Multi-knuckle clamping jaw quick action changing device

Abstract

The utility model discloses a quick action changing device for a multi-knuckle clamping jaw in the field of hydraulic control systems, which is characterized in that a hydraulic oil tank is connected with an inlet of a constant delivery pump, an outlet A1 of the constant delivery pump is connected with an oil inlet B2 of a priority two-position three-way valve, an oil outlet B3 of the priority two-position three-way valve is communicated with an oil inlet B5 of a three-position three-way valve, and the three-position three-way valve is communicated with an oil outlet A1 of a three-position three-way valve. The three-position three-way valve is provided with an oil outlet A4 and an oil outlet A5, an oil way between the oil outlet A5 of the three-position three-way valve and a control oil port A2 of the priority two-position three-way valve is connected with an oil inlet k2 of the two-way adjusting overflow valve through a parallel oil port H1, an oil outlet t1 of the two-way adjusting overflow valve is connected with the hydraulic oil tank, the oil outlet A4 of the three-position three-way valve is connected with an inlet A3 of the energy accumulator, and the oil outlet t2 of the energy accumulator is connected with an oil outlet t3 of the priority two-position three-way valve. And the inlet A3 of the energy accumulator is also connected in parallel with the action executing mechanism. According to the utility model, the working state of the quick-retracting oil cylinder and the working state of the quick-stretching oil cylinder can be quickly switched, the system response time is shorter, the action of the actuating mechanism is quicker, and the energy transmission efficiency is higher.

Description

Technical Field

[0001] This utility model belongs to the field of hydraulic control systems, and specifically relates to a multi-finger gripper quick-change action device. Background Technology

[0002] Construction machinery often requires the design of mechanical systems that need to frequently switch between actions, such as multi-finger grippers. The movements of multi-finger grippers are typically driven by hydraulic cylinders, which necessitates that the cylinder piston rod have a rapid extension and retraction response speed. Similarly, other actuators in construction machinery also require short system response times and rapid transitions between actuators. Currently, there is a lack of hydraulic systems in existing technology that can achieve rapid action switching for actuators (such as hydraulic cylinders). The key lies in how to reduce system response time and optimize energy transfer efficiency. Utility Model Content

[0003] The purpose of this invention is to provide a multi-joint gripper quick-change action device that enables the quick-retracting hydraulic cylinder and the quick-extending hydraulic cylinder to switch working states quickly, resulting in a shorter system response time, faster actuator action, and higher energy transfer efficiency.

[0004] The purpose of this utility model is achieved as follows: A multi-finger gripper quick-change action device includes a hydraulic oil tank, which is connected to the inlet of a fixed displacement pump. The outlet A1 of the fixed displacement pump is connected to the inlet B2 of a priority two-position three-way valve. The priority two-position three-way valve is provided with outlets B3 and B4. The outlet B4 of the priority two-position three-way valve is connected to the hydraulic oil tank. The outlet B3 of the priority two-position three-way valve is connected to the inlet B5 of a three-position three-way valve. The three-position three-way valve is provided with outlets A4 and A5. A control valve for moving the valve core to the right is provided on the left side of the priority two-position three-way valve. Oil port A2, oil outlet A5 of the three-position three-way valve is connected to the control oil port A2 of the priority two-position three-way valve via an oil circuit. The oil circuit between the oil outlet A5 of the three-position three-way valve and the control oil port A2 of the priority two-position three-way valve is connected to the inlet k2 of the bidirectional regulating relief valve via a parallel oil port H1. The outlet A1 of the fixed displacement pump is connected in parallel with the other inlet B1 of the bidirectional regulating relief valve. The outlet t1 of the bidirectional regulating relief valve is connected to the hydraulic oil tank. The outlet A4 of the three-position three-way valve is connected to the inlet A3 of the accumulator. The inlet A3 of the accumulator is also connected in parallel with the actuating mechanism.

