CN104647365A - Hydraulic-driven multi-joint industrial robot - Google Patents
Hydraulic-driven multi-joint industrial robot Download PDFInfo
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- CN104647365A CN104647365A CN201510101502.8A CN201510101502A CN104647365A CN 104647365 A CN104647365 A CN 104647365A CN 201510101502 A CN201510101502 A CN 201510101502A CN 104647365 A CN104647365 A CN 104647365A
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- 230000005540 biological transmission Effects 0.000 claims description 4
- 241001212149 Cathetus Species 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 239000003921 oil Substances 0.000 abstract description 122
- 239000010720 hydraulic oil Substances 0.000 abstract description 10
- 230000033001 locomotion Effects 0.000 description 14
- 230000002093 peripheral effect Effects 0.000 description 13
- 238000006073 displacement reaction Methods 0.000 description 8
- 125000006850 spacer group Chemical group 0.000 description 8
- 238000001514 detection method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 210000004722 stifle Anatomy 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
The invention discloses a hydraulic-driven multi-joint industrial robot. The hydraulic-driven multi-joint industrial robot comprises a connecting rod part I, a connecting rod part II, a connecting rod part III, a connecting rod part IV, a connecting rod part V and a connecting rod part IV as well as a hydraulic control part VII which are connected in sequence, wherein joints of the connecting rod parts are connected through rotary joints; each rotary joint is connected with a hydraulic oil cylinder, and a coder is mounted on each rotary joint; a double-finger grip is arranged on the connecting rod part VI, the fingers of the grip are connected with a linear hydraulic oil cylinder; an oil path of each hydraulic oil cylinder is communicated with the hydraulic control part VII, and an electro-hydraulic servo valve is arranged in the hydraulic control part. The robot adopts a fully serial structure form and has six rotary joints, the coder is mounted on each rotary joint, and the grip is mounted on the tail end, so that a load/dead load ratio is large. The hydraulic-driven multi-joint industrial robot is especially suitable for transporting, stacking or other large-load working stations or being mounted on a mobile carrier as a mobile operation mechanical arm.
Description
Technical field
The present invention relates to a kind of articulated robot of Hydraulic servo drive, belong to Industrial Robot Technology field.
Background technology
Along with developing rapidly of industrial technology, industrial robot is used widely in industries such as assembling, welding, carryings, drastically increases industrial automatization level, the mankind are freed from repeated labor or exceedingly odious working environment.Existing industrial robot almost all adopts servomotor and RV or harmonic wave speed reducing machine to drive, and has higher positional precision and technology maturation, but its load/little from anharmonic ratio, and is not suitable for or there is the operating environment of strong electromagnetic under water.At present, external existing Hydraulic servo drive articulated robot, and domesticly there is no matured product.
Chinese patent literature CN1035380701A discloses a kind of 5DOF hydraulic servo machinery hand, and this manipulator employs in joint drive that twin-tub electro-hydraulic servo synchronously drives, double motor electro-hydraulic servo synchronously drives and parallelogram closed loop configuration.Chinese patent literature CN20346081U discloses a kind of multi-joint hydraulic machinery arm configuration with 5 turning joints and a handgrip.
Although mechanical arm has the free degree of some disclosed in above-mentioned document, topological structure is complicated, and load/little from anharmonic ratio, dexterous workspace still has much room for improvement.
Summary of the invention
The present invention is directed to the deficiency that existing industrial robot exists, provide a kind of and adopt hydraulic-driven, load/large and there is the hydraulic-driven multi-joint industrial robot of larger dexterous workspace from anharmonic ratio.
Hydraulic-driven multi-joint industrial robot of the present invention, by the following technical solutions:
This multi-joint industrial robot, 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 (being driven by hydraulic jack) 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 (driving the folding pointed by 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 (controlling each hydraulic jack by electrohydraulic servo valve) in control block hydraulic unit with.
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.
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.
Described linkage component III, comprises connecting rod III and axle V, and 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.
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.
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.
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.
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, square axle I both sides respectively with in a pair knee I sliding tray match.
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.
