CN107756433A - A kind of robot and its high pulling torque rotary type joint power device - Google Patents
A kind of robot and its high pulling torque rotary type joint power device Download PDFInfo
- Publication number
- CN107756433A CN107756433A CN201610686334.8A CN201610686334A CN107756433A CN 107756433 A CN107756433 A CN 107756433A CN 201610686334 A CN201610686334 A CN 201610686334A CN 107756433 A CN107756433 A CN 107756433A
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- China
- Prior art keywords
- guide
- piston rod
- power device
- rotary type
- pulling torque
- 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
- 238000005183 dynamical system Methods 0.000 claims abstract description 21
- 210000000245 forearm Anatomy 0.000 claims abstract description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 4
- 210000000707 wrist Anatomy 0.000 claims abstract description 4
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 50
- 229910000831 Steel Inorganic materials 0.000 claims description 33
- 239000010959 steel Substances 0.000 claims description 33
- 229910052757 nitrogen Inorganic materials 0.000 claims description 25
- 238000002347 injection Methods 0.000 claims description 21
- 239000007924 injection Substances 0.000 claims description 21
- 239000007788 liquid Substances 0.000 claims description 21
- 238000005096 rolling process Methods 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 4
- 239000007789 gas Substances 0.000 claims description 2
- 230000013011 mating Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000012546 transfer Methods 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot and its high pulling torque rotary type joint power device, the cradle head on the pedestal or waist arm or large arm or forearm or wrist of robot is mounted with high pulling torque rotary type joint power device.The guide that high pulling torque rotary type joint power device includes reciprocating piston, is connected with piston, main power system is set respectively in piston end and guide end and resets dynamical system；Guide is connected to piston rod, and the axially reciprocating of guide is converted to the radial rotating of piston rod.Reset thrust is converted into rotary torsion and applied in joint section of robot instead of the servomotor saving energy and low stain by the present invention.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of machine using high pulling torque rotary type joint power device
People.
Background technology
Common rotary type joint power device, i.e., radially rotated by power revolving part, when reversion resets
It is also required to power.Power caused by radial rotary can be as the power source of rotary shaft.
The invention of Patent No. 201410395121.0, disclose a kind of unpowered rotation binding clasp, including rotary oil cylinder
Piston, cylinder block, nitrogen spring, cylinder cover and pressure arm, the inner chamber of cylinder block are movably installed with rotary oil cylinder piston, greatly
The upper surface of end and it is placed with several nitrogen springs around piston rod A.This invention is pushed away using high pressure sealing nitrogen spring
Enter and by the rotation of rotary oil cylinder piston to Workpiece clamping, it is not necessary to additional external power source, clamped by nitrogen spring pressurize.
It passes through the up and down motion of rotary oil cylinder piston and the rotary steering groove of itself and the cooperation of steel ball ball so that rotary oil cylinder
Also rotary motion while piston up-down, the part of stationary balls ball can not be axially moved up and down, that is to say, that
Rotary oil cylinder piston can only be done simultaneously is axially moved and rotates radial motion up and down.
However, in the practical application of rotary type joint power device, often only require that revolving part is radially run, no
Allow to do axial movement up and down simultaneously.Such as the joint Universal rotary rotating shaft of robot：With the continuous progress of robot technology, industry
Field is also improving constantly to the requirement more and more higher of joint of robot Universal rotary rotating shaft, its performance, and function is increasingly perfect how
Ensure the crudy of parting lines, joint, pressurize ability, the Proper Match of grasp force and operating rate are most important
's.At a high speed and made with high precision line can meet existing parts machining requirement substantially.But the sequence of technique and nonstandard
Requirement of the accurate characteristic to industrial robot is very high.The key of robot is to repeat crawl and resetting.To Universal rotary
Axle reliability and the accuracy requirement repeated are higher.And servomotor drives Universal rotary rotating shaft cost high, at present
Conventional Universal rotary rotating shaft is：Servomotor drive-type.Servomotor driving, which does not require nothing more than Universal rotary axle, can only do radially fortune
It is dynamic, and move back and forth and be required for electric power.The reset that the whole world does not utilize also the technologies such as nitrogen spring to produce at present is not required to outer
The Universal rotary rotating shaft of portion's power.
