CN107351118B - Light and flexible hydraulic mechanical arm rotating structure - Google Patents
Light and flexible hydraulic mechanical arm rotating structure Download PDFInfo
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- CN107351118B CN107351118B CN201710726283.1A CN201710726283A CN107351118B CN 107351118 B CN107351118 B CN 107351118B CN 201710726283 A CN201710726283 A CN 201710726283A CN 107351118 B CN107351118 B CN 107351118B
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- channel
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- mechanical arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Quick-Acting Or Multi-Walled Pipe Joints (AREA)
Abstract
The invention discloses a light and flexible hydraulic mechanical arm rotating structure, which comprises two runner collecting plates, wherein a joint body is arranged between the two runner collecting plates, the joint body comprises a fixing piece, a rotating piece and a joint shell which are sleeved in sequence from inside to outside, the two runner collecting plates are respectively connected with the fixing piece and the rotating piece, at least one oil channel penetrates through the two runner collecting plates and the joint body, the oil channel flows in from one runner collecting plate and flows out from the other runner collecting plate after flowing through the joint body, and the hydraulic mechanical arm rotating structure has the beneficial effects that the flowing channels of hydraulic oil are all arranged in the rotating joint.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a light and flexible rotating structure of a hydraulic mechanical arm.
Background
In recent years, the development of robot technology is very rapid, and robots are widely used in the fields of industry, agriculture, service, medical treatment, military and the like. The manipulator is an important branch of robotics and can perform a variety of intended tasks. The manipulator can be electrically driven, pneumatically driven and hydraulically driven according to the driving mode, wherein the hydraulically driven manipulator has the advantages of stable motion, large load capacity, good rapidity, capability of realizing stepless speed change and the like, and is widely applied to heavy-load operation occasions such as underwater operation and the like. The rotary joint of the manipulator is a key component of the manipulator, and the flexibility and accuracy of the manipulator are determined to a great extent. Therefore, the design volume is small, and the manipulator rotary joint part with good flexibility has very important significance. At present, the rotation joint of the manipulator driven by hydraulic pressure is directly connected with an independent hydraulic motor and a hydraulic cylinder, an oil supply pipe is arranged outside, the volume is huge, interference with external objects is easy to generate during movement, and the movement flexibility of the manipulator is affected.
Disclosure of Invention
In order to solve the technical problems, the invention provides a light and flexible rotating structure of a hydraulic mechanical arm.
The technical proposal is as follows: a light and flexible hydraulic mechanical arm rotating structure is characterized in that: the joint body comprises a fixing piece, a rotating piece and a joint shell which are sequentially sleeved from inside to outside, the two runner collecting plates are respectively connected with the fixing piece and the rotating piece, at least one oil channel is penetrated between the two runner collecting plates and the joint body, the oil channel flows in from one runner collecting plate, flows through the joint body and then flows out from the other runner collecting plate.
By adopting the technical scheme, the flow passage of the hydraulic oil is positioned in the rotary joint, compared with the traditional rotary joint, the external oil pipe is omitted, the weight of the rotary joint of the manipulator is effectively reduced, the flexibility is improved, and the hydraulic oil can not interfere with the oil pipe like the traditional manipulator during rotation.
As preferable: the oil path channel comprises a flow dividing channel arranged in the flow channel collecting plate, a fixed channel arranged in the fixed piece and a dynamic channel arranged in the rotating piece, wherein the fixed channel and the dynamic channel are mutually communicated to form an intra-joint channel, and the fixed channel and the dynamic channel are respectively communicated with the corresponding flow dividing channel in the flow channel collecting plate to form the oil path channel. By adopting the scheme, the internal flow channels are formed in the flow channel collecting plate, the rotating piece, the fixing piece and other parts, so that the oil path channel is formed.
The fixing piece is a joint shaft, a first diversion blind hole is axially formed in the end face of one end of the joint shaft, a converging annular groove is formed in the outer wall of the joint shaft corresponding to the first diversion blind hole, and the inner end of the first diversion blind hole is communicated with the corresponding converging annular groove so as to form the fixing channel;
the rotating piece is a shaft sleeve, the joint shaft is axially penetrated in the shaft sleeve, a second flow dividing blind hole is axially arranged on the end face, far away from the first flow dividing blind hole, of the shaft sleeve, a flow dividing groove is arranged on the inner wall of the shaft sleeve corresponding to the second flow dividing blind hole, and the inner end of the second flow dividing blind hole is communicated with the corresponding flow dividing groove so as to form the dynamic channel;
the shunt groove notch of the dynamic channel is in butt joint communication with the corresponding converging ring groove notch of the fixed channel, so that the intrA-Articular channel is formed.
