CN108127685A - A kind of modularization robot drives joint - Google Patents
A kind of modularization robot drives joint Download PDFInfo
- Publication number
- CN108127685A CN108127685A CN201711378201.5A CN201711378201A CN108127685A CN 108127685 A CN108127685 A CN 108127685A CN 201711378201 A CN201711378201 A CN 201711378201A CN 108127685 A CN108127685 A CN 108127685A
- Authority
- CN
- China
- Prior art keywords
- hydraulic pump
- potentiometer
- hydraulic pressure
- oscillating cylinder
- joint
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
-
- 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
- F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
- F15B15/04—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member with oscillating cylinder
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Reciprocating Pumps (AREA)
Abstract
The present invention relates to a kind of modularization robots to drive joint, is made of mechanical part and control section, mechanical part includes：Drive joint L bracket, planar side plates, swing hydraulic pressure cylinder, oscillating cylinder gear, potentiometer gear, potentiometer link block, swing hydraulic pressure cylinder cushion block, oscillating cylinder backing plate A, oscillating cylinder backing plate B, fixed end cap, motor and hydraulic pump stent, shaft coupling, control section include：Host computer, potentiometer pick-off, control signal card, flowmeter, hydraulic pump, hydraulic pump drive motor.The present invention carries out it timely adjustment, thus formation closed feedback loop, realizes the accurate control to swing hydraulic pressure cylinder by the functional relation between the hydraulic pump flow of foundation and driving joint hydraulic oscillating cylinder rotational angle；The torque of the exportable bigger in robot hydraulic-driven joint, it is simple in structure, have the characteristics that modularization, standardization realize modularized production, it can be achieved that the fast construction being connected in series with multi-degree-of-freemechanical mechanical arm of joint of mechanical arm.
Description
The present invention is to be based on the applying date as on December 25th, 2015, and application No. is CN201510993831.8, denominations of invention
The division that a kind of invention for " modularization robot driving joint " is proposed.
Technical field
The present invention relates to a kind of driving joints of robot, and in particular to one kind is passed based on swing hydraulic pressure cylinder and current potential
The modularization robot driving joint of sensor closed-loop control.
Background technology
Mechanical arm is that most widely used automated machine device is obtained in current robot field, and traditional mechanical arm
It is in accordance with distinctive task design to complete, it is impossible to flexibly be changed and adjust, the ability changed according to demand is weaker.
Robot Design often specifically designs each section of mechanical arm body structure etc. according to real work demand, and robot is caused to work
Mode is single, and the robot assembly for designing completion is difficult, mostly non-modular designs general with other robot, component versatility
It is poor.Thus the modularization of robot driving joint is also inevitable development trend.
In existing industrial robot, multifreedom motion is to be driven to complete by the servo motor of each joint mostly,
And generate the problem that the driving moment that each joint servo motor generates is smaller, there is an urgent need for one kind can bear large torque and output
The robot driving joint of high-torque.
Invention content
In order to overcome more than problems of the prior art, the present invention is provided one kind and is passed based on swing hydraulic pressure cylinder and current potential
The modularization robot driving joint of sensor closed-loop control, drive part generate driving force by swing hydraulic pressure cylinder, can obtain
The output torque and power output of bigger are obtained, and according to its modularized design, can be realized according to work and mission requirements flexible
Change and be convenient to process and mount.