The content of the invention
To solve in manipulator rotary type joint power device, only require that revolving part is radially run, do not allow simultaneously
The problems such as doing axial movement up and down, and resetting without exterior power, the present invention devises one kind and uses high pulling torque rotary type
The robot of joint power device.
A kind of robot, its cradle head are mounted with high pulling torque rotary type joint power device.
Robot base described further or waist arm or large arm or the cradle head of forearm or wrist are mounted with that high pulling torque can
Rotary joint power device.
The guide that the high pulling torque rotary type joint power device includes reciprocating piston, is connected with piston,
Main power system is set respectively in piston end and guide end and resets dynamical system；Guide is connected to piston rod, and is oriented to
The axially reciprocating of part is converted to the radial rotating of piston rod.
Guide described further is embedded in guiding steel ball；Set on described piston rod and match taxi driver brother with guiding steel ball
Special formula guide groove；Guide, which moves back and forth, drives guiding steel ball to be moved along Gothic steel-ball groove, and then drives piston rod radially to turn
It is dynamic.
Ball screw attachment structure is used between guide and piston rod described further；The axial reciprocating fortune of guide
It is dynamic to drive piston rod radial rotating.
Spiral sets piston rod steel ball on piston rod, and guide inwall is provided with mating groove.
Guide, which moves back and forth, drives piston rod steel ball, and then drives piston rod radial rotating.
Main power system described further is pneumatic system or hydraulic power system or machine driven system；Described answers
Position dynamical system is pneumatic system or hydraulic power system or spring.
Pneumatic system described further is exhaust power unit or gas spring.
Hydraulic power system described further includes liquid injection hole and closed hydraulic cavities.
Cylinder body is set outside guide described further, and guide is along the spacing reciprocating motion of cylinder interior.
Further piston rod one end is stretched out outside described cylinder body.
Further piston rod both ends are stretched out outside described cylinder body.
Further piston and guide are integral type structure.
Beneficial effect of the present invention：In actual applications, its cradle head either active rotation is also for the robot of the present invention
It is that piston rod is only radially run when resetting rotation, axial movement up and down will not be done simultaneously.And the guiding being axially moved up and down
The reset dynamical system of part can be nitrogen spring, that is, the reset of guide can be achieved when resetting without external impetus, simultaneously
Piston rod is driven radially to reset, reset thrust is converted into rotary torsion applies in joint section of robot instead of servomotor saving
The energy and low stain；When being used as rotary joint, power is saved, and the anglec of rotation is easily controlled, the hydraulic cylinder without large volume.
Brief description of the drawings
The shared width of accompanying drawing 6 of the present invention.
Fig. 1 is the structure principle chart of the embodiment of the present invention 1.
Fig. 2 is the structure principle chart of the embodiment of the present invention 2.
Fig. 3 is the structure principle chart of the embodiment of the present invention 3.
Fig. 4 is the structure principle chart of the embodiment of the present invention 5.
Fig. 5 is the structure principle chart of the embodiment of the present invention 7.
Fig. 6 is robot construction figure.
Reference is as follows in figure：
1st, upper end cover, 2, bearing A, 3, piston rod seals C, 4, piston rod seals A, 5, rolling steel balls, 6, limited block,
7th, mounting seat, 8, bearing block, 9, bearing B, 10, adjusting pad, 11, nut, 12, bottom end cover, 13, nitrogen spring, 14, guide,
15th, ball rises formula plug, and 16, guiding steel ball, 17, piston, 18, O-ring seal A, 19, piston packing B, 20, O-ring seal B,
21st, bearing adjusting pad, 22, cylinder body, 23, piston rod, 24, connecting bolt, 25, guide guide groove, 26, Gothic guide groove,
27th, lower piston, 28, guide cylinder, 29, piston rod steel ball, 31, pedestal, 32, the special high pulling torque rotary type joint power dress of waist
Put 1,33, waist arm, 34, the special high pulling torque rotary type joint power device 2,35 of waist arm waist, large arm, 36, large arm waist it is special
Different high pulling torque rotary type joint power device 3,37, forearm, 38, the special high pulling torque rotary type joint power dress of forearm waist
Put 4,39, wrist.
