CN108161979B - Robot hydraulic joint - Google Patents
Robot hydraulic joint Download PDFInfo
- Publication number
- CN108161979B CN108161979B CN201810147582.4A CN201810147582A CN108161979B CN 108161979 B CN108161979 B CN 108161979B CN 201810147582 A CN201810147582 A CN 201810147582A CN 108161979 B CN108161979 B CN 108161979B
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- Prior art keywords
- connecting plate
- central shaft
- cylinder sleeve
- cylindrical
- overflow
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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
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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
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- 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
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/12—Characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Reciprocating Pumps (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The patent discloses a robot hydraulic joint, which comprises an electrohydraulic integrated spherical pump power system, a swinging oil cylinder (41) and a control system, wherein a base (21) is arranged on a shell (1); the electrohydraulic integrated spherical pump power system is composed of a spherical pump (40) with a positive and negative rotation function, a motor stator (3) and a motor rotor (4), wherein the spherical pump (40) is fixedly connected with the motor rotor (4), the spherical pump (40) is arranged on one side of a connecting plate, a swing oil cylinder (41) is arranged on the other side of the connecting plate (7), a cylinder sleeve end cover (14) is connected to a swing cylinder sleeve (13), and a connecting ring is arranged on the cylinder sleeve end cover (14); the controller (27) is electrically connected with the motor, the sensor and the brake system and is used for receiving the sensor signal, controlling the operation of the motor, starting and stopping the brake system and the like. The advantage of this patent is that simple structure, moment of torsion are big, power mass is than big, and motion flexibility is good.
Description
Technical Field
The invention relates to a robot hydraulic joint, and belongs to the technical field of robots.
Background
The grabbing and lifting parts of the robot comprise hands, arms and robot joints, and the robot joints serve as important parts of the robot and play a very important role in indexes such as the size, weight, action flexibility and grabbing and lifting strength of the robot. At present, the driving mode of the robot joint comprises motor speed reducer driving, pneumatic artificial muscle driving and hydraulic driving. The pneumatic artificial muscle drive has the characteristics of light weight, low price, easy maintenance and the like, but has low control precision and limited application; the motor reducer has the advantages of low cost, simple control, small volume and the like, but has the biggest problems of low power-mass ratio, too high rigidity, lack of flexibility, easy damage in the movement process and the like; in contrast, the biggest advantage of hydraulic drive is that the power quality ratio is high, and the motion flexibility is good, so in recent years, the hydraulic drive joint is increasingly applied to the robot, and the hydraulic drive robot has become an important direction and trend of robot research.
However, the existing hydraulic driving robot joints are all centralized hydraulic distribution systems, a high-power and high-flow hydraulic pump is used as a central hydraulic source, and various valves and control systems are configured to distribute pressure to all positions needing to act, so that the problems are that the power system is heavy in structure and high in power consumption, and the volume of the system is large and the energy consumption loss is large due to the fact that the number of parts added by the valves is large.
The spherical pump is a variable capacity mechanism with a brand new structure, can realize high pressure with smaller volume, has many advantages when used for a robot power system, and can reduce the volume, weight and energy consumption of the robot power system.
Disclosure of Invention
The invention aims to design a hydraulic joint of a robot, adopts the latest spherical pump technology, and uses electrohydraulic driving swing oil cylinders to improve the power-to-mass ratio of the hydraulic joint, improve the response speed and flexibility of the joint, reduce energy consumption and reduce weight and volume.
The technical scheme of the invention is that the robot hydraulic joint is characterized in that: including setting up integrative spherical pump driving system of electricity liquid, swing hydro-cylinder and the control system in the shell, be provided with the base on the shell, wherein:
the electrohydraulic integrated spherical pump power system is composed of a spherical pump with a forward and reverse rotation function, a motor stator and a motor rotor, wherein the rotor connector is of a cylindrical structure with an opening at one end, the spherical pump is arranged in a cylindrical inner cavity of the rotor connector, the outer cylindrical surface of the rotor connector is fixedly connected with the inner cylindrical surface of the motor rotor, and the motor stator and the connecting plate are fixed on the inner cylindrical surface of the cylindrical inner cavity of the shell; a cylindrical cavity matched with a cylindrical boss at the top end of the cylinder cover is inwards recessed in the center of one side of the connecting plate, and a central shaft is outwards extended from the center of the other side of the connecting plate; a hydraulic oil way is arranged in the central shaft and the cylinder cover; the flange end face at the top end of the spherical pump shell is jointed with the end face at one side of the connecting plate and is fixed on the end face at the side of the connecting plate through screws, after a cylindrical boss extending out of the pump shell from the top end of the cylinder cover is inserted into a cylindrical cavity on the connecting plate, the end face of the cylindrical boss at the top end of the cylinder cover is tightly jointed with the bottom face of the cylindrical cavity recessed in the connecting plate, two oil inlet and outlet holes on the cylinder cover are respectively communicated with two oil inlet and outlet holes on the connecting plate, and two overflow channels on the cylinder cover are respectively communicated with two overflow channels on the connecting plate; the bottom end of the rotor connecting body protrudes inwards to form a driving shaft to be connected with a turntable of the spherical pump, a C bearing is arranged between the inner cylindrical surface of the rotor connecting body and the outer cylindrical surface of a pump shell of the spherical pump, the bottom end of the rotor connecting body protrudes outwards to form a supporting shaft, a D bearing and a bearing gland are connected to the supporting shaft, the bearing gland is fixed on the shell, and the rotor connecting body takes the C bearing and the D bearing as rotary supports; an electric appliance end cover is arranged on the outer side end surface of the bearing gland, the elastic oil reservoir is arranged in a closed cavity formed by the bearing gland and the electric appliance end cover, and the elastic oil reservoir is communicated with the cavity between the motor stator and the pump shell;
