CN106272540A - A kind of hydraulic knuckle and the robot being made up of it - Google Patents
A kind of hydraulic knuckle and the robot being made up of it Download PDFInfo
- Publication number
- CN106272540A CN106272540A CN201610814271.XA CN201610814271A CN106272540A CN 106272540 A CN106272540 A CN 106272540A CN 201610814271 A CN201610814271 A CN 201610814271A CN 106272540 A CN106272540 A CN 106272540A
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- Prior art keywords
- hollow piston
- nut sleeve
- oil
- oil cylinder
- oil pocket
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- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 239000003921 oil Substances 0.000 claims description 105
- 238000007789 sealing Methods 0.000 claims description 6
- 230000000875 corresponding Effects 0.000 claims description 3
- 239000010727 cylinder oil Substances 0.000 claims 1
- 239000010720 hydraulic oil Substances 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000007906 compression Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004805 robotic Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 210000003128 Head Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001802 infusion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001360 synchronised Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
Abstract
The invention discloses a kind of hydraulic knuckle, including oil cylinder, be slidably sheathed on described in-oil cylinder first hollow piston and the second hollow piston, and be connected with described first hollow piston and the second hollow piston and be installed on described in-oil cylinder rotating mechanism；Described rotating mechanism includes that fixed cover is located at the first nut sleeve and second nut sleeve of described first hollow piston, the screw rod being connected with described first nut sleeve and the second nut sleeve screw-driven, it is sheathed on the bearing in oil cylinder two ends, and is sheathed on bearing and is fixedly installed in the rotating seat at described screw rod two ends；The thread rotary orientation of described first nut sleeve and the second nut sleeve is contrary, forms double-piston and drives structure.Additionally provide a kind of robot being made up of base, mechanical arm and hydraulic knuckle.The hydraulic knuckle supporting machinery arm of the present invention, support shaft forms simply supported beam to mechanical arm, has two ends movement output, output torque is big, transmission efficiency is high and control accuracy high.
Description
Technical field
The present invention relates to Industrial Robot Technology field, relate to a kind of industrial robot hydraulic knuckle and the machine being made up of it
Device people, refers in particular to a kind of industrial robot hydraulic rotation joint or swinging joint and the robot being made up of it.
Background technology
Along with the development of robotics, robot mechanized equipment, automobile making, etc. industry field extensively should
With.At present, each movable joint of industrial robot, the servomotor that commonly used control accuracy is high drives RV reductor or humorous
Ripple reductor, implements the structure driven to robotic arm, and this version occupies industrial robot more than 1/4th nearly
Cost, hardware infusion of financial resources height, technical difficulty is big, and action simple automation equipment less demanding for control accuracy,
The robot input cost of this version is prohibitively expensive, it appears waste one's talent on a petty job, and causes unnecessary waste.
For this problem, employing linear hydraulic cylinder is had to drive crank block swing mechanism, to drive mechanical arm action
Structure is devised, and owing to structure uses Hydraulic servo drive, can manufacture equally and realize industrial robot of good performance, and
And contrast servomotor drives RV reductor or the structure of harmonic wave speed reducing machine driven machine arm action, have structure simpler,
Output loading capability is strong and power is than big advantage.But hydraulic-driven machine people is to use oscillating motor to close as it at present
Joint provides rotary motion, and structure is complicated, and precision is relatively low, and manufacturing cost is high, and the globality of joint component is bad.And owing to using
Independent one end output power so that the transform linear motion of hydraulic cylinder is that the process of rotary motion exists that transmission efficiency is low and transmission
Power output is little and causes the problem that the acceleration of rotary motion of output is little.
Summary of the invention
An object of the present invention is that solving existing hydraulic-driven machine people is to use independent one end output power so that
The transform linear motion of hydraulic cylinder is that the process of rotary motion exists that transmission efficiency is low and driving force output is little causes output
The problem that the acceleration of rotary motion is little, it is provided that a kind of two ends movement output, output torque is big and transmission efficiency is high, joint simultaneously
In the hydraulic knuckle of rolling bearing i.e. supporting rotating shaft supporting machinery arm again.
