CN105171735A - Hydraulic mechanical arm swing joint with brake - Google Patents
Hydraulic mechanical arm swing joint with brake Download PDFInfo
- Publication number
- CN105171735A CN105171735A CN201510696698.XA CN201510696698A CN105171735A CN 105171735 A CN105171735 A CN 105171735A CN 201510696698 A CN201510696698 A CN 201510696698A CN 105171735 A CN105171735 A CN 105171735A
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- brake
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- electromagnet
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Abstract
The invention aims at providing a hydraulic mechanical arm swing joint with a brake. A front arm fixing piece and a hydraulic swing cylinder are fixed. A rear arm rotating piece and a rear arm connecting piece are fixed. An angle detection module is fixed to an angle sensor fixing piece through a sensor connecting piece. The angle sensor fixing piece and the front arm fixing piece are fixed. A detection shaft of the angle detection module is connected with a rotating shaft of the hydraulic swing cylinder through a coupler of the angle detection module. The coupler of the angle detection module and the rear arm rotating piece are fixed. An electromagnet and an electromagnet fixing disc are fixed. The electromagnetic fixing disc and a brake module connecting block are fixed. A braking disc and a braking disc coupler are fixed. The braking disc is arranged at the end of the electromagnet. The hydraulic swing cylinder and the braking disc coupler are fixed. Enough torque for finishing operation tasks can be provided, the problem that an underwater operation mechanical arm joint is too large in size can be greatly solved, and the overall weight of a mechanical arm can be reduced.
Description
Technical field
What the present invention relates to is a kind of underwater robot, the hydraulic efficiency manipulator articulation structure of specifically underwater operation.
Background technology
Along with the mankind's going deep into ocean development and utilization, underwater operation task presents variation and complicated, is proposed higher requirement to the 26S Proteasome Structure and Function of underwater manipulator.For microminiature operation underwater robot, small-sized underwater hydraulic manipulator need be configured, meet the requirement of volume, weight and the energy.Therefore, development compact conformation, low cost, modular manipulator, complete multiple one-tenth subsea tasks to microminiature operation underwater robot and have great practical value.
No matter the brake self-locking in underwater hydraulic manipulator joint, be in collecting state for manipulator or job state all plays a very important role.At present, underwater hydraulic manipulator joint realizes self-locking by hydraulic lock mostly, adds the complexity of system energy loss and hydraulic control architectures.
Summary of the invention
The object of the present invention is to provide the hydraulic efficiency manipulator swinging joint adopting electromagnetic brake to realize a kind of band brake of mechanical self-latching.
The object of the present invention is achieved like this:
The hydraulic efficiency manipulator swinging joint of a kind of band brake of the present invention, it is characterized in that: comprise fro hydraulic driving machinery arm swing module, angle detection module, hydraulic-driven rotating shaft brake module, fro hydraulic driving machinery arm swing module comprises swing hydraulic pressure cylinder, forearm fixture, postbrachium tumbler, postbrachium connector, forearm fixture and swing hydraulic pressure cylinder fix, postbrachium tumbler and postbrachium connector fix, angle detection module is fixed on angular transducer fixture by sensor connecting piece, angular transducer fixture and forearm fixture fix, the detection axis of angle detection module is connected with the rotating shaft of swing hydraulic pressure cylinder by angle detection module shaft coupling, angle detection module shaft coupling and postbrachium tumbler fix, hydraulic-driven rotating shaft brake module comprises electromagnet, brake disc, brake disc shaft coupling, electromagnet fixed disk, breaker module contiguous block, electromagnet and electromagnet fixed disk fix, electromagnet fixed disk and breaker module contiguous block fix, brake disc and brake disc shaft coupling fix, brake disc is arranged on the end of electromagnet, swing hydraulic pressure cylinder and brake disc shaft coupling fix.
Advantage of the present invention is:
1, for the problem of the middle-size and small-size hydraulically powered underwater manipulator swinging joint holding torque deficiency of major part, patent of the present invention can provide the moment being enough to the task of fulfiling assignment.
2, for the problem that brake structure redundancy is complicated, braking reliability is poor of most of underwater manipulator, patent of the present invention provides a kind of simple and reliable joint braking scheme.
3, excessive for most of underwater manipulator volume, the problem that quality is overweight, patent of the present invention significantly can reduce the excessive problem of Controller of Underwater Manipulator arthritic volume, alleviates manipulator overall weight.
