CN108081306A - Robot hydraulic control gimbal suspension - Google Patents
Robot hydraulic control gimbal suspension Download PDFInfo
- Publication number
- CN108081306A CN108081306A CN201611059519.2A CN201611059519A CN108081306A CN 108081306 A CN108081306 A CN 108081306A CN 201611059519 A CN201611059519 A CN 201611059519A CN 108081306 A CN108081306 A CN 108081306A
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- China
- Prior art keywords
- spherical surface
- cylinder body
- cylinder
- bearing
- hydraulic control
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- 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.)
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Classifications
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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
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
It is an object of the invention to provide a kind of robot hydraulic control gimbal suspension, the present invention takes the method that full mechanical is combined with all-hydraulic control, with spherical surface oscillating vane as power conversion unit, realizes the universal hydraulic control of joint of robot；The present invention is by Internal Spherical Surface bearing, spherical surface cylinder body, fixed blade, movable vane piece, shaft, piece saltire cylinder, lock sheet, locking plate cylinder composition, the in vivo movable vane piece of spherical surface cylinder drives shaft to rotate under the action of hydraulic coupling, spherical surface cylinder body can change its axis angle under the driving of piece saltire cylinder in interior spherical bearing, arbitrary axis direction output torque that can be in design angle, meet joint of robot installation and needs that driving angle changes.
Description
Technical field
As technological progress and performance improve, robot is more prevalent in the application of all trades and professions.Especially in all kinds of manufactures
Enterprise, industrial robot become increasingly popular.But for heavy-load robot, key element times is so the difficult point of restriction technology development.
The present invention is a kind of robot hydraulic control gimbal suspension.
Background technology
The application demand of robot promotes the breakthrough of robot technology and key element.Especially heavy-duty industrial robot
Joint component is always the emphasis of robot building enterprise and research department's research.Wherein, with the swing of hydraulic transmission technology
Cylinder is as the element being converted into hydraulic energy less than 360 degree of rotation mechanical energy, its main feature is that output torque is big, low speed with can
Control property is good.But the pivot center of now widely used oscillating motor is all fixed with respect to itself installation pedestal, after installation
Pivot center is non-adjustable.Thus it is restricted when applied to joint of robot.It is universal that the present invention provides a kind of robot hydraulic control
Joint.
The content of the invention
It is an object of the invention to provide a kind of robot hydraulic control gimbal suspensions.The present invention takes full mechanical and full liquid
It is voltage-controlled to make the method being combined, with spherical surface oscillating vane as power conversion unit, realize the universal hydraulic control of joint of robot.
This robot hydraulic control gimbal suspension is by Internal Spherical Surface bearing, spherical surface cylinder body, fixed blade, movable vane piece, shaft, piece saltire cylinder, lock
Tight piece, locking plate cylinder composition.The in vivo movable vane piece of spherical surface cylinder drives shaft to rotate under the action of hydraulic coupling, and spherical surface cylinder body can be
Arbitrarily change its axis angle in interior spherical bearing under the driving of piece saltire cylinder, arbitrary axis that can be in certain angle
Direction output torque.
According to the present invention, spherical surface cylinder body is mounted in Internal Spherical Surface bearing, and fixed blade is mounted in spherical surface cylinder body, movable vane piece peace
In shaft, two chambers will be separated into cylinder body.
According to the present invention, flowline connection to subsea is installed into the left-external side of interior spherical bearing, after oilhole enters Internal Spherical Surface bearing
It is communicated with disc-shaped oil circuit interface, the disc-shaped oil circuit interface into oil outlet correspondence on interior spherical bearing on spherical surface cylinder body
It is interior, and communicated through fixed blade with two oil pockets of cylinder body.After spherical surface cylinder body changes angle with respect to Internal Spherical Surface bearing, spherical surface cylinder body
On oil inlet and outlet be in always within disc-shaped oil circuit interface, ensure oil circuit it is unimpeded.
According to the present invention, pressure oil enters an oil pocket, then another oil pocket is fuel-displaced, makes shaft output torque and angle speed
Degree.When needed, the input pressure oil into the different cylinder bodies of piece saltire cylinder promotes spherical surface cylinder body and shaft with respect to Internal Spherical Surface branch
Seat changes certain angle, meets joint of robot installation and different driving angle needs.