The two of the purpose of the present invention are the robot providing a kind of hydraulic knuckle to constitute, and use the machine of this hydraulic knuckle
People's transmission efficiency and control accuracy are high, eliminate robot hydraulic knuckle structure complicated, and precision is relatively low, high the lacking of manufacturing cost
Fall into.
An object of the present invention can reach by the following technical solutions:
A kind of hydraulic knuckle, including oil cylinder, is slidably sheathed on described in-oil cylinder first hollow piston and the second hollow
Piston, for limits the first hollow piston and the second hollow piston rotation position-limit mechanism, and with described first hollow piston
Connect with the second hollow piston and be installed on described in-oil cylinder rotating mechanism；It is described that described rotating mechanism includes that fixed cover is located at
First nut sleeve of the first hollow piston and the second nut sleeve, be connected with described first nut sleeve and the second nut sleeve screw-driven
Screw rod, be sheathed on the bearing in oil cylinder two ends, and be sheathed on bearing and be fixedly installed in the rotation at described screw rod two ends
Seat；The thread rotary orientation of described first nut sleeve and the second nut sleeve is contrary, forms double-piston and drives structure；
Further, described first hollow piston and the second hollow piston along the direction of the central axis of oil cylinder by oil cylinder
Part is divided into the first oil pocket, the second oil pocket and the 3rd oil pocket, and the wall of described first oil pocket, the second oil pocket and the 3rd oil pocket has
First oilhole, the second oilhole and the 3rd oilhole；When the first oil pocket and the 3rd oil pocket oil-feed, described second oil pocket is fuel-displaced, and institute
State the first hollow piston and the second hollow piston slide in opposition and drive screw rod by the first nut sleeve and the second nut sleeve simultaneously
Rotate forward；When the second oil pocket oil-feed, described first oil pocket and the 3rd oil pocket oil-feed, and described first hollow piston and second
Hollow piston dorsal glide and drive screw rod to rotate backward by the first nut sleeve and the second nut sleeve simultaneously.
Further, the both sides of described first hollow piston and the second hollow piston are provided with second shaft shoulder and the 3rd shaft shoulder,
Second shaft shoulder of described first hollow piston and the second hollow piston and the inwall of oil cylinder form the first oil pocket and the 3rd oil respectively
Chamber, the 3rd shaft shoulder of described first hollow piston and the second hollow piston and the inwall of oil cylinder form the second oil pocket；Described first
Hollow piston and the second hollow piston are connected with described cylinder seal by sealing member.
Crossing a step ground, described position-limit mechanism includes bearing pin, elastic component and with externally threaded lid, and described first hollow is lived
Have groove on plug and the second hollow piston, described oil cylinder has the screwed hole corresponding with described groove location；Described lid
Body center has slotted eye, and one end of described bearing pin is slidably sheathed in described slotted eye, and the other end stretches in described groove；Described
Lid screw thread is installed in described screwed hole, and described elastic component is installed between described bearing pin and lid.
As the preferred scheme of one, the medial surface of described rotating seat being arranged with lock sleeve, described lock sleeve is provided with
One shaft shoulder, the inner ring that described first shaft shoulder top last item holds, described lock sleeve is connected by connector and described rotating seat are fixing, and
Between described lock sleeve and rotating seat, there is gap.
As the preferred scheme of one, the end face of described screw rod has screwed hole, and by connecting key and described lock sleeve
Connect；The center of described rotating seat has through hole, and described screw rod stretches in described through hole, and by connector and described rotating seat
Connect, between end face and the rotating seat inner face of described screw rod, there is gap.
As the preferred scheme of one, one end of described second hollow piston is slidably sheathed on described first hollow piston
In, and be tightly connected with described first hollow piston by sealing member.
Further, the both ends of the surface of described oil cylinder being detachably provided with door, the two ends of described oil cylinder are provided with the 4th axle
Shoulder, described 4th shaft shoulder, top, another side pressure door are pressed in the one side top, outer ring of described bearing.
As the preferred scheme of one, described screw rod is passed with described first nut sleeve and the second nut sleeve screw thread by ball
It is dynamically connected.
