CN108161984A - Robot hydraulic knuckle module - Google Patents
Robot hydraulic knuckle module Download PDFInfo
- Publication number
- CN108161984A CN108161984A CN201810147594.7A CN201810147594A CN108161984A CN 108161984 A CN108161984 A CN 108161984A CN 201810147594 A CN201810147594 A CN 201810147594A CN 108161984 A CN108161984 A CN 108161984A
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- China
- Prior art keywords
- cylinder
- central shaft
- hydraulic
- connecting plate
- face
- Prior art date
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
- F03C2/00—Rotary-piston engines
- F03C2/30—Rotary-piston engines having the characteristics covered by two or more of groups F03C2/02, F03C2/08, F03C2/22, F03C2/24 or having the characteristics covered by one of these groups together with some other type of movement between co-operating members
- F03C2/304—Rotary-piston engines having the characteristics covered by two or more of groups F03C2/02, F03C2/08, F03C2/22, F03C2/24 or having the characteristics covered by one of these groups together with some other type of movement between co-operating members having both the movements defined in sub-group F03C2/08 or F03C2/22 and relative reciprocation between members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C11/00—Combinations of two or more machines or pumps, each being of rotary-piston or oscillating-piston type; Pumping installations
- F04C11/008—Enclosed motor pump units
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C9/00—Oscillating-piston machines or pumps
Abstract
The invention discloses a kind of robot hydraulic knuckle modules, and including integrated electro-hydraulic ball pump dynamical system, hydraulic motor (41) and control system, pedestal (21) is provided on shell (1)；Integrated electro-hydraulic ball pump dynamical system is made of the ball pump (40) with positive and negative rotating function, motor stator (3) and rotor (4), ball pump (40) is fixedly connected with rotor (4), ball pump (40) is arranged on the side of connecting plate, hydraulic motor (41) is arranged on the opposite side of connecting plate (7), cylinder sleeve end cap (14) is connected on cylinder sleeve (13), cylinder sleeve end cap is provided with connection ring on (14)；Controller (27) is electrically connected with motor, sensor and brake system, for receiving sensor signal, the operating for controlling motor, start and stop of brake system etc..It is an advantage of the invention that it is simple in structure, torque is big, power-mass ratio is big, motion flexibility is good, can be used with modularization.
Description
Technical field
Patent of the present invention is related to a kind of robot hydraulic knuckle, particularly a kind of generally applicable robot hydraulic knuckle mould
Group belongs to robotic technology field.
Background technology
The snatch component of robot includes hand, arm and joint of robot, and joint of robot is as the important of robot
Component plays very important effect to indexs such as robot volume, weight, dexterity of action, snatch strength sizes.At present,
The type of drive of joint of robot includes motor reducer driving, Pneumatic artificial muscle driving and hydraulic-driven.Artificial pneumatic flesh
Meat driving has the characteristics that light-weight, price is low, easy care, but its control accuracy is low, using limited；Motor reducer driving tool
Have the advantages that at low cost, control is simple, small, but its greatest problem is that power-mass ratio is low, rigidity is too big to lack flexibility,
The shortcomings of being easily damaged during the motion；In contrast, the great advantage of hydraulic-driven is that power-mass ratio is high, motion flexibility
It is good, so, hydraulic-driven joint is more and more being applied in robot in recent years, and hydraulic-driven machine people has become machine
The important directions and trend of device people research.
But current hydraulic-driven machine person joint passes through a big work(using being centralized hydraulic pressure compartment system
Rate, big flow hydraulic pump as central hydraulic source, then be assigned to by various valves and control system being configured pressure each
The position acted is needed, caused problem is that power system architecture is heavy, power consumption is big, by the increased number of parts of valve institute
It is mostly very big so as to cause the energy loss that is sufficiently bulky, generating of system.
Ball pump is a kind of variable displacement type mechanism of brand new, and smaller volume can realize very high pressure, spherical
Pump has many advantages for robot dynamical system, can drop the volume reduction, weight saving, energy consumption of robot dynamical system
It is low.
Invention content
The purpose of the present invention is exactly to design a kind of robot hydraulic knuckle module, using last word ball pump and hydraulic pressure horse
The joint module of standard is formed up to (rotatable any angle is continuously run, forward and reverse rotation), to improve the power of hydraulic knuckle
Mass ratio, the response speed for improving joint and flexibility reduce energy consumption, reduce weight and volume, can module in robot production
Change and use.
