CN104647365A - Hydraulic-driven multi-joint industrial robot - Google Patents

Abstract

A hydraulically driven multi-joint industrial robot, including six sequentially connected connecting rod parts I, connecting rod parts II, connecting rod parts III, connecting rod parts IV, connecting rod parts V, connecting rod parts VI and hydraulic control parts VII, The connections between the connecting rod parts are all connected by rotary joints, each rotary joint is connected with a hydraulic cylinder, and an encoder is installed on each rotary joint; The fingers of the hand are connected with a linear hydraulic cylinder; the oil circuit of each hydraulic cylinder is connected with the hydraulic control part VII, and the hydraulic control part is provided with an electro-hydraulic servo valve. The robot adopts a full-series structure, with six rotary joints, and an encoder is installed on each rotary joint, and a gripper is installed at the end. The load/weight ratio is large, especially suitable for handling and palletizing. Or other large-load workplaces, or installed on a mobile carrier as a mobile operating robot arm.

Description

A hydraulically driven multi-joint industrial robot

technical field

The invention relates to a hydraulic servo-driven multi-joint robot, which belongs to the technical field of industrial robots.

Background technique

With the rapid development of industrial technology, industrial robots are widely used in assembly, welding, handling and other industries, which greatly improves the automation level of industrial production and liberates humans from repetitive labor or extremely harsh working environments. Almost all existing industrial robots are driven by servo motors and RV or harmonic reducers, which have high position accuracy and mature technology, but their load/weight ratio is small, and they are not suitable for underwater or working environments with strong electromagnetic interference . At present, there are hydraulic servo-driven multi-joint robots abroad, but there are no mature products in China.

Chinese patent document CN1035380701A discloses a 5-DOF hydraulic servo manipulator, which uses a double-cylinder electro-hydraulic servo synchronous drive, a dual-motor electro-hydraulic servo synchronous drive and a parallelogram closed-loop structure in the joint drive. Chinese patent document CN20346081U discloses a multi-joint hydraulic mechanical arm structure with 5 movable joints and a gripper.

Although the mechanical arm disclosed in the above literature has a certain number of degrees of freedom, its topological structure is complex, its load/weight ratio is small, and its flexible working space still needs to be improved.

Contents of the invention

Aiming at the deficiencies of existing industrial robots, the present invention provides a hydraulically driven multi-joint industrial robot that adopts hydraulic drive, has a large load/weight ratio and has a large flexible working space.

The hydraulically driven multi-joint industrial robot of the present invention adopts the following technical solutions:

The multi-joint industrial robot includes six sequentially connected connecting rod parts I, connecting rod parts II, connecting rod parts III, connecting rod parts IV, connecting rod parts V, connecting rod parts VI and hydraulic control parts VII, each connecting rod The components are connected by rotary joints, and each rotary joint is connected with a hydraulic cylinder (driven by the hydraulic cylinder), and an encoder is installed on each rotary joint; a two-finger gripper is set on the connecting rod part VI, and the gripper The fingers of the hand are connected to a linear hydraulic cylinder through a linkage mechanism (the opening and closing of the fingers is driven by a linear hydraulic cylinder); the oil circuit of each hydraulic cylinder is connected with the hydraulic control part VII, and the hydraulic control part is equipped with an electro-hydraulic servo valve (Each hydraulic cylinder is controlled by an electro-hydraulic servo valve).

The connecting rod part I includes a base, a swing cylinder I, an encoder I, a connecting rod I, an encoder II, a shaft I and a shaft II; the inner shaft of the swing cylinder I is fixed on the base, and the encoder I and the swing cylinder I The inner shaft connection of the swing cylinder I is connected with the electro-hydraulic servo valve I in the hydraulic control part through the oil pipe; the outer ring of the swing cylinder I is fixed with a connecting rod I, and the connecting rod I is equipped with a shaft I and a shaft I An encoder II is connected to the top, and the connecting rod I is connected with the linear oil cylinder I in the connecting rod part II through the shaft II.

The connecting rod part II includes connecting rod II, shaft III, encoder III, shaft IV, linear oil cylinder II and linear oil cylinder I; one end of the connecting rod II is connected with the shaft I in the connecting rod part I, and the connecting rod II The other end is connected to the encoder III through the shaft IV; the rodless chamber ends of the linear cylinder I and the linear cylinder II are respectively connected to the connecting rod II through the shaft III; the oil circuits of the linear cylinder I and the linear cylinder II are respectively connected to the hydraulic control components The electro-hydraulic servo valve II and the electro-hydraulic servo valve III are connected.

