CN108661962A - The multi-joint support arm of closed hydraulic loop control - Google Patents
The multi-joint support arm of closed hydraulic loop control Download PDFInfo
- Publication number
- CN108661962A CN108661962A CN201710199946.9A CN201710199946A CN108661962A CN 108661962 A CN108661962 A CN 108661962A CN 201710199946 A CN201710199946 A CN 201710199946A CN 108661962 A CN108661962 A CN 108661962A
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- China
- Prior art keywords
- hydraulic
- joint
- hydraulic cylinder
- support arm
- revolute joint
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 239000012530 fluid Substances 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 abstract description 5
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 235000015096 spirit Nutrition 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of multi-joint support arm of closed hydraulic loop control, is the leverage being serially connected in by several revolute joints and connecting rod.Hydraulic cylinder is housed on revolute joint.Hydraulic pump is plunger pump.The hydraulic fluid port of the hydraulic fluid port of hydraulic pump and each hydraulic cylinder is connected directly with hydraulic tube, forms closed circuit.When hydraulic pump plunger stretches out, system low-voltage, the hydraulic cylinder on revolute joint is held out against under spring promotion on rotating shaft, revolute joint locking.When hydraulic pump plunger is retracted, system high pressure, hydraulic cylinder leaves rotating shaft, and revolute joint unclamps.Drive the flexible of hydraulic pump plunger, so that it may flexibly to control the locking and release of support arm.Closed hydraulic loop is constituted simply, and power-weight ratio is big, and the locking and release of support arm are controlled with it, reduces the volume and weight of device, and can get big coupling mechanism force, while easy to control.Using this support arm, the performance of the dexterous type instrument such as medical instrument can be significantly improved.
Description
Technical field
The present invention relates to rod-shaped serial mechanism, especially a kind of multi-joint support arm of closed hydraulic loop control.
Background technology
Multivariant rod-shaped serial mechanism is widely used in manipulator, multiple degrees of freedom apparatus for adjusting position, end effector
The support arm of the occasions such as modified gear, especially medical instrument, rehabilitation appliances and physical therapy apparatus.Its its structure is several revolutions
Joint and connecting rod are connected the leverage to be formed.Revolute joint presses working condition requirement at work, and transformation is needed to rotate or lock shape
State, that is, to be equipped with controllable locking device.Locking device has multiple types, such as Chinese patent at present
《A kind of 200510092591 electromagnetic locking device with rotary joint》The pattern announced.But the locking of existing various revolute joints
Device, size and weight are difficult to meet the requirement of dexterous type instrument.Closed hydraulic loop simple system, power are utilized thus
The big feature of weight ratio, it is proposed that a kind of multi-joint support arm of closed hydraulic loop control can better meet various spirits
Skilful requirement of the type instrument to support arm.
Invention content
The purpose of the present invention, is to provide that a kind of size is small, light-weight, coupling mechanism force is big, locking loosens that conversion is fast, control letter
Single multi-joint support arm.
For this purpose, the technical solution used in the present invention is as follows：
A kind of multi-joint support arm of closed hydraulic loop control, mainly by hydraulic pump, hydraulic cylinder, revolute joint, connection
Bar, spring are constituted, it is characterized in that several revolute joints and connecting rod are serially connected in leverage, hydraulic cylinder is housed on revolute joint,
The hydraulic fluid port of the hydraulic fluid port of hydraulic pump and each hydraulic cylinder is connected directly to form closed circuit with hydraulic tube.
Further feature is that revolute joint is made of revolving sleeve and rotating shaft, and revolving sleeve and rotating shaft are revolution respectively
Two connecting pins in joint, are two orthogonal ducts inside revolving sleeve, rotating shaft bearing support in a duct,
Hydraulic cylinder is housed, which has step, a groups of springs both ends to hold out against after hydraulic cylinder respectively in another duct
On end face and the duct outer end step, hydraulic cylinder front end is held out against on rotating shaft, and there are one cross-drilled holes for hydraulic cylinder front end, horizontal
The hole both ends Zhong You are fixed on the latch on revolving sleeve, and the plunger of hydraulic cylinder is stretched out by hydraulic cylinder front end to be held out against in latch
On.There are one hydraulic fluid port, which reaches outside revolving sleeve hydraulic cylinder.
Further feature is several revolute joints and connecting rod, is serially connected in the first way of leverage and is, the
One connecting pin of one revolute joint is fixedly connected with rack, another connecting pin of the revolute joint is connect with first
Bar one end is fixedly connected, and first connecting rod other end is fixedly connected with a connecting pin of second revolute joint, the
Another connecting pin of two revolute joints is fixedly connected with second connecting rod one end, second connecting rod other end and
One connecting pin of three revolute joints is fixedly connected, and is connected in the above described manner to leverage the last one connecting rod.