The present invention is provided a kind of driven based on swing hydraulic pressure cylinder and the modularization robot of potentiometric sensor closed-loop control and closed
Section, it is characterised in that：The robot driving joint includes mechanical part and control section, and the mechanical part includes：
Drive joint L bracket, planar side plates, swing hydraulic pressure cylinder, oscillating cylinder gear, potentiometer gear, potentiometer link block, hydraulic pressure pendulum
Dynamic cylinder cushion block, oscillating cylinder backing plate A, oscillating cylinder backing plate B, fixed end cap, motor and hydraulic pump stent, shaft coupling；The control unit
Divide and include：Host computer, potentiometer pick-off, control signal card, flowmeter, hydraulic pump, hydraulic pump drive motor, 3-position 4-way electricity
Magnetic reversal valve, overflow valve A, overflow valve B；The driving joint L bracket and planar side plates are used to implement consolidating for swing hydraulic pressure cylinder
Fixed connection, the swing hydraulic pressure cylinder are fixed on inside driving joint L bracket；The oscillating cylinder gear and potentiometer gear
Engaged transmission is formed, and potentiometer gear is fixed on potentiometer link block, swing hydraulic pressure cylinder cushion block is put for fixed hydraulic
Dynamic cylinder；The planar side plates and L bracket side are both provided with through-hole, and the output shaft end of the swing hydraulic pressure cylinder sequentially passes through flat
Through-hole, swing hydraulic pressure cylinder cushion block, oscillating cylinder gear, driving articular branches support L bracket center side through-hole on the plate of surface side are simultaneously
It is secured by bolts in driving articular branches support L bracket；The swing hydraulic pressure cylinder cushion block is located at swing hydraulic pressure cylinder and driving
Between articular branches support L bracket, for fixed hydraulic oscillating cylinder；The oscillating cylinder backing plate A and oscillating cylinder backing plate B is for solid
Surely joint hydraulic oscillating cylinder is driven, wherein oscillating cylinder backing plate A is located between planar side plates and driving joint hydraulic oscillating cylinder end,
Oscillating cylinder backing plate B is between swing hydraulic pressure cylinder cushion block and oscillating cylinder gear；The center of the swing hydraulic pressure cylinder cushion block and driving
The through-hole of articular branches support L bracket side is concentric；The potentiometer pick-off is fixed by screws on potentiometer link block,
Potentiometer link block is fixed by screws on oscillating cylinder backing plate, and potentiometer gear, the hydraulic pressure are fixed on potentiometer pick-off
Oscillating cylinder gear is fixed on oscillating cylinder output shaft, and engaged transmission is formed with potentiometer gear.The electrical machinery hydraulic pump stent
U-shaped, two sides are provided with through-hole, and through-hole is concentric, and for the fixation of motor and hydraulic pump, the shaft coupling is used to connect
The drive shaft of hydraulic pump drive motor output shaft and hydraulic pump.
The control signal card for sending the drive signal of hydraulic pump drive motor, and obtains and passes through flow measurement
The angle that the flow of the hydraulic pump obtained is rotated with potentiometer pick-off.The hydraulic pump drive motor receiving comes from control
The output signal of signal card, and according to signal come output motor rotating speed, to drive the rotation of hydraulic pump, the hydraulic pump via
Drive hydraulic motor drives, and for sucking fluid from hydraulic oil container, forms pressure oil and discharges, drive this robot driving joint
Internal swing hydraulic pressure cylinder, so as to make joint motions；The flowmeter feeds back for measuring the output flow from hydraulic pump
In host computer；The potentiometer pick-off is used to measure the rotational angle of swing hydraulic pressure cylinder, and feeds back in host computer, described
The output flow value for the hydraulic pump that flow measurement obtains forms a kind of correspondence with driving joint hydraulic oscillating cylinder rotational angle, from
And establish corresponding functional relation, the potentiometer pick-off is used to measure the rotational angle of swing hydraulic pressure cylinder, and feed back in
Host computer, after host computer receives the signal of flowmeter and potentiometer pick-off, according to the physical location and target location reached
Carry out comparison judgement, if position accurately if host computer send out next step movement instruction, if there is error to pass through established flow
Functional relation between the hydraulic pump flow value and driving joint hydraulic oscillating cylinder rotational angle that measure is adjusted, and is formed anti-
Feedback, and then form closed-loop control.
The modularization is modularization robot driving joint, drives the bottom surface of the L bracket of articular branches support
It is both provided with threaded hole, and then drives diarthrodial threaded hole by each and interconnect it is achieved thereby that being easily installed and production application
Modularization.
