CN105945989A - Hydraulic swing cylinder driving joint based robot hydraulic mechanical arm - Google Patents

Hydraulic swing cylinder driving joint based robot hydraulic mechanical arm Download PDF

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Publication number
CN105945989A
CN105945989A CN201510896446.1A CN201510896446A CN105945989A CN 105945989 A CN105945989 A CN 105945989A CN 201510896446 A CN201510896446 A CN 201510896446A CN 105945989 A CN105945989 A CN 105945989A
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China
Prior art keywords
arm
hydraulic pressure
pressure cylinder
potentiometer
swing hydraulic
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Pending
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CN201510896446.1A
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Chinese (zh)
Inventor
陶永
胡磊
孙贝
高彭彭
刘辉
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Beihang University
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Beihang University
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Priority to CN201510896446.1A priority Critical patent/CN105945989A/en
Publication of CN105945989A publication Critical patent/CN105945989A/en
Pending legal-status Critical Current

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Abstract

The invention relates to a hydraulic swing cylinder driving joint based robot hydraulic mechanical arm. The robot hydraulic mechanical arm includes a small joint arm and a big joint arm; the small joint arm and the big joint arm are connected through a joint arm connection rod; each of driving joints of the small joint arm and the big joint arm includes two hydraulic swing cylinders, wherein output shaft ends of the two hydraulic swing cylinders are mutually perpendicular; the hydraulic swing cylinders are arranged in a support; the output shaft ends of the hydraulic swing cylinders in the support are connected to gears; and the gears are engaged with potentiometer gears at the tails of the potentiometers. The robot hydraulic mechanical arm is simple in structure, is convenient in modular production, and can be applied and promoted to industry; a driving section is driven by the hydraulic swing cylinders, a large output torque can be acquired, and the bearing capability is further improved; and meanwhile, the rigidity is better than that of motor-driven mechanical arms, the production cost is low, the difficulty of manufacture is small, better economy can be acquired, and the practicality is high.

Description

One drives diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder
Technical field
The invention belongs to technical field of mechanical design, in particular it relates to one drives diarthrodial machine based on swing hydraulic pressure cylinder Device people's hydraulic press mechanical arm.
Background technology
At present, mechanical arm is the automated machine device obtaining broad practice in robotics, relates generally to industry The fields such as the manufacturing, entertainment service.Mechanical arm mostly is the application of single form, typically just completes specific task, tradition Mechanical arm design application in, external environment condition is known, and when changes in demand, its ability changed according to demand is poor.Existing Some joint of mechanical arm drive the general mode using motor acceleration and deceleration machine, and the power density of usual this mechanical arm is relatively low. Simultaneously because limit the operation strategies of mechanical arm after employing motor at some special environments, such as this kind of machine under nuclear radiation environment The service life of mechanical arm will be by strong influence.To there is bearing capacity little for existing machinery arm simultaneously, poor rigidity;Action is ineffective Living, positional precision is the highest;Poor universality, adaptability to changes is poor, is not easy to keep in repair the problems such as adjustment.
The patent of invention of Patent No. CN201320503500.8 discloses a kind of multi-joint hydraulic machinery arm configuration, described mechanical arm Including waist joint assembly, two joint assemblies, three joint assemblies, four joint assemblies, finger-joint assembly, described each joint It is provided with hydraulic cylinder, linkage is set between joint and joint, but owing to being provided with single hydraulic cylinder in arm, therefore, whole The bearing capacity of individual mechanical arm is little, moment of torsion output in joint is less, mechanical arm rigidity not enough, action is dumb, and the present invention is with existing Technology is compared, and has the advantages such as simple in construction, load is big, stable and reliable in work.
Summary of the invention
In order to overcome above problems of the prior art, the present invention provides a kind of and drives diarthrodial machine based on swing hydraulic pressure cylinder People's hydraulic press mechanical arm, is connected by joint arm connecting rod including Minor articulus arm and big joint arm, Minor articulus arm and big joint arm, institute The driving joint stating Minor articulus arm and big joint arm all includes two output shaft end mutually perpendicular swing hydraulic pressure cylinders, swing hydraulic pressure cylinder Being arranged in bracing frame, the swing hydraulic pressure cylinder output shaft end within support frame as described above is respectively connected with gear, gear and potentiometer end Potentiometer gear be meshed.The present invention drives in diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder, each joint Swing hydraulic pressure cylinder output shaft end within the U-shaped bracing frame of arm all connects gear, and last with each potentiometer being connected by contiguous block The potentiometer gear of end is meshed, and pinion rotation angle can read according to potentiometer and be sent to control bus, thus sends instruction Control the angle of swing hydraulic pressure cylinder desirable movement, and then form the intelligent motion of mechanical arm.