the swing cylinder is arranged on one side of the connecting plate, which extends out of the central shaft, and comprises a swing cylinder sleeve, a moving blade and a fixed blade, wherein the swing cylinder sleeve surrounds the central shaft, the moving blade is fixed on the inner circumference of the swing cylinder sleeve, the fixed blade is fixed on the middle cylindrical surface of the central shaft, a cylinder sleeve end cover is connected to the annular end surface of one side of the swing cylinder sleeve, which is connected with the moving blade, through screws, the cylinder surface of the middle cylindrical boss of the central shaft, the moving blade and the fixed blade are combined to form two closed working cavities of the swing cylinder sleeve, the two closed working cavities are respectively communicated with an opening of an oil inlet hole arranged on the middle cylindrical surface of the central shaft, an A bearing is arranged between the cylindrical boss cylindrical surface of the root of the central shaft and the swing cylinder sleeve, and a B bearing is arranged between the cylindrical boss cylindrical surface of the end part of the central shaft and the cylinder sleeve end cover; a connecting ring is arranged on the cylinder sleeve end cover and is connected with a base of a robot hand, an arm or other hydraulic joints;
the control system comprises a controller, a sensor and a brake system; the brake system and the sensor are arranged between the swing cylinder sleeve and the side surface of the connecting plate, the brake system is used for controlling the swing of the swing cylinder, and the sensor is used for sensing information such as the rotation angle, the rotation speed and the like of the swing cylinder sleeve; the controller is arranged in a cavity formed by the bearing gland and the electric appliance end cover, is electrically connected with the motor, the sensor and the brake system and is used for receiving the sensor signals, controlling the operation of the motor, starting and stopping the brake system and the like;
further, the central shaft is three concentric cylinder bosses with diameters sequentially reduced, which extend from the center of the end face of the connecting plate, two oil inlet and outlet holes and two overflow channels are arranged in the central shaft, and openings at one ends of the two oil inlet and outlet holes and the two overflow channels on the central shaft are positioned on the bottom end face of the cylindrical cavity of the connecting plate; the other ends of the two oil inlet and outlet holes are arranged on the outer cylindrical surface of the middle cylindrical boss of the central shaft and are respectively communicated with the hydraulic oil inlets and outlets of the two working cavities of the swing oil cylinder; the two overflow channels in the central shaft are blind holes, the blind end of one overflow channel is communicated with one oil inlet and outlet hole in the central shaft, the blind end of the other overflow channel is communicated with the other oil inlet and outlet hole in the central shaft, a one-way valve is arranged at the opening part of each overflow channel, and hydraulic oil can enter the oil inlet and outlet hole in the central shaft from the opening part of the overflow channel on the connecting plate through the one-way valve; two overflow holes are formed in the cylindrical surface of the cylindrical boss protruding from the top of the cylinder cover, two overflow grooves are correspondingly formed in the joint surface of the connecting plate and the pump shell, one end of each overflow hole in the cylinder cover is communicated with an overflow channel in the cylinder cover, and the other end of each overflow hole is communicated with each overflow groove; one end of each overflow groove is communicated with the overflow hole, and the other end of each overflow groove is communicated with a cavity between the pump shell and the motor stator;
further, the brake system comprises an annular brake disc, an annular electromagnet and an annular armature, the brake disc is arranged on the outer circumference of a cylindrical boss at the root of a central shaft of the connecting plate and connected to the side surface of the connecting plate through a screw, the electromagnet is arranged and fixed in an annular groove on the end surface of the brake disc, the armature is pressed and held on the end surface of the swing cylinder sleeve opposite to the brake disc through a spring, a pin and a bolt, and the armature rotates along with the swing cylinder sleeve;
further, a sensor is arranged in an annular cavity between the outer circumference of a brake disc of the brake system and the inner circumference of the shell, the sensor comprises a card reader and a magnetic ring, the card reader is fixed in the annular cavity between the brake disc and the shell, and a gap is reserved between the card reader and the annular magnetic ring fixed on the outer circumferential side surface of the swing cylinder sleeve.
The invention has the advantages that:
1. the hydraulic joint has large power-mass ratio, large torque and good joint flexibility;
2. because the spherical pump has the characteristics of small volume and small vibration and has the characteristic of forward and reverse rotation, the swing cylinder sleeve of the swing cylinder is driven, the hydraulic system of the robot adopts a distributed hydraulic source scheme, a complicated high-pressure oil pipe and an electromagnetic hydraulic reversing valve are omitted, the weight, the volume and the power consumption of the system can be greatly reduced, and the control system is greatly simplified;
3. the one-way valve is arranged in the overflow channel, and a hydraulic loop is formed by the elastic oil reservoir and the whole hydraulic system, so that the overflow oil pool of the spherical pump is always low in pressure, and hydraulic oil in the overflow oil pool can circularly flow; at the same time, the elastic oil reservoir ensures the volume adjustment of the hydraulic oil of the closed system caused by temperature change.