Operation principle of the present invention is as follows:
Above-mentioned hydraulic-driven multi-joint industrial robot has the isolated degree of freedom of six rotary freedoms and 1 tong folding, drive by (rotating or straight line) hydraulic jack, control respectively by seven servo valves, and six rotary joint axis places are separately installed with encoder, be used for detecting the angular displacement in each joint, by the detected value of each joint encoders is fed back to controller, Close loop servo control can be realized to each joint angle displacement.
The present invention adopts the version of full series connection, has six rotary joints, and each rotary joint has all installed encoder, and installed a handgrip at end, have following characteristics:
1. load/large from anharmonic ratio, is particularly useful for carrying, piling or other heavy load workplace, or installs on mobile vehicle as mobile operation machine arm.
2. only have servo valve and encoder to be electronic devices and components, by servo valve and encoder are carried out water-stop, then can apply the present invention under water, outdoor or other moist industrial environment.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of hydraulic-driven multi-joint industrial robot of the present invention.
Fig. 2 is the structural representation of linkage component I in the present invention.
Fig. 3 is the structural representation at connecting rod I and connecting rod II connecting axle place in the present invention.
Fig. 4 is the structural representation at connecting rod I and linear oil cylinder I connecting axle place in the present invention.
Fig. 5 is the structural representation of linkage component II in the present invention.
Fig. 6 is the structural representation of linkage component III in the present invention.
Fig. 7 is the structural representation at cathetus oil cylinder II of the present invention and connecting rod III connecting axle place.
Fig. 8 is the structural representation of linkage component IV in the present invention.
Fig. 9 is the structural representation of linkage component V in the present invention.
Figure 10 is the generalized section of linkage component V on longitudinal plane of symmetry in the present invention.
Figure 11 be in the present invention linkage component V at hydraulic motor and worm axis allocate generalized section on face.
Figure 12 is the structural representation of linkage component VI in the present invention.
Figure 13 is the structural representation of control block hydraulic unit with VII in the present invention.
Detailed description of the invention
Hydraulic-driven multi-joint industrial robot of the present invention, as shown in Figure 1, comprises six linkage components and a control block hydraulic unit with VII that connect successively.Six linkage components are respectively linkage component I, linkage component II, linkage component III, linkage component IV, linkage component V and linkage component VI.
The structure of linkage component I as shown in Figure 2, Figure 3 and Figure 4, comprises base 101, oscillating oil cylinder 102, encoder 107, connecting rod 109, encoder 111, axle 115 and axle 118.Base 101 is for being fixed on ground or other mobile vehicle by robot.The interior axle lower end of oscillating oil cylinder 102 is screwed on base 101, and the upper end, outer ring of oscillating oil cylinder 102 has been screwed cylinder cover 104.Encoder 107 is fixed in encoder housing 106, and encoder housing 106 is screwed on cylinder cover 104, and encoder 107 is connected with the interior axle of oscillating oil cylinder 102 by encoder adapter sleeve 105.Encoder 107 is enclosed in encoder housing 106 by encoder housing lid 108.Be communicated with by high-pressure hose between hydraulic joint body 706 in hydraulic joint body 103 on oscillating oil cylinder 102 hydraulic plate 708 corresponding with the electrohydraulic servo valve 714 in control block hydraulic unit with VII.Connecting rod 109 is screwed on the outer ring of oscillating oil cylinder 102, and axle 115 is fixed on (see Fig. 3) on connecting rod 109 by pair of bearings 114, two spacers 116, bearing stifle 117 and bearing air covers 113.Encoder housing 112 is fixed on bearing air cover 113.Encoder 111 is fixed in encoder housing 112, and its axle endoporus of holding screw with axle 115 one end is connected, and encoder 111 is enclosed in encoder housing 112 by encoder housing lid 110.The rod end bearing of the linear oil cylinder 218 of drive link parts II pitching is fixed on connecting rod 109 by axle 118 and spacer 119.
The course of work of above-mentioned linkage component I is as follows:
The interior axle of oscillating oil cylinder 102 operationally maintains static, when electrohydraulic servo valve 714 receives the instruction of peripheral control unit, the hydraulic oil in certain flow and direction is supplied to oscillating oil cylinder 102, drive the outer ring of oscillating oil cylinder 102 and produce corresponding rotary motion with the interior axle of the parts that outer ring is connected (encoder 107, connecting rod 109, encoder 111, axle 115, axle 118 etc.) opposing oscillatory oil cylinder 102, the encoder 107 in real time wobble detection oil cylinder 102 outer ring internally axle angular displacement of rotating feed back to peripheral control unit mutually, forms Close loop servo control.
