CN101502965B - Hydraulic driving mechanical wrist part structure - Google Patents
Hydraulic driving mechanical wrist part structure Download PDFInfo
- Publication number
- CN101502965B CN101502965B CN200910071579XA CN200910071579A CN101502965B CN 101502965 B CN101502965 B CN 101502965B CN 200910071579X A CN200910071579X A CN 200910071579XA CN 200910071579 A CN200910071579 A CN 200910071579A CN 101502965 B CN101502965 B CN 101502965B
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- China
- Prior art keywords
- wrist
- output shaft
- motor output
- pedestal
- oil
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 113
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 41
- 239000003921 oil Substances 0.000 claims description 31
- 238000007789 sealing Methods 0.000 claims description 22
- 239000012530 fluid Substances 0.000 claims description 10
- 239000000446 fuel Substances 0.000 claims description 8
- 239000010426 asphalt Substances 0.000 claims description 6
- 239000010727 cylinder oil Substances 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 208000002925 dental caries Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The invention provides a wrist structure of hydraulic driving mechanical arm which comprises a wrist part base, a cycloid motor component, a wrist part outer casing, a wrist part end cover, a motor output shaft, a piston rod, a paw base, an oil way bolt and a sensor. The wrist structure of hydraulic driving mechanical arm is characterized in that the wrist part outer casing is installed on the wrist part base. The oil way bolt is connected with the wrist part end cover and the wrist part outer casing and supplies oil to the piston rod. The cycloid motor component and the motor output shaft are arranged on the inside of the wrist part outer casing. The piston rod is installed in an empty cavity on one side of the motor output shaft. The wrist part end cover and the paw base seal the end surface of the wrist part outer casing. The sensor is installed in the empty cavity of the wrist part base and is connected with the motor output shaft. An oil supply pipe of the hydraulic driving mechanical wrist part structure is internally arranged, has the advantages of compact structure and light weight and can realize continuous gyrus of 360 degrees.
Description
(1) technical field
What the present invention relates to is a kind of modular construction of robot, specifically a kind of hydraulic driving mechanical wrist part structure.
(2) background technology
In the last few years, the Robotics development was very rapid, and robot has obtained extensive use in fields such as industry, agricultural, service, medical treatment, military affairs.Manipulator is the important branch of Robotics, can accomplish various predict tasks.Manipulator can be divided into electricity driving, pneumatic, hydraulic-driven by its type of drive.Hydraulic driving mechanical have motion steadily, load capacity is big, rapidity good, can realize advantage such as infinitely variable speeds, extensively is applied to heavily loaded operation occasions such as underwater operation.Mechanical wrist part is the critical component of manipulator, and its flexibility, accuracy have determined flexibility, the accuracy of manipulator to a great extent.Therefore design volume is little, and the mechanical wrist part that flexibility is good is of great significance.
Present disclosed manipulator wrist structure has many kinds, and mainly by U.S. Rosheim company, Japanese NEC Corporation mostly is to utilize transmission mechanisms such as sector gear, planetary gear, differential gearing, nut screw, complex structure, and all be electrically driven (operated).Present hydraulically powered wrist part structure adopts mostly independently that hydraulic motor directly is connected with hydraulic cylinder, and fuel feed pump is external, and is bulky, produces interference with external object easily during motion, influences the kinematic dexterity of manipulator.
(3) summary of the invention
The object of the present invention is to provide a kind of compact conformation, in light weight, can realize 360 ° of continuous rotating a kind of hydraulic driving mechanical wrist part structures.
The objective of the invention is to realize like this:
The composition of hydraulic driving mechanical wrist part structure comprises wrist pedestal, gerotor motor assembly, wrist shell, wrist end cap, motor output shaft, piston rod, paw pedestal, oil circuit bolt and sensor; The wrist shell is installed on the wrist pedestal; The oil circuit bolt connects wrist end cap and wrist shell, is processed with oilhole on the oil circuit bolt; Gerotor motor assembly and motor output shaft are installed in the wrist enclosure, and piston rod is installed in the motor output shaft one side cavity, and wrist end cap and paw pedestal are sealed the end face of wrist shell; Sensor is installed in the wrist pedestal cavity, and links to each other with motor output shaft.