Drawings
Fig. 1: the structural cross-section of the robot hydraulic joint embodiment is shown in the invention;
fig. 2: the invention relates to a structural outline drawing of a hydraulic joint embodiment of a robot;
fig. 3: a right side view of the structure shown in fig. 1 with the cylinder liner end cap removed;
fig. 4: an enlarged schematic view of the spherical pump structure (as seen from the head end);
fig. 5: FIG. 4 is a cross-sectional view A-A;
fig. 6: FIG. 4 is a sectional view B-B;
fig. 7: a front view of the rotor connection body;
fig. 8: a rotor connector top view;
fig. 9: a structural schematic diagram of the swing cylinder sleeve;
fig. 10: a front view of the connecting plate structure;
fig. 11: a left view of the connecting plate structure;
fig. 12: a brake disc structure schematic diagram;
fig. 13: a pump housing schematic;
fig. 14: a piston structure schematic diagram;
fig. 15: a turntable structure schematic diagram;
fig. 16: a front view of a cylinder cover structure;
fig. 17: a bottom view of the cylinder cover structure;
fig. 18: a top view of the cylinder cover structure;
fig. 19: the hydraulic principle diagram of the hydraulic joint is shown in the invention;
in the figure: 1-a housing; 2-rotor connection; 3-a motor stator; 4-a motor rotor; a 5-C bearing; 6-pump shell; 7-connecting plates; 8-a brake disc; 9-an electromagnet; 10-a card reader; 11-magnetic ring; 12- iron; 13-swinging a cylinder sleeve; 14-cylinder sleeve end covers; 15-A bearings; 16-an oil inlet and outlet hole; 17-limit screws; an 18-B bearing; 19-moving blades; 20-fixing the blades; 21-a base; 22-cylinder cover; 23-a piston; 24-pin shafts; 25-a turntable; 26-a cylinder; 27-a controller; 28-an electrical end cap; 29-D bearings; 30-bearing gland; 31-an elastic oil reservoir; 32-an oil inlet and outlet channel; 33-pump working chamber; 34-central axis; 35-overflow channel; 36-an overflow launder; 37-slipper; 38-a chute; 39-a one-way valve; 40-ball pump; 41-swinging oil cylinders; 42-driving shaft; 43-support shaft; 44-overflow aperture.
Detailed Description
As shown in fig. 1 to 2, the hydraulic joint of the robot of the present invention comprises an electrohydraulic integrated spherical pump power system, a swing cylinder 41 and a control system which are arranged in a housing 1, wherein the housing 1 is in a cylindrical structure, a base 21 is arranged on the outer cylindrical surface of the housing 1, a connecting ring is arranged on the base 21, and the hydraulic joint is arranged on a fixed object or a connecting ring of a cylinder sleeve end cover 14 of other hydraulic joints through the connecting ring on the base 21; an electric appliance end cover 28 is fixedly arranged at one end part of the shell 1, a cylinder sleeve end cover 14 of a swing cylinder 41 is arranged at the other end part of the shell, the cylinder sleeve end cover 14 is connected to the swing cylinder sleeve 13 through screws, the cylinder sleeve end cover 14 swings along with the swing cylinder sleeve 13 of the swing cylinder 41, a connecting ring is arranged on the cylinder sleeve end cover 14, and a hydraulic joint is connected with a base 1 of a robot hand, an arm or other hydraulic joints through the connecting ring on the cylinder sleeve end cover 14.
The electrohydraulic integrated spherical pump power system is composed of a spherical pump 40 with a forward and reverse rotation function, a rotor connector 2, a motor stator 3 and a motor rotor 4, wherein the rotor connector 2 is of a cylindrical structure with an opening at one end, as shown in fig. 7 and 8, the spherical pump 40 is arranged in a cylindrical inner cavity of the rotor connector 2, a C bearing 5 is arranged between the cylindrical inner wall of the rotor connector 2 and the outer circumference of a pump shell 6 of the spherical pump 40, the C bearing 5 is a needle bearing, the outer circumference of the rotor connector 2 and the inner circumference of the motor rotor 4 are fixedly connected in a tight fit manner in a hot pressing manner, when the motor rotor 4 is heated to increase the inner diameter of the motor rotor 4 or the rotor connector 2 is frozen to shrink the outer diameter of the rotor connector 2, and after the motor rotor 4 is assembled to room temperature, the motor rotor 4 is firmly hooped on the rotor connector 2; the motor stator 3 is fixed on the cylindrical inner wall of the shell 1; the bottom end of the rotor connecting body 2 extends outwards to form a supporting shaft 43, a D bearing 29 is connected to the journal of the supporting shaft 43, and the D bearing 29 is a rolling bearing; the bearing cover 30 is connected to the end face of the shell 1 through a screw, a bearing seat matched with the D bearing 29 is arranged in the center of the bearing cover 30, and the bearing cover 30 is pressed on the outer ring of the D bearing 29; the rotor connecting body 2 takes a D bearing 29 between the bearing gland 30 and the supporting shaft 43 and a C bearing 5 between the pump shell 6 and the rotor connecting body 2 as rotary supports; the connecting plate 7 is fixed on the inner cylindrical surface of the shell 1; as shown in fig. 16, 18, openings of the two oil inlet and outlet holes 16 and openings of the two overflow passages 35 of the spherical pump 40 are provided on the end face of a cylindrical boss protruding from the top end of the cylinder head 22; as shown in fig. 10 and 11, the connecting plate 7 is recessed inwards towards the center of one side end face of the spherical pump 40 to form a cylindrical cavity matched with the cylindrical boss at the top end of the cylinder cover 22, a central shaft 34 is extended outwards from the center of the other side end face of the connecting plate 7, the central shaft 34 is three concentric cylindrical bosses with sequentially smaller diameters protruding from the center of the end face of the connecting plate 7, two oil inlet and outlet holes 16 and two overflow channels 35 are also arranged in the central shaft 34, and one end openings of the two oil inlet and outlet holes 16 and the two overflow channels 35 on the connecting plate 7 are positioned on the bottom end face of the cylindrical cavity and correspond to the two oil inlet and outlet holes 16 and the two overflow channels 35 on the end face of the cylindrical boss protruding at the top end of the cylinder cover 22; the other end openings of the two oil inlet and outlet holes 16 on the connecting plate 7 are arranged on the outer cylindrical surface of the middle cylindrical boss of the central shaft 34 of the connecting plate 7 and are respectively communicated with the hydraulic oil inlet and outlet of the working cavity of the swing oil cylinder 41.