The connecting rod part III includes a connecting rod III and a shaft V. One end of the connecting rod III is connected to the shaft IV in the connecting rod part II, and the connecting rod III is connected to the cylinder of the linear oil cylinder II in the connecting rod part II through the shaft V. rod connection.

The connecting rod part IV includes a swing cylinder II, an encoder shaft stop rod I, an encoder IV and a connecting rod IV; the outer ring of the swing cylinder II is connected to one end of the connecting rod III in the connecting rod part III; the swing cylinder II The oil circuit of the hydraulic control part is connected with the electro-hydraulic servo valve IV; the connecting rod IV is connected with the inner shaft of the swing cylinder II, the connecting rod IV is connected with the encoder IV, and the output shaft of the encoder IV is connected with the encoder shaft Stop rod I, one end of the encoder shaft stop rod I is fixed on the outer ring of the swing cylinder II.

The connecting rod part V includes a swing cylinder III, a connecting rod V-1, a grip fixing seat cover, an encoder shaft stop rod II, an encoder V, a connecting rod V-2, a linear cylinder III, a hydraulic motor I and Encoder VI; the outer ring of the swing cylinder III is connected to the connecting rod IV, and the oil circuit of the swing cylinder III is connected with the electro-hydraulic servo valve V in the hydraulic control part; the encoder V is connected to the connecting rod V-1, and the encoder The output shaft of V is connected with the encoder shaft stop rod II, and one end of the encoder shaft stop rod II is fixed on the outer ring of the swing cylinder III; the connecting rod V-2 is connected with the connecting rod V-1, and There is a hollow cavity inside the rod V-2; a bearing is installed on the connecting rod V-2, and the inner hole of the bearing is fixedly installed with a grip holder, and the end of the connecting rod V-2 is installed with an encoder VI. A hydraulic motor is installed in the cavity of the connecting rod V-2, and the output shaft of the hydraulic motor, the gripper fixing seat cover and the shaft end of the encoder VI are connected through a transmission mechanism; the linear cylinder III is installed in the cavity of the connecting rod V-2 and its The axis is coaxial with the axis of the bearing, the cylinder rod of the linear oil cylinder III is installed in the grip holder sleeve, the oil circuit of the linear oil cylinder III is connected with the electro-hydraulic servo valve VII in the hydraulic control part; the oil circuit of the hydraulic motor is connected with the The electro-hydraulic servo valve VI in the hydraulic control part is connected.

The transmission mechanism in the connecting rod part V includes a worm gear and a worm screw, the worm gear is fixed on the bearing, the worm gear is connected with a gear I, and the worm screw is installed in the cavity of the connecting rod V-2, and the output of the worm screw and the hydraulic motor The shaft is connected through a belt transmission, and a gear II meshing with the gear I on the worm wheel is installed in the cavity of the connecting rod V-2, and the gear II is connected with the shaft end of the encoder VI through a belt transmission.

The connecting rod part VI includes a base plate, a square shaft, a curved rod, a claw and a straight rod; the base plate is fixed on the clamp fixing seat cover in the connecting rod part V, and the claws are installed in pairs through the straight rod and the curved rod. on the base plate, and the parallel four-bar mechanism is composed of the claw, the straight rod, the bent rod and the base plate; the square axis is connected to the end of the cylinder rod of the linear oil cylinder III in the connecting rod part V, and the two sides of the square axis I are respectively connected with a pair of bent rods I Match the sliding groove in the.

The hydraulic control component is installed in the cavity of the connecting rod II in the connecting rod part II, including a valve block, a pressure sensor, an electro-hydraulic servo valve and a hydraulic joint body, an oil circuit is arranged inside the valve block, and each electro-hydraulic servo valve is set On the upper surface of the valve block, output oil passage holes, pressure sensors and hydraulic joint bodies of each electro-hydraulic servo valve are arranged on both sides of the valve block.

The working principle of the present invention is as follows:

The above-mentioned hydraulically driven multi-joint industrial robot has six rotational degrees of freedom and one local degree of freedom for gripper opening and closing, all of which are driven by (rotary or linear) hydraulic cylinders, respectively controlled by seven servo valves, and six rotary joints Encoders are respectively installed on the axes to detect the angular displacement of each joint. By feeding back the detected values of the encoders of each joint to the controller, the closed-loop servo control of the angular displacement of each joint can be realized.