Further, described first oilhole, the second oilhole and the 3rd oilhole are provided with the joint for external oil pipe.
The two of the purpose of the present invention can reach by the following technical solutions:
A kind of robot, described hydraulic knuckle, and base and mechanical arm, described base is fixing with described oil cylinder even
Connecing, described mechanical arm is fixedly connected on described rotating seat and forms simply supported beam carrying structure, and described mechanical arm swings relative to base.
Implement the present invention, have the advantages that
1, the present invention passes through the first hollow piston and the second hollow piston, and lives the first hollow piston and the second hollow
Second shaft shoulder beyond the Great Wall and the design of the 3rd shaft shoulder so that inside oil cylinder, be separated into the first oil pocket, the second oil pocket and the 3rd oil
Chamber, dexterously by controlling the running of hydraulic power oil direction between three oil pockets, carries out double drive to screw rod, makes screw rod be subject to simultaneously
Make to the effect of two torsion the reaction rotated more quick, improve driving force and the transmission efficiency rotating output, keep
The reliability of work.
2, the present invention is operationally, and owing to the thread rotary orientation of the first nut sleeve and the second nut sleeve is contrary, the first hollow is lived
Plug and the second hollow piston in oil cylinder in opposite directions or dorsal glide drive the first nut sleeve and the second nut sleeve to do in opposite directions respectively
Or linear motion dorsad, it is achieved simultaneously drive the screw rod being connected with the first nut sleeve and the second nut sleeve screw-driven and revolve
Turn, thus drive is fixed, with screw rod, the rotating seat being connected and rotated.Dual at the first hollow piston and the second hollow piston
Under driving, hydraulic fluid power be converted into torsion rotate output driving force and transmission efficiency be greatly improved so that rotary motion
Acceleration increase, prevent rotating seat rotate time delay situation, thus improve rotary motion control precision and work
Stability.
3, operationally, bearing pin stretches in groove under the elastic force effect of elastic component, prevents the first hollow piston and second
Hollow piston rotates and causes the inaccurate situation of screw rod rotational angle occur.Due to the characteristic that the deformable amount of elastic component is big,
During the first hollow piston and the second hollow piston slide, the first hollow piston and the second hollow piston can pass through bearing pin
Compression elastic piece, makes bearing pin upward sliding, thus reduces bearing pin and the first hollow piston and the frictional force of the second hollow piston, from
And ensure that the smoothness of work is carried out with stable.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the first structural representation of hydraulic knuckle of the present invention；
Fig. 2 is the second structural representation of hydraulic knuckle of the present invention；
Fig. 3 is the sectional view in the A-A direction along Fig. 1；
Fig. 4 is the installation diagram of hydraulic knuckle of the present invention；
The base of Tu5Shi robot of the present invention and mechanical arm structural representation；
Fig. 6 is the sectional view of the central axis of Robot hydraulic knuckle of the present invention；
The structural representation of Tu7Shi robot of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Embodiment
Seeing figures.1.and.2, the present embodiment relates to hydraulic knuckle, including oil cylinder 1, is slidably sheathed in described oil cylinder 1
First hollow piston 2 and the second hollow piston 3, is connected with described first hollow piston 2 and the second hollow piston 3 and is installed on institute
State the rotating mechanism in oil cylinder 1, and for limiting the first hollow piston and the position-limit mechanism of the second hollow piston rotation；Described
Rotating mechanism includes that fixed cover is located at the first nut sleeve 41 and the second nut sleeve 42 of described first hollow piston 2, with described
The screw rod 43 that one nut sleeve 41 and the second nut sleeve 42 screw-driven connect, is sheathed on the bearing 44, Yi Jitao in oil cylinder 1 two ends
It is located on bearing 44 and is fixedly installed in the rotating seat 45 at described screw rod 43 two ends；Described first nut sleeve 41 and the second nut sleeve
The thread rotary orientation of 42 is contrary, forms double-piston and drives structure.