The potentiometer pick-off closed-loop control is to obtain potentiometer rotational angle, analysis comparison target by host computer
Control signal card is output to after position data, through processing, control signal control hydraulic pump drive electricity is retransmited by control signal card
The rotating speed of machine, hydraulic pump drive motor drive pressure oil output after hydraulic pump rotation, and pressure oil passes through the measurement of flowmeter, defeated
Outflow feedback drives the movement of the swing hydraulic pressure cylinder of intra articular in host computer, pressure oil, swing hydraulic pressure cylinder output shaft end
The engaged transmission of oscillating cylinder gear and potentiometer gear, potentiometer pick-off is obtained by the potentiometer gear being mounted thereon to be turned
Dynamic signal, feeds back in host computer, and then forms closed-loop control.
Description of the drawings
Fig. 1 is that the present invention is a kind of to be closed based on swing hydraulic pressure cylinder and the driving of the modularization robot of potentiometric sensor closed-loop control
The overall structure diagram of section.
Fig. 2 is that the present invention is a kind of to be closed based on swing hydraulic pressure cylinder and the driving of the modularization robot of potentiometric sensor closed-loop control
The explosive view of section.
Fig. 3 is that the present invention is a kind of to be closed based on swing hydraulic pressure cylinder and the driving of the modularization robot of potentiometric sensor closed-loop control
The joint control schematic diagram of section.
Fig. 4 is that the present invention is a kind of to be closed based on swing hydraulic pressure cylinder and the driving of the modularization robot of potentiometric sensor closed-loop control
The swing hydraulic pressure cylinder drive component figure of section.
Fig. 5 is that the present invention is a kind of to be closed based on swing hydraulic pressure cylinder and the driving of the modularization robot of potentiometric sensor closed-loop control
The potentiometric sensor connection figure of section.
Fig. 6 is that the present invention is a kind of to be closed based on swing hydraulic pressure cylinder and the driving of the modularization robot of potentiometric sensor closed-loop control
The hydraulic system operation logic figure of section.
The meaning of each label is as follows in figure：
1：Potentiometric sensor；2：Potentiometer link block；3：Potentiometer gear；4：Drive joint L bracket；5：Fixing end
Lid；6：Oscillating cylinder gear；7：Oscillating cylinder backing plate A；8：Swing hydraulic pressure cylinder cushion block；9：Swing hydraulic pressure cylinder；10：Oscillating cylinder backing plate B；11
Fixed end cap；12：Planar side plates；13：Hydraulic pump drive motor；14：Motor and hydraulic pump stent；15：Shaft coupling；16：Hydraulic pressure
Pump；17：Flowmeter；18 control signal cards；20：Host computer；21：Three-position four-way electromagnetic directional valve；22：Overflow valve A；23：Overflow
Valve B.
Specific embodiment
In order to be best understood from technical scheme of the present invention and advantage, below by way of specific embodiment, and with reference to attached drawing pair
The present invention is described further.
The present invention is provided a kind of driven based on swing hydraulic pressure cylinder and the modularization robot of potentiometric sensor closed-loop control and closed
Section, as shown in figures 1 to 6, entire modularization robot driving joint include mechanical part and control section, the mechanical part
Including：Joint L bracket 4, planar side plates 12, swing hydraulic pressure cylinder 9, oscillating cylinder gear 6, potentiometer gear 3, potentiometer is driven to connect
Connect block 2, swing hydraulic pressure cylinder cushion block 8, oscillating cylinder backing plate A7, oscillating cylinder backing plate B10, fixed end cap 11, motor and hydraulic pump stent
14th, shaft coupling 15；The control section includes：Host computer 20, potentiometric sensor 1, control signal card 18, flowmeter 17, hydraulic pressure
Pump 16, hydraulic pump drive motor 13, three-position four-way electromagnetic directional valve 21, overflow valve A22, overflow valve B23.
