CN107803830A - A kind of seven freedom force feedback fro hydraulic driving machinery arm - Google Patents
A kind of seven freedom force feedback fro hydraulic driving machinery arm Download PDFInfo
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- CN107803830A CN107803830A CN201711094069.5A CN201711094069A CN107803830A CN 107803830 A CN107803830 A CN 107803830A CN 201711094069 A CN201711094069 A CN 201711094069A CN 107803830 A CN107803830 A CN 107803830A
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- 239000000758 substrate Substances 0.000 claims description 18
- 210000003127 knee Anatomy 0.000 claims description 15
- 239000007788 liquid Substances 0.000 claims 1
- 239000003921 oil Substances 0.000 description 119
- 230000002093 peripheral effect Effects 0.000 description 11
- 125000006850 spacer group Chemical group 0.000 description 11
- 239000010720 hydraulic oil Substances 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 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 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000003466 welding 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of seven freedom force feedback fro hydraulic driving machinery arm, including Hydraulic Conirol Unit and link assembly, link assembly includes six first connecting rod component, second connecting rod component, third connecting rod component, fourth link component, the 5th link assembly and the six-bar linkage components for passing sequentially through rotary joint connection, each rotary joint is connected with a hydraulic jack, and encoder is mounted on each rotary joint；The front end of 5th link assembly is equipped with force snesor, and the front end of six-bar linkage component is provided with double finger grips, and the finger of handgrip is connected by linkage with a tong oil cylinder；The oil circuit of each hydraulic jack is connected with Hydraulic Conirol Unit.The mechanical arm uses full cascaded structure form, there is six rotary freedoms, using hydraulic-driven, load/deadweight than it is big, degree of protection is high, working space is big and good appearance, these features have all widened the scope of application.
Description
Technical field
The present invention relates to a kind of mechanical arm of multi-joint hydraulic-driven, belong to mechanical arm technical field.
Background technology
With the high speed development of industry, industrial robot particularly mechanical arm obtains in industries such as assembling, welding, carryings
To extensive use, industrial automatization level is drastically increased, the mankind from repeated labor or exceedingly odious work
Make to free in environment.
Industrial robot almost all is driven using servomotor and RV or harmonic wave speed reducing machine at present, though with higher position
Put precision and technology maturation, but its load/deadweight is than small, and environmental suitability is poor, such as underwater, moist, nuclear radiation or exist strong
The environment of electromagnetic interference.
Chinese patent literature CN1035380701A discloses a kind of 5DOF hydraulic servo machinery hand, and the manipulator is closing
Twin-tub electro-hydraulic servo synchronously driving, double motor electro-hydraulic servo synchronization driving and parallelogram closed loop knot have been used in section driving
Structure.Chinese patent literature CN20346081U discloses a kind of multi-joint hydraulic machinery with 5 turning joints and a handgrip
Arm configuration.Chinese patent literature CN104647365A discloses a kind of hydraulic-driven multi-joint industrial robot, the industrial machine
People uses full cascaded structure form, has the isolated degree of freedom of six rotary freedoms and 1 tong folding.
Mechanical arm disclosed in above-mentioned document uses hydraulic-driven, has a stronger load capacity, but because the free degree is few or
The reason for joint arrangement, the dexterous workspace of end is by a definite limitation.
The content of the invention
Present invention deficiency existing for current hydraulic manipulator, there is provided one kind is using hydraulic-driven, load/deadweight ratio
Greatly, the seven freedom force feedback fro hydraulic driving machinery arm that degree of protection is high, dexterous workspace is big.
The seven freedom force feedback fro hydraulic driving machinery arm of the present invention, using following technical scheme：
The seven freedom force feedback fro hydraulic driving machinery arm, including Hydraulic Conirol Unit and link assembly, link assembly bag
Include six the first connecting rod components for passing sequentially through rotary joint connection, second connecting rod component, third connecting rod component, fourth link groups
Part, the 5th link assembly and six-bar linkage component, each rotary joint is connected with a hydraulic jack, on each rotary joint
It is mounted on encoder；The front end of 5th link assembly is equipped with force snesor, and the front end of six-bar linkage component is provided with both hands and referred to
Handgrip, the finger of handgrip are connected by linkage with a tong oil cylinder；The oil circuit of each hydraulic jack with hydraulic control group
Part connects.