Operationally, owing to the thread rotary orientation of the first nut sleeve 41 and the second nut sleeve 42 is contrary, the first hollow piston 2 He
Second hollow piston 3 in oil cylinder 1 in opposite directions or dorsal glide drive the first nut sleeve 41 and the second nut sleeve 42 to do phase respectively
To or linear motion dorsad, it is achieved simultaneously drive the screw rod being connected with the first nut sleeve 41 and the second nut sleeve 42 screw-driven
43 rotate, thus drive the rotating seat 45 that be connected fixing with screw rod 43 to rotate.In the first hollow piston 2 and second
Under the double drive of empty piston 3, hydraulic fluid power is converted into torsion and rotates the driving force of output and transmission efficiency is greatly improved,
The acceleration making rotary motion increases, and prevents rotating seat 45 and rotates the situation of time delay, thus improves rotary motion control
The precision of system and job stability.
Owing to the anglec of rotation of the first hollow piston 2 with the move distance of the second hollow piston 3 with described rotating seat 45 becomes
Direct ratio linear relationship, therefore, along with the first hollow piston 2 and the increase of the linear motion distance of the second hollow piston 3, rotating seat
The transhipment angle of 45 is along with increase, and in the present embodiment, the anglec of rotation of rotating seat 45 is 0～540 degree, liquid within the range
Pressure joint has the high advantage with good operating stability of operating accuracy.
In the structure shown here, the first nut sleeve 41 and the second nut sleeve 42 are contrary to the axial force of screw rod 43 so that spiral shell
The axial force that the bearing 44 at bar 43 two ends is subject to is little, and therefore, bearing 44 can use deep groove ball bearing can meet use requirement, nothing
Constructively complex as well as expensive thrust bearing need to be used, both achieved two ends power output, and improve the efficiency of transmission, reduce again
Production cost.
Described first hollow piston 2 and the second hollow piston 3 along the direction of the central axis of oil cylinder 1 by part in oil cylinder 1
It is divided into the first oil pocket the 11, second oil pocket 12 and the 3rd oil pocket 13, described first hollow piston 2 and the both sides of the second hollow piston 3
It is provided with second shaft shoulder 23 and the 3rd shaft shoulder 24, described first hollow piston 2 and the second shaft shoulder 23 and oil cylinder of the second hollow piston 3
The inwall of 1 forms the first described oil pocket 11 and the 3rd oil pocket 13, described first hollow piston 2 and the second hollow piston 3 respectively
The inwall of the 3rd shaft shoulder 24 and oil cylinder 1 form the second oil pocket 12；Described first hollow piston 2 and the second hollow piston 3 pass through
Sealing member 8 is tightly connected with described oil cylinder 1.This oil cylinder 1 forms three oil pockets under the separation of second shaft shoulder 23 and the 3rd shaft shoulder 24
Structure, it is achieved that the first hollow piston 2 and the second hollow piston 3 are carried out the purpose driven in opposite directions or dorsad, thus are formed
Double-piston drives structure.
As shown in Figures 1 to 4, the wall of described first oil pocket the 11, second oil pocket 12 and the 3rd oil pocket 13 has the first oil
Hole the 111, second oilhole 112 and the 3rd oilhole 113；When the first oil pocket 11 and the 3rd oil pocket 13 oil-feed, described second oil pocket 12
Fuel-displaced, now, hydraulic oil acts on second shaft shoulder 23, thus promotes described first hollow piston 2 and the second hollow piston 3 phase
Drive screw rod 43 to rotate forward by the first nut sleeve 41 and the second nut sleeve 42 to slip simultaneously；When the second oil pocket 12 oil-feed
Time, described first oil pocket 11 and the 3rd oil pocket 13 oil-feed, now, hydraulic oil acts on the 3rd shaft shoulder 24, thus promotes described
First hollow piston 2 and the second hollow piston 3 dorsal glide and driven by the first nut sleeve 41 and the second nut sleeve 42 simultaneously
Screw rod 43 rotates backward.