By adopting the scheme, hydraulic oil flows in from one end of the joint shaft and flows out from one end of the shaft sleeve, so that an independent oil path channel is formed.
The number of the oil path channels is N, N is an even number greater than or equal to 2, the first diversion blind holes and the second diversion blind holes of the N oil path channels are distributed on the end face of the joint shaft or the shaft sleeve in an annular array mode respectively, the hole depths of all the first diversion blind holes are gradually increased along the clockwise or anticlockwise direction, the hole depths of the corresponding second diversion blind holes are correspondingly gradually reduced, the diversion grooves are arc-shaped grooves, and all the diversion grooves are distributed on the inner wall of the shaft sleeve in a spiral mode along the axial direction. The driving hydraulic oil at different positions of the scheme flows out or flows back through different oil path channels, and the oil path channels are independent and are not affected.
The hydraulic oil cavity is formed between the rotating piece and the joint shell, two cavity separation assemblies are arranged in the hydraulic oil cavity along the direction of the rotation center line of the rotating piece, one cavity separation assembly is fixedly arranged on the inner wall of the joint shell, the other cavity separation assembly is fixedly arranged on the outer wall of the rotating piece, the two cavity separation assemblies divide the hydraulic oil cavity into two hydraulic driving oil chambers, and the two hydraulic driving oil chambers are respectively connected with one oil path channel through oil distribution pipes. By adopting the scheme, the rotation angle, the stability and the like of the joint can be controlled by controlling the flow of hydraulic oil flowing into the two hydraulic oil chambers, the oil pressure and the like.
The joint shell is of a cylindrical structure with two open ends, the shaft sleeve axially penetrates through the joint shell, and two ends of the hydraulic oil cavity are respectively sealed through end cover plates;
the cavity separation assembly comprises two separation blocks which are arranged opposite to each other, the inner side faces of the two separation blocks are attached, and the two separation blocks are locked by the locking piece to form the cavity separation assembly.
The joint shell and the shaft sleeve are conveniently assembled together by adopting the scheme.
A sealing component is arranged between the two separation blocks, and the sealing component seals and isolates the two hydraulic driving oil chambers. By adopting the scheme, the sealing assembly can ensure tight sealing between the two hydraulic driving oil chambers.
The sealing assembly comprises two rectangular gaskets which are arranged right opposite to each other, sealing grooves are respectively formed in the inner side faces of the separation blocks and correspond to the rectangular gaskets, the rectangular gaskets respectively fall into the corresponding sealing grooves, sealing rings are arranged between the two rectangular gaskets, the two rectangular gaskets clamp the sealing rings, and the edge of the outer ring of the rectangular gasket is abutted against the inner wall of the joint shell, the outer wall of the shaft sleeve and the inner wall of the end cover plate. By adopting the scheme, a softer sealing ring is clamped between two harder rectangular gaskets, so that the deformation of the sealing ring is conveniently adjusted, and the tightness of the sealing ring is ensured.
The outside of above-mentioned end cover board is equipped with locking ring and clamping ring from interior outside in proper order, the locking ring with end cover board fixed connection, the locking ring supports tightly on the clamping ring, the outer lane card of clamping ring is established on the inner wall of joint casing. By adopting the scheme, the axial position of the end cover plate is limited by the abutting of the locking ring and the clamping ring, and the end cover plate can still freely rotate in the radial direction; the clamping ring is clamped on the inner wall of the joint shell, is limited in the axial direction, has certain floating capacity and can freely rotate in the radial direction, so that the sealing assembly on the cavity separation assembly can always keep a good sealing effect while the assembly is convenient, and the friction force of the sealing assembly in the rotating process can be effectively reduced.
The fixing piece is internally hollow to form a wiring via hole. By adopting the scheme, other circuits of the mechanical arm can pass through the inside of the joint shaft, so that the space is not occupied, the weight of the rotary joint can be reduced due to the hollow inside the joint shaft, and the flexibility of the rotary joint is improved.