The present invention adopts a full series structure, has six rotary joints, and an encoder is installed on each rotary joint, and a gripper is installed at the end, and has the following characteristics:

1. The load/weight ratio is large, especially suitable for handling, palletizing or other large-load work occasions, or installed on a mobile carrier as a mobile operating robot arm.

2. Only the servo valve and the encoder are electronic components. By sealing the servo valve and the encoder with water, the present invention can be applied to underwater, outdoor or other humid industrial environments.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the hydraulically driven multi-joint industrial robot of the present invention.

Fig. 2 is a schematic structural view of the connecting rod part I in the present invention.

Fig. 3 is a schematic diagram of the structure at the connecting shaft of the connecting rod I and the connecting rod II in the present invention.

Fig. 4 is a structural schematic diagram of the connection shaft between the connecting rod I and the linear oil cylinder I in the present invention.

Fig. 5 is a structural schematic diagram of the connecting rod part II in the present invention.

Fig. 6 is a schematic structural view of the connecting rod part III in the present invention.

Fig. 7 is a structural schematic diagram of the connection shaft between the linear oil cylinder II and the connecting rod III in the present invention.

Fig. 8 is a structural schematic diagram of the connecting rod part IV in the present invention.

Fig. 9 is a schematic structural view of the connecting rod part V in the present invention.

Fig. 10 is a schematic cross-sectional view of the connecting rod part V on the longitudinal symmetrical plane in the present invention.

Fig. 11 is a schematic cross-sectional view of the connecting rod part V in the present invention on the plane defined by the axis of the hydraulic motor and the worm.

Fig. 12 is a schematic structural view of the connecting rod part VI in the present invention.

Fig. 13 is a structural schematic diagram of the hydraulic control part VII in the present invention.

detailed description

The hydraulically driven multi-joint industrial robot of the present invention, as shown in FIG. 1 , includes six connecting rod parts connected in sequence and a hydraulic control part VII. The six link parts are link part I, link part II, link part III, link part IV, link part V and link part VI.

The structure of the connecting rod part 1 is shown in Figure 2, Figure 3 and Figure 4, including a base 101, a swing cylinder 102, an encoder 107, a connecting rod 109, an encoder 111, a shaft 115 and a shaft 118. The base 101 is used to fix the robot on the ground or other mobile carriers. The lower end of the inner shaft of the swing oil cylinder 102 is fixed on the base 101 with screws, and the upper end of the outer ring of the swing oil cylinder 102 is fixed with an oil cylinder end cover 104 with screws. The encoder 107 is fixed in the encoder housing 106, and the encoder housing 106 is fixed on the cylinder end cover 104 with screws, and the encoder 107 is connected with the inner shaft of the swing cylinder 102 through the encoder connecting sleeve 105. The encoder housing cover 108 closes the encoder 107 in the encoder housing 106 . The hydraulic joint body 103 on the swing cylinder 102 communicates with the hydraulic joint body 706 on the hydraulic plate 708 corresponding to the electro-hydraulic servo valve 714 in the hydraulic control part VII through a high-pressure hose. Connecting rod 109 is screwed on the outer ring of swing cylinder 102, and shaft 115 is fixed on connecting rod 109 by a pair of bearings 114, two spacers 116, bearing cover 117 and bearing through cover 113 (seeing figure 3). The encoder housing 112 is fixed on the bearing through cover 113 . The encoder 111 is fixed in the encoder housing 112 , and its shaft is connected to the inner hole at one end of the shaft 115 with a set screw. The encoder housing cover 110 seals the encoder 111 in the encoder housing 112 . The shaft 118 and the spacer 119 fix the rod end bearing of the linear oil cylinder 218 that drives the connecting rod part II to pitch on the connecting rod 109 .

The course of work of above-mentioned connecting rod part 1 is as follows:

The inner shaft of the swing cylinder 102 is fixed during operation. When the electro-hydraulic servo valve 714 receives an instruction from the external controller, it supplies hydraulic oil with a certain flow rate and direction to the swing cylinder 102 to drive the outer ring of the swing cylinder 102 and The components connected to the outer ring (encoder 107, connecting rod 109, encoder 111, shaft 115, shaft 118, etc.) generate corresponding rotational motion relative to the inner shaft of the swing cylinder 102, and the encoder 107 detects in real time that the outer ring of the swing cylinder 102 is relatively The angular displacement of the inner shaft rotation is fed back to the external controller to form a closed-loop servo control.