As shown in fig. 13, the pump casing 6 of the spherical pump 40 is a cylindrical structure with a flange at the top end, a positioning step through which a cylindrical boss at the top end of the cylinder cover 22 passes is arranged in the flange of the pump casing 6, the cylindrical boss at the top end of the cylinder cover 22 extends out of a flange hole at the top end of the pump casing 6, the flange end face at the top end of the pump casing 6 is jointed with a side end face of the connecting plate 7 facing the spherical pump 40 and is fixed on the side end face of the connecting plate 7 through a screw, after the cylindrical boss at the top end of the cylinder cover 22 extends out of the pump casing 6 is inserted into a cylindrical cavity on the connecting plate 7, the cylindrical boss end face at the top end of the cylinder cover 22 is tightly jointed with the bottom face of the cylindrical cavity in which the connecting plate 7 is concave, two oil inlet and outlet holes 16 on the cylinder cover 22 are respectively communicated with two overflow channels 35 on the cylinder cover 22 and two overflow channels 35 on the connecting plate 7 respectively; the two overflow channels 35 on the connecting plate 7 are blind holes, the blind end of one overflow channel 35 is communicated with one oil inlet and outlet hole 16 on the connecting plate 7, the blind end of the other overflow channel 35 is communicated with the other oil inlet and outlet hole 16 on the connecting plate 7, an internal thread is arranged at the mouth part of each overflow channel 35, a one-way valve 39 is connected at the mouth part of the overflow channel 35 through the thread, and hydraulic oil can enter the oil inlet and outlet hole 16 on the connecting plate 7 from the mouth part of the overflow channel 35 on the connecting plate 7 through the one-way valve 39; two overflow holes 44 are formed in the cylindrical surface of the cylindrical boss protruding from the top of the cylinder cover 22, two overflow grooves 36 are correspondingly formed in the joint surface of the connecting plate 7 and the pump shell 6, one end of each overflow hole 44 in the cylinder cover 22 is communicated with the overflow channel 35 in the cylinder cover 22, and the other end of each overflow hole 44 in the cylinder cover 22 is communicated with the overflow groove 36; one end of each overflow groove 36 is communicated with the overflow hole 44, and the other end is communicated with a cavity between the pump shell 6 and the motor stator 3.
The bearing cover 30, the housing 1 and the connecting plate 7 enclose the ball pump 40 in a sealing unit, and the gap between the motor stator 3 and the pump housing 6 serves as an oil collecting chamber of the ball pump 40, in which hydraulic oil leaking during operation of the ball pump 40 is collected. An electric end cover 28 is arranged on the outer side end surface of the bearing gland 30, a containing cavity is formed between the electric end cover 28 and the bearing gland 30, an elastic oil reservoir 31 is arranged in a closed containing cavity formed by the bearing gland 30 and the electric end cover 28, the elastic oil reservoir 31 is a section of elastic latex tube, one end of the latex tube is connected to the end surface of the bearing gland 30 through a threaded pipe joint, the other end of the latex tube is closed, and the elastic oil reservoir 31 is communicated with an oil collecting cavity of the spherical pump 40 (namely communicated with the containing cavity between the motor stator 3 and the spherical pump 40).