Embodiment
Embodiment 1：
A kind of robot, its joint part use a kind of high pulling torque rotary type joint power device, and the high pulling torque can
The guide 14 that rotary joint power device includes reciprocating piston 17, is connected with piston 17, is set in piston end
Main power system includes liquid injection hole and closed hydraulic cavities, and hydraulic cavities are connected to external hydraulic dynamical system with liquid injection hole, are oriented to
The reset dynamical system that part end is set includes nitrogen spring 13；
Guide 14 is connected to piston rod 23, and the axially reciprocating of guide 14 is converted to the radial direction turn of piston rod 23
It is dynamic：Described guide 14 is embedded in guiding steel ball 16；Setting matches Gothic with guiding steel ball on described piston rod 23
Guide groove 26；Guide 14, which moves back and forth, drives guiding steel ball 16 to be moved along Gothic steel-ball groove 26, and then drives piston rod 23
Radial rotating.
The outside of described guide 14 sets cylinder body 22, and guide 14 is along the spacing reciprocating motion in the inside of cylinder body 22.
Limited block 6 is set above nitrogen spring cylinder body；Piston rod one end is stretched out outside cylinder body upper end cover 1 through piston 17, and
Sealed by piston rod seals A4, bearing adjusting pad 21, bearing A2 and spacing；The piston rod other end pass sequentially through bearing B9,
Bearing block 8, adjusting pad 10, nut 11 are reached outside bottom end cover 12；Guide guide groove 23 is set to pass through rolling outside guide
Steel ball 5 is along the spacing reciprocating motion in the inside of cylinder body 22；Nitrogen spring 13 is fixed on bearing block 8 by mounting seat 7；Set outside cylinder body
It is equipped with mounting hole；Both sides set one of O-ring seal respectively above and below liquid injection hole；Described Gothic guide groove is three.
Embodiment 2：
A kind of robot, its joint part use a kind of high pulling torque rotary type joint power device, and the high pulling torque can
The guide 14 that rotary joint power device includes reciprocating piston 17, is connected with piston 17, is set in piston end
Main power system includes injecting hole and closed atmospheric pressure cavity, and atmospheric pressure cavity is connected to external pressure dynamical system with injecting hole, is oriented to
The reset dynamical system that part end is set includes nitrogen spring 13；
Guide 14 is connected to piston rod 23, and the axially reciprocating of guide 14 is converted to the radial direction turn of piston rod 23
It is dynamic：Described guide 14 is embedded in guiding steel ball 16；Setting matches Gothic with guiding steel ball on described piston rod 23
Guide groove 26；Guide 14, which moves back and forth, drives guiding steel ball 16 to be moved along Gothic steel-ball groove 26, and then drives piston rod 23
Radial rotating.
The outside of described guide 14 sets cylinder body 22, and guide 14 is along the spacing reciprocating motion in the inside of cylinder body 22.
Limited block 6 is set above nitrogen spring cylinder body；Piston rod one end is stretched out outside cylinder body upper end cover 1 through piston 17, and
Sealed by piston rod seals A4, bearing adjusting pad 21, bearing A2 and spacing；The piston rod other end pass sequentially through bearing B9,
Bottom end cover 12 is arrived on bearing block 8, adjusting pad 10, the top of nut 11；Guide guide groove 23 is set to pass through rolling steel balls 5 outside guide
Along the spacing reciprocating motion in the inside of cylinder body 22；Nitrogen spring 13 is fixed on bearing block 8 by mounting seat 7；It is provided with outside cylinder body
Mounting hole；Both sides set one of O-ring seal respectively above and below injecting hole；Described Gothic guide groove 26 is three.