The first connecting rod component, including base, the first oscillating oil cylinder, first connecting rod and the first encoder, first swings
Oil cylinder is fixedly mounted on base, and first connecting rod is connected with the first oscillating oil cylinder, and the first encoder is fixedly mounted on base, the
One connecting rod is connected with second straight line oil cylinder；The electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit of first oscillating oil cylinder；
The second connecting rod component, including second connecting rod, second encoder, first straight line oil cylinder, second straight line oil cylinder and
3rd encoder；One end of second connecting rod is arranged on the first connecting rod in first connecting rod component by first rotating shaft, first turn
Axle is connected with the 3rd encoder, and the 3rd encoder is fixed on second connecting rod；The other end of second connecting rod is provided with the second rotating shaft
(being used to the third connecting rod in third connecting rod component be installed)；Second rotating shaft is connected with second encoder, and second encoder is fixed on
On second connecting rod；First straight line oil cylinder and second straight line oil cylinder are respectively by stud connection on second connecting rod；First straight line oil
Cylinder and the electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit respectively of second straight line oil cylinder；
The third connecting rod component, including third connecting rod, the second oscillating oil cylinder and the 4th encoder；Third connecting rod is connected to
In second rotating shaft of second connecting rod, third connecting rod is connected with first straight line oil cylinder, and the second oscillating oil cylinder is provided with third connecting rod
With the 4th encoder, the second oscillating oil cylinder is connected with the 4th encoder；Second oscillating oil cylinder is corresponding with Hydraulic Conirol Unit
Electrohydraulic servo valve connects；
The fourth link component, including fourth link, the 3rd linear oil cylinder and the 5th encoder；Fourth link and second
Oscillating oil cylinder is connected, and the 3rd linear oil cylinder is provided with fourth link, and the lower end of fourth link is provided with the 3rd rotating shaft and (is used to pacify
Fill the 5th connecting rod in the 5th link assembly)；3rd rotating shaft is connected with the 5th encoder, and the 5th encoder is arranged on fourth link
On；
5th link assembly, including the 5th connecting rod, the 3rd oscillating oil cylinder, the 6th encoder and force snesor, the 5th
Connecting rod is connected by the 3rd rotating shaft with fourth link；3rd oscillating oil cylinder is arranged on the 5th connecting rod, the 3rd oscillating oil cylinder interior axle
Force sensor is installed in end face, and the 3rd oscillating oil cylinder is connected with the 6th encoder；6th encoder is arranged on the 5th connecting rod, the
Five connecting rods are connected with the 3rd linear oil cylinder；The electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit of 3rd oscillating oil cylinder；
The six-bar linkage component, including tong set casing, tong oil cylinder, substrate, straight-bar, paw, knee and square axle；
Tong set casing is connected by multi-dimension force sensor with the 3rd oscillating oil cylinder, and tong oil cylinder is arranged on tong set casing, tong
The cylinder rod end of oil cylinder is connected with square axle, and substrate is fixed on tong set casing, and straight-bar is hinged on substrate, and paw is cut with scissors with straight-bar
Connect, paw is hinged with knee, and knee is hinged with square axle, and paw mounted in pairs is on substrate, and paw, straight-bar, knee and base
Plate forms parallelogram lindage；The electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit of tong oil cylinder；
The Hydraulic Conirol Unit, including valve block, high-pressure oil passage and low pressure oil way are machined with inside valve block, is installed on valve block
There are seven electrohydraulic servo valves and be provided with the fittings body being connected with each hydraulic jack.
The operation principle of the present invention is as follows：
Above-mentioned hydraulic-driven multi-joint mechanical arm has the isolated degree of freedom of six rotary freedoms and 1 tong folding,
By (rotation or straight line) hydraulic jack driving, it is controlled respectively by seven servo valves, and six rotary joint axis
Place is separately installed with encoder, for detecting the angular displacement in each joint, by the way that the detected value of each joint encoders is fed back into control
Device processed, position closed loop SERVO CONTROL can be realized to each joint.