According to the present invention, bottom is equipped with lock sheet and locking plate cylinder between interior spherical bearing and spherical surface cylinder body.On lock sheet
And the spherical surface outer surface of cylinder block contacted with lock sheet is equipped with engagement groove.When needing to change shaft angle, locking plate cylinder release changes
After becoming shaft angle, the pressurization of locking plate cylinder prevents spherical surface cylinder body from being rotated under countertorque effect relative to Internal Spherical Surface bearing.
According to the present invention, the piece that inside spherical bearing is set to be recessed between the upper right side of interior spherical bearing and spherical surface cylinder body
Saltire cylinder cylinder body sets cross raised line on the spherical surface outer surface of cylinder block of correspondence position therewith, after assembling there are four formation
The piece saltire cylinder of hydraulic cavities.The position installation oil connection of Internal Spherical Surface bearing outer surface counterpiece saltire cylinder.
According to the present invention, to ensure that spherical surface cylinder body is packed into Internal Spherical Surface bearing, Internal Spherical Surface bearing is divided into two halves manufacture up and down, and
It is assembled with screw.To ensure fixed blade, movable vane piece and shaft are packed into spherical surface cylinder body, and cylinder body point half makes, and is assembled with embedded screw.
Description of the drawings
Attached drawing combination embodiment illustrates the concrete principle and structure of the present invention：
Attached drawing indicates part or position for the principal section figure and left sectional view, figure label of present example device.
Wherein：
Fig. 1 is a kind of robot hydraulic control gimbal suspension main sectional view.In figure, 1 is oil connection, and 2 be fixed blade, and 3 be fixed
Blade fixing screws, 4 be hydraulic fluid port, and 5 be disc-shaped oil circuit interface, and 6 be Internal Spherical Surface bearing, and 7 be spherical surface cylinder body, and 8 be movable vane piece, 9
It is movable vane piece fixing screws, 10 be left oil connection on piece saltire cylinder, and 11 be piece saltire cylinder epicoele, and 12 be shaft, and 13 are
Cross raised line, 14 be piece saltire cylinder cavity of resorption, and 15 be piece saltire cylinder bottom right oil connection, and 16 be lock sheet, and 17 be locking plate
Cylinder.
Fig. 2 is a kind of left sectional view of robot hydraulic control gimbal suspension.In figure, 18 be locking plate cylinder oil connection.
Specific embodiment
A kind of robot hydraulic control gimbal suspension of this embodiment, by Internal Spherical Surface bearing 6, spherical surface cylinder body 7, fixed blade 3 moves
Blade 8, shaft 12, piece saltire cylinder 11, lock sheet 16,17 grade of locking plate cylinder composition.Movable vane piece 8 in shaft 12 is in liquid
Under the action of pressure shaft 12 is driven to rotate.Spherical surface cylinder body 7 can be under the driving of piece saltire cylinder 11 in interior spherical bearing 6
Arbitrarily change the angle of its shaft 12, any direction output torque in the range of design angle.
According to the present embodiment, spherical surface cylinder body 7 is mounted in Internal Spherical Surface bearing 6, and fixed blade 3 is mounted in spherical surface cylinder body 7, is moved
Blade 3 is mounted in shaft 12, two chambers will be separated into spherical surface cylinder body.
According to the present embodiment, flowline connection to subsea 1 is installed into the outside of interior spherical bearing 6, oilhole 4 enters Internal Spherical Surface bearing
It is communicated after 6 with disc-shaped oil circuit interface 5, the disc-shaped oil circuit into oil outlet correspondence on interior spherical bearing 6 on spherical surface cylinder body 7
In interface 5, and communicated through fixed blade 3 with two oil pockets of cylinder body.
According to the present embodiment, pressure oil enters an oil pocket, then another oil pocket is fuel-displaced, makes 12 output torque of shaft and angle
Speed.When needing, spherical surface cylinder body 7 and shaft 12 can change angle by opposite Internal Spherical Surface bearing 6 under the driving of piece saltire cylinder 11
Degree meets joint of robot installation and different driving angle needs.
According to this embodiment, bottom is equipped with lock sheet 16 and locking plate cylinder between interior spherical bearing 6 and spherical surface cylinder body 7
17.The outer surface of the spherical surface cylinder body 7 contacted on lock sheet 16 and with lock sheet is equipped with engagement groove.It needs to change shaft 12
During angle, 17 release of locking plate cylinder, after changing shaft angle, locking plate cylinder 17 pressurizes, and prevents the phase under countertorque effect of spherical surface cylinder body 7
Internal spherical bearing 6 rotates.