Preferably, support frame as described above is U-shaped bracing frame, and U-shaped bracing frame is provided with multiple through hole, the output of swing hydraulic pressure cylinder Axle head or end can pass through hole, through hole be provided around multiple for reinforce screwed hole.
Preferably, the U-shaped bracing frame of described big joint arm includes the U-shaped lower bracing frame of big joint arm, high point to any of the above-described scheme The joint U-shaped upper support frame of arm.The U-shaped bracing frame of big joint arm is used for installing swing hydraulic pressure cylinder A and swing hydraulic pressure cylinder B, hydraulic pressure Oscillating cylinder A and swing hydraulic pressure cylinder B uses large scale swing hydraulic pressure cylinder.
Preferably, the U-shaped bracing frame of described Minor articulus arm includes the U-shaped upper support frame of Minor articulus arm, little Guan to any of the above-described scheme The joint U-shaped lower bracing frame of arm.
Preferably, described potentiometer is multiturn potentiometer to any of the above-described scheme, and described potentiometer gear is the little gear of potentiometer, Described gear is gear wheel.
Preferably, it is U-shaped that the swing hydraulic pressure cylinder A output shaft end of described big joint arm is passed down through big joint arm to any of the above-described scheme Lower bracing frame also fixes connection base connection dish and gear wheel A, thus controls the rotary motion of big joint arm.Base connection dish 1 For connecting base and big joint arm.
Any of the above-described scheme preferably, the swing hydraulic pressure cylinder B output shaft end of described big joint arm and the swing hydraulic pressure of big joint arm Cylinder A output shaft end is in 90 ° and passes the U-shaped upper support frame of big joint arm and the U-shaped lower bracing frame of big joint arm, thus controls little The swing of joint arm.
Preferably, the swing hydraulic pressure cylinder B output shaft end of described big joint arm sequentially passes through cushion block A, high point to any of the above-described scheme The joint U-shaped lower bracing frame of arm, gear wheel B are also fixed in the U-shaped upper support frame of big joint arm.
Preferably, described cushion block A is arranged between the U-shaped lower bracing frame of big mechanical arm and swing hydraulic pressure cylinder B any of the above-described scheme, For fixed hydraulic oscillating cylinder B.
Any of the above-described scheme preferably, the U-shaped lower bracing frame of described big joint arm is fixed with potentiometer contiguous block A, multi-turn Potentiometer A is fixed on potentiometer contiguous block A, and the little gear A of potentiometer is further secured on multiturn potentiometer A, it is ensured that Gear wheel A and potentiometer little gear A engaged transmission.
Any of the above-described scheme preferably, the U-shaped lower bracing frame of described big joint arm is also associated with potentiometer contiguous block B, multi-turn Potentiometer B is connected with potentiometer contiguous block B, and the little gear B of potentiometer is further secured on multiturn potentiometer B, and ensures Gear wheel B and potentiometer little gear B engaged transmission.
Any of the above-described scheme preferably, the output shaft end of the swing hydraulic pressure cylinder C of described Minor articulus arm through Minor articulus arm U-shaped on Bracing frame and the U-shaped lower bracing frame of Minor articulus arm, thus control the swing of Minor articulus arm.
Any of the above-described scheme preferably, the swing hydraulic pressure cylinder D output shaft end of described Minor articulus arm and the output of swing hydraulic pressure cylinder C Axle head is in 90 ° and passes the U-shaped upper support frame of Minor articulus arm, thus controls the rotation of Minor articulus arm end.Swing hydraulic pressure cylinder D Small size swing hydraulic pressure cylinder is used with swing hydraulic pressure cylinder C.
Preferably, the swing hydraulic pressure cylinder C output shaft end of described Minor articulus arm sequentially passes through cushion block B, little Guan to any of the above-described scheme The joint U-shaped upper support frame of arm, gear wheel C are also fixed in the U-shaped lower bracing frame of Minor articulus arm.