The beneficial effects are that: the hydraulic oil flow passage is arranged in the rotary joint, compared with the traditional rotary joint, the external oil pipe is omitted, the weight of the rotary joint of the manipulator is effectively reduced, the flexibility is improved, and the hydraulic oil flow passage does not interfere with the oil pipe like the traditional manipulator during rotation.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the internal structure of the joint shaft;
FIG. 3 is a schematic view of the internal structure of the sleeve;
FIG. 4 is a schematic view of the joint shaft and sleeve mating structure;
FIG. 5 is a schematic perspective view of a flow channel manifold plate;
FIG. 6 is a schematic view of the internal structure of the flow channel collector plate;
FIG. 7 is a schematic plan view of a joint housing;
FIG. 8 is a cross-sectional view of A-A' of FIG. 7;
FIG. 9 is an enlarged view of section a of FIG. 8;
FIG. 10 is a cross-sectional view of B-B' of FIG. 7;
fig. 11 is an enlarged view of the portion b in fig. 9.
Detailed Description
The invention is further described below with reference to examples and figures.
As shown in fig. 1, a light and flexible rotating structure of a hydraulic mechanical arm comprises two runner collecting plates 4, wherein a joint body is arranged between the two runner collecting plates 4, the joint body comprises a fixing piece, a rotating piece and a joint shell 1 which are sequentially sleeved from inside to outside, the two runner collecting plates 4 are respectively connected with the fixing piece and the rotating piece, at least one oil channel penetrates between the two runner collecting plates 4 and the joint body, the oil channel flows in from one runner collecting plate 4, flows through the joint body and then flows out from the other runner collecting plate 4.
The oil path channel comprises a flow dividing channel 5 arranged in the flow passage collecting plate 4, a fixed channel arranged in the fixed piece and a dynamic channel arranged in the rotary piece, wherein the fixed channel and the dynamic channel are mutually communicated to form an intra-joint channel, and the fixed channel and the dynamic channel are respectively communicated with the corresponding flow dividing channel 5 in the flow passage collecting plate 4 to form the oil path channel.
As shown in fig. 2-6, the fixing member is a joint shaft 2, a first split blind hole 6 is axially arranged on an end surface of one end of the joint shaft 2, a routing via hole 2d is formed in the joint shaft 2 in a hollow manner, a connecting via hole 2c is radially arranged on a cylindrical surface of the joint shaft 2 corresponding to the first split blind hole 6, a converging annular groove 2b is arranged on the cylindrical surface of the joint shaft 2 corresponding to the connecting via hole 2c, and an inner end of the first split blind hole 6 is communicated with a groove bottom of the corresponding converging annular groove 2b through the connecting via hole 2c so as to form the fixing channel;
the rotating piece is a shaft sleeve 3, the joint shaft 2 is axially penetrated in the shaft sleeve 3, a second shunt blind hole 7 is axially arranged on the end face of the shaft sleeve 3, which is far away from the first shunt blind hole 6, a shunt groove 3a is arranged on the inner wall of the shaft sleeve 3 corresponding to the second shunt blind hole 7, the inner end of the second shunt blind hole 7 is communicated with the corresponding shunt groove 3a to form a dynamic channel, the notch of the shunt groove 3a of the dynamic channel is in butt joint communication with the notch of the corresponding converging ring groove 2b of the fixed channel to form an intra-joint channel, the outer ends of the first shunt blind hole 6 and the second shunt blind hole 7 of the intra-joint channel are respectively communicated with the corresponding shunt channels 5 in the flow channel converging plate 4 to form an oil channel, N pieces of the oil channel are in an even number equal to or greater than 2, the first shunt blind holes 6 and the second shunt blind holes 7 of the oil channel are respectively distributed on the end face of the joint shaft 2 or the shaft sleeve 3 in an annular array shape, all the shunt blind holes 6 are gradually distributed along the corresponding spiral grooves 3a gradually increase along the radial direction, and the corresponding shunt grooves are gradually decrease along the axial direction of the corresponding shunt grooves 3a gradually along the inner wall of the blind holes.
It can also be seen from the figure that the flow passage collecting plate 4 is provided with a butt joint hole 4a, one flow passage collecting plate 4 is fixedly sleeved on the joint shaft 2 through the butt joint hole 4a and is fixedly connected with the shaft sleeve 3, and the butt joint hole 4a of the other flow passage collecting plate 4 is communicated with the wiring via hole 2d in the joint shaft 2 and is fixedly connected with the joint shaft 2.