The technical scheme is that robot hydraulic knuckle module, it is characterized in that：Including setting inside the shell electro-hydraulic
Integrated ball pump dynamical system, hydraulic motor and control system, are provided with pedestal on the shell, wherein：
The integrated electro-hydraulic ball pump dynamical system is turned by the ball pump with positive and negative rotating function, motor stator and motor
Son is formed, and rotor connector is the cylinder type of one end open, and ball pump is placed in the cylindrical cavity of rotor connector, rotor
The external cylindrical surface of connector is fixedly connected with the inner cylinder face of rotor, and motor stator and connecting plate are fixed in shell cylinder
On the inner cylinder face of chamber；The side center of connecting plate inwardly concaves a cylindrical cavity to match with cylinder cap top cylinder boss,
The protruding central shaft in opposite side center of connecting plate；Hydraulic circuit is provided in central shaft and cylinder cap；Ball pump pump case
Top end face of flange be bonded and be fixed by screws on the side end face of connecting plate with a side end face of connecting plate, cylinder cap top
After the cylindrical cavity on the cylinder boss insertion connecting plate of pump case is stretched out at end, the end face of cylinder cap top cylinder boss and connecting plate are recessed
The bottom surface of the cylindrical cavity entered fits closely, and two in two on cylinder cap into outage and connecting plate central shaft are into outage
It is respectively turned on, two on cylinder cap overflow ducts are respectively turned on two overflow ducts on connecting plate；The bottom of rotor connector
The turntable of an inwardly projecting drive shaft and ball pump is held to connect, in the inner cylinder face of rotor connector and the pump case outer circle of ball pump
Be provided with C bearings between cylinder, the protruding support shaft in bottom end of rotor connector, be connected in support shaft D bearings and
Bearing gland, bearing gland are fixed on housing, and rotor connector is supported using C bearings and D bearings as rotation；In bearing gland
End face outside on be provided with electric appliance end cap, elastic oil conservator is arranged on the closing cavity volume that bearing gland is formed with electric appliance end cap
Interior, the cavity volume between elastic oil conservator and motor stator and pump case is connected；
The hydraulic motor is arranged on the side that central shaft is stretched out on connecting plate, and hydraulic motor includes cylinder sleeve, elliptic wheel, leaf
Piece, spring, elliptic wheel are fixed on center shaft, and cylinder sleeve is looped around on central shaft and is rotated around elliptic wheel, in the interior cylinder of cylinder sleeve
Multiple blade grooves are provided on face, are provided with spring in the root of blade groove, one end of blade is pressed on spring, the other end with
Elliptic wheel exterior arc surface fitting, blade with cylinder sleeve around elliptic wheel rotate when, blade compresses spring simultaneously slides in blade groove,
Cylinder sleeve end cap, cylinder sleeve end cap, cylinder sleeve, elliptic wheel, leaf have been connected by screw on the annulus end face of cylinder sleeve connection blade side
Piece combination forms two groups of closing working chambers of hydraulic motor, and two groups of closing working chambers are distinguished with two in central shaft into outage
It connects；A bearings are provided between the cylindrical surface of the root step of central shaft and cylinder sleeve, center shaft end stepped cylindrical face with
B axle is provided between cylinder sleeve end cap to hold；Be provided with connection ring on cylinder sleeve end cap, connection ring and robot hand, arm or
The pedestal connection of other hydraulic knuckles；
The control system includes controller, sensor and brake system；Brake system and sensor are arranged on hydraulic pressure horse
Between the cylinder sleeve reached and connecting plate side, for hydraulic motor brake control, sensor is used to perceive turning for cylinder sleeve brake system
The information such as dynamic angle, velocity of rotation；Controller is arranged in the cavity that bearing gland is formed with electric appliance end cap, controller and electricity
Machine, sensor and brake system electrical connection, for receiving sensor signal, the operating for controlling motor, start and stop of brake system etc.；
Further, central shaft is the Step Shaft that a diameter stretched out from connecting plate end face center becomes smaller successively, at center
Setting is there are two into outage and two overflow ducts in axis, and two on central shaft are into the one of outage and two overflow ducts
End opening is located on the bottom end face of connecting plate cylindrical cavity；Two other ends into outage respectively with centrally disposed axis with
Being connected into oil extraction port on the external cylindrical surface where two groups of working chambers of hydraulic motor；Two overflow ducts in central shaft are
Blind hole, one in the cecum and central shaft of one of overflow ducts is connected into outage, the cecum of another overflow ducts
With in central shaft another into outage connect, each overflow ducts oral area is provided with check valve, hydraulic oil in central shaft
From the oral area of connecting plate overflow circulation road through check valve can enter in central shaft into outage；In the cylinder of cylinder cap top bump
There are two spout holes for setting on boss cylindrical surface, set two overflow launders, cylinder accordingly on the faying face of connecting plate and pump case
The overflow ducts covered on one end and cylinder cap of each spout hole are connected, and the other end is connected with overflow launder；The one of each overflow launder
End is connected with spout hole, and the cavity between the other end and pump case and motor stator is connected；
Further, two groups respectively with being arranged on elliptic wheel exterior arc surface of two groups of closing working chambers connect into oil extraction port
Lead to, two groups on elliptic wheel exterior arc surface are distinguished for two groups corresponding on central shaft cylindrical surface into oil extraction port into oil extraction port
It connects；
Further, it is two groups into oil extraction port, one group into oil extraction port, radially perforation central shaft and elliptic wheel, both ends are opened
Mouth is symmetrical on the exterior arc surface of elliptic wheel and using the center of elliptic wheel, and is connected with one in central shaft into outage；
Another group radially penetrates through central shaft and elliptic wheel into oil extraction port, and both ends open is on the exterior arc surface of elliptic wheel and with elliptic wheel
Center be symmetrical, and in central shaft another into outage connect；Two groups of axial phases into oil extraction port along central shaft
It is mutually staggered, sealing ring is provided between oil extraction port for two groups on the cylindrical surface of center axis connection elliptic wheel；
Further, the closing working chamber of hydraulic motor is four groups, using elliptic wheel elliptical center to be symmetrically distributed in ellipse
The both sides of circle long axis are connected in two groups of closing working chambers of the transverse per side with two in central shaft into outage respectively；
Further, brake system includes the armature of the brake disc of annular, the electromagnet of annular and annular, brake disc setting
On central shaft root step cylindrical surface, it is connected by screw on the side of connecting plate, electromagnet is fixed on brake disc
In annular groove on end face, armature is pressed by compression spring, pin and bolt on the cylinder sleeve end face opposite with brake disc, armature
It is rotated in company with cylinder sleeve；
Further, it is provided in the toroidal cavity between the excircle of the brake disc of brake system and shell inner periphery
Sensor, sensor include card reader and magnetic rings, and card reader is fixed in the toroidal cavity between brake disc and shell, with consolidating
Be scheduled on annular magnet ring in the outside circumference of cylinder sleeve it is opposite and between there are gaps.
It is an advantage of the invention that：
1st, hydraulic knuckle power-mass ratio is big, and torque is big, and flexibility of joint is good, joint module as standard component can modularization make
With being suitable for various robots；
2nd, due to the unique principal advantage of ball pump, have the characteristics that small, with small vibration, and have can be just for ball pump
The characteristics of to reversely rotating, so as to drive the cylinder sleeve of hydraulic motor, the hydraulic system of robot is using distributed hydraulic power source side
Case eliminates numerous and diverse high-pressure oil pipe and electromagnetic hydraulic pressure reversal valve, can substantially reduce the weight, volume and power consumption of system, substantially
Simplify control system；
The 3rd, check valve in overflow ducts is set, hydraulic circuit is formed by elastic oil conservator and entire hydraulic system, is protected
It is always low pressure to have demonstrate,proved ball pump overflow oil sump, and can circulate the hydraulic oil of overflow oil sump；Elastic oil conservator is protected simultaneously
The hydraulic oil volume caused by temperature change for having demonstrate,proved the system of closing is adjusted.