Any of the above-described scheme preferably, the swing hydraulic pressure cylinder C output shaft of described Minor articulus arm is fixed with gear wheel C, canine tooth Wheel C gear C little with the potentiometer on multiturn potentiometer C engages.
Any of the above-described scheme preferably, described multiturn potentiometer C by potentiometer contiguous block C be fixed on Minor articulus arm U-shaped on On bracing frame.
Preferably, described cushion block B is arranged between swing hydraulic pressure cylinder C and the U-shaped upper support frame of Minor articulus arm any of the above-described scheme, For fixed hydraulic oscillating cylinder C.
Preferably, the gear wheel D of described Minor articulus arm is connected on end connection dish and is further secured to any of the above-described scheme The output shaft end of swing hydraulic pressure cylinder D.
Preferably, described gear wheel D gear D little with potentiometer engages any of the above-described scheme, and the little gear D of potentiometer is installed on On multiturn potentiometer D, multiturn potentiometer D is fixed on the U-shaped upper support frame of Minor articulus arm by potentiometer contiguous block D.
The present invention drives diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder, including Minor articulus arm and big joint arm, little Joint arm and big joint arm are connected by joint arm connecting rod, and the driving joint of described Minor articulus arm and big joint arm all includes two Output shaft end mutually perpendicular swing hydraulic pressure cylinder, swing hydraulic pressure cylinder is arranged in bracing frame, the swing hydraulic pressure within support frame as described above Cylinder output shaft end is respectively connected with gear, and gear is meshed with the potentiometer gear of potentiometer end, this robot hydraulic press mechanical arm Simple in construction, wherein mechanical arm drives joint to be propped up up and down by two output shaft end mutually perpendicular swing hydraulic pressure cylinders and two are U-shaped Support forms, and it is easy to modularized production, the most industrial application and popularization;This swing hydraulic pressure cylinder drives diarthrodial machine The drive part of people's hydraulic press mechanical arm is driven by swing hydraulic pressure cylinder, is driven mechanical arm relative to existing by motor-driven, its Can obtain bigger output moment of torsion, bearing capacity improves further, is better than the mechanical arm of motor-driven in terms of rigidity simultaneously; From the point of view of from economic serviceability, the cost that this swing hydraulic pressure cylinder drives diarthrodial robot hydraulic press mechanical arm is relatively low, and processing and manufacturing is difficult Degree reduces, it is possible to obtain preferably economy.
Accompanying drawing explanation
Fig. 1 is a kind of overall structure schematic diagram driving diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder of the present invention.
Fig. 2 is the detonation configuration schematic diagram of the big joint arm of Fig. 1.
Fig. 3 is the detonation configuration schematic diagram of Fig. 1 Minor articulus arm.
Fig. 4 is the overall sectional view of the big joint arm of Fig. 1.
Fig. 5 is the overall sectional view of Fig. 1 Minor articulus arm.
Fig. 6 is the partial structurtes schematic diagram of Fig. 2.
In figure, the implication of each label is as follows:
1: base connection dish;2: gear wheel A;3: the little gear A of potentiometer;4: multiturn potentiometer A ;5: potentiometer contiguous block A;6: the big U-shaped lower bracing frame of joint arm;7: swing hydraulic pressure cylinder A;8: swing hydraulic pressure cylinder;9: Cushion block A;10: the big U-shaped upper support frame of joint arm;11: gear wheel B;12: the little gear B of potentiometer;13: potentiometer is even Meet block B;14: multiturn potentiometer B;15: joint arm connecting rod;16: the U-shaped lower bracing frame of Minor articulus arm;17: hydraulic pressure Oscillating cylinder C;18: swing hydraulic pressure cylinder D;19: the U-shaped upper support frame of Minor articulus arm;20: gear wheel D;21: end connects Dish;22: the little gear D of potentiometer;23: potentiometer contiguous block D;24: multiturn potentiometer D;25: gear wheel C;26: The little gear C of potentiometer;27: potentiometer contiguous block C;28: multiturn potentiometer C;29: cushion block B.
Detailed description of the invention
In order to be best understood from technical scheme and advantage, below by way of detailed description of the invention, and combine accompanying drawing to this Bright it is described further.