The present invention uses the joint arrangement different from existing machinery arm, significantly increases the flexible work of mechanical arm tail end
Make space；With following remarkable advantage：
1. load/deadweight is than big, the carrying that is particularly suitable for use in, stacking or other heavy load workplaces, or the mobile load of installation
Mobile operation machine arm is used as on body.
2. control block hydraulic unit with is integrated on pedestal, effectively mitigate manipulator shaft portion weight；
3. degree of protection is high, underwater, moist, nuclear radiation or strong electromagnetic interference environment can be applied to.
Brief description of the drawings
Fig. 1 is the overall structure diagram of multi-joint hydraulic manipulator of the present invention.
Fig. 2 is the structural representation of first connecting rod component in the present invention.
Fig. 3 is line A-A sectional view in Fig. 2.
Fig. 4 is the structural representation of second connecting rod component in the present invention.
Fig. 5 is the structural representation of third connecting rod component in the present invention.
Fig. 6 is line B-B sectional view in Fig. 5.
Fig. 7 is the structural representation of fourth link component in the present invention.
Fig. 8 is the structural representation of the 5th link assembly in the present invention.
Fig. 9 is line C-C sectional view in Fig. 8.
Figure 10 is the structural representation of six-bar linkage component in the present invention.
Figure 11 is the structural representation of Hydraulic Conirol Unit in the present invention.
Wherein：1. first connecting rod component, 2. second connecting rod components, 3. third connecting rod components, 4. fourth link components, 5.
Five link assemblies, 6. six-bar linkage components, 7. Hydraulic Conirol Units；
101. base, 102. first oscillating oil cylinders, 103. joints, 104. first connecting rods, 105. encoder locating shafts, 106.
First encoder, 107. encoder installing rings, 108. bearings, 109. encoder mounting shells, 110. axles, 111. axle sleeves；
201. second connecting rods, 202. bearing boring covers, 203. hinges, 204. axle sleeves, 205. bearing boring covers, 206. bearings,
207. spacers, 208. encoder installing rings, 209. second encoders, 210. encoder installing plates, 211. cappings, 212. second turns
Axle, 213. hinges, 214. first straight line oil cylinders, 215. second straight line oil cylinders, 216. encoder installing rings, 217. spacers, 218.
Capping, 219. the 3rd encoders, 220. encoder installing plates, 221. bearings, 222. first rotating shafts；
301. third connecting rods, 302. bearings, 303. joints through walls, 304. the 4th encoders, 305. encoder retainer plates,
306. encoder fixing axles, 307. second oscillating oil cylinders, 308. axles, 309. spacers；
401. fourth links, 402. the 3rd linear oil cylinders, 403. hinge baffle plates, 404. shroudings, 405. axle sleeves, 406. hinges
Axle, 407. encoder installing rings, 408. capping, 409. the 5th encoders, 410. encoder installing plates, 411. bearings, 412. every
Set, 413. the 3rd rotating shafts, 414. bearing boring covers.
501. the 5th connecting rods, 502. joints through walls, 503. the 6th encoders, 504. encoder fixing axles, 505. the 3rd pendulum
Dynamic oil cylinder, 506. adpting flanges, 507. multi-dimension force sensors, 508. encoder retainer plates, 509. bearings, 510. axles, 511. every
Set.
601. tong set casings, 602. tong oil cylinders, 603. substrates, 604. straight-bars, 605. paws, 606. knees, 607.
Nut, 608. floor clips, 609. square axles, 610. axle sleeves, 611. cylinder rod support sets；
701. valve blocks, 702. electrohydraulic servo valves, 703. electrohydraulic servo valves, 704. electrohydraulic servo valves, 705. electrohydraulic servo valves,
706. electrohydraulic servo valves, 707. electrohydraulic servo valves, 708. electrohydraulic servo valves, 709. block, 710. low pressure oil way fittings bodies, and 711.
High-pressure oil passage fittings body, 712. filters, 713. fittings bodies.