As shown in fig. 7-11, the joint housing 1 is of a cylindrical structure with two open ends, the shaft sleeve 3 is axially inserted into the joint housing 1, a hydraulic oil cavity is formed between the shaft sleeve 3 and the joint housing 1, two cavity separation assemblies are axially arranged in the hydraulic oil cavity along the shaft sleeve 3, one cavity separation assembly is fixedly arranged on the inner wall of the joint housing 1, the other cavity separation assembly is fixedly arranged on the outer wall of the shaft sleeve 3, the two cavity separation assemblies divide the hydraulic oil cavity into two hydraulic driving oil chambers 11, the two hydraulic driving oil chambers 11 are respectively connected with one oil channel through oil distribution pipes 8, specifically, the oil distribution pipes 8 are communicated with a flow distribution channel 5 arranged in a flow channel collecting plate 4 on the joint shaft 2, two ends of the hydraulic oil cavity are respectively provided with an annular end cover plate 10, an inner ring of the end cover plate 10 is sleeved on the outer wall of the shaft sleeve 3, the end cover plate 10 is abutted against the inner wall of the joint housing 1, the two end cover plates 10 are respectively provided with two sealing rings 14, and a sealing ring plate 13 is respectively arranged between the two end cover plates 1 and the joint housing 10.
It can also be seen from the figure that the sleeve 3 on the outer side of the end cover plate 10 is sleeved with an annular pressing ring 15, the pressing ring 15 and the end cover plate 10 are integrally formed, a circle of roller 16 is axially arranged between the pressing ring 15 and the sleeve 3, a locking ring 17 and a clamping ring 18 are sequentially arranged on the outer side of the end cover plate 10 from inside to outside, the inner rings of the locking ring 17 and the clamping ring 18 are respectively sleeved on the pressing ring 15, the outer ring of the locking ring 17 is attached to the inner wall of the joint housing 1, the outer ring of the clamping ring 18 is clamped on the inner wall of the joint housing 1, the end cover plate 10 is fixedly connected with the locking ring 17, and the locking ring 17 is abutted to the clamping ring 18.
The cavity separation assembly comprises two separation blocks 12 which are arranged right opposite to each other, two ends of each separation block 12 are abutted against the inner wall of the corresponding end cover plate 10, two inner side faces of each separation block 12 are abutted, the two separation blocks are locked through bolts to form the cavity separation assembly, a sealing assembly 9 is arranged between the two separation blocks 12, the sealing assembly 9 seals the two hydraulic driving oil chambers 11, the sealing assembly 9 comprises two right-opposite rectangular gaskets 901, sealing grooves are formed in the inner side faces of the two separation blocks 12 corresponding to the rectangular gaskets 901 respectively, the rectangular gaskets 901 respectively fall in the corresponding sealing grooves, sealing rings 902 are arranged between the two rectangular gaskets 901, the two rectangular gaskets 901 clamp the sealing rings 902, the hardness of the sealing rings 902 is smaller than that of the rectangular gaskets 901, and the outer ring edges of the rectangular gaskets 901 are simultaneously abutted against the inner walls of the joint housing 1 and the outer walls of the shaft sleeve 3 and the inner walls of the end cover plate 10.
When in use, different oil path channels correspondingly control different parts; hydraulic oil such as rotation driving a wrist joint of a robot, grasping of a hydraulic mechanical gripper, and the like flows as follows: the flow dividing channels 5 in the two flow passage collecting plates 4 are respectively connected with oil pipes, hydraulic oil flows into the flow dividing channel 5 in one flow passage collecting plate 4 from different oil pipes, flows through the fixed channel in the joint shaft 2 and the dynamic channel in the shaft sleeve 3, flows out of the flow dividing channel 5 in the other flow passage collecting plate 4 and enters different control parts of the hydraulic manipulator, and the hydraulic oil flowing back from the parts can return to the hydraulic oil tank through the reverse flow of other oil path channels; when the joint is required to be driven to rotate, hydraulic oil flows into the hydraulic driving oil chamber 11 from one oil passage through the oil distribution pipe 8, or hydraulic oil in the hydraulic driving oil chamber 11 flows back into the hydraulic oil tank through the other oil passage through the oil distribution pipe 8, the whole rotary joint is driven to rotate by controlling the amount of the hydraulic oil entering the two hydraulic driving oil chambers 11, the appointed action is completed, the oil passage of the whole joint rotation and the driving oil passages of other parts of the hydraulic mechanical arm pass through the inside of the rotary joint, an external pipeline is not required, and the whole joint is more flexible and light.