[0005] To achieve constant power output from the hydraulic pump, this invention employs a constant-speed motor to output constant power and flow rate. As the motor rotates, the fixed-displacement pump outputs high-pressure hydraulic oil, which enters the inlet B2 of the priority two-position three-way valve, then from the outlet B3 into the inlet B5 of the three-position three-way valve, and finally from the outlet A4 into the accumulator A3. When the accumulator reaches a set pressure of 15 MPa, the three-position three-way valve, under the action of the high-pressure oil, enters the control port k4, pushing the valve core of the three-position three-way valve to the right. The inlet B5 and outlet A5 of the three-position three-way valve are then connected, and the high-pressure oil flows through outlet A5... The parallel oil port H1 reaches the inlet k2 of the bidirectional regulating relief valve. The pressure set at inlet k2 is slightly lower than the accumulator pressure. The oil flows through inlet k2 to outlet t1 and enters the hydraulic tank to complete unloading. Similarly, if the parallel oil port H1 to inlet k2 is stuck, the high-pressure oil charged to the set pressure of 14.5 MPa will flow through H1 to the control port A2 of the priority two-position three-way valve. The spring force on this side is set to be greater than 15 MPa, specifically 15.5 MPa. At MPa (the purpose is to prioritize unloading from H1-k2-t1), the high-pressure oil pushes open the 15.5 MPa spring, causing the valve core of the priority two-position three-way valve to move to the right, connecting oil outlets B3 and B4. The high-pressure oil is then unloaded from B3-B4 back to the oil tank. Similarly, a bidirectional regulating overflow valve is connected in parallel at the outlet A1 of the metering pump. During system operation, high-pressure oil flows from the outlet A1 of the metering pump to the inlet B1 of the bidirectional regulating overflow valve. The unloading pressure set at the inlet B1 is 15 MPa. If the system exceeds the unloading state mentioned above, it can also unload back to the oil tank from A1-B1-t1 to protect the system. Compared with the prior art, the beneficial effects of this utility model are: it enables the quick-retraction cylinder and quick-extension cylinder to quickly switch working states, resulting in a shorter system response time, faster actuator action, and higher energy transfer efficiency. The quick-retraction cylinder and quick-extension cylinder of this utility model can be used to control the rapid switching action of the multi-finger gripper, realizing the action switching of clamping or releasing workpieces.

[0006] As a further improvement of this utility model, the actuating mechanism includes a quick-change valve. The inlet of the quick-change valve is connected to the inlet A3 of the accumulator, and the outlet of the quick-change valve is connected to the rod chamber port C1 of the quick-retracting cylinder. The rodless chamber port C2 of the quick-retracting cylinder is connected to the rodless chamber port C3 of the quick-extending cylinder. The rod chamber port t3 of the quick-extending cylinder is connected to the hydraulic oil tank via a pipeline. A speed regulating valve is provided on the pipeline. Both the quick-retracting cylinder and the quick-extending cylinder have built-in springs in their rodless chambers. When the quick-change device needs to operate, its actuators are a quick-retracting cylinder and a quick-extending cylinder with built-in springs. The quick-change valve has a button; pressing the (electrically controllable) button switches the valve core, connecting A3-C1. High-pressure oil from the accumulator directly enters the quick-retracting cylinder, causing its piston rod to retract. Internal oil then enters the rodless chamber of the quick-extending cylinder via C2-C3, causing the piston rod to extend rapidly. The T3 return port of the quick-extending cylinder, through a speed control valve, regulates the cylinder's speed and enters the hydraulic oil tank. The pipeline connected to the T3 return port of the quick-extending cylinder must be installed below the hydraulic oil level in the tank. This is primarily to ensure that releasing the (electrically controllable) quick-change valve button causes the quick-retracting and quick-extending cylinders to perform opposite actions. Under the action of their internal springs, the quick-retracting and quick-extending cylinders need to draw oil from the tank via pipelines for replenishment.

[0007] As a further improvement of this utility model, the left side of the three-position three-way valve is provided with a control oil port k4 for controlling the valve core to move to the right, and the oil outlet A4 of the three-position three-way valve is connected to the control oil port k4 through the control oil circuit.

[0008] As a further improvement of this utility model, the energy storage setting pressure of the accumulator is 15 MPa, the spring control force at the control port A2 of the priority two-position three-way valve is 15.5 MPa, and the unloading control forces at the inlet k2 and inlet B1 of the bidirectional regulating overflow valve are 14.5 MPa and 15 MPa, respectively.

[0009] As a further improvement of this utility model, the pipeline is installed below the hydraulic oil level in the hydraulic oil tank. This facilitates the quick-retracting cylinder and quick-extending cylinder drawing oil from the oil tank via the pipeline for fluid replenishment. Attached Figure Description

[0010] Figure 1 This is a schematic diagram illustrating the working principle of this utility model.