Embodiment
Seven freedom force feedback fro hydraulic driving machinery arm of the present invention, as shown in figure 1, including six connection rod sets being sequentially connected
Part and a Hydraulic Conirol Unit 7.Six linkage components are respectively first connecting rod component 1, the company of second connecting rod component the 2, the 3rd
Bar assembly 3, fourth link component 4, the 5th link assembly 5 and six-bar linkage component 6.Six are sequentially connected by rotary joint,
Each rotary joint is connected with a hydraulic jack, and encoder is mounted on each rotary joint；5th link assembly 5
Front end is equipped with force snesor 506, and the front end of six-bar linkage component 6 is provided with double finger grips, and the finger of handgrip passes through connecting rod machine
Structure is connected with a tong oil cylinder；The oil circuit of each hydraulic jack is connected with Hydraulic Conirol Unit.
The structure of first connecting rod component 1 as shown in Figures 2 and 3, including base 101, the first oscillating oil cylinder 102, first connect
The encoder 106 of bar 104 and first.Base 101 is used to mechanical arm being fixed on ground or other mobile vehicles.First swings oil
Cylinder 102 is fixed on base 101 by its outer ring.First connecting rod 104 is connected to the interior axle upper end of the first oscillating oil cylinder 102.The
The interior axle lower end of one oscillating oil cylinder 102 first encoder 106 is installed by encoder locating shaft 105.Encoder locating shaft 105 is logical
Bearing 108 is crossed in encoder mounting shell 109, encoder mounting shell 109 is fixed on base 101.First encoder 106
Rotor be arranged on encoder locating shaft 105 on, the stator of the first encoder 106 is fixed on volume by encoder installing ring 107
In code device mounting shell 109.The joint 103 of oil inlet and outlet and the electro-hydraulic servo in Hydraulic Conirol Unit 7 on first oscillating oil cylinder 102
Valve 702 is corresponding.It is straight by axle 110 and spacer 111 and second in second connecting rod component 2 on first connecting rod 104 referring to Fig. 2
Line oil cylinder 215 connects.
The course of work of above-mentioned first connecting rod component is as follows：
The outer ring of first oscillating oil cylinder 102 is fixed at work, when electrohydraulic servo valve 702 receives peripheral control unit
During instruction, the hydraulic oil in certain flow and direction is supplied to oscillating oil cylinder 102, drive the first oscillating oil cylinder 102 interior axle and with
The part (encoder 106, connecting rod 104, axle 110 etc.) connected in interior axle produces corresponding with respect to the outer ring of the first oscillating oil cylinder 102
Rotary motion, the first encoder 106 detection angular displacement of the interior axle of the first oscillating oil cylinder 102 with respect to outer ring rotating and feedback in real time
To peripheral control unit, Close loop servo control is formed.
The structure of second connecting rod component 2 is as shown in figure 4, including second connecting rod 201, second encoder 209, first straight line oil
Cylinder 214, the encoder 219 of second straight line oil cylinder 215 and the 3rd.One end of second connecting rod 201 is arranged on the by first rotating shaft 222
On first connecting rod 104 in one link assembly 1, the both ends of first rotating shaft 222 are arranged on second by bearing 221 and spacer 217
On connecting rod 201.One end of first rotating shaft 222 is connected with the 3rd encoder 219, and the rotor of the 3rd encoder 219 passes through encoder
Installing plate 220 is fixed in first rotating shaft 222, and the stator of the 3rd encoder 219 is fixed on second by encoder installing ring 216
On connecting rod 201.3rd encoder 219 is isolated from the outside by capping 218.Two side bearings 221 have bearing boring cover 202 and coding respectively
The axial restraint of device installing ring 216.The other end of second connecting rod 201 is provided with second by a pair of bearings 206 and two spacers 207
Rotating shaft 212.Second rotating shaft 212 is used to install the third connecting rod 301 in third connecting rod component 3.One end of second rotating shaft 212 and the
Two encoders 209 are connected, and the rotor of second encoder 209 is fixed on axle 212 by encoder installing plate 210, the second coding
The stator of device 209 is fixed on second connecting rod 201 by encoder installing ring 208.211 are covered by second encoder 209 and the external world
Isolation.Two side bearings 206 have bearing boring cover 205 and the axial restraint of encoder installing ring 208 respectively.The He of first straight line oil cylinder 214
The rodless cavity end of second straight line oil cylinder 215 is located by connecting on first connecting rod by hinge 213 and hinge 203 by axle sleeve 204 respectively
201 middle part.The oil inlet and outlet of second straight line oil cylinder 215 and first straight line oil cylinder 214 respectively with the electricity in Hydraulic Conirol Unit 7
The 704 corresponding connection of hydraulic servo 703 and electrohydraulic servo valve.