As shown in fig. 1, fig. 3, fig. 4 and fig. 9, the swinging cylinder 41 is arranged on one side of the connecting plate 7, which extends out of the central shaft 34, the swinging cylinder 41 comprises a swinging cylinder sleeve 13, moving blades 19, fixed blades 20 and the central shaft 34, the swinging cylinder 41 takes the central shaft 34 extending out of the connecting plate 7 as a fixed shaft, one side of the swinging cylinder sleeve 13 is a cylindrical cavity for installing moving blades, an annular groove for installing an annular armature 12 and an annular space for installing an annular magnetic ring 11 are arranged on the end face of the other side of the swinging cylinder sleeve 13, a central hole of the swinging cylinder sleeve 13 is movably connected to the central shaft 34 of the connecting plate 7, a dynamic sealing ring is arranged at the matching part of the central shaft 34 and the central hole of the swinging cylinder sleeve 13, the moving blades 19 are fixedly connected to the inner circumference of the swinging cylinder sleeve 13 through screws, the fixed blades 20 are fixedly connected to the middle cylindrical surface of the central shaft 34 on the connecting plate 7 through screws, the annular end face of a cylinder sleeve end cover 14 is connected through screws on the annular end face of a cylindrical cavity on one side of the blade of the swinging cylinder sleeve 13, the cylindrical boss on the middle of the central cylinder 13, the moving blades 19 and the fixed blades 20 are combined to form two closed working cavities of the swinging cylinder sleeve 41, the two working cavities are respectively connected with the cylindrical boss 16 arranged on the root part of the central cylinder sleeve 34 of the connecting plate 7, and the central boss 16 is arranged between the cylindrical boss 16 and the cylindrical boss of the end face of the central cylinder sleeve 13 and the end cover 18 is arranged at the end face of the cylindrical boss of the central boss of the cylinder boss 15; the swing cylinder sleeve 13 forms a rotary support through a B bearing 18 between the cylinder sleeve end cover 14 and the central shaft 34 and an A bearing 15 between the swing cylinder sleeve 13 and the central shaft 34; the oscillating cylinder sleeve 13 and the cylinder sleeve end cover 14 oscillate around the axis of the central shaft 34, and the volumes of the two working cavities are unchanged and alternate along with the oscillation of the oscillating cylinder sleeve 13; when the spherical pump 40 rotates in the forward direction, high-pressure hydraulic oil enters one working cavity of the swing cylinder 41 through one oil inlet and outlet hole 16, and the pressure of the other working cavity is lower at the moment, so that the cylinder sleeve end cover 14 swings along with the swing cylinder sleeve 13 in the forward direction relative to the connecting plate 7, when the spherical pump 40 rotates in the reverse direction, high-pressure hydraulic oil enters the other working cavity of the swing cylinder 41 through the other oil inlet and outlet hole 16, and the pressure of the original high-pressure working cavity is already low at the moment, so that the swing cylinder sleeve 13 and the cylinder sleeve end cover 14 of the swing cylinder 41 swing in the reverse direction relative to the connecting plate 7; a connecting ring is arranged on the cylinder sleeve end cover 14, and the hydraulic joint is connected with a base 21 of the robot hand or arm or other hydraulic joints through the connecting ring arranged on the swinging cylinder sleeve 13; a screw through hole is formed in the center of the end face of the cylinder sleeve end cover 14, a screw threaded hole is formed in the center of the end face of the cylindrical boss at the outermost end of the central shaft 34 of the connecting plate 7, a limit screw 17 penetrates through the screw through hole on the cylinder sleeve end cover 14 and then is connected to the end thread of the central shaft 34, the inner end face of the large end part of the limit screw 17 is located on the outer side of the end face of the cylinder sleeve end cover 14, the cylinder sleeve end cover 14 and the swing cylinder sleeve 13 are prevented from being separated from the connecting plate 7 along the axial direction through the inner end face of the head of the limit screw 17, the cylinder sleeve end cover 14 can rotate around the limit screw 17, and dynamic sealing is arranged between the cylinder sleeve end cover 14 and the limit screw 17.
The control system comprises a controller 27, sensors and a brake system; the brake system is arranged between the end faces of the swing cylinder sleeve 13 and the connecting plate 7, as shown in fig. 1 and 12, the brake system comprises an annular brake disc 8, an annular electromagnet 9 and an annular armature 12, the brake disc 8 is arranged on the outer circumference of a cylindrical boss at the root part of a central shaft 34 of the connecting plate 7, the brake disc is connected to one end face of the connecting plate 7 through a screw, the electromagnet 9 is arranged and fixed in an annular groove on the end face of the brake disc 8, the armature 12 is pressed on the end face, opposite to the brake disc 8, of the swing cylinder sleeve 13 through a spring, a pin and a bolt, the armature 12 rotates along with the swing cylinder sleeve 13, and when the electromagnet 9 of the brake system works electrically, the attraction force generated by the electromagnet 9 overcomes the pressure of the spring on the armature 12, so that the armature 12 is connected and sucked with the brake disc 8, and the rotation is stopped; when the swing cylinder sleeve 13 needs to swing, the electromagnet 9 is powered off and is separated from the armature 12 under the action of a spring (spring rebound), and the armature 12 acts along with the swing cylinder sleeve 13; a sensor is arranged in an annular cavity between the outer circumference of the brake disc 8 and the inner circumference of the shell 1, the sensor comprises a card reader 10 and a magnetic ring 11, the card reader 10 is fixed in the annular cavity between the brake disc 8 and the shell 1 and is opposite to the annular magnetic ring 11 fixed on the outer circumferential side surface of the swing cylinder sleeve 13, a gap is reserved between the card reader and the annular magnetic ring 11, and the sensor is used for sensing information such as the rotation angle, the rotation speed and the like of the swing cylinder sleeve; a controller 27 is also arranged in a cavity formed by the bearing gland 30 and the electric appliance end cover 28, and the controller 27 is electrically connected with the motor, the sensor and the brake system and is used for receiving sensor signals, controlling the operation of the motor, starting and stopping the brake system and the like;