[0011] The components include: 1. Motor; 2. Fixed displacement pump; 3. Hydraulic oil tank; 4. Two-way regulating overflow valve; 5. Priority two-position three-way valve; 6. Three-position three-way valve; 7. Accumulator; 8. Quick-change valve; 9. Quick-retract cylinder; 10. Quick-extension cylinder; 11. Speed ​​control valve; 12. Pipeline. Detailed Implementation

[0012] like Figure 1The diagram shows a multi-finger gripper quick-change mechanism, comprising a hydraulic oil tank 3 connected to the inlet of a fixed displacement pump 2. The outlet A1 of the fixed displacement pump 2 is connected to the inlet B2 of a priority two-position three-way valve 5. The priority two-position three-way valve 5 has outlets B3 and B4. The outlet B4 of the priority two-position three-way valve 5 is connected to the hydraulic oil tank 3. The outlet B3 of the priority two-position three-way valve 5 is connected to the inlet B5 of a three-position three-way valve 6. The three-position three-way valve 6 has outlets A4 and A5. A control port A2 is located on the left side of the priority two-position three-way valve 5 to control the movement of the valve core to the right. The outlet A5 of the three-position three-way valve 6 is connected to the control port A2 of the priority two-position three-way valve 5 via an oil circuit. The oil circuit between the outlet A5 of the three-position three-way valve 6 and the control port A2 of the priority two-position three-way valve 5 is connected to the inlet k2 of the bidirectional regulating relief valve 4 via a parallel oil port H1. The outlet A1 of the fixed displacement pump 2 is connected in parallel to the other inlet B1 of the bidirectional regulating relief valve 4. The outlet t1 of the bidirectional regulating relief valve 4 is connected to the hydraulic oil tank 3. The outlet A4 of the three-position three-way valve 6 is connected to the inlet A3 of the accumulator 7. The inlet A3 of the accumulator 7 is also connected in parallel to the actuator. A control port k4 is provided on the left side of the three-position three-way valve 6 to control the movement of the valve core to the right. The outlet A4 of the three-position three-way valve 6 is connected to the control port k4 via a control oil circuit. The energy storage setting pressure of accumulator 7 is 15 MPa, the spring control force at the control port A2 of priority two-position three-way valve 5 is 15.5 MPa, and the unloading control forces at the inlet k2 and inlet B1 of bidirectional regulating overflow valve 4 are 14.5 MPa and 15 MPa, respectively.

[0013] The actuator includes a quick-change valve 8, the inlet of which is connected to the inlet A3 of the accumulator 7, and the outlet of which is connected to the rod-side port C1 of the quick-retracting cylinder 9. The rodless-side port C2 of the quick-retracting cylinder 9 is connected to the rodless-side port C3 of the quick-extending cylinder 10. The rod-side port C3 of the quick-extending cylinder 10 is connected to the hydraulic oil tank 3 via a pipeline 12. A speed regulating valve 11 is installed on the pipeline 12, which is installed below the hydraulic oil level in the hydraulic oil tank 3 to facilitate the quick-retracting cylinder 9 and the quick-extending cylinder 10 to draw oil from the tank and replenish the hydraulic fluid via the pipeline 12. Both the quick-retracting cylinder 9 and the quick-extending cylinder 10 have built-in springs in their rodless-side chambers. When the quick-change device needs to operate, its actuators are a quick-retracting cylinder 9 and a quick-extending cylinder 10 with built-in springs. A button is located on the quick-change valve 8. Pressing the button (which can be electrically controlled) switches the valve core of the quick-change valve 8, connecting A3 and C1. High-pressure oil in the accumulator 7 directly enters the quick-retracting cylinder 9, causing the piston rod of the quick-retracting cylinder 9 to retract. The internal oil then flows through C2- C3 enters the rodless chamber of the quick-extension cylinder 10, and the piston rod of the quick-extension cylinder 10 extends outward rapidly. The t3 return port of the quick-extension cylinder 10 enters the hydraulic oil tank 3 through the speed regulating valve 11 to stabilize the speed of the cylinder. The pipeline 12 connected to the t3 return port of the quick-extension cylinder 10 must be installed below the liquid level in the hydraulic oil tank 3. This is mainly to enable the quick-change valve 8 button to be released (electrically controlled), and the quick-retraction cylinder 9 and the quick-extension cylinder 10 to complete the opposite action. Under the action of the spring inside, the quick-retraction cylinder 9 and the quick-extension cylinder 10 need to draw oil from the oil tank through the pipeline 12 to replenish the fluid.