The structure of linkage component II as shown in Figure 5, comprises connecting rod 201, axle 205, encoder 209, axle 213, linear oil cylinder 215 and linear oil cylinder 217.Connecting rod 201 is in mating connection by the axle 115 in the axis hole of one end and linkage component I.Axle 213 is fixed on the axis hole of connecting rod 201 other end by pair of bearings 214, two spacers 212, bearing stifle 211 and bearing air covers 207, encoder housing 210 is screwed on bearing air cover 207, encoder 209 is fixed in encoder housing 210, and its axle endoporus of holding screw with axle 213 one end is connected.Encoder 209 is enclosed in encoder housing 210 by encoder housing lid 208, and the rodless cavity end of linear oil cylinder 217 and linear oil cylinder 215 is connected to the middle part of connecting rod 201 by axle 205, spacer 204 and spacer 216.The tail end of linear oil cylinder 217 and linear oil cylinder 215 is separately installed with one block of oil cylinder port plate 203.Hydraulic joint body 202 be threaded connection be arranged on linear oil cylinder 217 tail end oil cylinder port plate 203 on and hydraulic plate 708 corresponding with the electrohydraulic servo valve 713 in control block hydraulic unit with VII on hydraulic joint body 706 between be communicated with by high-pressure hose.Hydraulic joint body 206 be threaded connection be arranged on linear oil cylinder 215 tail end oil cylinder port plate 203 on, and to be communicated with by high-pressure hose between hydraulic joint body 706 in hydraulic plate 708 corresponding with the electrohydraulic servo valve 712 in control block hydraulic unit with VII.
The course of work of above-mentioned linkage component II is as follows:
Connecting rod 201 in linkage component II, linear oil cylinder 217 forms linkage with the connecting rod 109 in linkage component I, when electrohydraulic servo valve 713 receives the instruction of peripheral control unit, the hydraulic oil in certain flow and direction is supplied to linear oil cylinder 217, linear oil cylinder 217 is driven to produce corresponding stretching motion, connecting rod 201 in the stretching motion drivening rod parts II of linear oil cylinder 217 and the axle 205 be in succession connected with it, encoder 209, axle 213 produces corresponding rotary motion with linear oil cylinder 215 grade relative to the connecting rod 109 in linkage component I, encoder 111 detects the angular displacement of the relative linkage component I of linkage component II in real time and feeds back to peripheral control unit, form Close loop servo control.
The structure of linkage component III as shown in Figure 6 and Figure 7, comprises connecting rod 301, axle 302, spacer 303.Connecting rod 301 is in mating connection by the axle 213 in the axis hole of one end and linkage component II, and the cylinder boom end of linear oil cylinder 215 is connected on connecting rod 301 by described axle 302 and spacer 303.
The course of work of above-mentioned linkage component III is as follows:
Connecting rod 301 in linkage component III forms linkage with the connecting rod 201 in linkage component II and linear oil cylinder 215, when electrohydraulic servo valve 712 receives the instruction of peripheral control unit, the hydraulic oil in certain flow and direction is supplied to linear oil cylinder 215, linear oil cylinder 215 is driven to produce corresponding stretching motion, connecting rod 301 in the stretching motion drivening rod parts III of linear oil cylinder 215 and the axle 302 be in succession connected with it, spacer 303 produces corresponding rotary motion with follow-up linkage component relative to the connecting rod 201 in linkage component II, encoder 209 detects the angular displacement of the relative linkage component II of linkage component III in real time and feeds back to peripheral control unit, form Close loop servo control.