Driving joint L bracket 4, planar side plates 12, oscillating cylinder gear 6, potentiometer gear 3, potentiometer in the present invention
Link block 2, swing hydraulic pressure cylinder cushion block 8, oscillating cylinder backing plate A7, oscillating cylinder backing plate B10, fixed end cap 11, motor and hydraulic pump branch
Frame 14 is required for being processed according to design requirement；Swing hydraulic pressure cylinder 9, potentiometric sensor 1, hydraulic pump drive motor 13, hydraulic pressure
Pump 16, flowmeter 17, host computer 20, control signal card 18, shaft coupling 15, three-position four-way electromagnetic directional valve 21, overflow valve A22,
Overflow valve B23 is required for carrying out matching purchase according to required size.
As shown in Figure 1 and Figure 2, the driving joint L bracket 4 and planar side plates 12 are used to implement consolidating for swing hydraulic pressure cylinder 9
Fixed connection, the swing hydraulic pressure cylinder 9 are fixed on inside driving joint L bracket 4；The oscillating cylinder gear 6 and potentiometer
Gear 3 forms engaged transmission, and potentiometer gear 3 is fixed on potentiometer link block 2, and swing hydraulic pressure cylinder cushion block 8 is for solid
Determine swing hydraulic pressure cylinder 9；The planar side plates 12 and L bracket side are both provided with through-hole, the output shaft of the swing hydraulic pressure cylinder 9
Hold the through-hole sequentially passed through in planar side plates 12, swing hydraulic pressure cylinder cushion block 8, oscillating cylinder gear 6, driving joint L bracket side
Central through hole is simultaneously secured by bolts in driving joint L bracket；The swing hydraulic pressure cylinder cushion block 8 is located at swing hydraulic pressure cylinder 9
Between driving joint L bracket, for fixed hydraulic oscillating cylinder 9；The oscillating cylinder backing plate A7 and oscillating cylinder backing plate B10 is used
In fixed driving joint hydraulic oscillating cylinder 9, wherein oscillating cylinder backing plate A7 is located at planar side plates 12 and driving joint hydraulic oscillating cylinder 9
Between end, oscillating cylinder backing plate B10 is located between swing hydraulic pressure cylinder cushion block 8 and oscillating cylinder gear 6；The swing hydraulic pressure cylinder cushion block
8 center is concentric with driving the through-hole of joint L bracket side；The potentiometer pick-off is fixed by screws in potentiometer company
It connects on block 2, potentiometer link block 2 is fixed by screws on oscillating cylinder backing plate, and potentiometer gear is fixed on potentiometer pick-off
3, oscillating cylinder gear 6 is fixed on 9 output shaft of swing hydraulic pressure cylinder, and engaged transmission is formed with potentiometer gear 3.
As shown in Fig. 2, joint L bracket and planar side plates 12 are fixed by screw, the end of driving joint hydraulic oscillating cylinder 9
Axle portion is held to pass through oscillating cylinder backing plate A7 and planar side plates 12, the output shaft end of swing hydraulic pressure cylinder 9 sequentially passes through swing hydraulic pressure cylinder pad
The side through-hole of block 8, oscillating cylinder backing plate B10 and oscillating cylinder gear 6, bracket L bracket, and pass through screw and fix, potentiometer connects
It connects block 2 to be fixed on oscillating cylinder backing plate B10 by screw, potentiometer pick-off passes through potentiometer link block 2 and potentiometer gear 3
It is connected, potentiometer gear 3 forms engaged transmission with oscillating cylinder gear 6.
As shown in figure 3, the total system control principle drawing for the present invention, wherein it is concurrent to set target location by host computer 20
Go out control instruction and receive and come from the data that flowmeter 17 and potentiometer pick-off are fed back to, the feedback data received is passed through
Contrast signal is sent after being compared with target location to control signal card 18, control signal card 18 is analyzed according to 20 program of host computer
The data obtained after being compared with target location, to send out next step control instruction, control hydraulic pump drive motor 13 turns
Speed, hydraulic pump 16 suck hydraulic oil, form pressure oil, pressure oil output, so as to make by the drive of hydraulic pump drive motor 13
The swing hydraulic pressure cylinder 9 of driving intra articular is moved, and the pressure oil flow of output after the calculating of flowmeter 17 by feeding back to
Host computer 20, and the rotational angle parameter of swing hydraulic pressure cylinder 9 passes through after the engaged transmission of oscillating cylinder gear 6 and potentiometer gear 3
Data obtain feedback in host computer 20 by potentiometer pick-off, and then being passed based on swing hydraulic pressure cylinder 9 and current potential described in realization
The modularization robot driving joint of 1 closed-loop control of sensor.