According to this embodiment, inside spherical bearing 6 is set between the upper right side of interior spherical bearing 6 and spherical surface cylinder body 7
The cylinder body of recessed piece saltire cylinder 11, sets cross raised line 13 on the outer surface of the spherical surface cylinder body 7 of correspondence position therewith,
The piece saltire cylinder there are four hydraulic cavities is formed after assembling.The position of counterpiece saltire cylinder on the outer surface of Internal Spherical Surface bearing 6
The oil connection of installation sheet saltire cylinder.
According to the present embodiment, after spherical surface cylinder body 7 changes angle with respect to Internal Spherical Surface bearing 6, on spherical surface cylinder body 7 into fuel-displaced
Mouth 4 is in always within disc-shaped oil circuit interface 5, ensures that oil circuit is unimpeded always.
According to this embodiment, to ensure that spherical surface cylinder body 7 is packed into Internal Spherical Surface bearing 6, Internal Spherical Surface bearing 6 divides for upper and lower two halves
Manufacture, and installed and combined with screw.To ensure fixed blade 3, movable vane piece 8 and shaft 12 are packed into spherical surface cylinder body 7, and spherical surface cylinder body 7 divides
Half makes, and is installed and combined with embedded SOC.HD. cap screw.
The spherical surface cylinder body of this robot hydraulic control gimbal suspension can be hydraulically operated change in interior spherical bearing, and its is defeated
The axis angle of shaft, the arbitrary axis direction output torque in design angle.
Claims (7)
1. robot hydraulic control gimbal suspension, which is characterized in that the present invention takes what full mechanical was combined with all-hydraulic control
Method with spherical surface oscillating vane as power conversion unit, realizes the universal hydraulic control of joint of robot；The present invention is by Internal Spherical Surface
Bearing, spherical surface cylinder body, fixed blade, movable vane piece, shaft, piece saltire cylinder, lock sheet, locking plate cylinder composition, spherical surface cylinder are in vivo dynamic
Blade drives shaft to rotate under the action of hydraulic coupling, and spherical surface cylinder body can be under the driving of piece saltire cylinder in interior spherical bearing
Interior its axis angle of change, arbitrary axis direction output torque that can be in design angle.
2. robot hydraulic control gimbal suspension as described in claim 1, which is characterized in that spherical surface cylinder body is mounted on Internal Spherical Surface bearing
In, fixed blade is mounted in spherical surface cylinder body, and movable vane piece is mounted in shaft, and two chambers will be separated into cylinder body, and pressure oil enters
One oil pocket, then another oil pocket is fuel-displaced, makes shaft output torque and angular speed.
3. robot hydraulic control gimbal suspension as described in claim 1, which is characterized in that installed in the left-external side of interior spherical bearing
Into flowline connection to subsea, oilhole communicates after entering Internal Spherical Surface bearing with disc-shaped oil circuit interface, on spherical surface cylinder body into oil outlet pair
It should be communicated in the disc-shaped oil circuit interface on interior spherical bearing, and through fixed blade with two oil pockets of cylinder body, in spherical surface cylinder body
After changing angle with respect to Internal Spherical Surface bearing, the oil inlet and outlet on spherical surface cylinder body is in always within disc-shaped oil circuit interface, is ensured
Oil circuit is unimpeded.
4. robot hydraulic control gimbal suspension as described in claim 1, which is characterized in that in the upper right side of interior spherical bearing and ball
The piece saltire cylinder cylinder body that inside spherical bearing is recessed is set between the cylinder body of face, in the spherical surface outer surface of cylinder block of correspondence position therewith
It is upper that cross raised line is set, the piece saltire cylinder there are four hydraulic cavities is formed after assembling.
5. robot hydraulic control gimbal suspension as described in claim 1, which is characterized in that Internal Spherical Surface bearing outer surface counterpiece shape
The position installation oil connection of cross cylinder, into the different cylinder bodies of piece saltire cylinder, input pressure oil, can promote spherical surface cylinder body
Change angle with respect to Internal Spherical Surface bearing with shaft, meet joint of robot installation and different driving angle needs.