The present invention can also comprise:
1, open 5 hydraulic fluid ports on the wrist pedestal and be connected with clack box through fuel feed pump, wherein 3 hydraulic fluid ports are respectively oil-in, oil-out and drain tap to the gerotor motor fuel feeding, and 2 hydraulic fluid ports link to each other with the hydraulic cylinder oil inlet and outlet through the oil circuit bolt in addition.
2, be provided with first needle bearing 18, second needle bearing 22, the 3rd needle bearing 24 entad entad entad at the motor output shaft outer round surface; First needle roller thrust bearing 21 is installed between gerotor motor assembly 8 and motor output shaft 25; Second needle roller thrust bearing 17 is installed between locking nut 16 and motor output shaft 25.
3, second sealing ring 2 is set between paw pedestal 1 and the piston rod 26; The 4th sealing ring 4 is set between motor output shaft 25 and the wrist shell 6; 2 outer oil sumps of motor output shaft 25 peripheries processing link to each other with 2 inner oil sumps of wrist shell 6 inner headed faces processing, and rotating seal ring 5 is set between oil groove; The 7th sealing ring 7 is set between oil circuit bolt 9 and the wrist shell 6; Between oil circuit bolt 9 and the wrist end cap 10 the 11 sealing ring 11 is set; Between the asphalt channel the 12 sealing ring 12 is set on asphalt channel and the wrist end cap 10 on the wrist pedestal 14; Between wrist shell 6 and the wrist end cap 10 the 19 sealing ring 19 is set; Between motor output shaft 25 and the piston rod 26 the 23 sealing ring 23 is set.
The present invention has following beneficial effect:
1, as one, an end of gerotor motor output shaft is processed with cylindrical cavity the hydraulic cylinder that drives rotating gerotor motor of wrist and paw folding in the present invention, as the cylinder body of hydraulic cylinder, and compact conformation, in light weight;
2, the present invention adopts the gerotor motor assembly can make mechanical wrist part do 360 degree revolutions, can satisfy manipulator and turn round job requirements continuously;
3, the present invention to the hydraulic cylinder fuel feeding, has avoided external the generation with external object of oil pipe to interfere through the oil circuit bolt, has increased the manipulator job area;
4, sensor of the present invention is built in the wrist pedestal cavity, saves the space, simultaneously manipulator is accurately located.
(4) description of drawings
Fig. 1 is an overall structure sketch map of the present invention;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is the left view of Fig. 1.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1, the present invention is made up of paw pedestal 1, wrist shell 6, gerotor motor assembly 8, oil circuit bolt 9, wrist end cap 10, wrist pedestal 14, sensor 15, motor output shaft 25, piston rod 26; Wrist shell 6 is installed on the wrist pedestal 14; Oil circuit bolt 9 connects wrist end cap 10 and wrist shell 6, and to the piston rod fuel feeding; Gerotor motor assembly 8 is installed in wrist shell 6 internal cavities with motor output shaft; Piston rod 26 is installed in the side cavity of motor output shaft 25; Wrist end cap 11 and paw pedestal 1 are sealed the end face of wrist shell 6; Sensor 15 is installed in wrist pedestal 14 cavitys through bolt 13, and links to each other with motor output shaft 25; Paw pedestal 1 is connected through bolt 3 and wrist shell 6; Wrist shell 6, gerotor motor assembly 8 and wrist end cap 10 are connected through bolt 20; The wrist pedestal is connected through bolt 28 and wrist shell; Wrist pedestal and motor output shaft are connected through locking nut 16; Piston rod attachment 27 is connected through screw thread and piston rod 26; Entad needle bearing 18,22,24 is sleeved on the motor output shaft outer round surface; Needle roller thrust bearing 21 is installed between gerotor motor assembly 8 and the motor output shaft 25; Needle roller thrust bearing 17 is installed between locking nut 16 and the motor output shaft 25; Paw pedestal 1 seals through sealing ring 2 with piston rod 26; Motor output shaft 25 seals through sealing ring 4 with wrist shell 6; 2 outer oil sumps of motor output shaft 25 peripheries processing link to each other with 2 inner oil sumps of wrist shell 6 inner headed faces processing, seal through rotating seal ring 5 between oil groove; Oil circuit bolt 9 seals through sealing ring 7 with wrist shell 6; Oil circuit bolt 9 seals through sealing ring 11 with wrist end cap 10; On the wrist pedestal 14 on asphalt channel and the wrist end cap 10 asphalt channel through sealing ring 12 sealing; Wrist shell 6 seals through sealing ring 19 with wrist end cap 10; Motor output shaft 25 seals through sealing ring 23 with piston rod 26; Technology hydraulic fluid port on wrist shell 6 and wrist end cap 10 peripheries blocks through welding after processing.
