected with the outlets of the first one-way valve and the second one-way valve respectively, the hydraulic oil flowing out of the first oil outlet enters the control oil cylinder through the rodless chamber, so that the piston rod of the control oil cylinder extends, and the manipulator is controlled to close, the hydraulic oil flowing out of the second oil outlet enters the control oil cylinder through the rod chamber, so that the piston rod of the control oil cylinder retracts, and the manipulator is controlled to open, the hydraulic oil flowing out of the first oil outlet can enter the second inlet of the second hydraulic control valve to open the outlet of the second hydraulic control valve, and is used for controlling the hydraulic oil flowing out to open the manipulator, and the hydraulic oil flowing out of the second oil outlet can enter the second inlet of the first hydraulic control valve to open the outlet of the first hydraulic control valve, and is used for controlling the hydraulic oil flowing out to close the manipulator.
2. The robot hydraulic control system according to claim 1, characterized by: The oil suction device is a bidirectional oil pump, and the bidirectional oil pump is provided with a first oil inlet and a second oil inlet, the first oil inlet is connected with the oil tank and is provided with a third one-way valve on a connecting pipeline, and the second oil inlet is connected with the oil tank and is provided with a fourth one-way valve on a connecting pipeline.
3. The robot hydraulic control system according to claim 1, characterized by: The first hydraulic control valve is a first hydraulic control one-way valve, and the second hydraulic control valve is a second hydraulic control one-way valve.
4. The robot hydraulic control system according to claim 1, characterized by: The pressure control device is further provided with a first oil inlet, a second oil inlet and an oil outlet, the first oil inlet of the pressure control device is connected with the oil suction device, the second oil inlet is connected with the outlet of the one-way valve, and the oil outlet is connected with the oil tank, the pressure control device is used for controlling the pressure of the oil circuit and unloading.
5. The robot hydraulic control system according to claim 4, wherein: The pressure control device is provided with two first pressure control devices and second pressure control devices, the first inlet of the first pressure control device is connected with the first oil outlet, the second inlet is connected with the outlet of the first one-way valve, and the oil discharge port is connected with the oil tank; the first inlet of the second pressure control device is connected with the second oil outlet, the second inlet is connected with the outlet of the second one-way valve, and the oil discharge port is connected with the oil tank.
6. The robot hydraulic control system according to claim 5, wherein: The first pressure control device is a first unloading valve, and the second pressure control device is a second unloading valve.
7. The robot hydraulic control system of claim 1, wherein: The control oil cylinder is a double-acting hydraulic cylinder.
8. A robot, characterized in that: The mechanical hand hydraulic control system is used for controlling the closing and opening of the mechanical hand body.
9. The robot of claim 8, wherein: The fixing device is a rotating shaft, the mechanical hand body includes a first petal body and a second petal body, one end of the first petal body and the second petal body is rotationally connected through the rotating shaft, and the other end is used for grabbing objects.
10. The robot of claim 9, wherein: The first petal body and the second petal body are V-shaped petal bodies, the V-shaped petal body includes a first fixed leg and a second fixed leg which are fixedly connected, the first fixed leg of the first petal body is rotationally connected with the first fixed leg of the second petal body, the first fixed leg of the first petal body and the first fixed leg of the second petal body are both provided with the control oil cylinder, which are respectively a first control oil cylinder and a second control oil cylinder, the rodless cavity end of the first control oil cylinder is hinged with the rotating shaft, and the rod cavity end is fixedly connected with the first fixed leg of the first petal body, the rodless cavity end of the second control oil cylinder is hinged with the rotating shaft, and the rod cavity end is fixedly connected with the first fixed leg of the second petal body.