The structure of linkage component IV as shown in Figure 8, comprises oscillating oil cylinder 401, oscillating oil cylinder locating shaft 402, hydraulic joint body 403, encoder axle arresting lever 404, encoder axle arresting lever cover 405, oscillating oil cylinder locating shaft 406, encoder 407, encoder housing lid 408, encoder housing 409 and connecting rod 410.Oscillating oil cylinder 401 screw is connected to one end of connecting rod 301, be communicated with by high-pressure hose between hydraulic joint body 706 on the hydraulic fluid port that hydraulic joint body 403 is connected to oscillating oil cylinder 401 and in hydraulic plate 708 corresponding with the electrohydraulic servo valve 710 in control block hydraulic unit with VII, connecting rod 410 to be fixed with screw by biside plate and axle both ends of the surface in oscillating oil cylinder 401 and to be connected, the rotation center hold of axis hole in oscillating oil cylinder 401 and connecting rod 410 biside plate is carried out radial location by oscillating oil cylinder locating shaft 402 and oscillating oil cylinder locating shaft 406, encoder housing 409 is fixed on the side plate of connecting rod 410.Encoder 407 is fixed in encoder housing 409, encoder 407 is enclosed in encoder housing 409 by encoder housing lid 408, the endoporus of encoder axle arresting lever 404 one end is connected with the output shaft of encoder 407 and is positioned by holding screw, its other end is screwed on the outer ring of oscillating oil cylinder 401, is provided with encoder axle arresting lever cover 405 in the outside of encoder axle arresting lever 404.
The course of work of above-mentioned linkage component IV is as follows:
The outer ring of oscillating oil cylinder 401 is fixedly connected with the connecting rod 301 in linkage component III, when electrohydraulic servo valve 710 receives the instruction of peripheral control unit, the hydraulic oil in certain flow and direction is supplied to oscillating oil cylinder 401, the interior axle driving oscillating oil cylinder 401 and the oscillating oil cylinder locating shaft 402 be in succession connected with interior axle, encoder axle arresting lever cover 405, oscillating oil cylinder locating shaft 406, encoder 407, encoder housing lid 408, encoder housing 9, connecting rod 410 produces corresponding rotary motion with follow-up linkage component relative to outer ring, the outer ring of oscillating oil cylinder 401, hydraulic joint body 403, encoder axle arresting lever 404 keeps motionless with the output shaft of encoder 407 relative to linkage component III, encoder 407 in real time in wobble detection oil cylinder 401 the relative outer ring rotating of axle angular displacement and feed back to peripheral control unit, form Close loop servo control.
The detailed construction of described linkage component V, as shown in Fig. 9, Figure 10 and Figure 11, comprises oscillating oil cylinder 501, oscillating oil cylinder locating shaft 510, encoder axle arresting lever 511, encoder 514, connecting rod 517, worm gear 518, bearing 520, tong fixed seating 521, linear oil cylinder 523, axle sleeve 526, hydraulic motor 537, worm screw 540 and encoder 541.Oscillating oil cylinder 501 screw is connected on connecting rod 410, articulated body 502, steel pipe 504, hydraulic joint body 505 weld together successively, and be connected on two hydraulic fluid ports of oscillating oil cylinder 501 with hollow bolt 503, be communicated with by high-pressure hose between the hydraulic joint body 706 in hydraulic joint body 505 hydraulic plate 708 corresponding with the electrohydraulic servo valve 709 in control block hydraulic unit with VII.Oil cylinder port plate 506 and hydraulic joint body 507 weld together and are arranged on the tail end of linear oil cylinder 523, are communicated with between the hydraulic joint body 706 in hydraulic joint body 507 hydraulic plate 708 corresponding with the electrohydraulic servo valve 705 in control block hydraulic unit with VII by high-pressure hose.Connecting rod 509 to be fixed with screw by biside plate and axle both ends of the surface in oscillating oil cylinder 501 and to be connected.The rotation center hold of axis hole in oscillating oil cylinder 501 and connecting rod 509 biside plate is carried out radial location by oscillating oil cylinder locating shaft 508 and oscillating oil cylinder locating shaft 510.Encoder housing 513 is fixed on the side plate of connecting