Description of the drawings
Fig. 1：Robot hydraulic knuckle module example structure sectional view of the present invention；
Fig. 2：Robot hydraulic knuckle module example structure outline drawing of the present invention；
Fig. 3：Remove the right view after cylinder sleeve end cap in structure shown in Fig. 1；
Fig. 4：Ball pump structure enlargement diagram (in terms of head side)；
Fig. 5：A-A sectional views in Fig. 4；
Fig. 6：B-B sectional views in Fig. 4；
Fig. 7：Rotor connector front view；
Fig. 8：Rotor connector vertical view；
Fig. 9：Connecting plate front view；
Figure 10：Connecting plate left view；
Figure 11：Connecting plate vertical view；
Figure 12：Pump case front view；
Figure 13：Pump case right view；
Figure 14：Pump case left view；
Figure 15：Cylinder sleeve front view；
Figure 16：Cylinder sleeve right view；
Figure 17：Cylinder sleeve left view；
Figure 18：Elliptic wheel front view；
Figure 19：Elliptic wheel left view；
Figure 20：Elliptic wheel vertical view；
Figure 21：Brake disc structure diagram；
Figure 22：Turntable structure schematic diagram；
Figure 23：Piston structure schematic diagram；
Figure 24：Blade construction schematic diagram；
Figure 25：Cylinder cover structure front view；
Figure 26：Cylinder cover structure bottom view；
Figure 27：Cylinder cover structure vertical view；
Figure 28：Hydraulic knuckle hydraulic schematic diagram shown in this patent；
In figure：1- shells；2- rotor connectors；3- motor stators；4- rotors；5-C bearings；6- pump cases；7- connections
Plate；8- brake discs；9- electromagnet；10- card reader；11- magnetic rings；12- Yu iron；13- cylinder sleeves；14- cylinder sleeve end caps；15-A axis
It holds；16- is into outage；17- elliptic wheels；18-B bearings；19-blade；20- springs；21- pedestals；22- cylinder caps；23- pistons；
24- axis pins；25- turntables；26- cylinder bodies；27- controllers；28- electric appliance end caps；29-D bearings；30- bearing glands；31- elasticity is stored up
Oily device；32- is into oil drain passage；33- pump work chambers；34- central shafts；35- overflow ducts；36- overflow launders；37- piston shoes；38- is slided
Slot；39- check valves；40- ball pumps；41- hydraulic motors；42- drive shafts；43- support shafts；44- spout holes；45- is into oil extraction end
Mouthful；46- blade grooves.
Specific embodiment
As shown in Fig. 1 to Fig. 2, robot hydraulic knuckle module of the present invention includes be arranged in shell 1 electro-hydraulic one
Body ball pump dynamical system, hydraulic motor 41 and control system, shell 1 are cylinder-like structure, are set on the external cylindrical surface of shell 1
Pedestal 21 is equipped with, connection ring is provided on pedestal 21, each hydraulic knuckle module is mounted on solid by the connection ring on pedestal 21
On earnest or in the connection ring of the cylinder sleeve end cap 14 of other hydraulic knuckle modules；One side end of shell 1 is installed with electricity
Device end cap 28, end side are the cylinder sleeve end cap 14 of hydraulic motor 41, and cylinder sleeve end cap 14 is fixedly connected on cylinder sleeve by screw
On 13, cylinder sleeve end cap 14 is rotated with the cylinder sleeve 13 of hydraulic motor 41, and connection ring, hydraulic knuckle mould are provided on cylinder sleeve end cap 14
Group is connect by the connection ring on cylinder sleeve end cap 14 with the pedestal 1 of robot hand, arm or other hydraulic knuckle modules.
The integrated electro-hydraulic ball pump dynamical system is by the ball pump 40 with positive and negative rotating function, rotor connector 2, electricity
Machine stator 3 and rotor 4 are formed, as shown in Figure 7, Figure 8, cylinder type of the rotor connector 2 for one end open, ball pump
40 are placed in the cylindrical cavity of rotor connector 2, outside the cylinder inner cylinder face of rotor connector 2 and the pump case 6 of ball pump 40
Set between cylindrical surface to be equipped with C bearings 5, C bearings 5 are needle bearing, external cylindrical surface and the rotor 4 of rotor connector 2
Inner cylinder face is tightly fixed connection by way of hot pressing, and when connection first heats rotor 4 inner circle for making rotor 4
Diameter, which increases or rotor connector 2 is freezed, to be shunk the outside diameter of rotor connector 2 to become smaller, to after room temperature after assembling,
Rotor 4 just firmly binds round fixed on rotor connector 2；Motor stator 3 is fixed on 1 cylinder inner cylinder face of shell；Turn
The protruding support shaft 43 in bottom end of connecting bodies 2, is connected with D bearings 29 on the axle journal of support shaft 43, and D bearings 29 are rolling
Dynamic bearing；Bearing gland 30 is connected by screw on the end face of shell 1, and bearing gland 30 is provided centrally with and D bearings 29
The bearing block of matching, bearing gland 30 are pressed on the outer ring of D bearings 29；Rotor connector 2 is with bearing gland 30 and support shaft
The C bearings 5 between D bearings 29 and pump case 6 and rotor connector 2 between 43 are supported for rotation；Connecting plate 7 is fixed on shell 1
Inner cylinder face on；As shown in Figure 25, Figure 27, two of ball pump 40 openings and two overflow ducts 35 into outage 16
Opening is arranged on the end face of the cylinder boss of 22 top of cylinder cap protrusion；As shown in Fig. 9 to Figure 11, connecting plate 7 is towards ball pump