as shown in fig. 5 to 8, the spherical pump 40 is composed of a cylinder body 26, a cylinder cover 22, a pump shell 6, a piston 23, a turntable 25, a pin shaft 24 and a rotor connecting body 2, wherein the cylinder body 26 and the cylinder cover 22 are provided with a hemispherical inner surface and a cylindrical outer surface, the cylinder body 26 and the cylinder cover 22 are fixedly connected to form a spherical inner cavity of the spherical pump 40, the pump shell 6 is cylindrical with a flange at the top end, the cylinder body 26 and the outer cylindrical surface of the cylinder cover 22 of the spherical pump 40 are fixedly connected with the inner cylindrical surface of the pump shell 6 in a hot-filling manner, a positioning step through which a cylindrical boss at the top end of the cylinder cover 22 passes is arranged in the flange of the pump shell 6, and a cylindrical boss protruding from the top end of the cylinder cover 22 extends out of a flange hole at the top end of the pump shell 6; as shown in fig. 14, the piston 23 has a spherical top surface, a piston shaft extending from the center of the spherical top surface, two side surfaces forming a certain angle, and piston pin bosses formed at the lower parts of the two side surfaces of the piston 23, wherein the piston pin bosses have a semi-cylindrical structure, a groove is formed in the middle of the semi-cylindrical structure, and a through piston pin hole is formed in the axial direction of the piston pin bosses; as shown in fig. 16 to 18, a piston shaft hole is formed in the cylinder cover 22, the shaft diameter of the piston shaft is matched with that of the piston shaft hole, the piston shaft is inserted into the piston shaft hole to form a running fit, the piston 23 can freely rotate in the spherical cavity around the axis of the piston shaft, and the spherical top surface of the piston has the same sphere center with the spherical cavity and forms a sealing running fit; two oil inlet and outlet channels 32 are arranged on the inner spherical surface of the cylinder cover 22, two overflow holes 44 are arranged on the cylindrical surface of the cylindrical boss protruding from the top of the cylinder cover 22, two overflow channels 35 and two oil inlet and outlet holes 16 are arranged on the end surface of the cylindrical boss protruding from the top of the cylinder cover 22, one end of each overflow hole 44 on the cylinder cover 22 is communicated with the overflow channel 35 on the cylinder cover 22, and each oil inlet and outlet channel 32 is communicated with the corresponding oil inlet and outlet hole 16 outside the communicated cylinder; one end of each oil inlet and outlet hole 16 on the cylinder cover 22 is communicated with one oil inlet and outlet channel 32 on the inner spherical surface of the cylinder cover 22, and the other end of each oil inlet and outlet hole 16 is arranged on the end surface of a cylindrical boss protruding from the top end of the cylinder cover 22 and communicated with the oil inlet and outlet hole 16 on the connecting plate 7. The oil intake and discharge control is achieved by the rotation of the piston 23 and the cooperation of the spherical surface of the piston 23 with the hemispherical inner surface of the cylinder head 22 as basic movement elements of the oil intake and discharge passage 32 communicating with or closing the two pump working chambers 33.
As shown in fig. 15, the turntable 25 has a turntable shaft, a turntable spherical surface, and a turntable pin socket, and a shoe 37 is provided at an end of the turntable shaft; the spherical cavity formed by the cylinder body 26 and the cylinder cover 22 has the same sphere center as the sphere of the turntable, and the sphere of the turntable is tightly clung to the spherical cavity to form a sealed movable fit; the two ends of the turntable pin boss of the turntable 25 are semi-cylindrical grooves, and the middle part is a convex semi-cylinder; the semi-cylinder has a through turntable pin hole in the axial direction. A turntable shaft passing hole is provided on the cylinder 26; the rotor connecting body 2 is of a cylindrical structure with one end open, the cylinder body 26, the cylinder cover 22 and the pump shell 6 are arranged in a cylindrical inner cavity of the rotor connecting body 2, the bottom end of the rotor connecting body 2 protrudes into the cylinder to form a driving shaft 42, a sliding groove 38 matched with a sliding shoe 37 on a rotary disc shaft is arranged on the end face of the driving shaft 42, the driving shaft 42 stretches into the cylinder body 26 of the spherical pump 40 to be connected with the rotary disc shaft of the spherical pump 40 so as to push the rotary disc shaft to rotate, and meanwhile the sliding shoe 37 of the rotary disc shaft slides back and forth in the sliding groove 38 on the end face of the rotor connecting body 2; a C bearing 5 is arranged between the inner cylindrical surface of the rotor connecting body 2 and the outer circumference of the pump shell 6, and the bottom end of the rotor connecting body 2 extends outwards to form a supporting shaft 43; the axes of the piston shaft, the turntable shaft and the driving shaft 42 of the rotor connecting body 2 pass through the sphere center of the spherical cavity formed by the cylinder body 26 and the cylinder cover 22, and the axes of the piston shaft and the turntable shaft form the same included angle alpha with the axis of the driving shaft 42; the pin shaft 24 is inserted into the piston pin hole of the piston 23 and the turntable pin hole of the turntable 25 to form a cylindrical hinge, the piston 23 and the turntable 25 are in sealed movable connection through the cylindrical hinge, and the spherical inner cavity is divided into two pump working cavities 33 with alternating volumes. When the rotor connector 2 rotates, the turntable 25 is driven, and the turntable 25 drives the piston 23 to move; the movement of the piston 23 is the only rotation around the axis of the piston shaft, and the turntable 25 rotates around the axis of the turntable and simultaneously, the sliding shoes 37 on the turntable shaft slide back and forth in the sliding grooves 38 on the end face of the driving shaft 42 on the rotor connecting body 2; the above spatial mechanism movements are all rotational movements, so there is no high vibration moving part, and the result of the spatial movements is: the piston 23 and the rotary disk 25 have a periodic relative oscillation.