Embodiment 1
As it is shown in figure 1, one drives diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder, including Minor articulus arm and high point Joint arm, Minor articulus arm and big joint arm are connected by joint arm connecting rod 15, described Minor articulus arm and the driving joint of big joint arm All including two output shaft end mutually perpendicular swing hydraulic pressure cylinders, swing hydraulic pressure cylinder is arranged in bracing frame, inside support frame as described above Swing hydraulic pressure cylinder output shaft end be respectively connected with gear, gear is meshed with the potentiometer gear of potentiometer end.The base of the present invention In swing hydraulic pressure cylinder drives diarthrodial robot hydraulic press mechanical arm, the swing hydraulic pressure cylinder within the U-shaped bracing frame of each joint arm is defeated Go out axle head all to connect and have gear, and be meshed with the potentiometer gear of each potentiometer end being connected by contiguous block, pinion rotation Angle can read and be sent to control bus according to potentiometer, thus send instruction and control the angle of swing hydraulic pressure cylinder desirable movement, And then form the intelligent motion of mechanical arm.
The technical scheme that the present invention optimizes further is, support frame as described above is U-shaped bracing frame, and U-shaped bracing frame is provided with multiple logical Hole, the output shaft end of swing hydraulic pressure cylinder or end can pass through hole, through hole be provided around multiple for reinforce screwed hole.
The technical scheme that the present invention optimizes further is, the U-shaped bracing frame of described big joint arm includes the U-shaped lower support of big joint arm Frame 6, the U-shaped upper support frame of big joint arm 10.
The technical scheme that the present invention optimizes further is, the U-shaped lower bracing frame 6 of described big joint arm and the U-shaped upper support of big joint arm The two sides of frame 10 are equipped with the through hole being mutually matched.
The technical scheme that the present invention optimizes further is, the U-shaped bracing frame of described Minor articulus arm includes the U-shaped upper support of Minor articulus arm The U-shaped lower bracing frame 16 of frame 19, Minor articulus arm.
The technical scheme that the present invention optimizes further is, the described U-shaped upper support frame of Minor articulus arm 19 and U-shaped lower of Minor articulus arm The two sides of support 16 are equipped with the through hole being mutually matched.
The technical scheme that the present invention optimizes further is, described potentiometer is multiturn potentiometer, and described potentiometer gear is potentiometer Little gear, described gear is gear wheel.
The technical scheme that the present invention optimizes further is, the swing hydraulic pressure cylinder A7 output shaft end of described big joint arm is passed down through greatly The U-shaped lower bracing frame 6 of joint arm fixing connection base connection dish 1 and gear wheel A2, thus control the rotary motion of big joint arm, As shown in Figure 2.
The technical scheme that the present invention optimizes further is, the swing hydraulic pressure cylinder B8 output shaft end of described big joint arm and big joint arm Swing hydraulic pressure cylinder A7 output shaft end in 90 ° and through the U-shaped upper support frame of big joint arm 10 and the U-shaped lower support of big joint arm Frame 6, thus control the swing of Minor articulus arm.
The technical scheme that the present invention optimizes further is, the swing hydraulic pressure cylinder B8 output shaft end of described big joint arm sequentially passes through cushion block The U-shaped lower bracing frame 6 of A9, big joint arm, gear wheel B11 are also fixed in the U-shaped upper support frame of big joint arm 10.
The technical scheme that the present invention optimizes further is, described cushion block A9 is arranged on the U-shaped lower bracing frame 6 of big mechanical arm and hydraulic pressure Between oscillating cylinder B8, for fixed hydraulic oscillating cylinder B8.
The technical scheme that the present invention optimizes further is, the U-shaped lower bracing frame 6 of described big joint arm is fixed with potentiometer and connects Block A5, multiturn potentiometer A4 are fixed on potentiometer contiguous block A5, and the little gear A of potentiometer 3 is further secured to multi-turn current potential On device A4, it is ensured that gear wheel A2 and potentiometer little gear A 3 engaged transmission.
The technical scheme that the present invention optimizes further is, the U-shaped lower bracing frame 6 of described big joint arm is also associated with potentiometer and connects Block B13, multiturn potentiometer B14 are connected with potentiometer contiguous block B13, and the little gear B of potentiometer 12 is further secured to multi-turn electricity On the device B14 of position, and ensure gear wheel B11 and potentiometer little gear B 12 engaged transmission.