A 40 side end face mediad is recessed a cylindrical cavity to match with 22 top cylinder boss of cylinder cap, in the another of connecting plate 7
The protruding central shaft 34 in side end face center, central shaft 34 is that a diameter protruded from 7 end face center of connecting plate becomes smaller successively
Concentric multi-step axis, as shown in Figure 1, each step from root be orderly used to installation brake disc 8, A bearings 15, elliptic wheel 17
And B axle holds 18, is also provided with that there are two into outage 16 and two overflow ducts 35, connecting plate 7 in the central shaft 34 of connecting plate 7
On two into the one end open of outage 16 and two overflow ducts 35 be located on the bottom end face of cylindrical cavity and and cylinder cap
Two on the end face of the cylinder boss of 22 tops protrusion are corresponding into outage 16 and two overflow ducts 35；On connecting plate 7
Two other ends into outage 16 and centrally disposed axis 34 on connection 17 place step of elliptic wheel external cylindrical surface on
Two groups are connected into oil extraction port 45；It it is two groups into oil extraction port 45, one group radially penetrates through central shaft 34 and ellipse into oil extraction port 45
Circle wheel 17, both ends open is symmetrical on the exterior arc surface of elliptic wheel 17 and using the center of elliptic wheel 17, and in central shaft 34
One connected into outage 16；Another group radially penetrates through central shaft 34 and elliptic wheel 17 into oil extraction port 45, and both ends open exists
It is symmetrical on the exterior arc surface of elliptic wheel 17 and using the center of elliptic wheel 17, and with another in central shaft 34 into outage 16
It connects；Two groups mutually stagger into oil extraction port 45 along the axial direction of central shaft 34, and the cylindrical surface of elliptic wheel 17 is connected in central shaft 34
Upper two groups are provided with sealing ring between 45 mouthfuls of oil extraction end；As shown in Figure 18 to Figure 20, two groups on central shaft 34 into oil extraction
Port 45 is extended on the exterior arc surface of elliptic wheel 17, on 17 exterior arc surface of elliptic wheel every group into oil extraction port 45 and central shaft
It is overlapped accordingly into the axis of oil extraction port 45 on 34.
As shown in Figure 12 to Figure 14, the pump case 6 of ball pump 40 carries the cylinder-like structure of flange for top, in 6 method of pump case
Be provided in orchid 22 top cylinder boss of cylinder cap by positioning step, 22 top of cylinder cap protrusion cylinder boss pushed up from pump case 6
It is stretched out in the flange hole at end, the top end face of flange of pump case 6 is bonded and passes through with a side end face of connecting plate 7 towards ball pump 40
Screw is fixed on the side end face of connecting plate 7, and the circle on the cylinder boss insertion connecting plate 7 of pump case 6 is stretched out on 22 top of cylinder cap
After column cavity, the bottom surface of the cylinder boss end face cylindrical cavity recessed with connecting plate 7 of 22 top of cylinder cap protrusion fits closely, cylinder
Two on lid 22 are respectively turned on into outage 16 and two on connecting plate 7 into outage 16, two on cylinder cap 22 overflow
Channel 35 is respectively turned on two overflow ducts 35 on connecting plate 7；Two overflow ducts 35 on connecting plate 7 are blind hole,
In the cecum of an overflow ducts 35 connected with one on connecting plate 7 into outage 16, the cecum of another overflow ducts 35
It is connected with another on connecting plate 7 into outage 16,35 oral area of each overflow ducts sets internal thread on connecting plate 7, single
The oral area of overflow ducts 35 is threadedly attached in valve 39, the oral area warp of hydraulic oil from 7 overflow circulation road 35 of connecting plate is unidirectional
Valve 39 can enter on connecting plate 7 into outage 16；On the cylinder boss cylindrical surface of 22 top bump of cylinder cap there are two settings
Spout hole 44, sets two overflow launders 36 accordingly on the faying face of connecting plate 7 and pump case 6, each spout hole on cylinder cap 22
44 one end is connected with the overflow ducts 35 on cylinder cap 22, and the other end is connected with overflow launder 36；One end of each overflow launder 36 with
Spout hole 44 connects, and the cavity between the other end and pump case 6 and motor stator 3 is connected.
Ball pump 40 is enclosed in a sealing unit by bearing gland 30, housing 1 and connecting plate 7, in motor stator 3 and pump
Collection chamber of the gap as ball pump 40 between shell 6, the hydraulic oil leaked in 40 operational process of ball pump collect in the oil-collecting
Intracavitary.Electric appliance end cap 28 is provided in the end face outside of bearing gland 30, the shape between electric appliance end cap 28 and bearing gland 30
Into a cavity volume, elastic oil conservator 31 is arranged in the closing cavity volume that bearing gland 30 is formed with electric appliance end cap 28, the elasticity
Oil conservator 31 is one section of flexible emulsion tube, and one end of emulsion tube is connected to the end of bearing gland 30 by screwed pipe joint
On face, other end closing, the collection chamber of elastic oil conservator 31 and ball pump 40 connect (i.e. with motor stator 3 and ball pump 40 it
Between cavity volume connect).