The hydraulic oil leaked from the matching parts of the cylinder 26, the turntable 25, the piston 23 and the rotor connector 2 is collected into an oil collecting cavity formed in the space between the pump shell 6 and the motor stator 3, if the leaked oil is not discharged, the high pressure is inevitably generated in the oil collecting cavity due to the continuous increase of the leaked oil, the oil collecting cavity is communicated with the elastic oil reservoir 31 and the overflow channel 35 and communicated with a main circulation oil way through the check valve 39, and when the pressure of the hydraulic oil in the oil collecting cavity and the elastic oil reservoir 31 is higher than the set conducting pressure of the check valve 39, the high pressure oil in the oil collecting cavity and the elastic oil reservoir 31 is led into a hydraulic main circuit, so that the pressure of the oil in the oil collecting cavity is reduced, the oil is supplemented to the main circulation oil way, and the total volume change of the oil circulation system due to the temperature change is also adjusted. As shown in fig. 19, which shows a hydraulic schematic diagram of the present invention, the ball pump 40 rotates in the forward direction, high pressure oil is discharged from one oil inlet and outlet hole 16 on the ball pump 40 into one working chamber of the swing cylinder 41, oil in the other working chamber of the swing cylinder 41 is pushed out and then flows back to the ball pump 40 through the other oil inlet and outlet hole 16, and is sucked into one working chamber of the ball pump 40, and the swing cylinder liner 13 swings; the spherical pump 40 rotates reversely, the oil way is reversed, and the swing cylinder sleeve 13 swings reversely; the ball pump 40 rotates in forward and reverse directions to form two main oil circuit cycles with opposite oil flow directions.
Claims (4)
1. Robot hydraulic joint, characterized by: including setting up integrative spherical pump driving system of electricity liquid, swing hydro-cylinder (41) and control system in shell (1), be provided with base (21) on shell (1), wherein:
the electro-hydraulic integrated spherical pump power system is composed of a spherical pump (40) with a positive and negative rotation function, a motor stator (3) and a motor rotor (4), wherein the rotor connecting body (2) is of a cylindrical structure with an opening at one end, the spherical pump (40) is arranged in a cylindrical inner cavity of the rotor connecting body (2), the outer cylindrical surface of the rotor connecting body (2) is fixedly connected with the inner cylindrical surface of the motor rotor (4), and the motor stator (3) and the connecting plate (7) are fixed on the inner cylindrical surface of the cylindrical inner cavity of the shell (1); a cylindrical cavity matched with a cylindrical boss at the top end of the cylinder cover (22) is inwards recessed in the center of one side of the connecting plate (7), and a central shaft (34) is outwards extended from the center of the other side of the connecting plate (7); a hydraulic oil way is arranged in the central shaft (34) and the cylinder cover (22); the flange end face at the top end of a pump shell (6) of a spherical pump (40) is adhered to one side end face of a connecting plate (7) and is fixed on the side end face of the connecting plate (7) through screws, after a cylindrical boss extending out of the pump shell (6) from the top end of a cylinder cover (22) is inserted into a cylindrical cavity on the connecting plate (7), the end face of the cylindrical boss at the top end of the cylinder cover (22) is tightly adhered to the bottom face of the cylindrical cavity recessed in the connecting plate (7), two oil inlet holes (16) on the cylinder cover (22) are respectively communicated with two oil inlet holes (16) on the connecting plate (7), and two overflow channels (35) on the cylinder cover (22) are respectively communicated with two overflow channels (35) on the connecting plate (7); a driving shaft (42) protrudes inwards from the bottom end of the rotor connecting body (2) and is connected with a turntable (25) of the spherical pump (40), a C bearing (5) is arranged between the inner cylindrical surface of the rotor connecting body (2) and the outer cylindrical surface of a pump shell (6) of the spherical pump (40), a supporting shaft (43) protrudes outwards from the bottom end of the rotor connecting body (2), a D bearing (29) and a bearing gland (30) are connected on the supporting shaft (43), the bearing gland (30) is fixed on the shell (1), and the rotor connecting body (2) takes the C bearing (5) and the D bearing (29) as rotary supports; an electric end cover (28) is arranged on the outer side end surface of the bearing gland (30), an elastic oil reservoir (31) is arranged in a closed cavity formed by the bearing gland (30) and the electric end cover (28), and the elastic oil reservoir (31) is communicated with a cavity between the motor stator (3) and the pump shell (6);
the swing cylinder (41) is arranged on one side of the connecting plate (7) extending out of the central shaft (34), the swing cylinder (41) comprises a swing cylinder sleeve (13), a moving blade (19) and a fixed blade (20), the swing cylinder sleeve (13) surrounds the central shaft (34), the moving blade (19) is fixed on the inner circumference of the swing cylinder sleeve (13), the fixed blade (20) is fixed on the middle cylindrical surface of the central shaft (34), a cylinder sleeve end cover (14) is connected to the annular end surface of the side of the swing cylinder sleeve (13) connected with the moving blade (19) through a screw, the cylinder sleeve end cover (14), the swing cylinder sleeve (13), the cylindrical surface of a middle cylindrical boss of the central shaft (34), the moving blade (19) and the fixed blade (20) are combined to form two closed working cavities of the swing cylinder (41), the two closed working cavities are respectively communicated with the opening of an oil inlet and outlet hole (16) arranged on the middle cylindrical surface of the central shaft (34), an A bearing (15) is arranged between the cylindrical boss cylindrical surface of the root of the central shaft (34) and the swing cylinder sleeve (13), and a B bearing (18) is arranged between the cylindrical boss of the end part of the central shaft (34) and the cylinder sleeve end cover (14); a connecting ring is arranged on the cylinder sleeve end cover (14) and is connected with a base (21) of a robot hand, arm or other hydraulic joints;
the control system comprises a controller (27), a sensor and a brake system; the brake system and the sensor are arranged between the swing cylinder sleeve (13) and the side surface of the connecting plate (7), the brake system is used for stopping and swinging control of the swing cylinder (41), and the sensor is used for sensing the rotation angle and rotation speed information of the swing cylinder sleeve (13); the controller (27) is arranged in a cavity formed by the bearing gland (30) and the electric appliance end cover (28), and the controller (27) is electrically connected with the motor, the sensor and the brake system and is used for receiving the sensor signals, controlling the operation of the motor and starting and stopping of the brake system.