rod 509, and encoder 514 is fixed in encoder housing 513, and encoder 514 is enclosed in encoder housing 513 by encoder housing lid 515.The endoporus of encoder axle arresting lever 511 one end is connected with the output shaft of encoder 514 and is positioned by holding screw, its other end is screwed on the outer ring of oscillating oil cylinder 501, and encoder axle arresting lever cover 512 is arranged on the outside of encoder axle arresting lever 511.Connecting rod 517 is a hollow cavity, and it is linked together by screw and connecting rod 509, and the end winding support of connecting rod 517 is provided with bearing 520 (as rotating shaft).Tong fixed seating 521 is fixed by screws in outside the inner ring of bearing 520, and worm gear 518 is fixed by screws in inside the inner ring of bearing 520, and worm gear 518 is fixed with gear 519 by screw.Linear oil cylinder 523 to be arranged in the cavity of connecting rod 517 and the axis coaxle of its axis and bearing 520 by linear oil cylinder mounting flange 516, the inwall of tong fixed seating 521 one end is provided with support set 522, plays guiding and supporting role to the cylinder bar of linear oil cylinder 523.The end of connecting rod 517 is provided with the gear 524 be meshed with gear 519 by axle sleeve 526, be coaxially installed with belt wheel 525 with gear 524.Encoder 541 is fixed on the end of connecting rod 517, and the axle head of encoder 541 is provided with belt wheel 542, and belt wheel 525 is connected by Timing Belt with belt wheel 542, and belt wheel 525 and belt wheel 542 are enclosed in a cavity of connecting rod 517 end by pulley cover 543.Be provided with worm screw 540 by pair of bearings 539, bearing stifle 538 and bearing air cover 527 in the cavity of connecting rod 517, worm screw 540 is meshed with worm gear 518.Belt wheel 528 is arranged on one end of worm screw 540 and carries out circumferential and axial respectively by flat key and back-up ring 529 and fix.It is interior and carry out circumferential and axial location by holding screw that hydraulic motor 537 and worm screw 540 axis being parallel ground are arranged on the cavity of connecting rod 517.The cavity side of connecting rod 517 is fixed with axle sleeve 532 by bearing 533 and bearing air cover 530, and the endoporus of axle sleeve 532 and the output shaft of hydraulic motor 537 are connected by profile and carry out circumference and fix.Belt wheel 531 to be fixed together with axle sleeve 532 by screw and to be connected with belt wheel 528 by Timing Belt, and belt wheel 528 and belt wheel 531 are enclosed in a cavity by pulley cover 534.Be communicated with by high-pressure hose between hydraulic joint body 706 in hydraulic joint body 536 hydraulic plate 708 corresponding with the electrohydraulic servo valve 707 in control block hydraulic unit with VII.Hydraulic joint body 535 is directly communicated with fuel tank by flexible pipe.
The course of work of above-mentioned linkage component V is as follows:
The outer ring of oscillating oil cylinder 501 is fixedly connected with the connecting rod 410 in linkage component IV, when electrohydraulic servo valve 709 receives the instruction of peripheral control unit, the hydraulic oil in certain flow and direction is supplied, the interior axle driving oscillating oil cylinder 501 and the oscillating oil cylinder locating shaft 508 be in succession connected with interior axle to oscillating oil cylinder 501, connecting rod 509, oscillating oil cylinder locating shaft 510, encoder arresting lever cover 512, encoder housing 513, encoder 514, encoder housing lid 515, linear oil cylinder mounting flange 516, connecting rod 517, worm gear 518, gear 519, bearing 520, tong fixed seating 521, support set 522, linear oil cylinder 523, gear 524, belt wheel 525, axle sleeve 526, belt wheel 528, belt wheel 531, axle sleeve 532, bearing 533, hydraulic motor 537, bearing 539, worm screw 540, encoder 541, belt wheel 542 produces corresponding rotary motion with linkage component VI relative to outer ring, the outer ring of oscillating oil cylinder 501, articulated body 502, hollow bolt 503, steel pipe 504, hydraulic joint body 505, encoder arresting lever 511 keeps motionless with the output shaft of encoder 514 relative to linkage component IV, encoder 514 in real time in wobble detection oil cylinder 501 the relative outer ring rotating of axle angular displacement and feed back to peripheral control unit, form Close loop servo control.