In conjunction with Fig. 2, be processed with installing hole on the wrist pedestal 14, can link to each other with a last joint of manipulator; Be processed with installing hole on the paw pedestal 1, paw can be installed, hydraulic pressure such as cuts at the hydraulic-driven power tool.
In conjunction with Fig. 3, open 5 hydraulic fluid ports 29 on the wrist pedestal 14 and be connected with clack box through oil pipe, wherein 3 hydraulic fluid ports are respectively oil-in, oil-out and drain tap to the gerotor motor fuel feeding, and two hydraulic fluid ports link to each other with the hydraulic cylinder oil inlet and outlet through oil circuit bolt 9 in addition; Open 1 pickup wire interface 30 on the wrist pedestal 14.
The course of work of the present invention and principle are: as one, an end of gerotor motor output shaft 25 is processed with cylindrical cavity, as the cylinder body of hydraulic cylinder the hydraulic cylinder that makes rotating gerotor motor assembly of wrist and paw folding in the present invention.Wrist end cap 10 is connected through 4 bolts and wrist pedestal 14.Wrist shell 6 is connected with wrist end cap 10 through 4 bolts 20 and two oil circuit bolts 9.Gerotor motor assembly 8 is installed on through bolt 20 in the left side cavity of wrist shell 6, and gerotor motor assembly 8 and motor output shaft 25 are connected through spline, realizes that motion transmits, and motor output shaft 25 is connected through 6 bolts and paw pedestal 1.Be processed with installing hole on the paw pedestal 1, different hydraulic-driven power tools such as paw can be installed, hydraulic pressure is cut.Drive the gerotor motor rotation through the oil-in oil-feed on the wrist pedestal 14, rotate, realize that wrist rotates thereby drive motor output shaft rotation drive paw pedestal 1 through spline.Hydraulic oil flows into through the oil-in on the wrist pedestal 14, and the wrist end cap 10-oil circuit bolt 9-wrist shell 6-motor output shaft 25 of flowing through gets into the motor output shaft cavity, and piston rod 26 moves back and forth, thereby makes paw (paw is not drawn) realize open and close movement.The axial load that motor output shaft 25 receives is born by needle roller thrust bearing 17 and 21, and the radial load that motor output shaft 25 receives is born by needle bearing 18,22,24 entad.
For alleviating the weight of mechanical wrist part, wrist pedestal 14, wrist end cap 10, wrist shell 6, the 1 equal aluminium alloy material 5A06 processing of paw pedestal.
Claims (3)
1. hydraulic driving mechanical wrist part structure, its composition comprises wrist pedestal, gerotor motor assembly, wrist shell, wrist end cap, motor output shaft, piston rod, paw pedestal, oil circuit bolt and sensor; It is characterized in that: the wrist shell is installed on the wrist pedestal; The oil circuit bolt connects wrist end cap and wrist shell, is processed with oilhole on the oil circuit bolt; Gerotor motor assembly and motor output shaft are installed in the wrist enclosure, and piston rod is installed in the motor output shaft one side cavity, and wrist end cap and paw pedestal are sealed the end face of wrist shell; Sensor is installed in the wrist pedestal cavity, and links to each other with motor output shaft; Open 5 hydraulic fluid ports on the wrist pedestal and be connected with clack box through fuel feed pump, wherein 3 hydraulic fluid ports are respectively oil-in, oil-out and drain tap to the gerotor motor fuel feeding, and 2 hydraulic fluid ports link to each other with the hydraulic cylinder oil inlet and outlet through the oil circuit bolt in addition.
2. a kind of hydraulic driving mechanical wrist part structure according to claim 1 is characterized in that: be provided with first needle bearing [18], second needle bearing [22], the 3rd needle bearing [24] entad entad entad at the motor output shaft outer round surface; Between gerotor motor assembly [8] and motor output shaft [25], first needle roller thrust bearing [21] is installed; Between locking nut [16] and motor output shaft [25], second needle roller thrust bearing [17] is installed.