As shown in Fig. 1, Fig. 3, Fig. 4, Figure 15 to Figure 17, Figure 24, hydraulic motor 41, which is arranged on connecting plate 7, stretches out central shaft
34 side, hydraulic motor 41 include cylinder sleeve 13, elliptic wheel 17, blade 19, spring 20 and central shaft 34, and hydraulic motor 41 is with even
For the central shaft 34 that fishplate bar 7 stretches out as fixing axle, the side of cylinder sleeve 13 be the cylindrical cavity of installation blade 19, on another side end face
There are the annular groove of installation ring armature 12 and the annular space of the annular magnetic rings 11 of installation, the centre bore of cylinder sleeve 13 is movably connected in
On the central shaft 34 of connecting plate 7, the centre bore mating part of central shaft 34 and cylinder sleeve 13 is provided with dynamic sealing ring；Elliptic wheel
17 are close-coupled at the step circles cylinder of central shaft 34 by center hole and are fixed by screws in the step end of central shaft 34
On face, cylinder sleeve 13 is looped around on central shaft 34 and is rotated around elliptic wheel 17, and 8 have been uniformly arranged on the inner cylinder face of cylinder sleeve 13
Blade groove 46, one end that 20,8 blades 19 of spring are provided in the root of each blade groove 46 is pressed on spring 20, another
End be bonded with the cambered surface of elliptic wheel 17, blade 19 with cylinder sleeve 13 around elliptic wheel 17 rotate when, 19 compressed spring 20 of blade and
It is slided in blade groove 46, is connected in cylinder sleeve 13 and cylinder sleeve end cap is fixedly connected with by screw on the annulus end face of 19 side of blade
14, the inner face of cylinder sleeve end cap 14, the inner cylinder face of cylinder sleeve 13 and cylinder bottom end anchor ring, the arc surface of elliptic wheel 17, blade
19 two sides combination forms the cavitys of 8 of hydraulic motor 41 closings, due into oil extraction port 45 being two on elliptic wheel 17
Group simultaneously be staggeredly arranged in an axial direction, every group of two ports into oil extraction port 45 elliptic wheel 17 exterior arc surface with elliptic wheel 17
Center is symmetrical, and the closed cavity that 8 blades are formed is 8, and the cavity of 8 closings is divided into using elliptical long axis as boundary
Four groups, connecting successively by the first two cavity of circumferencial direction in four closed cavities of 17 transverse side of elliptic wheel and
It is connected by one group into oil extraction port 45 with one of those into outage 16, so as to form the first of hydraulic motor 41 group of closing
Working chamber；It is connected and by another group into oil extraction port 45 by latter two cavity of circumferencial direction successively in four closed cavities
It is connected with another into outage 16, so as to form the second of hydraulic motor 41 group of closing working chamber；It is correspondingly positioned at elliptic wheel 17
Four enclosure spaces of long axis opposite side also form working chamber i.e. third group closing working chamber and the 4th group of closing of two groups of closings
Working chamber；It is symmetrical that third group, which closes working chamber and first group of closing working chamber using elliptical center,；4th group of closing working chamber and
Second group of closing working chamber is symmetrical using elliptical center；Four groups of closing working chambers are respectively with being arranged on 17 exterior arc surface of elliptic wheel
Two groups connected into oil extraction port 45, two groups on 17 exterior arc surface of elliptic wheel are on oil extraction port 45 and 34 cylindrical surface of central shaft
Corresponding two groups be respectively turned on into oil extraction port 45, so as to make four groups of closing working chambers respectively with two in central shaft 34 into
Outage 16 is respectively turned on.
A bearings 15 are provided between the root step cylindrical surface of central shaft 34 and cylinder sleeve 13, in 7 central shaft 34 of connecting plate
B axle, which is provided with, between end step circles cylinder and cylinder sleeve end cap 14 holds 18；Cylinder sleeve 13 by cylinder sleeve end cap 14 and central shaft 34 it
Between B axle hold A bearings 15 between 18 and cylinder sleeve 13 and central shaft 34 and form rotation support；Cylinder sleeve 13, cylinder sleeve end cap 14 are in
The axis of mandrel 34 is rotated forward, rotates backward or is swung, and two working chambers replace as cylinder sleeve 13 moves its constancy of volume
Variation；When ball pump 40 rotates in the forward direction, high pressure liquid pressure oil enters the long axis two for being located at hydraulic motor 41 through one into outage 16
Two groups of working chambers of side push blade rotation, at this time other two groups of working chambers connected with another into outage 16 and pressure compared with
It is low, so cylinder sleeve end cap 14 is rotated forward in company with cylinder sleeve 13 relative to connecting plate 7；When ball pump 40 reversely rotates, then high pressure liquid
The another two closing working chamber positioned at transverse both sides that pressure oil enters hydraulic motor 41 through another into outage 16 pushes
Blade rotates, and two working chambers of high pressure original at this time are connected in another low pressure into outage 16 and pressure has become
It is low, so the cylinder sleeve 13 and cylinder sleeve end cap 14 of hydraulic motor 41 are rotated backward relative to connecting plate 7；It is set on cylinder sleeve end cap 14
There is a connection ring, either arm or other hydraulic pressure close hydraulic knuckle with robot hand by the connection ring that is arranged on cylinder sleeve 13
The pedestal 21 of section connects；Screw is provided with by hole in the end face center of cylinder sleeve end cap 14, in 7 central shaft of connecting plate, 34 outermost end
The end face center of cylinder boss is provided with screw thread hole, and stop screw passes through the screw on cylinder sleeve end cap 14 by being connected behind hole
In the end thread of central shaft 34, the big end inner portion end face of stop screw is located on the outside of 14 end face of cylinder sleeve end cap, passes through
The inner portion end face of stop screw prevents cylinder sleeve end cap 14 and cylinder sleeve 13 from disengaging connecting plate 7 in an axial direction, and cylinder sleeve end cap 14 can be around
Stop screw rotates, and dynamic sealing is provided between cylinder sleeve end cap 14 and stop screw.