The technical scheme that the present invention optimizes further is, the output shaft end of the swing hydraulic pressure cylinder C17 of described Minor articulus arm passes little Guan The joint U-shaped upper support frame of arm 19 and the U-shaped lower bracing frame 16 of Minor articulus arm, thus control the swing of Minor articulus arm.
The technical scheme that the present invention optimizes further is, the swing hydraulic pressure cylinder D18 output shaft end of described Minor articulus arm and swing hydraulic pressure The output shaft end of cylinder C17 is in 90 ° and passes the U-shaped upper support frame of Minor articulus arm 19, thus controls the rotation of Minor articulus arm end.
The technical scheme that the present invention optimizes further is, the swing hydraulic pressure cylinder C17 output shaft end of described Minor articulus arm sequentially passes through pad Block B29, the U-shaped upper support frame of Minor articulus arm 19, gear wheel C25 are also fixed in the U-shaped lower bracing frame 16 of Minor articulus arm, as Shown in Fig. 3.
The technical scheme that the present invention optimizes further is, the swing hydraulic pressure cylinder C17 output shaft of described Minor articulus arm is fixed with canine tooth Wheel C25, gear wheel C25 gear C little with the potentiometer on multiturn potentiometer C28 26 engages.
The technical scheme that the present invention optimizes further is, described multiturn potentiometer C28 is fixed on little by potentiometer contiguous block C27 On the U-shaped upper support frame of joint arm 19.
The technical scheme that the present invention optimizes further is, described cushion block B29 is arranged on swing hydraulic pressure cylinder C17 and Minor articulus arm is U-shaped Between upper support frame 19, for fixed hydraulic oscillating cylinder C17.
The technical scheme that the present invention optimizes further is, the gear wheel D20 of described Minor articulus arm is connected on end connection dish 21 also It is further secured to the output shaft end of swing hydraulic pressure cylinder D18.
The technical scheme that the present invention optimizes further is, described gear wheel D20 gear D little with potentiometer 22 engages, and potentiometer is little Gear D 22 is installed on multiturn potentiometer D24, and multiturn potentiometer D24 is fixed on Minor articulus arm by potentiometer contiguous block D23 On U-shaped upper support frame 19.
Embodiment 2
One drives diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder, and as different from Example 1, described base connects Dish 1 is connected by screw gear wheel A2, it is ensured that with gear wheel A2 be stably connected with and together be fixed on swing hydraulic pressure cylinder A7 output On axle.
Embodiment 3
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 2, described swing hydraulic pressure based on swing hydraulic pressure cylinder The output shaft end of cylinder A7 through the bottom surface of the U-shaped lower bracing frame 6 of big joint arm, its cylinder body by screw be fixed on big joint arm U-shaped under The inside of bracing frame 6.
Embodiment 4
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 3, multiturn potentiometer A4 based on swing hydraulic pressure cylinder Being fixed by screws on potentiometer contiguous block A5, contiguous block A5 is fixed by screws in the U-shaped lower bracing frame of big joint shoulder joint The downside of 6.
Embodiment 5
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 4, swing hydraulic pressure cylinder B8 based on swing hydraulic pressure cylinder Output shaft end sequentially passes through cushion block A9, the U-shaped lower bracing frame 6 of big joint arm, gear wheel B11 and is secured by bolts in big joint In the U-shaped upper support frame of arm 10.
Embodiment 6
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 5, swing hydraulic pressure cylinder B8 based on swing hydraulic pressure cylinder Fix gear wheel B11, multiturn potentiometer B14 on axle and be connected and fixed to big joint arm U with potentiometer contiguous block B13 by screw The upper side of bracing frame 6 under type, the little gear B of fixed potential device 12 on multiturn potentiometer B14, and ensure described gear wheel B11 Gear B 12 engaged transmission little with potentiometer.
Embodiment 7
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 6, multiturn potentiometer B14 based on swing hydraulic pressure cylinder Being fixed on potentiometer contiguous block B13, potentiometer contiguous block B13 is fixed on the upper side of the U-shaped lower bracing frame 6 of big joint arm.
Embodiment 8
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 7, swing hydraulic pressure cylinder B8 based on swing hydraulic pressure cylinder Output shaft on fix gear wheel B11, multiturn potentiometer B14 and potentiometer contiguous block B13 and be connected and fixed to high point by screw Joint U-shaped lower bracing frame 6 upper side of arm.