Finally, it should be noted that the above description is only a preferred embodiment of the present invention, and that many similar changes can be made by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. A light and flexible hydraulic mechanical arm rotating structure is characterized in that: the joint body comprises a fixing piece, a rotating piece and a joint shell (1) which are sleeved in sequence from inside to outside, wherein the two runner collecting plates (4) are respectively connected with the fixing piece and the rotating piece, at least one oil passage channel penetrates through the two runner collecting plates (4) and the joint body, and flows in from one runner collecting plate (4), flows through the joint body and flows out from the other runner collecting plate (4);
the oil path channel comprises a flow dividing channel (5) arranged in the flow path collecting plate (4), a fixed channel arranged in the fixed piece and a dynamic channel arranged in the rotating piece, wherein the fixed channel and the dynamic channel are mutually communicated to form an intra-joint channel, and the fixed channel and the dynamic channel are respectively communicated with the corresponding flow dividing channel (5) in the flow path collecting plate (4) so as to form the oil path channel;
the fixing piece is a joint shaft (2), a first split blind hole (6) is axially formed in the end face of one end of the joint shaft (2), a converging annular groove (2 b) is formed in the outer wall of the joint shaft (2) corresponding to the first split blind hole (6), and the inner end of the first split blind hole (6) is communicated with the corresponding converging annular groove (2 b) so as to form the fixing channel;
the rotating piece is a shaft sleeve (3), the joint shaft (2) is axially penetrated in the shaft sleeve (3), a second shunt blind hole (7) is axially arranged on the end surface of the shaft sleeve (3) far away from the first shunt blind hole (6), a shunt groove (3 a) is arranged on the inner wall of the shaft sleeve (3) corresponding to the second shunt blind hole (7), and the inner end of the second shunt blind hole (7) is communicated with the corresponding shunt groove (3 a) so as to form the dynamic channel;
the notch of the diversion groove (3 a) of the dynamic channel is in butt joint communication with the notch of the converging ring groove (2 b) of the corresponding fixed channel so as to form the intrA-Articular channel;
the hydraulic oil cavity is formed between the rotating piece and the joint shell (1), two cavity separation assemblies are arranged in the hydraulic oil cavity along the direction of the rotation center line of the rotating piece, one cavity separation assembly is fixedly arranged on the inner wall of the joint shell (1), the other cavity separation assembly is fixedly arranged on the outer wall of the rotating piece, the two cavity separation assemblies divide the hydraulic oil cavity into two hydraulic driving oil chambers (11), and the two hydraulic driving oil chambers (11) are respectively connected with one oil path channel through oil distribution pipes (8).
2. The lightweight flexible hydraulic mechanical arm rotating structure according to claim 1, wherein: the oil way channels are N, N is an even number greater than or equal to 2, the first diversion blind holes (6) and the second diversion blind holes (7) of the N oil way channels are distributed on the end face of the joint shaft (2) or the shaft sleeve (3) in an annular array mode respectively, the hole depths of all the first diversion blind holes (6) are gradually increased along the clockwise or anticlockwise direction, correspondingly, the hole depths of the corresponding second diversion blind holes (7) are gradually reduced, the diversion grooves (3 a) are arc grooves, and all the diversion grooves (3 a) are distributed on the inner wall of the shaft sleeve (3) in a spiral mode along the axial direction.
3. The lightweight flexible hydraulic mechanical arm rotating structure according to claim 1, wherein: the joint shell (1) is of a cylindrical structure with two open ends, the shaft sleeve (3) axially penetrates through the joint shell (1), and two ends of the hydraulic oil cavity are respectively sealed through end cover plates (10);
the cavity separation assembly comprises two separation blocks (12) which are arranged opposite to each other, the inner side faces of the two separation blocks (12) are attached, and the two separation blocks are locked by the locking piece to form the cavity separation assembly.
4. A lightweight flexible hydro-mechanical arm rotating structure as defined in claim 3 wherein: a sealing assembly (9) is arranged between the two separation blocks (12), and the sealing assembly (9) seals and isolates the two hydraulic driving oil chambers (11).
5. The lightweight flexible hydraulic mechanical arm rotating structure according to claim 4, wherein: the sealing assembly (9) comprises two rectangular gaskets (901) which are opposite to each other, sealing grooves are respectively formed in the inner side faces of the separation blocks (12) and correspond to the rectangular gaskets (901), the rectangular gaskets (901) respectively fall into the corresponding sealing grooves, sealing rings (902) are arranged between the two rectangular gaskets (901), the two rectangular gaskets (901) clamp the sealing rings (902), and the outer ring edge of the rectangular gaskets (901) is simultaneously abutted to the inner wall of the joint shell (1), the outer wall of the shaft sleeve (3) and the inner wall of the end cover plate (10).