Embodiment 3：
A kind of robot, its joint part use a kind of high pulling torque rotary type joint power device, and described is Gothic
Guide groove 26 rotates for 180 degree together, can be achieved.Other parts are substantially the same manner as Example 2.
Embodiment 4：
A kind of robot, its joint part use a kind of high pulling torque rotary type joint power device, and the high pulling torque can
The ball sleeve that rotary joint power device includes reciprocating piston 17, is connected with piston 17, in the master that piston end is set
Dynamical system includes liquid injection hole and closed hydraulic cavities, and hydraulic cavities are connected to external hydraulic dynamical system, ball sleeve with liquid injection hole
The reset dynamical system that end is set includes nitrogen spring 13；
Ball sleeve is connected to screw mandrel piston rod, and the axially reciprocating of ball sleeve drives the radial direction of screw mandrel piston rod to turn
It is dynamic.
Cylinder body 22 is set outside described ball sleeve, and ball sleeve is along the spacing reciprocating motion in the inside of cylinder body 22.
Limited block 6 is set above nitrogen spring cylinder body；Cylinder body upper end cover 1 is stretched out in screw mandrel piston rod one end through piston 17
Outside, and by piston rod seals A4, bearing adjusting pad 21, bearing A2 seal and spacing；The screw mandrel piston rod other end leads to successively
Bearing B9, bearing block 8, adjusting pad 10, nut 11 is crossed to push up and arrive or stretch out bottom end cover 12；Guide guide groove is set outside ball sleeve
23 by rolling steel balls 5 along the spacing reciprocating motion in the inside of cylinder body 22；Nitrogen spring 13 is fixed on bearing block 8 by mounting seat 7；
Mounting hole is provided with outside cylinder body；Both sides set one of O-ring seal respectively above and below liquid injection hole.
Embodiment 5：
A kind of robot, its joint part use a kind of high pulling torque rotary type joint power device, and the high pulling torque can
The guide that rotary joint power device includes reciprocating piston 17, is connected with piston, in the active that piston end is set
Force system includes liquid injection hole and closed hydraulic cavities, and hydraulic cavities are connected to external hydraulic dynamical system, guide end with liquid injection hole
The reset dynamical system of setting includes nitrogen spring；
Guide is connected to piston rod, and the axially reciprocating of guide is converted to the radial rotating of piston rod：It is described
Guide be embedded in guiding steel ball；The Gothic guide groove matched with guiding steel ball is set on described piston rod；Guide
Move back and forth and drive guiding steel ball to be moved along Gothic steel-ball groove, and then drive piston rod radial rotating.
Cylinder body is set outside described guide, and guide is along the spacing reciprocating motion of cylinder interior.
Limited block is set above nitrogen spring cylinder body；Piston rod one end is stretched out outside cylinder body upper end cover through piston, and passes through
Piston rod seals A, bearing adjusting pad, bearing A sealing and it is spacing；Piston rod other end top is to bottom end cover；Set outside guide
Guide guide groove is put by rolling steel balls along the spacing reciprocating motion of cylinder interior；Nitrogen spring is fixed on lower end by mounting seat
Cover；Mounting hole is provided with outside cylinder body；Both sides set one of O-ring seal respectively above and below liquid injection hole；Described is Gothic
Guide groove is three.
Embodiment 6：
A kind of robot, its joint part use a kind of high pulling torque rotary type joint power device, and the high pulling torque can
The guide 14 that rotary joint power device includes reciprocating piston 17, is connected with piston 17, is set in piston end
Main power system includes liquid injection hole and closed hydraulic cavities, and hydraulic cavities are connected to external hydraulic dynamical system with liquid injection hole, are oriented to
The reset dynamical system that part end is set also includes another set of liquid injection hole and closed hydraulic cavities, and hydraulic cavities are connected to outer with liquid injection hole
Portion's hydraulic power system；And the top of another set of hydraulic cavities sets lower piston 27 and connected guide cylinder 28.