[0014] To achieve constant power output from the hydraulic pump, this invention employs a constant-speed motor 1 with constant power and flow rate. When motor 1 rotates, the fixed-displacement pump 2 outputs high-pressure hydraulic oil, which enters the inlet B2 of the priority two-position three-way valve 5, then from the outlet B3 into the inlet B5 of the three-position three-way valve 6, and finally from the outlet A4 into the accumulator 7 A3. When the accumulator 7 stores energy to 15 MPa (set), the three-position three-way valve 6, under the action of the high-pressure oil, enters the control port k4, pushing the valve core of the three-position three-way valve 6 to the right. The inlet B5 and outlet A5 of the three-position three-way valve 6 are then connected, and the high-pressure oil flows through outlet A5... The parallel oil port H1 reaches the inlet k2 of the bidirectional regulating relief valve 4. The pressure set at inlet k2 is slightly lower than the accumulator pressure. After passing through inlet k2 to outlet t1, the oil enters the hydraulic oil tank 3 to complete the unloading. Similarly, if the parallel oil port H1 to inlet k2 is stuck, the high-pressure oil charged to the set pressure value of 14.5 MPa will pass through H1 to the control port A2 of the priority two-position three-way valve 5. The spring force on this side is set to be greater than 15 MPa, and is set to 15.5 MPa. At MPa (the purpose is to prioritize unloading from H1-k2-t1), the high-pressure oil pushes open the 15.5 MPa spring, causing the valve core of the two-position three-way valve 5 to move to the right, connecting the oil outlets B3 and B4. The high-pressure oil is then unloaded from B3-B4 back to the oil tank. Similarly, a bidirectional regulating overflow valve 4 is connected in parallel at the outlet A1 of the metering pump 2. During system operation, high-pressure oil flows from the outlet A1 of the metering pump 2 to the inlet B1 of the bidirectional regulating overflow valve 4. The unloading pressure set at the inlet B1 is 15 MPa. If the system exceeds the unloading state mentioned above, it can also unload back to the oil tank from A1-B1-t1 to protect the system. The advantages of this utility model are: it enables the quick-retraction cylinder 9 and the quick-extension cylinder 10 to quickly switch working states, resulting in a shorter system response time, faster actuator action, and higher energy transfer efficiency. The quick-retraction and quick-extension cylinders of this utility model can be used to control the rapid switching action of the multi-finger gripper, realizing the action switching of clamping or releasing workpieces.

[0015] This utility model is not limited to the above embodiments. Based on the technical solutions disclosed in this utility model, those skilled in the art can make some substitutions and modifications to some of the technical features without creative labor, and these substitutions and modifications are all within the protection scope of this utility model.

Claims

1. A multi-finger gripper quick-change action device, comprising a hydraulic oil tank, characterized in that, The hydraulic oil tank is connected to the inlet of the fixed displacement pump, and the outlet A1 of the fixed displacement pump is connected to the inlet B2 of the priority two-position three-way valve. The priority two-position three-way valve is provided with outlets B3 and B4. The outlet B4 of the priority two-position three-way valve is connected to the hydraulic oil tank, and the outlet B3 of the priority two-position three-way valve is connected to the inlet B5 of the three-position three-way valve. The three-position three-way valve is provided with outlets A4 and A5. The left side of the priority two-position three-way valve is provided with a control port A2 for controlling the movement of the valve core to the right, and the outlet A5 of the three-position three-way valve is connected to the hydraulic oil tank. The oil path is connected to the control port A2 of the priority two-position three-way valve. The oil path between the outlet A5 of the three-position three-way valve and the control port A2 of the priority two-position three-way valve is connected to the inlet k2 of the bidirectional regulating relief valve via the parallel port H1. The outlet A1 of the fixed pump is connected in parallel with the inlet B1 on the other side of the bidirectional regulating relief valve. The outlet t1 of the bidirectional regulating relief valve is connected to the hydraulic oil tank. The outlet A4 of the three-position three-way valve is connected to the inlet A3 of the accumulator. The inlet A3 of the accumulator is also connected in parallel with the actuator.

2. The multi-finger gripper quick-change action device according to claim 1, characterized in that, The actuator includes a quick-change valve. The inlet of the quick-change valve is connected to the inlet A3 of the accumulator. The outlet of the quick-change valve is connected to the rod chamber port C1 of the quick-retracting cylinder. The rodless chamber port C2 of the quick-retracting cylinder is connected to the rodless chamber port C3 of the quick-extending cylinder. The rod chamber port t3 of the quick-extending cylinder is connected to the hydraulic oil tank via a pipeline. A speed regulating valve is installed on the pipeline. Both the quick-retracting cylinder and the quick-extending cylinder have built-in springs in their rodless chambers.

3. A multi-finger gripper quick-change action device according to claim 1 or 2, characterized in that, The left side of the three-position three-way valve is provided with a control oil port k4 for controlling the valve core to move to the right, and the oil outlet A4 of the three-position three-way valve is connected to the control oil port k4 through the control oil circuit.

4. A multi-finger gripper quick-change action device according to claim 1 or 2, characterized in that, The energy storage setting pressure of the accumulator is 15 MPa, the spring control force at the control port A2 of the priority two-position three-way valve is 15.5 MPa, and the unloading control forces at the inlet k2 and inlet B1 of the bidirectional regulating overflow valve are 14.5 MPa and 15 MPa, respectively.

5. The multi-finger gripper quick-change action device according to claim 2, characterized in that, The pipeline is installed below the hydraulic oil level in the hydraulic tank.

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