CN106514695A - Device used for driving robot joint to rotate - Google Patents
Device used for driving robot joint to rotate Download PDFInfo
- Publication number
- CN106514695A CN106514695A CN201611087806.4A CN201611087806A CN106514695A CN 106514695 A CN106514695 A CN 106514695A CN 201611087806 A CN201611087806 A CN 201611087806A CN 106514695 A CN106514695 A CN 106514695A
- Authority
- CN
- China
- Prior art keywords
- hydraulic cylinder
- connecting tube
- tooth bar
- hydraulic
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/04—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Retarders (AREA)
Abstract
The invention discloses a device used for driving a robot to rotate. The device comprises a gear rotating mechanism and a hydraulic drive mechanism for driving the gear rotating mechanism to rotate, wherein a to-be-rotated robot joint is fixedly connected with the gear rotating mechanism. The hydraulic drive mechanism comprises a first hydraulic cylinder, a second hydraulic cylinder and a drive device for separately driving a piston in the first hydraulic cylinder and a piston in the second hydraulic cylinder to move in reverse directions. The gear rotating mechanism comprises a gear as well as a first rack and a second rack which are arranged in parallel; one side, away from a first connecting tube, of the piston in the first hydraulic cylinder is fixedly connected with one end of the first rack; one side, away from a second connecting tube, of the piston in the second hydraulic cylinder is fixedly connected with one end of the second rack; and the gear is separately engaged with the first rack and the second rack. Compared with the prior art, the device has the advantages of being light in weight, being capable of being easily mounted on the tail end of the robot arm and being low in manufacturing cost on the premise of rotating the robot joint.
Description
Technical field
The present invention relates to industrial automation, and in particular to a kind of device rotated for driven machine person joint.
Background technology
In industrial automation, need to drive a certain joint of robot to rotate the (manipulator of such as industrial robot
Arm is rotated), rotate typically by control device and reductor to realize, but the weight weight of reductor, and it is mounted in robot
The device needs in arm end so place are lightweight, and decelerator price is high, causes robot building high cost, so, this
Art personnel are necessary to propose a kind of new technical scheme to solve this technical problem.
The content of the invention
The present invention proposes a kind of device rotated for driven machine person joint, is used for driven machine in solving prior art
Person joint rotate installation weight weight, it is impossible to installed in machine human arm end it is such where, and existing device manufacture
The problem of high cost.
To achieve these goals, the technical scheme is that what is be achieved in that：It is a kind of to be used for driven machine person joint
The device of rotation, including the hydraulic drive mechanism that pinion rotation mechanism, the driving pinion rotation mechanism rotate, treats rotary machine
Person joint is fixedly linked with pinion rotation mechanism.
Preferably, the hydraulic drive mechanism includes first hydraulic cylinder, second hydraulic cylinder and drives the first hydraulic pressure respectively
The driving means that cylinder and second hydraulic cylinder inner carrier are moved in the opposite direction.
Preferably, the driving means include the 3rd hydraulic cylinder, the first connecting tube and the second connecting tube, the 3rd hydraulic pressure
Cylinder one end is connected with first hydraulic cylinder one end by the first connecting tube, the 3rd hydraulic cylinder other end by the second connecting tube with
Second hydraulic cylinder one end connects, and is provided with moveable sprue, first connecting tube and the second connection in the 3rd hydraulic cylinder
Hydraulic oil is full of in pipe and the 3rd hydraulic cylinder.
Preferably, the pinion rotation mechanism includes gear and the first tooth bar be arrangeding in parallel and the second tooth bar, described
First hydraulic cylinder inner carrier is fixedly linked with first tooth bar one end away from the side of the first connecting tube, living in the second hydraulic cylinder
Plug is fixedly linked with second tooth bar one end away from the side of the second connecting tube, the gear positioned at the first tooth bar and the second tooth bar it
Between, and the gear is meshed with the first tooth bar and the second tooth bar respectively.