Embodiment 9
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 5, joint arm connecting rod based on swing hydraulic pressure cylinder 15 are bolted big joint arm and Minor articulus arm.
Embodiment 10
One drives diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder, and as different from Example 9, Minor articulus arm is U-shaped Lower bracing frame 16 underrun bolt is fixed with joint arm connecting rod 15.
Embodiment 11
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 10, swing hydraulic pressure cylinder C17 based on swing hydraulic pressure cylinder Output shaft end sequentially pass through cushion block B29, the U-shaped upper support frame of Minor articulus arm 19, gear wheel C25 and be secured by bolts in little In the U-shaped lower bracing frame 16 of joint arm.
Embodiment 12
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 11, multiturn potentiometer C28 based on swing hydraulic pressure cylinder It is fixed by screws on potentiometer contiguous block C27,
Embodiment 13
One drives diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder, and unlike embodiment 125, potentiometer connects Block C27 is fixed by screws in the downside of the U-shaped upper support frame of Minor articulus arm 19.
Embodiment 14
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 13, swing hydraulic pressure cylinder D18 based on swing hydraulic pressure cylinder Output shaft end through Minor articulus arm U-shaped upper support frame 19 bottom surface, its cylinder body is secured by bolts in the U-shaped upper support of Minor articulus arm In frame 19.
Embodiment 15
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 14, multiturn potentiometer D24 based on swing hydraulic pressure cylinder Being fixed by screws on potentiometer contiguous block D23, potentiometer contiguous block D23 is fixed by screws in U-shaped upper of Minor articulus arm Support 19 upper side, the output shaft of swing hydraulic pressure cylinder D18 is fixed gear wheel D20, fixed potential device on multiturn potentiometer D24 Little gear D 22, thus ensure that gear wheel D20 and the little gear D of potentiometer 22 are engaged transmission.
Embodiment 16
A kind of drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder, as different from Example 15, as shown in Figure 4, The big U-shaped upper support frame of joint arm 10, U-shaped structure, two sides are provided with through hole, the output shaft end of swing hydraulic pressure cylinder B8 Side on the other side through hole is passed, with through hole center as circle through the through hole of a side and the end of swing hydraulic pressure cylinder B8 The provided circumferentially about of the heart has six screwed holes for fixed hydraulic oscillating cylinder, bolt through six screwed holes by swing hydraulic pressure cylinder B8 It is fixed in the U-shaped upper support frame of big joint arm 10, it is ensured that the position of swing hydraulic pressure cylinder B8 is fixed.
Embodiment 17
A kind of drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder, as different from Example 16, as shown in Figure 4, The U-shaped lower bracing frame 6 of described big joint arm, U-shaped structure, U-shaped lower bracing frame 6 bottom center of big joint arm is provided with through hole, Six screwed holes for fixed hydraulic oscillating cylinder are had in provided circumferentially about with through hole center as the center of circle;Under big joint arm is U-shaped Above the two sides of bracing frame 6, being provided with through hole, this through hole is same with the two sides through hole on the U-shaped upper support frame of big joint arm 10 The heart, positions for swing hydraulic pressure cylinder B8 output shaft end and passing of end.
Embodiment 18
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 17, described cushion block A9 based on swing hydraulic pressure cylinder Between swing hydraulic pressure cylinder B8 and big U-shaped lower bracing frame 6 side of joint arm, for fixed hydraulic oscillating cylinder B8, its center with The through hole of big U-shaped lower bracing frame 6 side of joint arm is concentric.
Embodiment 19
A kind of drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder, as different from Example 18, as it is shown in figure 5, The U-shaped lower bracing frame 16 of described Minor articulus arm, U-shaped structure, U-shaped lower bracing frame 16 two sides of Minor articulus arm are provided with logical Hole, the output shaft end of swing hydraulic pressure cylinder C17 passes phase therewith through the through hole of a side and the end of swing hydraulic pressure cylinder C17 To side through hole, have 4 screwed holes for fixed hydraulic oscillating cylinder, spiral shell in provided circumferentially about with through hole center as the center of circle Bolt through 4 screwed hole fixed hydraulic oscillating cylinder C17 in the U-shaped lower bracing frame 16 of Minor articulus arm, it is ensured that swing hydraulic pressure cylinder C17 Position fix.