The structure of the connecting rod part II is shown in FIG. 5 , including a connecting rod 201 , a shaft 205 , an encoder 209 , a shaft 213 , a linear oil cylinder 215 and a linear oil cylinder 217 . The connecting rod 201 is matched with the shaft 115 in the connecting rod part 1 through the shaft hole at one end. The shaft 213 is fixed on the shaft hole at the other end of the connecting rod 201 through a pair of bearings 214, two spacers 212, the bearing cover 211 and the bearing cover 207, and the encoder housing 210 is fixed on the bearing cover 207 with screws. The encoder 209 is fixed in the encoder housing 210, and its shaft is connected with the inner hole at one end of the shaft 213 with a set screw. The encoder housing cover 208 seals the encoder 209 in the encoder housing 210, and the rodless chamber ends of the linear cylinder 217 and the linear cylinder 215 are respectively connected to the middle of the connecting rod 201 through the shaft 205, the spacer 204 and the spacer 216 . An oil cylinder oil port plate 203 is respectively installed at the tail ends of the linear oil cylinder 217 and the linear oil cylinder 215 . The hydraulic joint body 202 is installed on the oil cylinder port plate 203 at the tail end of the linear cylinder 217 through threaded connection and corresponds to the electro-hydraulic servo valve 713 in the hydraulic control part VII. The hydraulic joint body 706 on the hydraulic plate 708 passes through a high-pressure hose connected. The hydraulic joint body 206 is installed on the oil cylinder port plate 203 at the tail end of the linear oil cylinder 215 through threaded connection, and corresponds to the electro-hydraulic servo valve 712 in the hydraulic control part VII. The tube is connected.

The working process of the above-mentioned connecting rod part II is as follows:

The connecting rod 201 in the connecting rod part II, the linear oil cylinder 217 and the connecting rod 109 in the connecting rod part I form a connecting rod mechanism. When the electro-hydraulic servo valve 713 receives an instruction from the external controller, it supplies a certain amount of flow to the linear oil cylinder 217. The hydraulic oil in the same direction drives the linear oil cylinder 217 to generate corresponding telescopic movement, and the telescopic movement of the linear oil cylinder 217 drives the connecting rod 201 in the connecting rod part II and the shaft 205, encoder 209, shaft 213 and linear oil cylinder 215 successively connected to it. When the connecting rod 109 in the relative connecting rod part I generates a corresponding rotational movement, the encoder 111 detects the angular displacement of the connecting rod part II relative to the connecting rod part I in real time and feeds it back to the external controller to form a closed-loop servo control.

The structure of the connecting rod part III is shown in FIG. 6 and FIG. 7 , including a connecting rod 301 , a shaft 302 and a spacer 303 . The connecting rod 301 is matched with the shaft 213 in the connecting rod part II through the shaft hole at one end, and the shaft 302 and spacer 303 connect the end of the cylinder rod of the linear oil cylinder 215 to the connecting rod 301 .

The working process of the above-mentioned connecting rod part III is as follows:

The connecting rod 301 in the connecting rod part III, the connecting rod 201 in the connecting rod part II and the linear cylinder 215 form a connecting rod mechanism. When the electro-hydraulic servo valve 712 receives an instruction from the external controller, it supplies a certain amount of flow to the linear cylinder 215. The hydraulic oil in the same direction drives the linear oil cylinder 215 to generate corresponding telescopic movement, and the telescopic movement of the linear oil cylinder 215 drives the connecting rod 301 in the connecting rod part III and the shaft 302 connected successively with it, the spacer 303 and the subsequent connecting rod parts to be relatively connected. The connecting rod 201 in the rod part II generates a corresponding rotational movement, and the encoder 209 detects the angular displacement of the connecting rod part III relative to the connecting rod part II in real time and feeds it back to the external controller to form a closed-loop servo control.

The structure of the connecting rod part IV is shown in Figure 8, including the swing cylinder 401, the swing cylinder positioning shaft 402, the hydraulic joint body 403, the encoder shaft stop rod 404, the encoder shaft stop rod cover 405, and the swing cylinder positioning shaft 406 , encoder 407, encoder housing cover 408, encoder housing 409 and connecting rod 410. The swing cylinder 401 is connected to one end of the connecting rod 301 with a screw, and the hydraulic joint body 403 is connected to the oil port of the swing cylinder 401 and corresponds to the electro-hydraulic servo valve 710 in the hydraulic control part VII. The hydraulic joint body 706 on the hydraulic plate 708 The connecting rod 410 is fixedly connected with the two ends of the inner shaft of the swing cylinder 401 through two side plates, and the positioning shaft 402 of the swing cylinder and the positioning shaft 406 of the swing cylinder connect the inner shaft hole of the swing cylinder 401 with the connecting rod. The rotation center holes of the two side plates of 410 are radially positioned, and the encoder housing 409 is fixed on one side plate of the connecting rod 410 . The encoder 407 is fixed in the encoder housing 409, the encoder housing cover 408 seals the encoder 407 in the encoder housing 409, and the inner hole at one end of the encoder shaft stop rod 404 is connected with the output shaft of the encoder 407 And be positioned by set screw, its other end is screwed on the outer ring of swing oil cylinder 401, and encoder shaft stop rod cover 405 is installed on the outside of encoder shaft stop rod 404.