Hydraulic motor 537, axle sleeve 532, belt wheel 531, belt wheel 528, worm screw 540, worm gear 518 forms actuation movement chain, gear 519, gear 524, belt wheel 525 and belt wheel 542 form detection kinematic chain, when electrohydraulic servo valve 707 receives the instruction of peripheral control unit, the hydraulic oil in certain flow and direction is supplied to hydraulic motor 537, hydraulic motor 537 is driven to produce rotary motion, and warp beam sleeve 532, belt wheel 531, belt wheel 528, the linkage component VI generation rotary motion that the actuation movement chain that worm screw 540 and worm gear 518 form drives tong fixed seating 521 and is connected with it, the angular displacement of tong fixed seating 521 is through gear 519, gear 524, belt wheel 525 and belt wheel 542 form detection kinematic chain and are detected by encoder 541 and feed back to peripheral control unit in real time, form Close loop servo control.
The structure of linkage component VI as shown in figure 12, comprises substrate 601, axle sleeve 604, square axle 605, knee 606, paw 607 and straight-bar 608.Substrate 601 is screwed on tong fixed seating 521, and paw 607 is by straight-bar 608 and knee 606 mounted in pairs on substrate 601, and paw 607, straight-bar 608, knee 606 and substrate 601 form parallelogram lindage.Square axle 605 is connected to the end of linear oil cylinder 523 cylinder bar by axle sleeve 604, and carries out circumferential and axial by floor clip 603 and nut 602 and fix.The circular shaft of square axle 605 both sides matches with the sliding tray of a pair knee 606 respectively.
The course of work of above-mentioned linkage component VI is as follows:
In linkage component VI, substrate 601, straight-bar 608, paw 607 and knee 606 form four-bar linkage, square axle 605, linear oil cylinder 523, knee 606 and substrate 601 form another four-bar linkage, two four-bar linkages form compound multi-bar linkage by knee 606, when electrohydraulic servo valve 705 receives the instruction of peripheral control unit, the hydraulic oil in certain flow and direction is supplied to linear oil cylinder 523, drive linear oil cylinder 523 to produce corresponding stretching motion, thus drive opening of a pair paw 607 or closed by compound multi-bar linkage.
Control block hydraulic unit with VII is arranged in the cavity of connecting rod 201, its structure as shown in figure 12, comprises valve block 702, plug screw 701, pressure sensor seat 703, pressure sensor 704, electrohydraulic servo valve 714, electrohydraulic servo valve 713, electrohydraulic servo valve 712, electrohydraulic servo valve 710, electrohydraulic servo valve 709, electrohydraulic servo valve 707, electrohydraulic servo valve 705, hydraulic joint body 706, hydraulic plate 708, plug screw 711 and hydraulic joint body 715.Valve block 702 inside is processed with high pressure with low pressure oil way and is communicated with outside oil supply system respectively by hydraulic joint body 715 and high-pressure hose, its upper surface is processed with oil circuit hole and the retaining thread hole of described seven electrohydraulic servo valves, its two sides be processed with described seven electrohydraulic servo valves output circuit hole and the screwed hole of fixation pressure sensor holder 703 and hydraulic plate 708.Plug screw 701 is for the high and low pressure oil circuit hole of plugging valve block 702 one end.Seven electrohydraulic servo valves are arranged on the upper surface of valve block 702 successively.Pressure sensor seat 703 and hydraulic plate 708 mounted in pairs are on valve block 702 two sides.Plug screw 711 is for the oil circuit hole of liquid for plugging pressing plate 708 end.Pressure sensor 704 and hydraulic joint body 706 are arranged in the screwed hole of pressure sensor seat 703 and 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.
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| CN105965503A (en) * | 2016-07-06 | 2016-09-28 | 东北大学 | Hydraulic mechanical arm suitable for cutter changing operation of shield tunneling machine |
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| CN107322590A (en) * | 2017-04-27 | 2017-11-07 | 山东建筑大学 | Multiple degrees of freedom hydraulic manipulator |
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| CN110253601A (en) * | 2019-06-12 | 2019-09-20 | 广东技术师范大学天河学院 | A kind of full fluid power humanoid manipulator |
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Effective date of registration: 20240710 Address after: Room 101, 1st Floor, Production and R&D Building 1 #, Entrepreneurship Park, High tech Zone, Rizhao City, Shandong Province, China 276801 Patentee after: SHANDONG HAIDA ROBOT TECHNOLOGY Co.,Ltd. Country or region after: China Address before: No. 17923, Jingshi Road, Lixia District, Jinan City, Shandong Province Patentee before: SHANDONG University Country or region before: China |
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