The control system includes controller 27, sensor and brake system；Between the end face of cylinder sleeve 13 and connecting plate 7
Brake system is set, and as shown in Figure 1, Figure 2 shown in 1, brake system includes the rank of the brake disc 8 of annular, the electromagnet 9 of annular and annular
Iron 12, brake disc 8 are arranged on the excircle of 34 root step of central shaft of connecting plate 7, are connected by screw in connecting plate 7
On one side end face, electromagnet 9 is fixed in the annular groove on 8 end face of brake disc, and armature 12 passes through compression spring, pin and spiral shell
Bolt is pressed on the end face opposite with brake disc 8 of cylinder sleeve 13, and armature 12 is rotated in company with cylinder sleeve 13, when the electromagnet 9 of brake system
During work once electrified, the suction that electromagnet 9 generates overcomes pressure of the compression spring to armature 12, so as to which armature 12 be made to be connect with brake disc 8
It is attracted, rotation stops；When cylinder sleeve 13 needs rotation, 9 dead electricity of electromagnet, (compression spring rebound) and armature 12 are de- under the action of compression spring
It opens, armature 12 is acted in company with cylinder sleeve 13；It is provided in toroidal cavity between 1 inner periphery of excircle and shell of brake disc 8
Sensor, sensor include card reader 10 and magnetic rings 11, and the annular that card reader 10 is fixed between brake disc 8 and shell 1 is empty
Intracavitary, it is opposite with the annular magnet ring 11 that is fixed in the outside circumference of cylinder sleeve 13 and between there are gaps, sensor to be used for
Perceive the information such as rotational angle, the velocity of rotation of cylinder sleeve；It is also set up in the cavity formed in bearing gland 30 with electric appliance end cap 28
There is controller 27, controller 27 is electrically connected with motor, sensor and brake system, for receiving sensor signal, control motor
Operating, brake system start and stop etc..
As shown in Fig. 5 to Fig. 8, ball pump 40 is by cylinder body 26, cylinder cap 22, pump case 6, piston 23, turntable 25,24 and of axis pin
Rotor connector 2 is formed, and cylinder body 26 and cylinder cap 22 have hemispherical inner surface and cylindrical outer surface, and cylinder body 26 is fixed with cylinder cap 22
Connection forms the spherical inner chamber of ball pump 40, and pump case 6 carries the cylindrical shape of flange, cylinder body 26, the cylinder cap of ball pump 40 for top
22 external cylindrical surface is fixedly connected with the inner cylinder face of pump case 6 by way of hot charging, and cylinder cap 22 is provided in 6 flange of pump case
Top cylinder boss by positioning step, 22 top of cylinder cap protrusion cylinder boss stretched out from the flange hole on 6 top of pump case；
As shown in figure 23, there is piston 23 spherical top surface, spherical top surface center to stretch out a piston shaft, two angled sides,
In the piston boss that 23 two sides lower part of piston is formed, piston boss is semi-cylindrical in configuration, and the middle part of semicolumn is fluted, at it
There is the piston pin hole of perforation on axis direction；As shown in Figure 25 to Figure 27, piston axis hole, the axis of piston shaft are provided on cylinder cap 22
Diameter size matches with piston axis hole, and piston shaft is inserted into piston axis hole to be formed and be rotatably assorted, and piston 23 can be around the axis of piston shaft
It is freely rotated in spherical inner chamber, piston spherical shape top surface has the identical centre of sphere with spherical inner chamber and forms the dynamic cooperation of sealing；
Setting is set there are two into oil drain passage 32 on the cylinder boss cylindrical surface of 22 top bump of cylinder cap in the Internal Spherical Surface of cylinder cap 22
There are two spout hole 44, there are two overflow ducts 35 and two into row for setting on the cylinder boss end face of 22 top bump of cylinder cap
Oilhole 16, each one end of spout hole 44 is connected with the overflow ducts 35 on cylinder cap 22 on cylinder cap 22, each into oil drain passage 32
It is corresponding to outside connection cylinder to be connected into outage 16；On each one end into outage 16 and 22 Internal Spherical Surface of cylinder cap on cylinder cap 22
One connected into oil drain passage 32, the cylinder boss of cylinder cap 22 top protrusion is each arranged on into the other end of outage 16
On end face, and with being connected on connecting plate 7 into outage 16.Utilize the rotation of piston 23 and the spherical surface and cylinder of piston 23
The cooperation of the hemispherical inner surface of lid 22, as the basic fortune for connecting or closing with two pump work chambers 33 into oil drain passage 32
Dynamic element, controls so as to fulfill oil inlet and oil extraction.
As shown in figure 22, turntable 25 has turntable shaft, turntable spherical surface and turntable key seat, has cunning in the end set of turntable shaft
Boots 37；The spherical inner chamber that cylinder body 26 and cylinder cap 22 are formed has the identical centre of sphere with turntable spherical surface, and turntable spherical surface is close in spherical shape
Chamber forms the dynamic cooperation of sealing；The both ends of the turntable key seat of turntable 25 are semicolumn groove, and middle part is raised semicolumn；In semicircle
There is the turntable pin hole of perforation on the axis direction of column.Turntable shaft, which is provided with, on cylinder body 26 passes through hole；Rotor connector 2 is one end
The cylinder type of opening, cylinder body 26, cylinder cap 22 and pump case 6 are placed in the cylindrical cavity of rotor connector 2, rotor connector 2
Bottom end to the projecting inward drive shaft 42 of cylinder, the sliding slot to match with piston shoes on turntable shaft 37 is provided on the end face of drive shaft 42
38, drive shaft 42 stretches into pushes turntable shaft rotation with the turntable axis connection of ball pump 40 in the cylinder body 26 of ball pump 40, turn simultaneously
The piston shoes 37 of dish axle reciprocatingly slide in the sliding slot 38 on 2 end face of rotor connector；In the inner cylinder face and pump of rotor connector 2
C bearings 5, the protruding support shaft 43 in bottom end of rotor connector 2 are provided between 6 excircle of shell；Above-mentioned piston shaft and turn
The centre of sphere of spherical inner chamber that the axis of dish axle and the drive shaft of rotor connector 2 42 is all made up of cylinder body 26 and cylinder cap 22, and
And the axis of piston shaft and turntable shaft and the axis of drive shaft 42 form identical angle α；Axis pin 24 is inserted into the piston of piston 23
Cylinder hinge is formed in the turntable pin hole of pin hole and turntable 25, piston 23 is formed sealing and moved with turntable 25 by cylinder hinge to be connected
It connects, and spherical inner chamber formation is divided into the pump work chamber 33 of two volumes alternating variations.Driving turns when rotor connector 2 rotates
Disk 25, turntable 25 are moved with piston 23；The movement of piston 23 be uniquely around the rotation of the axis of piston shaft, turntable 25 around
While the rotation of own axes, the piston shoes 37 on turntable shaft are in the sliding slot 38 on rotor connector 2 on 42 end face of drive shaft
It reciprocatingly slides；The movement of more than space mechanism is all the movement for rotating property, therefore does not have high vibration movement parts, this spatial movement
Composite result be：Piston 23 and turntable 25 have a periodic relative swing.