The present invention passes through the first hollow piston 2 and the second hollow piston 3, and to the first hollow piston 2 and the second hollow
The second shaft shoulder 23 and design of the 3rd shaft shoulder 24 on piston 3 so that oil cylinder 1 is internal is separated into first oil pocket the 11, second oil
Chamber 12 and the 3rd oil pocket 13, dexterously by controlling the running of hydraulic power oil direction between three oil pockets, carry out dual to screw rod 43
Drive, make screw rod 43 be made by the effect of two torsion the reaction rotated more quick simultaneously, improve the biography rotating output
Power and transmission efficiency, keep the reliability of work.
Being arranged with lock sleeve 5 on the medial surface of described rotating seat 45, described lock sleeve 5 is provided with first shaft shoulder 51, and described
One shaft shoulder 51 pushes up last item and holds the inner ring of 44, and described lock sleeve 5 is connected by connector is fixing with described rotating seat 45, and described lock
Between tight set 5 and rotating seat 45, there is gap.Rotating seat 45 is fixedly installed on the inner ring of bearing 44 by this lock sleeve 5, to rotation
The central axial direction of swivel base 45 retrains, it is ensured that the job stability of rotating seat 45.
The end face of described screw rod 43 has screwed hole, and is connected with described lock sleeve 5 by connecting key 6；Described rotating seat
The center of 45 has through hole, and described screw rod 43 stretches in described through hole, and is connected with described rotating seat 45 by connector 7, institute
State, between the end face of screw rod 43 and rotating seat 45 inner face, there is gap 431.When screw rod 43 rotates, screw rod 43 passes through connecting key
Torsion is delivered on lock sleeve 5 by 6, and drives the rotating seat 45 that be connected fixing with lock sleeve 5 to rotate.At this connecting key 6
Effect under, the situation of skidding produced when preventing rotating seat 45 from transporting, the degree of accuracy keeping rotating seat 45 to rotate, make rotating seat
45 keep synchronous axial system state with screw rod 43 in a circumferential direction, it is ensured that the control accuracy of power output.
One end of described second hollow piston 3 is slidably sheathed in described first hollow piston 2, and by sealing member 8
It is tightly connected with described first hollow piston 2.This structure make the hydraulic oil in the second oil pocket 12 cannot with the first nut sleeve 41,
Two nut sleeve 42 are connected with screw rod 43, and the iron filings that can prevent screw rod 43 from producing due to spin friction pollute hydraulic oil, can protect
The cleannes of card hydraulic oil, improve the service life of hydraulic oil.
Detachably being provided with door 9 in the both ends of the surface of described oil cylinder 1, the two ends of described oil cylinder 1 are provided with the 4th shaft shoulder 14, institute
Described 4th shaft shoulder 14, top, another side pressure door 9 are pressed in the one side top, outer ring stating bearing 44.The two sides, outer ring of bearing 44 exist
The top pressure of the 4th shaft shoulder 14 and door 9 is fixedly installed on the two ends of oil cylinder 1, makes bearing 44 play support rotating seat 45 turns
Dynamic effect.
Described screw rod 43 is connected with described first nut sleeve 41 and the second nut sleeve 42 screw-driven by ball.Reduce
Frictional resistance between screw rod 43 and the first nut sleeve 41 and the second nut sleeve 42, improves precision and the transmission of screw rod 43 motion
The feature that efficiency is high.
Described first oilhole the 111, second oilhole 112 and the 3rd oilhole 113 are provided with the joint for external oil pipe.Pass through
Joint makes the into and out oil pocket of hydraulic oil can control the direction of motion of the first hollow piston 2 and the second hollow piston 3
System.
As shown in figures 1 and 3, described position-limit mechanism includes bearing pin 91, elastic component 92 and with externally threaded lid 93, institute
State and have groove 25 on the first hollow piston 2 and the second hollow piston 3, described oil cylinder 1 has and described groove 25 position phase
Corresponding screwed hole 14；Described lid 93 center has slotted eye 931, and one end of described bearing pin 91 is slidably sheathed on described slotted eye
In 931, the other end stretches in described groove 25；Described lid 93 screw thread is installed in described screwed hole 14, and described elastic component
92 are installed between described bearing pin 91 and lid 93.Operationally, bearing pin 91 stretches into groove under the elastic force effect of elastic component 92
In 25, prevent the first hollow piston 2 and the second hollow piston 3 from rotating and causing that the screw rod 43 inaccurate feelings of rotational angle occur
Condition.Due to the characteristic that the deformable amount of elastic component 92 is big, during the first hollow piston 2 and the second hollow piston 3 slide,
First hollow piston 2 and the second hollow piston 3 can pass through bearing pin 91 compression elastic piece 92, make bearing pin 91 upward sliding, thus subtract
Small clevis pin with head 91 and the first hollow piston 2 and frictional force of the second hollow piston 3, thus ensure that the smoothness of work is carried out with stable.