Guide 14 is connected to piston rod 23, and the axially reciprocating of guide 14 is converted to the radial direction turn of piston rod 23
It is dynamic：Described guide 14 is embedded in guiding steel ball 16；Setting matches Gothic with guiding steel ball on described piston rod 23
Guide groove 26；Guide 14, which moves back and forth, drives guiding steel ball 16 to be moved along Gothic steel-ball groove 26, and then drives piston rod 23
Radial rotating.
The outside of described guide 14 sets cylinder body 22, and guide 14 is along the spacing reciprocating motion in the inside of cylinder body 22.
Piston rod one end is stretched out outside cylinder body upper end cover 1 through piston 17, and passes through piston rod seals A4, bearing adjusting pad
21st, bearing A2 sealing and it is spacing；The piston rod other end is passed sequentially through under bearing B9, bearing block 8, adjusting pad 10, the stretching of nut 11
End cap 12；Set outside guide guide guide groove 23 by rolling steel balls 5 along the spacing reciprocating motion in the inside of cylinder body 22；Cylinder body
Outside is provided with mounting hole；Both sides set one of O-ring seal respectively above and below liquid injection hole；Described Gothic guide groove is three
Road.
Embodiment 7
A kind of robot, its joint part use a kind of high pulling torque rotary type joint power device, and the high pulling torque can
The guide that rotary joint power device includes reciprocating piston 17, is connected with piston 17, in the master that piston end is set
Dynamical system includes liquid injection hole and closed hydraulic cavities, and hydraulic cavities are connected to external hydraulic dynamical system, guide with liquid injection hole
The reset dynamical system that end is set includes nitrogen spring 13；
Guide is connected to piston rod, and the axially reciprocating of guide drives the radial rotating of piston rod.Guide
Inwall is provided with helicla flute, and spiral sets corresponding piston rod steel ball 29. on piston rod
Cylinder body 22 is set outside described guide, and guide is along the spacing reciprocating motion in the inside of cylinder body 22.
Limited block 6 is set above nitrogen spring cylinder body；Piston rod one end is stretched out outside cylinder body upper end cover 1 through piston 17, and
Sealed by piston rod seals A4, bearing adjusting pad 21, bearing A2 and spacing；The piston rod other end pass sequentially through bearing B9,
Bearing block 8, adjusting pad 10, the top of nut 11 are arrived or stretch out bottom end cover 12；Guide guide groove 23 is set to pass through rolling outside guide
Steel ball 5 is moved along the spacing reciprocating motion in the inside of cylinder body 22；Nitrogen spring 13 is fixed on bearing block 8 by mounting seat 7；Outside cylinder body
It is provided with mounting hole；Both sides set one of O-ring seal respectively above and below liquid injection hole.
The high pulling torque rotary type joint power device that the present invention designs, contain 30 °, 45 °, 60 °, 90 °, 180 °,
Other a variety of stepless rotation positions such as 360 °, and contain two kinds of occupation modes of single movable stopper rod and through rod.It can pacify
Mounted in conventional door hinge position, substitute hinge and complete all automatic switch and locking, to realize that Zheng Dong buildings are unmanned
Control, realizes Militarization management.Be particularly suitable for use in the replacement of digger arm joint part, industrial robot joint Universal rotary transfer part
The replacement of position, it is possible to provide high pressurize ability, high control ability, high rotatory power, while reset without exterior power, energy-saving ring
Protect.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and modification can also be made, these improvement and modification
Also it should be regarded as protection scope of the present invention.
Claims (10)
- A kind of 1. robot, it is characterised in that：Its cradle head is mounted with high pulling torque rotary type joint power device.
- A kind of 2. robot as claimed in claim 1, it is characterised in that：Its pedestal (31) or waist arm (33) or large arm (35) or The cradle head of forearm (37) or wrist (39) is mounted with high pulling torque rotary type joint power device.
- A kind of 3. high pulling torque rotary type joint power device as claimed in claim 1, it is characterised in that：Including moving back and forth Piston (17), the guide (14) that is connected with piston (17), set respectively actively at piston (17) end and guide (14) end Force system and reset dynamical system；Guide (14) is connected to piston rod (23), and the axially reciprocating of guide (14) turns It is changed to the radial rotating of piston rod (23).