Accompanying drawing explanation
Fig. 1 is front view of the present invention;
Fig. 2 is rearview of the present invention;
Fig. 3 is sectional view of the present invention;
Fig. 4 is top view of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 1 ~ 4, hydraulic-driven swinging joint performs and brake apparatus is made up of three modules: fro hydraulic driving machinery arm swing module, angle detection module, hydraulic-driven rotating shaft brake module.Fro hydraulic driving machinery arm swing module is fixed pieces 1, postbrachium tumbler 6 and postbrachium connector 7 by swing hydraulic pressure cylinder 11, forearm and is formed, wherein forearm fixture 1 and swing hydraulic pressure cylinder 11 are bolted, and postbrachium tumbler 6 and postbrachium connector 7 are bolted; Angle detection module 3 is fixed on angular transducer fixture 2 by sensor connecting piece 5, and be fixed on forearm fixture 1 by screw thread, angle detection module detection axis is connected with oscillating cylinder rotating shaft by angle detection module shaft coupling 4 and fixes with postbrachium tumbler 6; Hydraulic-driven rotating shaft brake module is made up of electromagnet 9, brake disc 10, brake disc shaft coupling 8, electromagnet fixed disk 13 and breaker module contiguous block 12, wherein, electromagnet 9 and electromagnet fixed disk 13 are bolted, electromagnet fixed disk 13 and breaker module contiguous block 12 are bolted, brake disc 10 and brake disc shaft coupling 8 are bolted, and oscillating cylinder 11 and brake disc shaft coupling 8 are bolted.
Composition graphs 3, Fig. 4, forearm fixture 1, angular transducer fixture 2, angle detection module 3, sensor connecting piece 5, swing hydraulic pressure cylinder 11, electromagnet 9, electromagnet fixed disk 13, breaker module contiguous block 12 are all fixed on the forearm of hydraulic-driven joint, and angle detection module shaft coupling 4, postbrachium tumbler 6, postbrachium connector 7, brake disc shaft coupling 8, brake disc 10 follow postbrachium around swing hydraulic pressure cylinder axis of rotation.When needs hydraulic-driven swinging joint is moved, hydraulic energy drives oscillating cylinder 11 rotating shaft drive postbrachium tumbler 6, postbrachium connector 7 moves, thus driving mechanical arm rotates; When needs hydraulic-driven swinging joint angle keeps, hydraulic energy stops driving oscillating cylinder 11, and electromagnet 9 powers on, electromagnet 9 adhesive brake disc 10 and produce braking moment, because brake disc 10 is connected with oscillating cylinder 11 by brake disc shaft coupling 8, thus complete swing hydraulic pressure joint is braked.
Device of the present invention comprises the assemblies such as swing hydraulic pressure cylinder, angle-sensor module, breaker module.Swing hydraulic pressure cylinder is fixed on forward direction mechanical arm by connector, and the rotating shaft of swing hydraulic pressure cylinder is connected by shaft coupling and connector with backward mechanical arm.Angle-sensor module is fixed on oscillating cylinder by connector, and angular transducer power shaft is connected by shaft coupling with swing hydraulic pressure cylinder; Breaker module is fixed on oscillating cylinder by connector, and the brake disc of breaker module is connected by shaft coupling with swing hydraulic pressure cylinder.
When needs joint of mechanical arm rotates, brake is in off working state, and the hydraulic medium with energy drives oscillating cylinder motion thus driving mechanical arm rotates; When needs joint of mechanical arm angle keeps, hydraulic medium with energy stops driving oscillating cylinder and brake powers on, brake disc is pull-in on electromagnet, and brake disc, by the rotating shaft in the locked hydraulic-driven joint of shaft coupling, makes joint brake and angle maintenance.
Main body of the present invention is by being the execution of hydraulic-driven swinging joint and brake apparatus, swing hydraulic pressure cylinder and brake with the use of, brake is fixed on the joint body construction that is connected with oscillating cylinder by fixed disk and connector, angle detection module is also fixed on oscillating cylinder body construction by connector, oscillating cylinder standing part is connected with manipulator forearm, and oscillating cylinder rotating shaft is by shaft coupling and connector and manipulator postbrachium connector.
When needing the joint of mechanical arm of manipulator to rotate, oscillating cylinder rotating shaft and rotating under the driving of the hydraulic medium with energy in this postbrachium of joint of mechanical arm connected, manipulator joint is made to realize launching or reclaiming motion, the both sides rotating shaft of oscillating cylinder is connected by shaft coupling with angle detection module, articulation module respectively in the process, angle detecting sensor, the brake disc of articulation module is followed the rotating shaft of swing hydraulic pressure cylinder and is synchronized with the movement; When needs hydraulic-driven joint realizes angle maintenance, Hydraulic Station stops providing hydraulic energy to hydraulic-driven oscillating cylinder, joint brake module work, the solenoid part of brake powers on, the electromagnet being pull-in on brake by the braking brake disc that shaft coupling is connected with the rotating shaft of swing hydraulic pressure cylinder produces braking moment, thus makes swinging joint rotating shaft locked.
Hydraulic-driven swinging joint performs and brake apparatus, and it realizes joint drive and braking realizes respectively by hydraulic energy and electromagnetic energy, and manipulator joint drives and realized by hydraulic energy, and manipulator joint angle keeps or braking is realized by electromagnetic energy.
Hydraulic-driven swinging joint performs and brake apparatus, and being made up of three functional modules, is articulation module, angle detection module and joint brake module respectively.Articulation module realizes manipulator and to shut down basic motor function, and angle detection module completes the detection to System for Joint Motion of Manipulator angle, and joint brake module realizes manipulator joint angle and keeps.