As shown in figure 4, the 9 drive component figure of swing hydraulic pressure cylinder in joint is driven for the present invention, wherein, hydraulic pump drives
Dynamic motor 13 is connected with hydraulic pump 16 by shaft coupling 15, and is fixed on motor and hydraulic pump stent 14, hydraulic pump drive electricity
Machine 13, control signal is sent by control signal card 18, after its rotation, hydraulic pump 16 is driven to rotate, hydraulic pump 16 sucks hydraulic pressure
Oil, forms hydraulic oil, and pressure oil output forms the rotation in joint to the swing hydraulic pressure cylinder 9 of driving intra articular.
As shown in figure 5, driving the installation connection figure of potentiometric sensor 1 in joint for the present invention, potentiometer link block 2 passes through
Screw is fixed on oscillating cylinder backing plate B10, and potentiometric sensor 1 passes through the hole on potentiometer link block 2 to be fixed on potentiometer connection
On block 2, wherein 1 end of potentiometric sensor connection potentiometer gear 3, and with the oscillating cylinder gear 6 on swing hydraulic pressure cylinder 9
Form engaged transmission.
As shown in fig. 6, for the diarthrodial hydraulic principle schematic diagram of present invention drive, in figure, three-position four-way electromagnetic directional valve 21 connects
The exit of hydraulic pump 16 is connected to, for changing the break-make of oil circuit, and then realizes changing for driving intra articular swing hydraulic pressure cylinder 9
To overflow valve A22 is mounted on 16 exit of system hydraulic pump and overflow valve B23 is mounted on returning for driving joint hydraulic system
Oil place, during system worked well, overflow valve A22 valves are closed, only load more than the defined limit when open overflow, carried out
Protection is carried, system pressure is made not to be further added by, plays safeguard protection, overflow valve B23 is connected on oil return line, plays pressure stabilization function.
It should be noted that the above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although reference
The present invention is described in detail in foregoing description, it will be understood by those of ordinary skill in the art that：It still can be to preceding
Listed technical solution is stated to modify either to which part or all technical features progress equivalent replacement；And these
Modification is replaced, the range of each listed technical solution of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (1)
1. a kind of modularization robot drives joint, it is characterised in that：The robot driving joint include mechanical part and
Control section, the mechanical part include：Drive joint L bracket, planar side plates, swing hydraulic pressure cylinder, oscillating cylinder gear, electricity
Position device gear, potentiometer link block, swing hydraulic pressure cylinder cushion block, oscillating cylinder backing plate A, oscillating cylinder backing plate B, fixed end cap, motor with
Hydraulic pump stent, shaft coupling；The control section includes：Host computer, potentiometer pick-off, control signal card, flowmeter, hydraulic pressure
Pump, hydraulic pump drive motor, three-position four-way electromagnetic directional valve, overflow valve A, overflow valve B；The driving joint L bracket peace
Surface side plate is used to implement being fixedly connected for swing hydraulic pressure cylinder, and the swing hydraulic pressure cylinder is fixed on inside driving joint L bracket；
The oscillating cylinder gear and potentiometer gear form engaged transmission, and potentiometer gear is fixed on potentiometer link block,
Swing hydraulic pressure cylinder cushion block is used for fixed hydraulic oscillating cylinder；The planar side plates and L bracket side are both provided with through-hole, the liquid
The output shaft end of pressure oscillating cylinder sequentially passes through through-hole in planar side plates, swing hydraulic pressure cylinder cushion block, oscillating cylinder gear, driving joint