The course of work of above-mentioned second connecting rod component 2 is as follows：
Second connecting rod 201, second straight line oil cylinder 215 and first connecting rod 104 form linkage, when electrohydraulic servo valve 703
When receiving the instruction of peripheral control unit, the hydraulic oil in certain flow and direction, driving straight line oil are supplied to second straight line oil cylinder 215
Cylinder 215 produces corresponding stretching motion, and the stretching motion of second straight line oil cylinder 215 drives second connecting rod 201 and connected in succession with it
Hinge 203, second encoder 209, hinge 213 and first straight line oil cylinder 214 for connecing etc. produce accordingly with respect to first connecting rod 104
Rotary motion, the 3rd encoder 219 detect angular displacement of the second connecting rod component 2 with respect to first connecting rod component 1 and fed back in real time
Peripheral control unit, form Close loop servo control.
The structure of third connecting rod component 3 as shown in Figure 5 and Figure 6, including third connecting rod 301, the second oscillating oil cylinder 307 and
Four encoders 304.Third connecting rod 301 is connected with the second rotating shaft 212 in second connecting rod group 2.First in second connecting rod component 2
The cylinder rod end of linear oil cylinder 214 is connected on third connecting rod 301 by axle 308 and spacer 309.Installed on third connecting rod 301
There is the second oscillating oil cylinder 307.The rotor of 4th encoder 304 is fixed on the second oscillating oil cylinder 307 by encoder fixing axle 306
In interior axle, the stator of the 4th encoder 304 is fixed on third connecting rod 301 by encoder retainer plate 305.Encoder fixing axle
Connected between 306 and third connecting rod 301 by bearing 302.The cable of 4th encoder 304 is passed by joint 303 through walls sealing.
The oil inlet and outlet of second oscillating oil cylinder 307 and the 705 corresponding connection of electrohydraulic servo valve in Hydraulic Conirol Unit 7.
The course of work of above-mentioned third connecting rod part 3 is as follows：
Third connecting rod 301 forms connecting rod with the second connecting rod 201 in second connecting rod component part 2 and first straight line oil cylinder 214
Mechanism, when electrohydraulic servo valve 704 receives the instruction of peripheral control unit, certain flow and side are supplied to first straight line oil cylinder 214
To hydraulic oil, driving first straight line oil cylinder 214 produces corresponding stretching motion, the stretching motion band of first straight line oil cylinder 214
Dynamic third connecting rod 301 and the axle 308 being connected in succession with it, spacer 309, the second oscillating oil cylinder 307, the 4th encoder 304 and after
Continuous linkage component produces corresponding rotary motion with respect to second connecting rod 201, and second encoder 209 detects third connecting rod component in real time
The angular displacement of 3 relative second connecting rod components 2 simultaneously feeds back to peripheral control unit, forms Close loop servo control.
The structure of fourth link component 4 is as shown in fig. 7, comprises fourth link 401, the 3rd linear oil cylinder 402 and the 5th are compiled
Code device 409.Fourth link 401 is connected in the interior axle of the second oscillating oil cylinder 307 in third connecting rod component 3.3rd linear oil cylinder
402 rodless cavity end is connected to the top of fourth link 401 by hinge 406 and axle sleeve 405.The lower end of fourth link 401 passes through one
411, two spacers 412 of bearing are connected with the 3rd rotating shaft 413.The 5th in 3rd rotating shaft 413 and the 5th link assembly 5 connects
Bar 501 connects.The rotor of 5th encoder 409 is fixed in the 3rd rotating shaft 413 by encoder installing plate 410；5th encoder
409 stators are fixed on connecting rod 401 by encoder installing ring 407.5th encoder 409 is isolated from the outside by capping 408.Axle
Hold 411 has encoder installing ring 407 and the axial restraint of bearing boring cover 414 respectively.The side of fourth link 401 is provided with shrouding 404
With hinge baffle plate 403.