The working process of above-mentioned connecting rod part IV is as follows:

The outer ring of the swing cylinder 401 is fixedly connected with the connecting rod 301 in the connecting rod part III. When the electro-hydraulic servo valve 710 receives an instruction from the external controller, it supplies hydraulic oil with a certain flow rate and direction to the swing cylinder 401 to drive the swing cylinder. The inner shaft of 401 and the swing oil cylinder positioning shaft 402 connected successively with the inner shaft, the encoder shaft stop rod cover 405, the swing oil cylinder positioning shaft 406, the encoder 407, the encoder housing cover 408, the encoder housing 9, the The rod 410 and subsequent connecting rod parts produce corresponding rotational motion relative to the outer ring, and the outer ring of the swing cylinder 401, the hydraulic joint body 403, the encoder shaft stop rod 404 and the output shaft of the encoder 407 remain stationary relative to the connecting rod part III , the encoder 407 detects the angular displacement of the inner shaft of the swing cylinder 401 relative to the outer ring in real time and feeds it back to the external controller to form a closed-loop servo control.

The detailed structure of the connecting rod part V is shown in Figure 9, Figure 10 and Figure 11, including a swing cylinder 501, a swing cylinder positioning shaft 510, an encoder shaft stop rod 511, an encoder 514, a connecting rod 517, and a worm gear 518 , Bearing 520, clamp hand fixed seat cover 521, linear oil cylinder 523, axle sleeve 526, hydraulic motor 537, worm screw 540 and encoder 541. The swing cylinder 501 is connected to the connecting rod 410 with screws, the hinge body 502, the steel pipe 504, and the hydraulic joint body 505 are welded together in sequence, and are connected to the two oil ports of the swing cylinder 501 with hollow bolts 503. The hydraulic joint body 505 is connected to the hydraulic control The electro-hydraulic servo valve 709 in part VII communicates with the hydraulic joint body 706 on the hydraulic plate 708 through a high-pressure hose. The oil cylinder oil port plate 506 is welded together with the hydraulic joint body 507 and installed on the tail end of the linear oil cylinder 523. The hydraulic joint body 507 corresponds to the electro-hydraulic servo valve 705 in the hydraulic control part VII. The hydraulic joint body 706 on the hydraulic plate 708 They are connected through high-pressure hoses. The connecting rod 509 is fixedly connected with the two ends of the inner shaft of the swing oil cylinder 501 by the two side plates with screws. The swing cylinder positioning shaft 508 and the swing cylinder positioning shaft 510 radially position the inner shaft hole of the swing cylinder 501 and the rotation center holes of the two side plates of the connecting rod 509 . The encoder housing 513 is fixed on one side plate of the connecting rod 509 , the encoder 514 is fixed in the encoder housing 513 , and the encoder housing cover 515 seals the encoder 514 in the encoder housing 513 . The inner hole at one end of the encoder shaft stop rod 511 is connected with the output shaft of the encoder 514 and positioned by a set screw, and the other end is fixed on the outer ring of the swing cylinder 501 with screws, and the encoder shaft stop rod cover 512 Installed on the outside of the encoder shaft stop rod 511. The connecting rod 517 is a hollow cavity, which is connected with the connecting rod 509 by screws, and the end of the connecting rod 517 is fixedly equipped with a bearing 520 (as a rotating shaft). The gripper fixing seat sleeve 521 is fixed on the outer side of the inner ring of the bearing 520 by screws, the worm wheel 518 is fixed on the inner side of the inner ring of the bearing 520 by screws, and the worm wheel 518 is fixed with a gear 519 by screws. The linear oil cylinder 523 is installed in the cavity of the connecting rod 517 through the linear oil cylinder fixing flange 516 and its axis is coaxial with the axis of the bearing 520. The inner wall of one end of the clamping hand fixed seat cover 521 is equipped with a support sleeve 522, and the cylinder of the linear oil cylinder 523 The rod acts as a guide and support. The end of the connecting rod 517 is equipped with a gear 524 meshed with the gear 519 through a shaft sleeve 526, and a pulley 525 is coaxially installed with the gear 524. Encoder 541 is fixed on the end of connecting rod 517, and the shaft end of encoder 541 is equipped with pulley 542, and pulley 525 is connected with pulley 542 by synchronous belt, and pulley cover 543 seals pulley 525 and pulley 542 in In a cavity at the end of the connecting rod 517. A worm 540 is installed in the cavity of the connecting rod 517 through a pair of bearings 539 , a bearing cover 538 and a bearing through cover 527 , and the worm 540 is engaged with the worm wheel 518 . The belt pulley 528 is mounted on one end of the worm 540 and fixed circumferentially and axially by a flat key and a retaining ring 529 respectively. The hydraulic motor 537 is installed in the cavity of the connecting rod 517 parallel to the axis of the worm 540 and is positioned circumferentially and axially by set screws. One side of the cavity of the connecting rod 517 is fixed with a shaft sleeve 532 through a bearing 533 and a bearing through cover 530, and the inner hole of the shaft sleeve 532 is connected with the output shaft of the hydraulic motor 537 for circumferential fixing through profile connection. The pulley 531 is fixed together with the shaft sleeve 532 through screws and connected with the pulley 528 through the timing belt. The pulley cover 534 seals the pulley 528 and the pulley 531 in a cavity. The hydraulic joint body 536 communicates with the hydraulic joint body 706 on the hydraulic plate 708 corresponding to the electro-hydraulic servo valve 707 in the hydraulic control part VII through a high-pressure hose. The hydraulic joint body 535 directly communicates with the oil tank through a hose.