The hydraulic oil leaked from cylinder body 26, turntable 25, piston 23 and 2 each mating part of rotor connector is pooled to pump case 6
The collection chamber that space between motor stator 3 is formed, if not discharging this partial compromise oil, inevitably because of Leakage Energy not
Disconnected increase causes to generate high pressure in collection chamber, is connected, and lead to for this collection chamber and elastic oil conservator 31 and overflow ducts 35
It crosses check valve 39 to connect with major cycle oil circuit, when the hydraulic fluid pressure in collection chamber and elastic oil conservator 31 is set higher than check valve 39
During fixed conducting pressure, the high pressure oil in collection chamber and elastic oil conservator 31 will be imported hydraulic main circuit, so as to reduce collection
Oily pressure in oil pocket, while to major cycle oil circuit repairing, also adjust since temperature change leads to the total volume of oil circulating system
Variation.Hydraulic schematic diagram for the present invention as shown in figure 28, ball pump 40 rotates in the forward direction, and high pressure oil is from one on ball pump 40
It is discharged into two groups of working chambers of the 17 long axis both sides of elliptic wheel of hydraulic motor 41 into outage 16, another two groups of hydraulic motor 41
Hydraulic oil in working chamber by another flows back into ball pump 40, and be inhaled into ball pump 40 after being forced out into outage 16
A working chamber in, cylinder sleeve 13 is rotated or is swung；Ball pump 40 reversely rotates, and oil circuit is reversed, cylinder sleeve 13 rotate backward or
Person swings；40 forward and reverse of ball pump rotates to form two oil streams to opposite working connection cycle.
Claims (7)
1. robot hydraulic knuckle module, it is characterized in that：Including the integrated electro-hydraulic ball pump dynamical system being arranged in shell (1)
System, hydraulic motor (41) and control system, are provided with pedestal (21) on shell (1), wherein：
The integrated electro-hydraulic ball pump dynamical system is by the ball pump (40) with positive and negative rotating function, motor stator (3) and electricity
Machine rotor (4) is formed, and rotor connector (2) is the cylinder type of one end open, and ball pump (40) is placed in rotor connector (2)
Cylindrical cavity in, the external cylindrical surface of rotor connector (2) is fixedly connected with the inner cylinder face of rotor (4), motor stator
(3) it is fixed on the inner cylinder face of shell (1) cylindrical cavity with connecting plate (7)；The side center of connecting plate (7) inwardly concaves one
The cylindrical cavity to match with cylinder cap (22) top cylinder boss, in the protruding central shaft in opposite side center of connecting plate (7)
(34)；Hydraulic circuit is provided in central shaft (34) and cylinder cap (22)；The top end face of flange of the pump case (6) of ball pump (40)
It is bonded and is fixed by screws on the side end face of connecting plate (7) with a side end face of connecting plate (7), cylinder cap (22) top is stretched
After going out the cylindrical cavity on the cylinder boss insertion connecting plate (7) of pump case (6), the end face of cylinder cap (22) top cylinder boss and company
The bottom surface of the recessed cylindrical cavity of fishplate bar (7) fits closely, and two on cylinder cap (22) are into outage (16) and central shaft (34)
Interior two are respectively turned on into outage (16), two overflow ducts (35) on cylinder cap (22) and two on connecting plate (7)
Overflow ducts (35) are respectively turned on；The inwardly projecting drive shaft (42) in bottom end of rotor connector (2) turns with ball pump (40)
Disk (25) connects, and C is provided between the inner cylinder face of rotor connector (2) and pump case (6) external cylindrical surface of ball pump (40)
Bearing (5), the protruding support shaft (43) in bottom end of rotor connector (2), is connected with D bearings (29) in support shaft (43)
With bearing gland (30), bearing gland (30) is fixed on housing (1), and rotor connector (2) is with C bearings (5) and D bearings (29)
It is supported as rotation；Electric appliance end cap (28), elastic oil conservator (31) setting are provided in the end face outside of bearing gland (30)
In the closing cavity volume formed in bearing gland (30) and electric appliance end cap (28), elastic oil conservator (31) and motor stator (3) with
Cavity volume between pump case (6) is connected；
The hydraulic motor (41) is arranged on the side that central shaft (34) is stretched out on connecting plate (7), and hydraulic motor (41) is including cylinder
(13), elliptic wheel (17), blade (19), spring (20) are covered, elliptic wheel (17) is fixed on central shaft (34), and cylinder sleeve (13) is surround
It is rotated on central shaft (34) and around elliptic wheel (17), multiple blade grooves (46) is provided on the inner cylinder face of cylinder sleeve (13),
Spring (20) is provided in the root of blade groove (46), one end of blade (19) is pressed on spring (20), the other end and ellipse
Take turns (17) exterior arc surface fitting, blade (17) with cylinder sleeve (13) around elliptic wheel (17) rotate when, blade (19) compressed spring
(20) and in blade groove (46) it slides, has been connected by screw on the annulus end face of cylinder sleeve (13) connection blade (19) side
Cylinder sleeve end cap (14), cylinder sleeve end cap (14), cylinder sleeve (13), elliptic wheel (17), blade (19) combination form hydraulic motor (41)
Two groups of closing working chambers, two groups of closing working chambers are respectively turned on two in central shaft (34) into outage (16)；At center
A bearings (15) are provided between the root step cylindrical surface of axis (34) and cylinder sleeve (13), in central shaft (34) end stepped cylindrical
B axle is provided between face and cylinder sleeve end cap (14) to hold (18)；Connection ring, connection ring and machine are provided on cylinder sleeve end cap (14)
Pedestal (21) connection of human hand, arm or other hydraulic knuckles；
The control system includes controller (27), sensor and brake system；Brake system and sensor are arranged on hydraulic pressure horse
Up between the cylinder sleeve (13) of (41) and connecting plate (7) side, brake system is used for hydraulic motor (41) brake control, sensor
In the rotational angle, the velocity of rotation information that perceive cylinder sleeve (13)；Controller (27) is arranged on bearing gland (30) and electric appliance end cap
(28) formed cavity in, controller (27) is electrically connected with motor, sensor and brake system, for receiving sensor signal,
Control the operating of motor, start and stop of brake system etc..