The course of work of above-mentioned fourth link component 4 is as follows：
When electrohydraulic servo valve 705 receives the instruction of peripheral control unit, to the second oscillating oil cylinder 307 supply certain flow and
The hydraulic oil in direction, the second oscillating oil cylinder 307 of driving produce corresponding rotary motion, the rotary motion of the second oscillating oil cylinder 307
Drive fourth link 401 and be connected in succession with it axle 406, the 3rd linear oil cylinder 402, the 5th encoder 409, axle 413 and after
Continuous linkage component produces corresponding rotary motion with respect to the third connecting rod 301 in third connecting rod component 3, and the 4th encoder 304 is real
When detect the angular displacement of the relative third connecting rod component 3 of fourth link component 4 and feed back to peripheral control unit, form closed loop servo control
System.
5th link assembly, including the 5th connecting rod, the 3rd oscillating oil cylinder 505, the 6th encoder 503 and multi-dimension force sensor
507.5th connecting rod 501 is connected by the 3rd rotating shaft 413 in fourth link component 4 with fourth link 401.3rd oscillating oil cylinder
505 outer rings are fixed on the 5th connecting rod 501.The rotor of 6th encoder 503 is arranged on the 3rd by encoder fixing axle 504 and swung
In the interior axle of oil cylinder 505；The stator of 6th encoder 503 is arranged on the 5th connecting rod 501 by encoder retainer plate 508.Encoder
Connected between the connecting rod 501 of fixing axle 504 and the 5th with bearing 509.The cable of 6th encoder 503 is sealed by joint 502 through walls
Pass.The cylinder rod end of the 3rd linear oil cylinder 402 in fourth link component 4 is connected to the 5th connecting rod by axle 510 and spacer 511
On 501.Adpting flange 506 is arranged on axial end in the 3rd oscillating oil cylinder 505.Multi-dimension force sensor 507 passes through adpting flange 506
It is fixed on axial end in the 3rd oscillating oil cylinder 505.The oil inlet and outlet of 3rd oscillating oil cylinder 505 and the electricity in Hydraulic Conirol Unit 7
707 corresponding connection of hydraulic servo.
The course of work of above-mentioned 5th link assembly 5 is as follows：
5th connecting rod 501, the linear oil cylinder 402 of fourth link 401 and the 3rd composition linkage, when electrohydraulic servo valve 706
When receiving the instruction of peripheral control unit, the hydraulic oil in certain flow and direction is supplied to the 3rd linear oil cylinder 402, driving the 3rd is straight
Line oil cylinder 402 produces corresponding stretching motion, the stretching motion of the 3rd linear oil cylinder 402 drive the 5th connecting rod 501 and with its phase
After the axle 510 of connection, spacer 511, the 3rd oscillating oil cylinder 505, the 6th encoder 503 and follow-up linkage component with respect to fourth link
Fourth link 401 in component 4 produces corresponding rotary motion, and the 5th link assembly 5 of detection is relative in real time for the 5th encoder 409
The angular displacement of fourth link component 4 simultaneously feeds back to peripheral control unit, forms Close loop servo control.