2. The robotic hydraulic joint of claim 1, wherein: the central shaft (34) is a three concentric cylindrical boss with diameters sequentially reduced, which extends from the center of the end face of the connecting plate (7), two oil inlet and outlet holes (16) and two overflow channels (35) are arranged in the central shaft (34), and one end openings of the two oil inlet and outlet holes (16) and the two overflow channels (35) on the central shaft (34) are positioned on the bottom end face of the cylindrical cavity of the connecting plate (7); the other ends of the two oil inlet and outlet holes (16) are opened and arranged on the outer cylindrical surface of the middle cylindrical boss of the central shaft (34) and are respectively communicated with the hydraulic oil inlets and outlets of the two working cavities of the swing oil cylinder (41); two overflow channels (35) in the central shaft (34) are blind holes, the blind end of one overflow channel (35) is communicated with one oil inlet and outlet hole (16) in the central shaft (34), the blind end of the other overflow channel (35) is communicated with the other oil inlet and outlet hole (16) in the central shaft (34), a one-way valve (39) is arranged at the opening part of each overflow channel (35), and hydraulic oil can enter the oil inlet and outlet hole (16) in the central shaft (34) from the opening part of the overflow channel (35) on the connecting plate (7) through the one-way valve (39); two overflow holes (44) are formed in the cylindrical surface of the cylindrical boss protruding from the top of the cylinder cover (22), two overflow grooves (36) are correspondingly formed in the joint surface of the connecting plate (7) and the pump shell (6), one end of each overflow hole (44) in the cylinder cover (22) is communicated with an overflow channel (35) in the cylinder cover (22), and the other end of each overflow hole is communicated with the overflow groove (36); one end of each overflow groove (36) is communicated with an overflow hole (44), and the other end is communicated with a cavity between the pump shell (6) and the motor stator (3).
3. The robotic hydraulic joint of claim 1, wherein: the braking system comprises an annular brake disc (8), an annular electromagnet (9) and an annular armature (12), wherein the brake disc (8) is arranged on the outer circumference of a cylindrical boss at the root of a central shaft (34), the brake disc is connected to the side face of a connecting plate (7) through a screw, the electromagnet (9) is installed and fixed in an annular groove on the end face of the brake disc (8), the armature (12) is pressed on the end face, opposite to the brake disc (8), of a swing cylinder sleeve (13) through a spring, a pin and a bolt, and the armature (12) rotates along with the swing cylinder sleeve (13).
4. The robotic hydraulic joint of claim 1, wherein: the sensor is arranged in an annular cavity between the outer circumference of a brake disc (8) and the inner circumference of a shell (1) of the brake system, the sensor comprises a card reader (10) and a magnetic ring (11), and the card reader (10) is fixed in the annular cavity between the brake disc (8) and the shell (1) and is opposite to the annular magnetic ring (11) fixed on the outer circumferential side surface of a swing cylinder sleeve (13) with a gap.
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| CN201810147582.4A CN108161979B (en) | 2018-02-12 | 2018-02-12 | Robot hydraulic joint |
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| CN201810147582.4A CN108161979B (en) | 2018-02-12 | 2018-02-12 | Robot hydraulic joint |
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| CN108161979B true CN108161979B (en) | 2023-09-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109058217B (en) * | 2018-10-19 | 2023-11-03 | 上海海洋大学 | High-pressure large-swing-angle arc vane type swing oil cylinder structure |
| CN110962156B (en) * | 2019-12-25 | 2022-10-18 | 哈尔滨工业大学 | Oil-feeding swing cylinder integrated joint |
| CN111237280B (en) * | 2020-03-25 | 2021-09-24 | 武汉科技大学 | Rigidity-adjustable corner self-servo valve control hydraulic joint |
| CN111687880B (en) * | 2020-07-20 | 2024-02-23 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Hydraulic drive's three degree of freedom robot joints |
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| CN105179388A (en) * | 2015-09-09 | 2015-12-23 | 西安正安环境技术有限公司 | Electro-hydraulic actuator of spherical pump for robot |
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| JP4975502B2 (en) * | 2007-03-30 | 2012-07-11 | 本田技研工業株式会社 | Hydrostatic continuously variable transmission |
| KR101694819B1 (en) * | 2015-03-31 | 2017-01-11 | (주)케이엔알시스템 | Integrated hydraulic rotary actuator |
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| CN103711741A (en) * | 2013-12-17 | 2014-04-09 | 东南大学 | Robot joint rotating hydraulic cylinder with torque and angle feedback functions |
| CN105179388A (en) * | 2015-09-09 | 2015-12-23 | 西安正安环境技术有限公司 | Electro-hydraulic actuator of spherical pump for robot |
| CN105937514A (en) * | 2016-06-28 | 2016-09-14 | 华中科技大学无锡研究院 | Energy storage type electrohydraulic actuator for spherical pump |
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Effective date of registration: 20230822 Address after: A706, Block A, TCL Building, No. 6 Gaoxinyuan 1st Road, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province, 518000 Applicant after: Shenzhen Spherical Power Technology Co.,Ltd. Address before: No. 1604, building 1, Kaiyuan commercial and residential building, Beilin Industrial Park, Beilin District, Xi'an City, Shaanxi Province, 710043 Applicant before: XI'AN ZHENGAN ENVIRONMENTAL TECHNOLOGY Co.,Ltd. |
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