L bracket center side through-hole is simultaneously secured by bolts in driving joint L bracket；The oscillating cylinder cushion block is located at hydraulic pressure pendulum
Between dynamic cylinder and driving joint L bracket, for fixed hydraulic oscillating cylinder；It is closed with driving at the center of the swing hydraulic pressure cylinder cushion block
The through-hole for saving L bracket side is concentric；In the control section, hydraulic pump drive motor is connected by shaft coupling with hydraulic pump
And it is mounted on motor and hydraulic pump stent；The potentiometer pick-off is fixed by screws on potentiometer link block,
Potentiometer link block is fixed by screws on oscillating cylinder backing plate B, and potentiometer gear, the hydraulic pressure are fixed on potentiometer pick-off
Oscillating cylinder gear is fixed on oscillating cylinder output shaft, and engaged transmission is formed with potentiometer gear；The motor and hydraulic pump branch
Frame is U-shaped, and two sides are provided with through-hole, and through-hole is concentric, for the fixation of hydraulic pump drive motor and hydraulic pump；The connection
Axis device is used to connect the drive shaft of hydraulic pump drive motor output shaft and hydraulic pump；The three-position four-way electromagnetic directional valve connection
In the exit of hydraulic pump, for changing the break-make of oil circuit, and then the commutation of the swing hydraulic pressure cylinder of driving intra articular is realized；Institute
The overflow valve A stated is mounted on system hydraulic pump exit and overflow valve B is mounted at the oil return of driving joint hydraulic system,
During system worked well, overflow valve A valves are closed, and overflow is opened when only load is more than the defined limit, carry out overload protection,
System pressure is made not to be further added by, plays safeguard protection, overflow valve B is connected on oil return line, plays pressure stabilization function；The control
Signal card, for sending the drive signal of hydraulic pump drive motor, and obtain the flow of the hydraulic pump obtained by flow measurement with
The angle that potentiometer pick-off is rotated；The hydraulic pump drive motor receiving comes from the output signal of control signal card,
And driving motor rotating speed is pumped come output hydraulic pressure according to signal, to drive the rotation of hydraulic pump, the hydraulic pump is via hydraulic pump
Driving motor drives, and for sucking fluid from hydraulic oil container, forms pressure oil and discharges, drive inside this robot driving joint
Swing hydraulic pressure cylinder, so as to make joint motions；The flowmeter is fed back for measuring the output flow from hydraulic pump in upper
Position machine；The output flow value for the hydraulic pump that the flow measurement obtains forms one kind with driving joint hydraulic oscillating cylinder rotational angle
Correspondence, so as to establish corresponding functional relation, the potentiometer pick-off is used to measure the angle of rotation of swing hydraulic pressure cylinder
Degree, and feed back in host computer, after host computer receives the signal of flowmeter and potentiometer pick-off, according to the physical location reached
Carry out comparison judgement with target location, if position accurately if host computer send out next step movement instruction, if there is error to pass through
Hydraulic pump flow value that the flow measurement of foundation obtains and drive functional relation between diarthrodial swing hydraulic pressure cylinder rotational angle into
Row is adjusted, and forms feedback, and then form closed-loop control；
The bottom surface of the L bracket of the driving articular branches support is provided with threaded hole, mutual by each diarthrodial threaded hole of drive