Six-bar linkage component, including it is tong set casing 601, tong oil cylinder 602, substrate 603, straight-bar 604, paw 605, curved
Bar 606 and square axle 609.Tong set casing 601 is connected by axial end in the oscillating oil cylinder 505 of multi-dimension force sensor 507 and the 3rd
Connect.Tong oil cylinder 602 is arranged on tong set casing 601, and the cylinder rod end of tong oil cylinder 602 passes through the side of being connected with of axle sleeve 610
Block axle 609, and circumferential and axial are carried out by floor clip 608 and nut 607 and fixed..Substrate 603 is screwed in tong
On set casing 601, straight-bar 604 is hinged on substrate 603.Paw 605 is be hinged with straight-bar 604, and paw 605 is be hinged with knee 606, curved
Bar 606 is be hinged with square axle 609.Paw 605 by straight-bar 604 and the mounted in pairs of knee 606 on a substrate 603, and paw
605th, straight-bar 604, knee 606 and substrate 603 form parallelogram lindage.Cylinder rod support set 611 is arranged on substrate 603 and tong
Between set casing 601.The oil inlet and outlet of tong oil cylinder 602 and the 708 corresponding company of electrohydraulic servo valve in Hydraulic Conirol Unit 7
Connect.
6 courses of work of above-mentioned six-bar linkage component are as follows：
Substrate 603, straight-bar 604, paw 605 and knee 606 form four-bar linkage, square axle 609, tong oil cylinder
602nd, knee 606 and substrate 603 form another four-bar linkage, and two four-bar linkages are made up of compound knee 606
Multi-bar linkage, when electrohydraulic servo valve 708 receives the instruction of peripheral control unit, certain flow and side are supplied to tong oil cylinder 602
To hydraulic oil, driving tong oil cylinder 602 produces corresponding stretching motion, a pair of paws driven so as to pass through compound multi-bar linkage
605 opening or closure.
Hydraulic Conirol Unit 7 is fixed on the rear portion of base 101, and its structure is as shown in figure 11, including valve block 701 and seven it is electro-hydraulic
Servo valve (the first electrohydraulic servo valve 702, the second electrohydraulic servo valve 703, the 3rd electrohydraulic servo valve 704, the 4th electrohydraulic servo valve
705th, the 5th electrohydraulic servo valve 706, the 6th electrohydraulic servo valve 707 and the 7th electrohydraulic servo valve 708).It is machined with inside valve block 701
High-pressure oil passage and low pressure oil way, high-pressure oil passage and low pressure oil way pass through high-pressure oil passage fittings body 711 and low pressure oil way joint respectively
Body 710 connects with outside oil supply system.Accurate filter 712 is housed at high-pressure inlet.The side surface of valve block 701 is machined with first
Electrohydraulic servo valve 702, the second electrohydraulic servo valve 703, the 3rd electrohydraulic servo valve 704, the 4th electrohydraulic servo valve the 705, the 5th are electro-hydraulic
Oil circuit hole and the fixing screwed hole of servo valve 706, the 6th electrohydraulic servo valve 707 and the 7th electrohydraulic servo valve 708, seven electro-hydraulic to watch
Take valve and pass sequentially through the end face that corresponding screwed hole is arranged on valve block 701.Plug screw 709 is used for the high pressure of the end face of plugging valve block 701
The processing technology hole of oil circuit and low pressure oil way.The joint for being connected with the oil circuit of each hydraulic jack is additionally provided with valve block 701
Body 713.
Claims (8)
1. a kind of seven freedom force feedback fro hydraulic driving machinery arm, including Hydraulic Conirol Unit and link assembly, it is characterized in that：Even
Bar assembly includes six the first connecting rod components for passing sequentially through rotary joint connection, second connecting rod component, third connecting rod component, the
Double leval jib component, the 5th link assembly and six-bar linkage component, each rotary joint are connected with a hydraulic jack, Mei Gexuan
Turn to be mounted on encoder on joint；The front end of 5th link assembly is equipped with force snesor, and the front end of six-bar linkage component is set
There are double finger grips, the finger of handgrip is connected by linkage with a tong oil cylinder；The oil circuit of each hydraulic jack is and liquid
Press control assembly connection.
2. seven freedom force feedback fro hydraulic driving machinery arm according to claim 1, it is characterized in that：The first connecting rod group
Part, including base, the first oscillating oil cylinder, first connecting rod and the first encoder, the first oscillating oil cylinder are fixedly mounted on base, the
One connecting rod is connected with the first oscillating oil cylinder, and the first encoder is fixedly mounted on base, and first connecting rod connects with second straight line oil cylinder
Connect；The electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit of first oscillating oil cylinder.