For the power transmission media of this hydraulic knuckle, in addition to using hydraulic oil as medium, it is also possible to use
Water or gas as medium as the driving medium of power.
It addition, the present embodiment also provides for a kind of robot, as shown in Figures 5 to 7, described robot includes described hydraulic pressure
Joint, and base 100 and mechanical arm 101, described base 100 is fixing with described oil cylinder 1 to be connected, and described mechanical arm 101 is fixing
Being connected to described rotating seat 45 and form simply supported beam carrying structure, described mechanical arm 101 swings relative to base 100.During use, the end
The lower end of seat 100 is installed on pedestal to be fixed by Complete Bind, then by input or output hydraulic pressure oil shape in oilhole
Become hydraulic drive circuit, to drive screw rod 43 to rotate, and then drive the mechanical arm 101 that be connected fixing with rotating seat 45 to put
Dynamic, thus realize the accurate of the oscillating motion of mechanical arm 101 and stable operation.The robot using this hydraulic knuckle has transmission
Efficiency and the high advantage of control accuracy, eliminate robot hydraulic knuckle structure complicated, and precision is relatively low and high the asking of manufacturing cost
Topic.
Above disclosed it is only one preferred embodiment of the present invention, certainly can not limit the power of the present invention with this
Profit scope, the equivalent variations therefore made according to the claims in the present invention, still belong to the scope that the present invention is contained.
Claims (10)
1. a hydraulic knuckle, it is characterised in that: include oil cylinder, be slidably sheathed on described in-oil cylinder first hollow piston and
Second hollow piston, for limiting the first hollow piston and the position-limit mechanism of the second hollow piston rotation, and with described first
Hollow piston and the second hollow piston connect and are installed on described in-oil cylinder rotating mechanism；Described rotating mechanism includes fixed cover
It is located at the first nut sleeve and second nut sleeve of described first hollow piston, with described first nut sleeve and the second nut sleeve screw thread
The screw rod being in transmission connection, is sheathed on the bearing in oil cylinder two ends, and is sheathed on bearing and is fixedly installed in described screw rod two
The rotating seat of end；The thread rotary orientation of described first nut sleeve and the second nut sleeve is contrary, forms double-piston and drives structure；
Described first hollow piston and the second hollow piston are divided into first along the direction of the central axis of oil cylinder by inside oil cylinder
Oil pocket, the second oil pocket and the 3rd oil pocket, the wall of described first oil pocket, the second oil pocket and the 3rd oil pocket has the first oilhole,
Two oilholes and the 3rd oilhole；When the first oil pocket and the 3rd oil pocket oil-feed, described second oil pocket is fuel-displaced, and described first hollow is lived
Plug and the second hollow piston slide in opposition and simultaneously by the first nut sleeve and the second nut sleeve driving screw rod rotate forward；When
During two oil pocket oil-feeds, described first oil pocket and the 3rd oil pocket oil-feed, and described first hollow piston and the second hollow piston are dorsad
Slide and drive screw rod to rotate backward by the first nut sleeve and the second nut sleeve simultaneously.
A kind of hydraulic knuckle the most according to claim 1, it is characterised in that: described first hollow piston and the second hollow are lived
The both sides of plug are provided with second shaft shoulder and the 3rd shaft shoulder, described first hollow piston and second shaft shoulder of the second hollow piston and oil cylinder
Inwall form the first oil pocket and the 3rd oil pocket respectively, the 3rd shaft shoulder of described first hollow piston and the second hollow piston and oil
The inwall of cylinder forms the second oil pocket；Described first hollow piston and the second hollow piston are by sealing member with described cylinder seal even
Connect.