2. robot hydraulic knuckle module according to claim 1, it is characterized in that：Central shaft (34) is one from connecting plate
(7) Step Shaft that becomes smaller successively of diameter that end face center is stretched out, in central shaft (34) setting there are two into outage (16) and
Two overflow ducts (35), two on central shaft (34) into outage (16) and the one end open position of two overflow ducts (35)
In on the bottom end face of connecting plate (7) cylindrical cavity；Two other ends into outage (16) respectively with centrally disposed axis
(34) with being connected on the external cylindrical surface where two groups of closing working chambers of hydraulic motor (41) into oil extraction port (35)；Central shaft
(34) two overflow ducts (35) in are blind hole, cecum and one in central shaft (34) of one of overflow ducts (35)
It is connected into outage (16), the cecum of another overflow ducts (35) connects with another in central shaft (34) into outage (16)
Logical, each overflow ducts (35) oral area is provided with check valve (39) in central shaft (34), and hydraulic oil is from connecting plate (7) overflow
The oral area of channel (35) through check valve (39) can enter in central shaft (34) into outage (16)；In cylinder cap (22) top bump
Cylinder boss cylindrical surface on setting there are two spout hole (44), set accordingly on the faying face of connecting plate (7) and pump case (6)
Two overflow launders (36) are put, each one end of spout hole (44) connects with the overflow ducts (35) on cylinder cap (22) on cylinder cap (22)
Logical, the other end is connected with overflow launder (36)；One end of each overflow launder (36) is connected with spout hole (44), the other end and pump case
(6) cavity between motor stator (3) is connected.
3. robot hydraulic knuckle module according to claim 1, it is characterized in that：Two groups of closing working chambers respectively with setting
Two groups on elliptic wheel (17) exterior arc surface connect into oil extraction port (45), and two groups on elliptic wheel (17) exterior arc surface are into row
Oily port (45) is respectively turned on corresponding two groups on central shaft (34) cylindrical surface into oil extraction port (45).
4. robot hydraulic knuckle module according to claim 1, it is characterized in that：Into oil extraction port (45) be two groups, one
Group radially penetrates through central shaft (34) and elliptic wheel (17) into oil extraction port (45), and both ends open is in the exterior arc surface of elliptic wheel (17)
It is above and using the center of elliptic wheel (17) symmetrical, and is connected with one in central shaft (34) into outage (16)；Another group into
Oil extraction port (45) radially perforation central shaft (34) and elliptic wheel (17), both ends open on the exterior arc surface of elliptic wheel (17) simultaneously
Center using elliptic wheel (17) is symmetrical, and in central shaft (34) another into outage (16) connect；Two groups into oil extraction
Port (45) is mutually staggered along the axial direction of central shaft (34), two on the step circles cylinder of central shaft (34) connection elliptic wheel (17)
Group is provided with sealing ring between oil extraction port (45) opening.
5. robot hydraulic knuckle module according to claim 1, it is characterized in that：The closing working chamber of hydraulic motor (41)
It it is four groups, using the elliptical center of elliptic wheel (17) to be symmetrically distributed in the both sides of transverse, in two of transverse per side
Group closing working chamber is connected respectively with two in central shaft (34) into outage (16).
6. robot hydraulic knuckle module according to claim 1, it is characterized in that：Brake system includes the brake disc of annular
(8), annular electromagnet (9) and the armature (12) of annular, brake disc (8) centrally disposed axis (34) root step cylindrical surface
On, it is connected by screw on the side of connecting plate (7), the annular that electromagnet (9) is fixed on brake disc (8) end face is recessed
In slot, armature (12) is pressed by compression spring, pin and bolt on cylinder sleeve (13) and the opposite end face of brake disc (8), armature
(12) it is rotated in company with cylinder sleeve (13).
7. robot hydraulic knuckle module according to claim 1, it is characterized in that：In the brake disc (8) of brake system
Sensor is provided in toroidal cavity between excircle and shell (1) inner periphery, sensor includes card reader (10) and magnetism
Ring (11), card reader (10) is fixed in the toroidal cavity between brake disc (8) and shell (1), with being fixed on cylinder sleeve (13)
Annular magnet ring (11) in outside circumference it is opposite and between there are gaps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147594.7A CN108161984B (en) | 2018-02-12 | 2018-02-12 | Hydraulic joint module of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147594.7A CN108161984B (en) | 2018-02-12 | 2018-02-12 | Hydraulic joint module of robot |
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| Publication Number | Publication Date |
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| CN108161984A true CN108161984A (en) | 2018-06-15 |
| CN108161984B CN108161984B (en) | 2023-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810147594.7A Active CN108161984B (en) | 2018-02-12 | 2018-02-12 | Hydraulic joint module of robot |
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| Country | Link |
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| CN (1) | CN108161984B (en) |
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| CN109707622A (en) * | 2019-01-23 | 2019-05-03 | 西安正安环境技术有限公司 | Ball pump |
| CN110701040A (en) * | 2019-11-01 | 2020-01-17 | 深圳市中安动力科技有限公司 | Static pressure support for spherical pump rotor |
| CN113263520A (en) * | 2021-06-24 | 2021-08-17 | 武汉科技大学 | Continuously-rotatable passive follow-up hydraulic robot rotary joint |
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| CN113263520B (en) * | 2021-06-24 | 2023-03-14 | 武汉科技大学 | Continuously-rotatable passive follow-up hydraulic robot rotary joint |
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|---|---|
| CN108161984B (en) | 2023-09-01 |
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