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711378201.5A CN108127685B (en) | 2015-12-25 | 2015-12-25 | Modular robot driving joint |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510993831.8A CN105945982B (en) | 2015-12-25 | 2015-12-25 | A kind of modularization robot drives joint |
| CN201711378201.5A CN108127685B (en) | 2015-12-25 | 2015-12-25 | Modular robot driving joint |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510993831.8A Division CN105945982B (en) | 2015-12-25 | 2015-12-25 | A kind of modularization robot drives joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108127685A true CN108127685A (en) | 2018-06-08 |
| CN108127685B CN108127685B (en) | 2020-11-27 |
Family
ID=56917108
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711378201.5A Active CN108127685B (en) | 2015-12-25 | 2015-12-25 | Modular robot driving joint |
| CN201510993831.8A Active CN105945982B (en) | 2015-12-25 | 2015-12-25 | A kind of modularization robot drives joint |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510993831.8A Active CN105945982B (en) | 2015-12-25 | 2015-12-25 | A kind of modularization robot drives joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108127685B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091352A (en) * | 2019-03-28 | 2019-08-06 | 哈尔滨工业大学 | Miniature large torque high speed joint integrates hydraulic unit driver |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106534283A (en) * | 2016-11-02 | 2017-03-22 | 旗瀚科技有限公司 | A system and method for synchronously controlling a plurality of robots |
| CN109944844B (en) * | 2016-11-22 | 2021-01-05 | 北京航空航天大学 | Closed-loop control method for hydraulic drive rotary joint of robot |
| CN107605834B (en) * | 2017-08-09 | 2019-02-22 | 太原理工大学 | A kind of pressure stabilizing feed liquid method adapting to hydraulic support movement |
| CN110550190B (en) * | 2019-07-25 | 2023-08-25 | 上海航天控制技术研究所 | Electric hydrostatic pump control rotary steering engine |
| CN110962156B (en) * | 2019-12-25 | 2022-10-18 | 哈尔滨工业大学 | Oil-feeding swing cylinder integrated joint |
| CN111536084B (en) * | 2020-05-21 | 2024-04-26 | 哈尔滨广瀚新能动力有限公司 | Water inlet and outlet valve control device of hydraulic dynamometer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1487155A (en) * | 2002-09-06 | 2004-04-07 | ��ʽ����С�������� | Oscillating Controller for oscillating hydraulic dredger |
| CN101701594A (en) * | 2009-10-27 | 2010-05-05 | 淮海工学院 | Independent controllable large rotating angle electrohydraulic servo oscillating hydraulic cylinder |
| CN103711741A (en) * | 2013-12-17 | 2014-04-09 | 东南大学 | Robot joint rotating hydraulic cylinder with torque and angle feedback functions |
| CN105171735A (en) * | 2015-10-23 | 2015-12-23 | 哈尔滨工程大学 | Hydraulic mechanical arm swing joint with brake |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2661630B1 (en) * | 1990-05-04 | 1992-08-07 | Renault | DEVICE FOR THE AUTOMATIC HOLDING AND / OR ASSEMBLY OF PARTS, INCLUDING TOOL HOLDER ARMS MOUNTED ON A SUPPORT BLOCK. |
| CN1600672A (en) * | 2004-09-29 | 2005-03-30 | 王振宇 | Speed adjustable cable hoist driven through pressure-fluid |
| US9429152B2 (en) * | 2010-10-28 | 2016-08-30 | Bosch Rexroth Corporation | Method for controlling variable displacement pump |
| CN102500914B (en) * | 2011-11-03 | 2016-05-04 | 哈尔滨正晨焊接切割设备制造有限公司 | Hydraulic servo control phase friction welding method |
| CN102849201A (en) * | 2012-09-17 | 2013-01-02 | 苏州船用动力系统股份有限公司 | Constant speed servo unit for controlling angle signals and control method thereof |
| CN203335564U (en) * | 2013-07-02 | 2013-12-11 | 杭州通灵自动化股份有限公司 | Electro-hydraulic servo multi-closed-loop control device |
| CN104972452A (en) * | 2014-04-13 | 2015-10-14 | 赵德朝 | Outer skeleton type arm joint information detection device |
| CN105014686A (en) * | 2014-05-03 | 2015-11-04 | 赵德朝 | Robot arm driven by swing cylinders |
| CN104006014B (en) * | 2014-05-13 | 2017-02-01 | 北京航天发射技术研究所 | Complex electro-hydraulic system closed loop control method |
-
2015
- 2015-12-25 CN CN201711378201.5A patent/CN108127685B/en active Active