Further feature is several revolute joints and connecting rod, is serially connected in the second way of leverage and is, bar
A connecting pin of some revolute joint is fixedly connected with a connecting pin of another revolute joint in system.
Further feature is that hydraulic pump is plunger pump, is covered in hydraulic pressure pump barrel and is filled with hydraulic pump plunger, on hydraulic pressure pump barrel
There are one hydraulic pump hydraulic fluid ports.
The multi-joint support arm course of work of this closed hydraulic loop control is such：The support arm is more due to having
A revolute joint, end have multiple degree of freedom.When original state, hydraulic medium, hydraulic pump plunger are full of in hydraulic circuit
It stretches out, hydraulic medium is normal pressure state, and the hydraulic cylinder front end on each revolute joint holds out against under groups of springs promotion and turning round
On axis, rotating shaft cannot rotate, and each revolute joint is in locking state, and support arm position is fixed, if hydraulic pump plunger is retracted,
The then hydraulic medium in compression hydraulic pump barrel makes its pressure rise, the hydraulic medium of high pressure enter each revolute joint by pipeline
On hydraulic cylinder, push each cylinder plunger to hold out against latch, due to cylinder plunger is withstood on latch cannot be forward
Mobile, the thrust that the hydraulic medium of high pressure then pushes hydraulic cylinder to overcome groups of springs moves backward, and hydraulic cylinder front end is left back
Shaft, rotating shaft can have rotated, and revolute joint is changed into rotatable state.Hydraulic pump plunger stretches out again, each to turn round
Restore locking state again in joint.It can be seen that as long as this closed hydraulic loop driving hydraulic pump plunger is flexible, so that it may flexibly to control
The locking and release of multi-joint support arm processed.
The beneficial effects of the present invention are：Simple, the big closed hydraulic loop of power-weight ratio as a result of constituting,
Controlling the locking and release of support arm so that support arm volume and weight is all relatively small, but can obtain big coupling mechanism force,
Larger rotary torque is reliably undertaken, while easy to control.Using this support arm, the dexterities such as medical instrument can be significantly improved
The performance of type instrument.
Description of the drawings
It elaborates below in conjunction with the accompanying drawings to the structure of the present invention：
Attached drawing 1 is the three-dimensional profile figure of the multi-joint support arm of closed hydraulic loop control.
Attached drawing 2 is the hydraulic schematic diagram of the multi-joint support arm of closed hydraulic loop control.
Attached drawing 3 is the cradle head diagrammatic sectional view of the multi-joint support arm of closed hydraulic loop control.
Attached drawing 4 is the P-P sectional views in attached drawing 3.
Attached drawing 5 is the second way schematic diagram that leverage is connected in series with.
In the accompanying drawings, 1 it is revolute joint, 2 be connecting rod, 3 be rack, 4 be hydraulic pressure pump barrel, 5 be hydraulic pump plunger, 6 is
Hydraulic pump hydraulic fluid port, 7 be hydraulic cylinder, 8 be cylinder plunger, 9 be hydraulic cylinder hydraulic fluid port, 10 be revolving sleeve, 11 be bearing, 12 be
Rotating shaft, 13 be latch groups of springs, 14 be groups of springs, 15 be hydraulic tube.
Specific implementation mode
As shown in the picture, the multi-joint support arm of closed hydraulic loop control, mainly by hydraulic pump, hydraulic cylinder, revolution
Joint, connecting rod, spring are constituted.Concrete structure is that several revolute joints 1 and connecting rod 2 are serially connected in leverage, revolute joint
Hydraulic cylinder 7 is housed, the hydraulic fluid port 6 of hydraulic pressure pump barrel 4 and the hydraulic fluid port 9 of each hydraulic cylinder 7 are connected directly to be formed with hydraulic tube 15 on 1
Closed circuit.Revolute joint 1 is made of revolving sleeve 10 and rotating shaft 12, and revolving sleeve 10 and rotating shaft 12 are revolute joint 1 respectively
Two connecting pins, be two orthogonal ducts inside revolving sleeve 10, the bearing 11 of rotating shaft 12 is supported in a duct,
Hydraulic cylinder 7 is housed in another duct, which has step, 14 both ends of groups of springs to be held out against respectively in hydraulic pressure
On 7 rear end face of cylinder barrel and the duct outer end step, 7 front end of hydraulic cylinder is held out against on rotating shaft 12, and 7 front end of hydraulic cylinder has
One cross-drilled hole has the latch 13 that both ends are fixed on revolving sleeve 10 in cross-drilled hole, and the plunger 8 of hydraulic cylinder is by 7 front end of hydraulic cylinder
Stretching is held out against on latch 13.For hydraulic cylinder 7 there are one hydraulic fluid port 9, which reaches 10 outside of revolving sleeve.Several times
Turn joint 1 and connecting rod 2, being serially connected in the mode of leverage is, a connecting pin of first revolute joint 1 and rack 3 are solid
Fixed connection, another connecting pin of the revolute joint 1 are fixedly connected with first 2 one end of connecting rod, and first connecting rod 2 is another
One end is fixedly connected with a connecting pin of second revolute joint 1, another connecting pin of second revolute joint 1 with
Second 2 one end of connecting rod is fixedly connected, and a connecting pin of second 2 other end of connecting rod and third revolute joint 1 is solid
Fixed connection is connected in the above described manner to leverage the last one connecting rod.A connecting pin of some revolute joint 1 in leverage
It can be directly fixedly connected with a connecting pin of another revolute joint 1, third and the 4th revolute joint in attached drawing 5
It is exactly the example of this connection type.Hydraulic pump is plunger pump, is covered in hydraulic pressure pump barrel 4 and is filled with hydraulic pump plunger 5, hydraulic pressure pump barrel
There are one hydraulic pump hydraulic fluid ports 6 on 4.