The working process of the above-mentioned connecting rod part V is as follows:

The outer ring of the swing cylinder 501 is fixedly connected with the connecting rod 410 in the connecting rod part IV. When the electro-hydraulic servo valve 709 receives an instruction from the external controller, it supplies hydraulic oil with a certain flow rate and direction to the swing cylinder 501 to drive the swing cylinder. The inner shaft of 501 and the swing oil cylinder positioning shaft 508, connecting rod 509, swing oil cylinder positioning shaft 510, encoder stop rod cover 512, encoder housing 513, encoder 514, encoder housing cover connected successively with the inner shaft 515, linear oil cylinder fixed flange 516, connecting rod 517, worm gear 518, gear 519, bearing 520, clamp hand fixed seat cover 521, support sleeve 522, linear oil cylinder 523, gear 524, pulley 525, shaft sleeve 526, pulley 528, belt pulley 531, shaft sleeve 532, bearing 533, hydraulic motor 537, bearing 539, worm screw 540, encoder 541, belt pulley 542 and connecting rod part VI produce corresponding rotational motion relative to the outer ring, and the outer ring of the swing oil cylinder 501 , articulated body 502, hollow bolt 503, steel pipe 504, hydraulic joint body 505, encoder stopper rod 511 and the output shaft of encoder 514 remain motionless relative to connecting rod part IV, and encoder 514 detects that the inner shaft of swing cylinder 501 is relatively The angular displacement of the outer ring rotation is fed back to the external controller to form a closed-loop servo control.

The hydraulic motor 537, bushing 532, pulley 531, pulley 528, worm 540, and worm gear 518 form the drive motion chain, and the gear 519, gear 524, pulley 525, and pulley 542 form the detection motion chain. When the electro-hydraulic servo valve 707 When receiving an instruction from an external controller, supply hydraulic oil with a certain flow rate and direction to the hydraulic motor 537 to drive the hydraulic motor 537 to generate rotational motion, which is composed of a shaft sleeve 532, a pulley 531, a pulley 528, a worm 540 and a worm wheel 518. The driving kinematic chain drives the pincer fixed seat cover 521 and the connecting rod part VI fixedly connected with it to generate rotational motion, and the angular displacement of the pincer fixed seat cover 521 is detected by the composition of the gear 519, the gear 524, the pulley 525 and the pulley 542. The kinematic chain is detected by the encoder 541 in real time and fed back to the external controller to form a closed-loop servo control.