6. A lightweight flexible hydro-mechanical arm rotating structure according to claim 3, 4 or 5, characterized by: the outer side of the end cover plate (10) is sequentially provided with a locking ring (17) and a clamping ring (18) from inside to outside, the locking ring (17) is fixedly connected with the end cover plate (10), the locking ring (17) is abutted to the clamping ring (18), and the outer ring of the clamping ring (18) is clamped on the inner wall of the joint shell (1).
7. The lightweight flexible hydraulic mechanical arm rotating structure according to claim 1, wherein: the inside of the fixing piece is hollow to form a wiring via hole (2 d).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710726283.1A CN107351118B (en) | 2017-08-22 | 2017-08-22 | Light and flexible hydraulic mechanical arm rotating structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710726283.1A CN107351118B (en) | 2017-08-22 | 2017-08-22 | Light and flexible hydraulic mechanical arm rotating structure |
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| Publication Number | Publication Date |
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| CN107351118A CN107351118A (en) | 2017-11-17 |
| CN107351118B true CN107351118B (en) | 2023-06-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710726283.1A Active CN107351118B (en) | 2017-08-22 | 2017-08-22 | Light and flexible hydraulic mechanical arm rotating structure |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217308B (en) * | 2019-06-26 | 2021-07-06 | 哈尔滨工业大学 | Wheel-leg type humanoid robot with oil flowing inside |
| CN110271036B (en) * | 2019-06-26 | 2022-03-29 | 哈尔滨工业大学 | Hose-free internal oil circuit of hydraulic pressure wheel leg humanoid robot |
| CN112688036B (en) * | 2020-12-18 | 2021-08-31 | 安徽恒诺机电科技有限公司 | A rotary joint for antenna erection |
| CN113119157B (en) * | 2021-05-12 | 2022-09-09 | 之江实验室 | Single-degree-of-freedom joint with built-in hydraulic flow channel and three-degree-of-freedom joint formed by single-degree-of-freedom joint |
| CN114473592A (en) * | 2022-03-25 | 2022-05-13 | 中国工程物理研究院流体物理研究所 | Oil separator for rotary clamp |
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| EP0054454A1 (en) * | 1980-12-16 | 1982-06-23 | Regie Nationale Des Usines Renault | Hydraulically driven joint |
| CN101502965A (en) * | 2009-03-19 | 2009-08-12 | 哈尔滨工程大学 | Hydraulic driving mechanical wrist part structure |
| CN202185920U (en) * | 2011-08-15 | 2012-04-11 | 中国科学院沈阳自动化研究所 | Swinging joint structure of underwater hydraulic manipulator |
| CN104440939A (en) * | 2014-11-13 | 2015-03-25 | 哈尔滨工程大学 | Small underwater hydraulic mechanical arm two-stage drive joint |
| CN106272540A (en) * | 2016-09-09 | 2017-01-04 | 广东工业大学 | A kind of hydraulic knuckle and the robot being made up of it |
| CN207189705U (en) * | 2017-08-22 | 2018-04-06 | 重庆蓝略路新科技有限公司 | The hydraulic manipulator rotational structure of oil path built-in |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101699040B1 (en) * | 2014-08-14 | 2017-01-23 | (주)케이엔알시스템 | Hydraulic rotary actuator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0054454A1 (en) * | 1980-12-16 | 1982-06-23 | Regie Nationale Des Usines Renault | Hydraulically driven joint |
| CN101502965A (en) * | 2009-03-19 | 2009-08-12 | 哈尔滨工程大学 | Hydraulic driving mechanical wrist part structure |
| CN202185920U (en) * | 2011-08-15 | 2012-04-11 | 中国科学院沈阳自动化研究所 | Swinging joint structure of underwater hydraulic manipulator |
| CN104440939A (en) * | 2014-11-13 | 2015-03-25 | 哈尔滨工程大学 | Small underwater hydraulic mechanical arm two-stage drive joint |
| CN106272540A (en) * | 2016-09-09 | 2017-01-04 | 广东工业大学 | A kind of hydraulic knuckle and the robot being made up of it |
| CN207189705U (en) * | 2017-08-22 | 2018-04-06 | 重庆蓝略路新科技有限公司 | The hydraulic manipulator rotational structure of oil path built-in |
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| CN107351118A (en) | 2017-11-17 |
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| CA2622669A1 (en) | Indexing arrangement |
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