A kind of hydraulic knuckle the most according to claim 1, it is characterised in that: described position-limit mechanism includes bearing pin, elastic component
With with externally threaded lid, described first hollow piston and the second hollow piston have groove, described oil cylinder has with
The screwed hole that described groove location is corresponding；Described lid center has slotted eye, and one end of described bearing pin is slidably sheathed on institute
Stating in slotted eye, the other end stretches in described groove；Described lid screw thread is installed in described screwed hole, and described elastic component is installed
Between described bearing pin and lid.
A kind of hydraulic knuckle the most according to claim 1, it is characterised in that: it is arranged with lock on the medial surface of described rotating seat
Tight set, described lock sleeve is provided with first shaft shoulder, the inner ring that described first shaft shoulder top last item holds, described lock sleeve by connector with
Described rotating seat is fixing to be connected, and has gap between described lock sleeve and rotating seat.
A kind of hydraulic knuckle the most according to claim 4, it is characterised in that: the end face of described screw rod has screwed hole, and
It is connected with described lock sleeve by connecting key；The center of described rotating seat has through hole, and described screw rod stretches in described through hole, and
It is connected with described rotating seat by connector, between end face and the rotating seat inner face of described screw rod, there is gap.
A kind of hydraulic knuckle the most according to claim 1 and 2, it is characterised in that: one end of described second hollow piston can
Slip cap is located in described first hollow piston, and is tightly connected with described first hollow piston by sealing member.
7. according to the arbitrary described a kind of hydraulic knuckle of claim 1 to 5, it is characterised in that: can in the both ends of the surface of described oil cylinder
Having removed and installed door, the two ends of described oil cylinder are provided with the 4th shaft shoulder, and described 4th axle is pressed on the one side top, outer ring of described bearing
Shoulder, top, another side pressure door.
8. according to the arbitrary described a kind of hydraulic knuckle of claim 1 to 5, it is characterised in that: described screw rod passes through ball and institute
State the first nut sleeve and the second nut sleeve screw-driven connects.
A kind of hydraulic knuckle the most according to claim 1, it is characterised in that: described first oilhole, the second oilhole and the 3rd
Oilhole is provided with the joint for external oil pipe.
10. a robot, it is characterised in that: described robot includes the hydraulic pressure pass in right 1～9 described in any claim
Joint, and base and mechanical arm, described base fixes with described oil cylinder and is connected, and described mechanical arm is fixedly connected on described rotating seat
Forming simply supported beam carrying structure, described mechanical arm swings relative to base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610814271.XA CN106272540A (en) | 2016-09-09 | 2016-09-09 | A kind of hydraulic knuckle and the robot being made up of it |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610814271.XA CN106272540A (en) | 2016-09-09 | 2016-09-09 | A kind of hydraulic knuckle and the robot being made up of it |
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| Publication Number | Publication Date |
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| CN106272540A true CN106272540A (en) | 2017-01-04 |
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| CN201610814271.XA Pending CN106272540A (en) | 2016-09-09 | 2016-09-09 | A kind of hydraulic knuckle and the robot being made up of it |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333567A (en) * | 2018-09-28 | 2019-02-15 | 浙江梵煜电子科技有限公司 | A kind of automation screw type rotary head |
| CN111185495A (en) * | 2020-01-21 | 2020-05-22 | 太原科技大学 | Backing plate placing device of rotary hydraulic cylinder type flattening machine |
| CN111788046A (en) * | 2019-04-12 | 2020-10-16 | 深圳配天智能技术研究院有限公司 | Limiting device, mechanical arm and robot |
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| CN111788046A (en) * | 2019-04-12 | 2020-10-16 | 深圳配天智能技术研究院有限公司 | Limiting device, mechanical arm and robot |
| CN111185495A (en) * | 2020-01-21 | 2020-05-22 | 太原科技大学 | Backing plate placing device of rotary hydraulic cylinder type flattening machine |
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