- A kind of 4. high pulling torque rotary type joint power device as claimed in claim 3, it is characterised in that：Described guide (14) it is embedded in guiding steel ball (16)；The Gothic guide groove matched with guiding steel ball (16) is set on described piston rod (23) (26)；Guide (14), which moves back and forth, drives guiding steel ball (16) to be moved along Gothic steel-ball groove, and then drives piston rod (23) Radial rotating.
- A kind of 5. high pulling torque rotary type joint power device as claimed in claim 3, it is characterised in that：Described guide (14) ball screw attachment structure is used between piston rod (23)；The axially reciprocating of guide (14) drives piston rod (23) radial rotating.
- A kind of 6. high pulling torque rotary type joint power device as claimed in claim 3, it is characterised in that：On piston rod (23) Spiral sets piston rod steel ball (29), and guide (14) inwall is provided with mating groove.
- A kind of 7. high pulling torque rotary type joint power device as claimed in claim 3, it is characterised in that：Described active force System is pneumatic system or hydraulic power system or machine driven system；Described reset dynamical system is pneumatic system or hydraulic pressure Dynamical system or machine driven system or spring.
- A kind of 8. high pulling torque rotary type joint power device as claimed in claim 7, it is characterised in that：Described pneumatic system Unite as exhaust power unit or gas spring；Described hydraulic power system includes liquid injection hole and closed hydraulic cavities.
- A kind of 9. high pulling torque rotary type joint power device as claimed in claim 3, it is characterised in that：Described guide (14) outside to set cylinder body (22), guide (14) is along the internal spacing reciprocating motion of cylinder body (22), piston rod (23) one end or two Described cylinder body (22) is stretched out outside in end.
- A kind of 10. high pulling torque rotary type joint power device as described in claim 3 or 5 or 7 or 9, it is characterised in that：Institute Piston (17) the end set hydraulic cavities stated, and be connected with liquid injection hole；Nitrogen spring (13) is set below guide (14) end； Limited block (6) is set above nitrogen spring (13) cylinder body；Cylinder body upper end cover (1) is stretched out in piston rod (23) one end through piston (17) Outside, and sealing ring, bearing adjusting pad (21), bearing seal and spacing are passed through；Piston rod (23) other end passes sequentially through bearing, axle Bearing (8), adjusting pad (10), nut (11) top are arrived or through bottom end cover (12)；Guide is set to be oriented to outside guide (14) Groove (25) is by rolling steel balls (5) along the internal spacing reciprocating motion of cylinder body (22)；Nitrogen spring (13) is fixed by mounting seat (7) On bearing block (8)；Mounting hole is provided with outside cylinder body (22)；Both sides set one of O-ring seal respectively above and below liquid injection hole； Described Gothic guide groove (26) is three Dao Huo bis- or one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610686334.8A CN107756433A (en) | 2016-08-18 | 2016-08-18 | A kind of robot and its high pulling torque rotary type joint power device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610686334.8A CN107756433A (en) | 2016-08-18 | 2016-08-18 | A kind of robot and its high pulling torque rotary type joint power device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107756433A true CN107756433A (en) | 2018-03-06 |
Family
ID=61262424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610686334.8A Pending CN107756433A (en) | 2016-08-18 | 2016-08-18 | A kind of robot and its high pulling torque rotary type joint power device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107756433A (en) |
Cited By (1)
| 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 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101886644A (en) * | 2009-05-13 | 2010-11-17 | 山东建筑大学 | Rotary oil cylinder |
| CN202952263U (en) * | 2012-11-30 | 2013-05-29 | 北京配天大富精密机械有限公司 | Robot |
-
2016
- 2016-08-18 CN CN201610686334.8A patent/CN107756433A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101886644A (en) * | 2009-05-13 | 2010-11-17 | 山东建筑大学 | Rotary oil cylinder |
| CN202952263U (en) * | 2012-11-30 | 2013-05-29 | 北京配天大富精密机械有限公司 | Robot |
Cited By (1)
| 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 |
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