Embodiment 20
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 19, described Minor articulus arm based on swing hydraulic pressure cylinder U-shaped upper support frame 19, U-shaped structure, Minor articulus arm U-shaped upper support frame 19 bottom center is provided with through hole, with in through hole The heart is that the provided circumferentially about of the center of circle has 4 screwed holes for fixed hydraulic oscillating cylinder D18, at the U-shaped upper support frame of Minor articulus arm Above the two sides of 19, being provided with through hole, the two sides through hole on this through hole lower bracing frame 16 U-shaped with Minor articulus arm is concentric, Position for swing hydraulic pressure cylinder C17 output shaft end and passing of end.
Embodiment 21
One drives diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder, as different from Example 20, in Minor articulus arm, Gear wheel D20 is threadingly attached on end connection dish 21, and is fixed on the output shaft end of swing hydraulic pressure cylinder D18 together.
Embodiment 22
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 21, multiturn potentiometer D24 based on swing hydraulic pressure cylinder It is fixed on the end face of the U-shaped upper support frame of Minor articulus arm 19 and intersection, side by potentiometer contiguous block D23 and is positioned at centre bit Put.
Embodiment 23
One drives diarthrodial robot hydraulic press mechanical arm, as different from Example 22, multiturn potentiometer C28 based on swing hydraulic pressure cylinder It is fixed on the top, side of the U-shaped upper support frame of Minor articulus arm 19 by potentiometer contiguous block C27 and is positioned at multiturn potentiometer D24 The homonymy of the U-shaped upper support frame of Minor articulus arm 19.
Embodiment 24
A kind of drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder, as different from Example 23, gear wheel C25 with The little gear C of potentiometer 26 on multiturn potentiometer C28 engages, and gear wheel C25 is positioned at the U-shaped upper support frame of Minor articulus arm 19 with little Between the U-shaped lower bracing frame 16 of joint arm and be fixed on through the U-shaped upper support frame of Minor articulus arm 19 and U-shaped lower of Minor articulus arm On the output shaft of the swing hydraulic pressure cylinder C17 of support 16 side.
Embodiment 25
One drives diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder, and as different from Example 24, cushion block B29 is positioned at Swing hydraulic pressure cylinder C17 between the side of the U-shaped upper support frame of Minor articulus arm 19, its center and the U-shaped upper support frame of Minor articulus arm On 19, the through hole of two sides is concentric, for fixed hydraulic oscillating cylinder C17.
Embodiment 26
A kind of drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder, as different from Example 25, as shown in Figure 6, Potentiometer contiguous block A5, multiturn potentiometer A4 coordinate with gear wheel A2's, and potentiometer contiguous block A5 is provided with screwed hole, Being fixed on big joint arm by screw, the output shaft end of multiturn potentiometer A4 connects the little gear A of potentiometer 3, the little tooth of potentiometer Wheel A3 and gear wheel A2 engaged transmission.
It should be noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit;Although reference The present invention has been described in detail by foregoing embodiments, it will be understood by those within the art that: it still can be right Technical scheme described in foregoing embodiments is modified, or the most some or all of technical characteristic is carried out equivalent; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.

Claims (19)

1. drive a diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder, including Minor articulus arm and big joint arm, little Guan Joint arm and big joint arm are connected by joint arm connecting rod, it is characterised in that described Minor articulus arm and the driving joint of big joint arm All including two output shaft end mutually perpendicular swing hydraulic pressure cylinders, swing hydraulic pressure cylinder is arranged in bracing frame, inside support frame as described above Swing hydraulic pressure cylinder output shaft end be respectively connected with gear, gear is meshed with the potentiometer gear of potentiometer end.
2. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 1, it is characterised in that: institute Stating bracing frame is U-shaped bracing frame, and U-shaped bracing frame is provided with multiple through hole, the output shaft end of swing hydraulic pressure cylinder or end and can wear Cross through hole, through hole be provided around multiple for reinforce screwed hole.
3. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 2, it is characterised in that: institute The U-shaped bracing frame stating big joint arm includes the U-shaped lower bracing frame of big joint arm, the U-shaped upper support frame of big joint arm.
4. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 2, it is characterised in that: institute The U-shaped bracing frame stating Minor articulus arm includes the U-shaped lower bracing frame of the U-shaped upper support frame of Minor articulus arm, Minor articulus arm.
5. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 1, it is characterised in that: institute Stating potentiometer is multiturn potentiometer, and described potentiometer gear is the little gear of potentiometer, and described gear is gear wheel.
6. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 1, it is characterised in that institute The swing hydraulic pressure cylinder A output shaft end stating big joint arm is passed down through the U-shaped lower bracing frame of big joint arm fixing connection base connection dish 1 and gear wheel A, thus control the rotary motion of big joint arm.
7. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 1, it is characterised in that described The swing hydraulic pressure cylinder B output shaft end of big joint arm is in 90 ° with the swing hydraulic pressure cylinder A output shaft end of big joint arm and passes big joint The U-shaped upper support frame of arm and the U-shaped lower bracing frame of big joint arm, thus control the swing of Minor articulus arm.
8. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 7, it is characterised in that: described The swing hydraulic pressure cylinder B output shaft end of big joint arm sequentially passes through cushion block A, the U-shaped lower bracing frame of big joint arm, gear wheel B, big The U-shaped upper support frame of joint arm is also fixed in the U-shaped upper support frame of big joint arm.
9. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 8, it is characterised in that described Cushion block A is arranged between the U-shaped lower bracing frame of big mechanical arm and swing hydraulic pressure cylinder B, for fixed hydraulic oscillating cylinder B.
10. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 3, it is characterised in that: described Being fixed with potentiometer contiguous block A on the U-shaped lower bracing frame of big joint arm, multiturn potentiometer A is fixed on potentiometer contiguous block A, The little gear A of potentiometer is further secured on multiturn potentiometer A, it is ensured that gear wheel A and potentiometer little gear A engaged transmission.
11. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as described in claim 3 or 10, it is characterised in that: Potentiometer contiguous block B, multiturn potentiometer B and potentiometer contiguous block B it is also associated with even on the U-shaped lower bracing frame of described big joint arm Connecing, the little gear B of potentiometer is further secured on multiturn potentiometer B, and ensures that the little gear B of gear wheel B and potentiometer engages Transmission.
12. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 1, it is characterised in that institute State the output shaft end of swing hydraulic pressure cylinder C of Minor articulus arm through the U-shaped upper support frame of Minor articulus arm and the U-shaped lower support of Minor articulus arm Frame, thus control the swing of Minor articulus arm.
13. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 1, it is characterised in that institute State the swing hydraulic pressure cylinder D output shaft end of Minor articulus arm in 90 ° with the output shaft end of swing hydraulic pressure cylinder C and through Minor articulus arm U Type upper support frame, thus control the rotation of Minor articulus arm end.
14. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 12, it is characterised in that: described The swing hydraulic pressure cylinder C output shaft end of Minor articulus arm sequentially passes through cushion block B, the U-shaped upper support frame of Minor articulus arm, gear wheel C and consolidates In the U-shaped lower bracing frame of Minor articulus arm.
15. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 12, it is characterised in that: institute State and be fixed with the potentiometer on gear wheel C, gear wheel C and multiturn potentiometer C on the swing hydraulic pressure cylinder C output shaft of Minor articulus arm Little gear C engages.
16. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 15, it is characterised in that institute State multiturn potentiometer C to be fixed on the U-shaped upper support frame of Minor articulus arm by potentiometer contiguous block C.
17. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 14, it is characterised in that described Cushion block B is arranged between swing hydraulic pressure cylinder C and the U-shaped upper support frame of Minor articulus arm, for fixed hydraulic oscillating cylinder C.
18. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 1, it is characterised in that described The gear wheel D of Minor articulus arm is connected on end connection dish 21 and is further secured to the output shaft end of swing hydraulic pressure cylinder D.
19. drive diarthrodial robot hydraulic press mechanical arm based on swing hydraulic pressure cylinder as claimed in claim 18, it is characterised in that institute Stating gear wheel D gear D little with potentiometer to engage, the little gear D of potentiometer is installed on multiturn potentiometer D, multiturn potentiometer D It is fixed on the U-shaped upper support frame of Minor articulus arm by potentiometer contiguous block D.
CN201510896446.1A 2015-12-08 2015-12-08 Hydraulic swing cylinder driving joint based robot hydraulic mechanical arm Pending CN105945989A (en)

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Application publication date: 20160921