The structure of the connecting rod part VI is shown in FIG. 12 , including a base plate 601 , a bushing 604 , a square shaft 605 , a bent rod 606 , a claw 607 and a straight rod 608 . The base plate 601 is fixed on the gripper fixing seat cover 521 with screws, and the claws 607 are installed in pairs on the base plate 601 through the straight rod 608 and the curved rod 606, and the claws 607, the straight rod 608, the curved rod 606 and the base plate 601 form a parallel structure. Four-bar mechanism. The square shaft 605 is connected to the end of the cylinder rod of the linear oil cylinder 523 through a shaft sleeve 604 , and is fixed circumferentially and axially through a stop washer 603 and a nut 602 . The round shafts on both sides of the square shaft 605 match with the slide grooves of a pair of curved rods 606 respectively.

The working process of the above-mentioned connecting rod part VI is as follows:

The base plate 601, straight rod 608, gripper 607 and curved rod 606 in the connecting rod part VI form a planar four-bar mechanism, and the square shaft 605, linear cylinder 523, curved rod 606 and base plate 601 form another planar four-bar mechanism. The four-bar mechanism forms a composite multi-rod mechanism through the bent rod 606. When the electro-hydraulic servo valve 705 receives an instruction from the external controller, it supplies hydraulic oil with a certain flow rate and direction to the linear cylinder 523, and drives the linear cylinder 523 to generate corresponding telescopic movement. , so as to drive a pair of claws 607 to open or close through a compound multi-bar mechanism.

The hydraulic control part VII is installed in the cavity of the connecting rod 201, and its structure is shown in Figure 12, including a valve block 702, a screw plug 701, a pressure sensor seat 703, a pressure sensor 704, an electro-hydraulic servo valve 714, and an electro-hydraulic servo valve 713 , electro-hydraulic servo valve 712, electro-hydraulic servo valve 710, electro-hydraulic servo valve 709, electro-hydraulic servo valve 707, electro-hydraulic servo valve 705, hydraulic joint body 706, hydraulic plate 708, screw plug 711 and hydraulic joint body 715. The valve block 702 is internally processed with high-pressure and low-pressure oil circuits, which are respectively connected to the external oil supply system through the hydraulic joint body 715 and high-pressure hoses, and its upper surface is processed with the oil circuit holes and fixing threaded holes of the seven electro-hydraulic servo valves , its two sides are processed with the output oil passage holes of the seven electro-hydraulic servo valves and the threaded holes for fixing the pressure sensor seat 703 and the hydraulic plate 708. The screw plug 701 is used to block the high and low pressure oil passage holes at one end of the valve block 702 . Seven electro-hydraulic servo valves are installed on the upper surface of the valve block 702 in sequence. The pressure sensor seat 703 and the hydraulic plate 708 are mounted on both sides of the valve block 702 in pairs. The screw plug 711 is used to block the oil passage hole at the end of the hydraulic plate 708 . The pressure sensor 704 and the hydraulic joint body 706 are installed in the threaded holes of the pressure sensor seat 703 and the hydraulic plate 708 respectively.

Claims (9)

1. a hydraulic-driven multi-joint industrial robot, it is characterized in that, comprise six the linkage component I connected successively, linkage component II, linkage component III, linkage component IV, linkage component V and linkage component VI and control block hydraulic unit with VII, all connected by rotary joint between each linkage component, each rotary joint is all connected with a hydraulic jack, and each rotary joint is all provided with encoder; Linkage component VI is provided with two finger grip, the finger of handgrip is connected with a straight line hydraulic jack by linkage; The oil circuit of each hydraulic jack is all communicated with control block hydraulic unit with VII, is provided with electrohydraulic servo valve in control block hydraulic unit with.

2. hydraulic-driven multi-joint industrial robot according to claim 1, is characterized in that, described linkage component I comprises base, oscillating oil cylinder I, encoder I, connecting rod I, encoder II, axle I and axle II; The interior axle of oscillating oil cylinder I is fixed on base, and encoder I is connected with the interior axle of oscillating oil cylinder I; The oil circuit of oscillating oil cylinder I is communicated with by oil pipe with the electrohydraulic servo valve I in control block hydraulic unit with; The outer ring of oscillating oil cylinder I is fixed with connecting rod I, connecting rod I is provided with axle I, axle I is connected with encoder II, connecting rod I is connected with the linear oil cylinder I in linkage component II by axle II.