3. a kind of hydraulic driving mechanical wrist part structure according to claim 1 and 2 is characterized in that: between paw pedestal [1] and the piston rod [26] second sealing ring [2] is set; Between motor output shaft [25] and the wrist shell [6] the 4th sealing ring [4] is set; 2 outer oil sumps of motor output shaft [25] periphery processing link to each other with 2 inner oil sumps of wrist shell [6] inner headed face processing, and rotating seal ring [5] is set between oil groove; Between oil circuit bolt [9] and the wrist shell [6] the 7th sealing ring [7] is set; Between oil circuit bolt [9] and the wrist end cap [10] the 11 sealing ring [11] is set; Wrist pedestal [14] goes up asphalt channel and wrist end cap [10] upward is provided with the 12 sealing ring [12] between the asphalt channel; Between wrist shell [6] and the wrist end cap [10] the 19 sealing ring [19] is set; Between motor output shaft [25] and the piston rod [26] the 23 sealing ring [23] is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910071579XA CN101502965B (en) | 2009-03-19 | 2009-03-19 | Hydraulic driving mechanical wrist part structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910071579XA CN101502965B (en) | 2009-03-19 | 2009-03-19 | Hydraulic driving mechanical wrist part structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101502965A CN101502965A (en) | 2009-08-12 |
| CN101502965B true CN101502965B (en) | 2012-01-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910071579XA Expired - Fee Related CN101502965B (en) | 2009-03-19 | 2009-03-19 | Hydraulic driving mechanical wrist part structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN101502965B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393168B (en) * | 2016-12-22 | 2018-10-26 | 济南大学 | A kind of joint of robot system |
| CN107627301A (en) * | 2017-08-14 | 2018-01-26 | 芜湖慧盈自动化设备有限公司 | A kind of 90 degree of rotating mechanisms of pneumatic type |
| CN107671886B (en) * | 2017-08-14 | 2021-02-19 | 芜湖慧盈自动化设备有限公司 | 90-degree rotary mechanical arm installed at tail end of industrial robot |
| CN107351118B (en) * | 2017-08-22 | 2023-06-06 | 重庆梦马致新科技有限公司 | Light and flexible hydraulic mechanical arm rotating structure |
| CN108916246A (en) * | 2018-09-20 | 2018-11-30 | 镇江大力液压马达股份有限公司 | A kind of output support device of cycloid hydraulic motor |
| CN110271036B (en) * | 2019-06-26 | 2022-03-29 | 哈尔滨工业大学 | Hose-free internal oil circuit of hydraulic pressure wheel leg humanoid robot |
| CN112589789A (en) * | 2020-12-08 | 2021-04-02 | 太原理工大学 | Full hydraulic drive six-degree-of-freedom mechanical arm |
| CN114633279B (en) * | 2022-05-12 | 2022-09-02 | 杭州景业智能科技股份有限公司 | Hydraulic driving structure and hydraulic clamping jaw |
-
2009
- 2009-03-19 CN CN200910071579XA patent/CN101502965B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN101502965A (en) | 2009-08-12 |
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Owner name: RUDONG QIANJIN PETROLEUM MACHINERY MANUFACTURE CO. Free format text: FORMER OWNER: HARBIN ENGINEERING UNIV. Effective date: 20150331 |
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Free format text: CORRECT: ADDRESS; FROM: 150001 HARBIN, HEILONGJIANG PROVINCE TO: 226407 NANTONG, JIANGSU PROVINCE |
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| TR01 | Transfer of patent right |
Effective date of registration: 20150331 Address after: 226407, Jiangsu, Nantong province Rudong County town of oblique Sea Village Port Road, No. 69 Patentee after: RUDONG QIANJIN PETROLEUM MACHINERY MANUFACTURE Co.,Ltd. Address before: 150001 Heilongjiang, Nangang District, Nantong street, building No. 145, Harbin Engineering University, Intellectual Property Office Patentee before: HARBIN ENGINEERING University |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A structure of hydraulic driven mechanical wrist Effective date of registration: 20210623 Granted publication date: 20120104 Pledgee: Rudong sub branch of Bank of China Ltd. Pledgor: RUDONG QIANJIN PETROLEUM MACHINERY MANUFACTURE Co.,Ltd. Registration number: Y2021980005156 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120104 |
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| CF01 | Termination of patent right due to non-payment of annual fee |