Compared with prior art, present invention tool has the advantage that：It is proposed by the present invention to rotate for driven machine person joint
Device include pinion rotation mechanism, drive the hydraulic drive mechanism that the pinion rotation mechanism rotates, treat that rotary machine people is closed
Section is fixedly linked with pinion rotation mechanism, is rotated by hydraulic drive mechanism drive gear rotating mechanism, pinion rotation mechanism band
It is dynamic it is fixed thereto it is connected treat that rotary machine person joint rotates, reached the purpose of this device, the present invention compared to existing technology,
Can be lightweight on the premise of driven machine person joint rotates, can be easily installed in machine human arm end it is such where,
And low cost of manufacture.
Description of the drawings
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
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the front sectional view of the device rotated for driven machine person joint proposed by the present invention；
Fig. 2 is the structural representation of the device rotated for driven machine person joint proposed by the present invention.
Specific embodiment
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
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not paid
Embodiment, belongs to the scope of protection of the invention.
As shown in figure 1, a kind of device rotated for driven machine person joint proposed by the present invention, including pinion rotation machine
The hydraulic drive mechanism 2 that structure 1, drive gear rotating mechanism 1 are rotated, treats that rotary machine person joint is fixed with pinion rotation mechanism 1
It is connected, is hydraulically operated 2 drive gear rotating mechanism 1 of mechanism and rotates, pinion rotation mechanism 1 rotates drive and treats that rotary machine people is closed
Section is rotated.
As shown in figure 1, in the present embodiment, hydraulic drive mechanism 2 includes first hydraulic cylinder 21, second hydraulic cylinder 22 and divides
Qu Dong not the driving means moved in the opposite direction of first hydraulic cylinder 21 and 22 inner carrier of second hydraulic cylinder.Driving means drive
While 21 inner carrier of first hydraulic cylinder rises, 22 inner carrier of second hydraulic cylinder will be forced to decline, conversely, driving means are driven
While 21 inner carrier of dynamic first hydraulic cylinder declines, 22 inner carrier of second hydraulic cylinder will be forced to rise.
As shown in figure 1, in the present embodiment, driving means include the 3rd hydraulic cylinder 23, the first connecting tube 24 and the second connection
Pipe 25,23 one end of the 3rd hydraulic cylinder are connected with 21 one end of first hydraulic cylinder by the first connecting tube 24, and the 3rd hydraulic cylinder 23 is another
End is connected with 22 one end of second hydraulic cylinder by the second connecting tube 25, is provided with moveable sprue 26 in the 3rd hydraulic cylinder 23, the
Hydraulic oil is full of in one connecting tube 24 and the second connecting tube 25 and the 3rd hydraulic cylinder 23, and control sprue 26 is near the first connection
The direction motion of pipe 24, sprue 26 promote 21 inner carrier of first hydraulic cylinder to move upwards by promoting hydraulic oil, the first hydraulic pressure
While 21 inner carrier of cylinder is moved upwards, 22 inner carrier of second hydraulic cylinder declines accordingly.
As shown in Fig. 2 in the present embodiment, pinion rotation mechanism 1 includes gear 13 and the first tooth bar 11 be arrangeding in parallel
With the second tooth bar 12,21 inner carrier of first hydraulic cylinder is away from the side of the first connecting tube 24 and 11 one end fixing phase of the first tooth bar
Even, 22 inner carrier of second hydraulic cylinder is fixedly linked with 12 one end of the second tooth bar away from the side of the second connecting tube 25, gear 13
Between the first tooth bar 11 and the second tooth bar 12, and gear 13 is meshed with the first tooth bar 11 and the second tooth bar 12 respectively.First
Hydraulic cylinder 21 and 22 inner carrier of second hydraulic cylinder move in the opposite direction will drive the first tooth bar 11 and the second tooth bar 12 to
The contrary direction motion of difference, the first tooth bar 11 and the second tooth bar 12 are driven to the contrary direction athletic meeting of difference and are engaged with them
Gear 13 rotate, gear 13 rotate drive connection fixed thereto treat that rotary machine person joint rotates.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (4)
1. it is a kind of for driven machine person joint rotate device, it is characterised in that：Including pinion rotation mechanism (1), drive institute
The hydraulic drive mechanism (2) that pinion rotation mechanism (1) rotates is stated, treats that rotary machine person joint is fixed with pinion rotation mechanism (1)
It is connected.