3. seven freedom force feedback fro hydraulic driving machinery arm according to claim 1, it is characterized in that：The second connecting rod group
Part, including second connecting rod, second encoder, first straight line oil cylinder, second straight line oil cylinder and the 3rd encoder；The one of second connecting rod
End is arranged on the first connecting rod in first connecting rod component by first rotating shaft, and first rotating shaft is connected with the 3rd encoder, and the 3rd
Encoder is fixed on second connecting rod；The other end of second connecting rod is provided with the second rotating shaft；Second rotating shaft connects with second encoder
Connect, second encoder is fixed on second connecting rod；First straight line oil cylinder and second straight line oil cylinder are respectively by stud connection
On two connecting rods；First straight line oil cylinder and the electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit respectively of second straight line oil cylinder.
4. seven freedom force feedback fro hydraulic driving machinery arm according to claim 1, it is characterized in that：The third connecting rod group
Part, including third connecting rod, the second oscillating oil cylinder and the 4th encoder；Third connecting rod is connected in the second rotating shaft of second connecting rod,
Third connecting rod is connected with first straight line oil cylinder, and the second oscillating oil cylinder and the 4th encoder are provided with third connecting rod, and second swings
Oil cylinder is connected with the 4th encoder；The electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit of second oscillating oil cylinder.
5. seven freedom force feedback fro hydraulic driving machinery arm according to claim 1, it is characterized in that：The fourth link group
Part, including fourth link, the 3rd linear oil cylinder and the 5th encoder；Fourth link is connected with the second oscillating oil cylinder, fourth link
On the 3rd linear oil cylinder is installed, the lower end of fourth link is provided with the 3rd rotating shaft；3rd rotating shaft is connected with the 5th encoder, the
Five encoders are arranged in fourth link.
6. seven freedom force feedback fro hydraulic driving machinery arm according to claim 1, it is characterized in that：5th connection rod set
Part, including the 5th connecting rod, the 3rd oscillating oil cylinder, the 6th encoder and force snesor, the 5th connecting rod pass through the 3rd rotating shaft and the 4th
Connecting rod connects；3rd oscillating oil cylinder is arranged on the 5th connecting rod, and axial end is provided with force snesor in the 3rd oscillating oil cylinder, and the 3rd
Oscillating oil cylinder is connected with the 6th encoder；6th encoder is arranged on the 5th connecting rod, and the 5th connecting rod and the 3rd linear oil cylinder connect
Connect；The electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit of 3rd oscillating oil cylinder.
7. seven freedom force feedback fro hydraulic driving machinery arm according to claim 1, it is characterized in that：The six-bar linkage group
Part, including tong set casing, tong oil cylinder, substrate, straight-bar, paw, knee and square axle；Tong set casing is passed by multi-dimensional force
Sensor is connected with the 3rd oscillating oil cylinder, and tong oil cylinder is arranged on tong set casing, the cylinder rod end side of being connected with of tong oil cylinder
Block axle, substrate are fixed on tong set casing, and straight-bar is hinged on substrate, and paw is hinged with straight-bar, and paw is hinged with knee, knee
It is hinged with square axle, paw mounted in pairs is on substrate, and paw, straight-bar, knee and substrate composition parallelogram lindage；Tong
Oil cylinder electrohydraulic servo valve connection corresponding with Hydraulic Conirol Unit.
8. seven freedom force feedback fro hydraulic driving machinery arm according to claim 1, it is characterized in that：The hydraulic control group
Part, including valve block, high-pressure oil passage and low pressure oil way are machined with inside valve block, seven electrohydraulic servo valves are installed on valve block and set
There is the fittings body being connected with each hydraulic jack.
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| CN201711094069.5A CN107803830A (en) | 2017-11-08 | 2017-11-08 | A kind of seven freedom force feedback fro hydraulic driving machinery arm |
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| CN201711094069.5A CN107803830A (en) | 2017-11-08 | 2017-11-08 | A kind of seven freedom force feedback fro hydraulic driving machinery arm |
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Application publication date: 20180316 |