- 2015-12-25 CN CN201510993831.8A patent/CN105945982B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1487155A (en) * | 2002-09-06 | 2004-04-07 | ��ʽ����С�������� | Oscillating Controller for oscillating hydraulic dredger |
| CN101701594A (en) * | 2009-10-27 | 2010-05-05 | 淮海工学院 | Independent controllable large rotating angle electrohydraulic servo oscillating hydraulic cylinder |
| CN103711741A (en) * | 2013-12-17 | 2014-04-09 | 东南大学 | Robot joint rotating hydraulic cylinder with torque and angle feedback functions |
| CN105171735A (en) * | 2015-10-23 | 2015-12-23 | 哈尔滨工程大学 | Hydraulic mechanical arm swing joint with brake |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091352A (en) * | 2019-03-28 | 2019-08-06 | 哈尔滨工业大学 | Miniature large torque high speed joint integrates hydraulic unit driver |
| CN110091352B (en) * | 2019-03-28 | 2022-10-18 | 哈尔滨工业大学 | Miniature large-torque high-speed joint integrated hydraulic driver |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108127685B (en) | 2020-11-27 |
| CN105945982A (en) | 2016-09-21 |
| CN105945982B (en) | 2018-01-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105945982B (en) | A kind of modularization robot drives joint | |
| CN106671091B (en) | A kind of robot hydraulic-driven cradle head closed-loop control system | |
| CN105290691A (en) | Double-stand-column positioner mechanism for hopper welding and control system of double-stand-column positioner mechanism | |
| CN104552278B (en) | A kind of robotize spiral punching system | |
| CN202087913U (en) | Welding gun oscillating mechanism | |
| CN206046389U (en) | A kind of glue dispensing valve inclination-angle regulating device and point gum machine | |
| CN103921268A (en) | Prrpr branched-chain parallel mechanism hole forming system for airplane assembling | |
| CN105196289A (en) | 6DOF (6 degree of freedom) light weight manipulator with embedded joints | |
| CN107083473B (en) | A kind of workpiece circumferential position automatic alignment mechanism | |
| CN201340299Y (en) | Double-scale hopper door mechanism with knuckle bearing | |
| CN110366478A (en) | Hinged arm robot and the method for being carried out machining workpieces by means of hinged arm robot | |
| CN105643655B (en) | A kind of manipulator for changing screw lining board | |
| CN107443757A (en) | A kind of thermoplastic agitating friction weldering control system and its control method | |
| CN209040763U (en) | A kind of oil drilling machine helicoid hydraulic motor | |
| CN107992109A (en) | Closed-loop positioning control system and method | |
| CN205828679U (en) | A kind of antenna surface movement angle feedback device of Shipborne satellite antenna | |
| CN110905891A (en) | High-precision servo hydraulic closed-loop control system | |
| CN211436210U (en) | Waterborne production reation kettle of alkyl quaternary ammonium salt | |
| CN102588649A (en) | Servo valve and zero compensation method for same | |
| CN204487550U (en) | A kind of robotize spiral punching system | |
| CN211951060U (en) | High-precision servo hydraulic closed-loop control system | |
| CN208261287U (en) | A kind of workpiece sorting device | |
| KR101342868B1 (en) | Dual servo press device and shaft twist compensating method thereof | |
| CN205953347U (en) | Take rotation angle's lifting hook | |
| CN206029877U (en) | Plane joint robot of adjustable length arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210203 Address after: Room 801, building 5, courtyard 98, lianshihu West Road, Mentougou District, Beijing 102300 Patentee after: AUBO (BEIJING) INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 100191 No. 37, Haidian District, Beijing, Xueyuan Road Patentee before: BEIHANG University |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210930 Address after: 255422 Room 405, No. 52, Qidu Road, Qidu Town, Linzi District, Zibo City, Shandong Province Patentee after: AOBO (Shandong) intelligent robot Co.,Ltd. Address before: Room 801, building 5, courtyard 98, lianshihu West Road, Mentougou District, Beijing 102300 Patentee before: AUBO (BEIJING) ROBOTICS TECHNOLOGY Co.,Ltd. |