Three modules are all fixed on the upper arm of manipulator joint, and three modules are again based on articulation module, and angle detection module realizes Angular Displacement Detecting, and breaker module realizes angle and keeps.
Claims (1)
1. the hydraulic efficiency manipulator swinging joint of a band brake, it is characterized in that: comprise fro hydraulic driving machinery arm swing module, angle detection module, hydraulic-driven rotating shaft brake module, fro hydraulic driving machinery arm swing module comprises swing hydraulic pressure cylinder, forearm fixture, postbrachium tumbler, postbrachium connector, forearm fixture and swing hydraulic pressure cylinder fix, postbrachium tumbler and postbrachium connector fix, angle detection module is fixed on angular transducer fixture by sensor connecting piece, angular transducer fixture and forearm fixture fix, the detection axis of angle detection module is connected with the rotating shaft of swing hydraulic pressure cylinder by angle detection module shaft coupling, angle detection module shaft coupling and postbrachium tumbler fix, hydraulic-driven rotating shaft brake module comprises electromagnet, brake disc, brake disc shaft coupling, electromagnet fixed disk, breaker module contiguous block, electromagnet and electromagnet fixed disk fix, electromagnet fixed disk and breaker module contiguous block fix, brake disc and brake disc shaft coupling fix, brake disc is arranged on the end of electromagnet, swing hydraulic pressure cylinder and brake disc shaft coupling fix.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510696698.XA CN105171735B (en) | 2015-10-23 | 2015-10-23 | Hydraulic mechanical arm swing joint with brake |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510696698.XA CN105171735B (en) | 2015-10-23 | 2015-10-23 | Hydraulic mechanical arm swing joint with brake |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105171735A true CN105171735A (en) | 2015-12-23 |
| CN105171735B CN105171735B (en) | 2017-04-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510696698.XA Active CN105171735B (en) | 2015-10-23 | 2015-10-23 | Hydraulic mechanical arm swing joint with brake |
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| Country | Link |
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| CN (1) | CN105171735B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127685A (en) * | 2015-12-25 | 2018-06-08 | 北京航空航天大学 | A kind of modularization robot drives joint |
Citations (8)
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| JP2011058578A (en) * | 2009-09-10 | 2011-03-24 | Yaskawa Electric Corp | Holding brake device, actuator using the same, and robotic device |
| CN102946222A (en) * | 2011-09-06 | 2013-02-27 | 北京理工大学 | High-precision positioning method for permanent magnet synchronous motor servo system |
| CN102941578A (en) * | 2012-12-09 | 2013-02-27 | 中国船舶重工集团公司第七二二研究所 | Ioint module for rotating mechanical arm rotation |
| KR20140055032A (en) * | 2012-10-30 | 2014-05-09 | 장대환 | Car brake module for assembly robot hand |
| CN104385276A (en) * | 2014-10-09 | 2015-03-04 | 兰州理工大学 | Single-motor three-degree-of-freedom mechanical arm mechanism |
| CN204471374U (en) * | 2015-03-06 | 2015-07-15 | 山东大学 | A kind of hydraulic-driven multi-joint industrial robot |
| CN104942820A (en) * | 2015-06-05 | 2015-09-30 | 上海宇航系统工程研究所 | Space humanoid robot arm joint |
| CN205201520U (en) * | 2015-10-23 | 2016-05-04 | 哈尔滨工程大学 | Hydraulic pressure machinery hand swing joint of band brake |
-
2015
- 2015-10-23 CN CN201510696698.XA patent/CN105171735B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011058578A (en) * | 2009-09-10 | 2011-03-24 | Yaskawa Electric Corp | Holding brake device, actuator using the same, and robotic device |
| CN102946222A (en) * | 2011-09-06 | 2013-02-27 | 北京理工大学 | High-precision positioning method for permanent magnet synchronous motor servo system |
| KR20140055032A (en) * | 2012-10-30 | 2014-05-09 | 장대환 | Car brake module for assembly robot hand |
| CN102941578A (en) * | 2012-12-09 | 2013-02-27 | 中国船舶重工集团公司第七二二研究所 | Ioint module for rotating mechanical arm rotation |
| CN104385276A (en) * | 2014-10-09 | 2015-03-04 | 兰州理工大学 | Single-motor three-degree-of-freedom mechanical arm mechanism |
| CN204471374U (en) * | 2015-03-06 | 2015-07-15 | 山东大学 | A kind of hydraulic-driven multi-joint industrial robot |
| CN104942820A (en) * | 2015-06-05 | 2015-09-30 | 上海宇航系统工程研究所 | Space humanoid robot arm joint |
| CN205201520U (en) * | 2015-10-23 | 2016-05-04 | 哈尔滨工程大学 | Hydraulic pressure machinery hand swing joint of band brake |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127685A (en) * | 2015-12-25 | 2018-06-08 | 北京航空航天大学 | A kind of modularization robot drives joint |
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| CN105171735B (en) | 2017-04-12 |
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