6. robot hydraulic control gimbal suspension as described in claim 1, which is characterized in that interior spherical bearing and spherical surface cylinder body it
Between bottom be equipped with lock sheet and locking plate cylinder, spherical surface outer surface of cylinder block contact on lock sheet and with lock sheet is equipped with engaging groove
Line is, it is necessary to when changing shaft angle, and locking plate cylinder release, after changing shaft angle, the pressurization of locking plate cylinder prevents spherical surface cylinder body in counter-force
Square effect is lower to be rotated relative to Internal Spherical Surface bearing.
7. robot hydraulic control gimbal suspension as described in claim 1, which is characterized in that Internal Spherical Surface bearing is divided into two halves system up and down
It makes, and is installed and combined with screw, ensure that spherical surface cylinder body is packed into Internal Spherical Surface bearing, spherical surface cylinder body point half makes, with embedded interior six
Square screw installation combination, ensures fixed blade, and movable vane piece and shaft are packed into spherical surface cylinder body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611059519.2A CN108081306A (en) | 2016-11-21 | 2016-11-21 | Robot hydraulic control gimbal suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611059519.2A CN108081306A (en) | 2016-11-21 | 2016-11-21 | Robot hydraulic control gimbal suspension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108081306A true CN108081306A (en) | 2018-05-29 |
Family
ID=62170086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611059519.2A Pending CN108081306A (en) | 2016-11-21 | 2016-11-21 | Robot hydraulic control gimbal suspension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108081306A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113348928A (en) * | 2021-07-02 | 2021-09-07 | 宁波奔野重工股份有限公司 | Film pressing seat with adjustable agricultural laminating machine |
| CN115870963A (en) * | 2023-02-03 | 2023-03-31 | 极限人工智能有限公司 | Universal ball head, mechanical arm and robot based on electrorheological fluid and working method of universal ball head, mechanical arm and robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4296681A (en) * | 1978-03-09 | 1981-10-27 | Rosheim Mark E | Fluid driven servomechanism |
| CN101537625A (en) * | 2009-04-23 | 2009-09-23 | 扬州大学 | Magnetic suspension spherical active joint |
| CN201380492Y (en) * | 2009-05-05 | 2010-01-13 | 扬州大学 | Magnetic suspension spherical driving joint with centripetal tension |
| CN204152873U (en) * | 2014-09-13 | 2015-02-11 | 广东技术师范学院 | A kind of full hydraulic control universal swing oil hydraulic cylinder |
| CN204164078U (en) * | 2014-09-23 | 2015-02-18 | 广州科技职业技术学院 | A kind of universal swing oil hydraulic cylinder |
| CN204819561U (en) * | 2015-07-24 | 2015-12-02 | 扬州大学 | Spherical initiative joint of induction type magnetic suspension |
-
2016
- 2016-11-21 CN CN201611059519.2A patent/CN108081306A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4296681A (en) * | 1978-03-09 | 1981-10-27 | Rosheim Mark E | Fluid driven servomechanism |
| CN101537625A (en) * | 2009-04-23 | 2009-09-23 | 扬州大学 | Magnetic suspension spherical active joint |
| CN201380492Y (en) * | 2009-05-05 | 2010-01-13 | 扬州大学 | Magnetic suspension spherical driving joint with centripetal tension |
| CN204152873U (en) * | 2014-09-13 | 2015-02-11 | 广东技术师范学院 | A kind of full hydraulic control universal swing oil hydraulic cylinder |
| CN204164078U (en) * | 2014-09-23 | 2015-02-18 | 广州科技职业技术学院 | A kind of universal swing oil hydraulic cylinder |
| CN204819561U (en) * | 2015-07-24 | 2015-12-02 | 扬州大学 | Spherical initiative joint of induction type magnetic suspension |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113348928A (en) * | 2021-07-02 | 2021-09-07 | 宁波奔野重工股份有限公司 | Film pressing seat with adjustable agricultural laminating machine |
| CN115870963A (en) * | 2023-02-03 | 2023-03-31 | 极限人工智能有限公司 | Universal ball head, mechanical arm and robot based on electrorheological fluid and working method of universal ball head, mechanical arm and robot |
| CN115870963B (en) * | 2023-02-03 | 2023-08-25 | 极限人工智能有限公司 | Universal ball head based on electrorheological fluid, mechanical arm, robot and working method of robot |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180529 |
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| WD01 | Invention patent application deemed withdrawn after publication |