3. hydraulic-driven multi-joint industrial robot according to claim 1, is characterized in that, described linkage component II, comprises connecting rod II, axle III, encoder III, axle IV, linear oil cylinder II and linear oil cylinder I; One end of connecting rod II is connected with the axle I in linkage component I, and the other end of connecting rod II is connected with encoder III by axle IV; The rodless cavity end of linear oil cylinder I and linear oil cylinder II is connected on connecting rod II by axle III; Linear oil cylinder I is communicated with electrohydraulic servo valve III with the electrohydraulic servo valve II in control block hydraulic unit with respectively with the oil circuit of linear oil cylinder II.

4. hydraulic-driven multi-joint industrial robot according to claim 1, it is characterized in that, described linkage component III, comprise connecting rod III and axle V, one end of connecting rod III is connected with the axle IV in linkage component II, and connecting rod III is connected with the cylinder bar of the linear oil cylinder II in linkage component II by axle V.

5. hydraulic-driven multi-joint industrial robot according to claim 1, is characterized in that, described linkage component IV, comprises oscillating oil cylinder II, encoder axle arresting lever I, encoder IV and connecting rod IV; The outer ring of oscillating oil cylinder II is connected to the one end of connecting rod III in linkage component III; The oil circuit of oscillating oil cylinder II is communicated with the electrohydraulic servo valve IV in control block hydraulic unit with; Connecting rod IV is connected with the interior axle of oscillating oil cylinder II, connecting rod IV is connected with encoder IV, the output shaft of encoder IV is connected with encoder axle arresting lever I, and encoder axle arresting lever I one end is fixed on the outer ring of oscillating oil cylinder II.

6. hydraulic-driven multi-joint industrial robot according to claim 1, it is characterized in that, described linkage component V, comprises oscillating oil cylinder III, connecting rod V-1, tong fixed seating, encoder axle arresting lever II, encoder V, connecting rod V-2, linear oil cylinder III, hydraulic motor I and encoder VI; The outer ring of oscillating oil cylinder III is connected on connecting rod IV, and the oil circuit of oscillating oil cylinder III is communicated with the electrohydraulic servo valve V in control block hydraulic unit with; Connecting rod V-1 is connected with encoder V, the output shaft of encoder V is connected with encoder axle arresting lever II, one end of encoder axle arresting lever II is fixed on the outer ring of oscillating oil cylinder III; Connecting rod V-2 and connecting rod V-1 links together, and is a hollow cavity in connecting rod V-2; Connecting rod V-2 is provided with a bearing, tong fixed seating is installed with in the endoporus of this bearing, the end of connecting rod V-2 is provided with encoder VI, be provided with hydraulic motor in connecting rod V-2 cavity, the axle head of the output shaft of hydraulic motor, tong fixed seating and encoder VI is connected by transmission mechanism; In the cavity that linear oil cylinder III is arranged on connecting rod V-2 and the axis coaxle of its axis and described bearing, the cylinder bar of linear oil cylinder III is arranged in tong fixed seating, and the oil circuit of linear oil cylinder III is communicated with the electrohydraulic servo valve VII in control block hydraulic unit with; The oil circuit of hydraulic motor is communicated with the electrohydraulic servo valve VI in control block hydraulic unit with.

7. hydraulic-driven multi-joint industrial robot according to claim 6, it is characterized in that, transmission mechanism in described linkage component V, comprise worm gear and worm screw, worm gear is fixed on described bearing, worm gear is connected with gear I, worm screw is arranged in the cavity of connecting rod V-2, this worm screw is connected by V belt translation with the output shaft of hydraulic motor, and be also provided with the gear II be meshed with the gear I on worm gear in the cavity of connecting rod V-2, this gear II is connected by V belt translation with the axle head of encoder VI.

8. hydraulic-driven multi-joint industrial robot according to claim 1, is characterized in that, described linkage component VI, comprises substrate, square axle, knee, paw and straight-bar; Substrate is fixed on the tong fixed seating in linkage component V, paw by straight-bar and knee mounted in pairs on substrate, and paw, straight-bar, knee and substrate composition parallelogram lindage; Square axle is connected to the end of linkage component V cathetus oil cylinder III cylinder bar, matches with the sliding tray in a pair knee respectively in square axle both sides.

9. hydraulic-driven multi-joint industrial robot according to claim 1, it is characterized in that, described control block hydraulic unit with is arranged in the cavity of the connecting rod II in linkage component II, comprise valve block, pressure sensor, electrohydraulic servo valve and hydraulic joint body, valve block inside is provided with oil circuit, each electrohydraulic servo valve is arranged on valve block upper surface, and the two sides of valve block are provided with the output circuit hole of each electrohydraulic servo valve and pressure sensor and hydraulic joint body.