2. it is according to claim 1 for driven machine person joint rotate device, it is characterised in that：The hydraulic-driven
Mechanism (2) includes first hydraulic cylinder (21), second hydraulic cylinder (22) and drives first hydraulic cylinder (21) and the second hydraulic pressure respectively
The driving means that cylinder (22) inner carrier is moved in the opposite direction.
3. it is according to claim 2 for driven machine person joint rotate device, it is characterised in that：The driving means
Including the 3rd hydraulic cylinder (23), the first connecting tube (24) and the second connecting tube (25), described 3rd hydraulic cylinder (23) one end passes through
First connecting tube (24) is connected with first hydraulic cylinder (21) one end, and the 3rd hydraulic cylinder (23) other end passes through the second connecting tube
(25) connect with second hydraulic cylinder (22) one end, be provided with moveable sprue (26) in the 3rd hydraulic cylinder (23), described the
Hydraulic oil is full of in one connecting tube (24) and the second connecting tube (25) and the 3rd hydraulic cylinder (23).
4. it is according to claim 3 for driven machine person joint rotate device, it is characterised in that：The pinion rotation
Mechanism (1) includes gear (13) and the first tooth bar (11) be arrangeding in parallel and the second tooth bar (12), the first hydraulic cylinder
(21) inner carrier is fixedly linked with the first tooth bar (11) one end away from the side of the first connecting tube (24), the second hydraulic cylinder
(22) inner carrier is fixedly linked with the second tooth bar (12) one end away from the side of the second connecting tube (25), and gear (13) are located at
Between first tooth bar (11) and the second tooth bar (12), and the gear (13) respectively with the first tooth bar (11) and the second tooth bar (12)
It is meshed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611087806.4A CN106514695A (en) | 2016-11-30 | 2016-11-30 | Device used for driving robot joint to rotate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611087806.4A CN106514695A (en) | 2016-11-30 | 2016-11-30 | Device used for driving robot joint to rotate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106514695A true CN106514695A (en) | 2017-03-22 |
Family
ID=58355403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611087806.4A Pending CN106514695A (en) | 2016-11-30 | 2016-11-30 | Device used for driving robot joint to rotate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106514695A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19519939C1 (en) * | 1995-06-02 | 1996-08-29 | Sommer Automatic Gmbh | Pivoting device for robotic handling unit |
| RU2155894C1 (en) * | 1999-01-05 | 2000-09-10 | Сибирский государственный индустриальный университет | Rack mechanism |
| CN1598302A (en) * | 2004-08-31 | 2005-03-23 | 王兆珉 | Manual dual-direction rotating driver |
| WO2009047279A2 (en) * | 2007-10-12 | 2009-04-16 | Andrew Forbes-Buthlay | Rack and pinion rotary drive |
| CN103434840A (en) * | 2013-08-30 | 2013-12-11 | 中国化学工业桂林工程有限公司 | Tire hand grab |
| CN205278269U (en) * | 2015-12-03 | 2016-06-01 | 重庆热谷机器人科技有限责任公司 | Rotary device of high accuracy |
| CN206510058U (en) * | 2016-11-30 | 2017-09-22 | 合肥瑞硕科技有限公司 | A kind of device for being used to drive joint of robot to rotate |
-
2016
- 2016-11-30 CN CN201611087806.4A patent/CN106514695A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19519939C1 (en) * | 1995-06-02 | 1996-08-29 | Sommer Automatic Gmbh | Pivoting device for robotic handling unit |
| RU2155894C1 (en) * | 1999-01-05 | 2000-09-10 | Сибирский государственный индустриальный университет | Rack mechanism |
| CN1598302A (en) * | 2004-08-31 | 2005-03-23 | 王兆珉 | Manual dual-direction rotating driver |
| WO2009047279A2 (en) * | 2007-10-12 | 2009-04-16 | Andrew Forbes-Buthlay | Rack and pinion rotary drive |
| CN103434840A (en) * | 2013-08-30 | 2013-12-11 | 中国化学工业桂林工程有限公司 | Tire hand grab |
| CN205278269U (en) * | 2015-12-03 | 2016-06-01 | 重庆热谷机器人科技有限责任公司 | Rotary device of high accuracy |
| CN206510058U (en) * | 2016-11-30 | 2017-09-22 | 合肥瑞硕科技有限公司 | A kind of device for being used to drive joint of robot to rotate |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170322 |