The foregoing is merely a kind of preferred embodiments of the present invention, are not intended to restrict the invention, all in thinking of the present invention
All any modification, equivalent and improvement etc. with being done within principle, are both contained within protection scope of the present invention.
Claims (5)
1. a kind of multi-joint support arm of closed hydraulic loop control, mainly by hydraulic pump, hydraulic cylinder, revolute joint, connecting rod,
Spring is constituted, it is characterized in that several revolute joints and connecting rod are serially connected in leverage, hydraulic cylinder, hydraulic pressure are housed on revolute joint
The hydraulic fluid port of the hydraulic fluid port of pump and each hydraulic cylinder is connected directly to form closed circuit with hydraulic tube.
2. the multi-joint support arm of closed hydraulic loop control according to claim 1, it is characterised in that：Revolute joint by
Revolving sleeve and rotating shaft composition, revolving sleeve and rotating shaft are two connecting pins of revolute joint respectively, are two inside revolving sleeve
Orthogonal duct, rotating shaft bearing support are equipped with hydraulic cylinder, which has in a duct in another duct
Step, a groups of springs both ends are held out against respectively on hydraulic cylinder rear end face and the duct outer end step, hydraulic cylinder front end top
Tightly on rotating shaft, hydraulic cylinder front end has both ends to be fixed on the latch on revolving sleeve, hydraulic cylinder there are one cross-drilled hole in cross-drilled hole
Plunger by hydraulic cylinder front end stretch out hold out against on latch.There are one hydraulic fluid port, the hydraulic fluid ports to reach outside revolving sleeve for hydraulic cylinder
Face.
3. the multi-joint support arm of the closed hydraulic loop control according to claim 1 and claim 2, feature exist
In：Several revolute joints and connecting rod, being serially connected in the first way of leverage is, a connection of first revolute joint
End is fixedly connected with rack, another connecting pin of the revolute joint is fixedly connected with first connecting rod one end, first company
The extension bar other end is fixedly connected with a connecting pin of second revolute joint, another connecting pin of second revolute joint
It is fixedly connected with second connecting rod one end, a connecting pin of second connecting rod other end and third revolute joint is fixed
Connection is connected in the above described manner to leverage the last one connecting rod.
4. the multi-joint support arm of the closed hydraulic loop control according to claim 1 and claim 2, feature exist
In：Several revolute joints and connecting rod, being serially connected in the second way of leverage is, one of some revolute joint in leverage
Connecting pin is fixedly connected with a connecting pin of another revolute joint.
5. the multi-joint support arm of closed hydraulic loop control according to claim 1, it is characterised in that：Hydraulic pump is column
Plug pumps, and is covered in hydraulic pressure pump barrel and is filled with hydraulic pump plunger, there are one hydraulic pump hydraulic fluid ports on hydraulic pressure pump barrel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710199946.9A CN108661962A (en) | 2017-03-30 | 2017-03-30 | The multi-joint support arm of closed hydraulic loop control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710199946.9A CN108661962A (en) | 2017-03-30 | 2017-03-30 | The multi-joint support arm of closed hydraulic loop control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108661962A true CN108661962A (en) | 2018-10-16 |
Family
ID=63786938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710199946.9A Pending CN108661962A (en) | 2017-03-30 | 2017-03-30 | The multi-joint support arm of closed hydraulic loop control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108661962A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109538644A (en) * | 2018-11-07 | 2019-03-29 | 盐城哈力动力传动及智能装备产业研究院有限公司 | A kind of easy-to-dismount right angle shaft coupling |
| CN111006620A (en) * | 2019-12-10 | 2020-04-14 | 渤海造船厂集团有限公司 | Flexible positioning and supporting device for hydraulic joint |
| CN111015724A (en) * | 2019-12-10 | 2020-04-17 | 渤海造船厂集团有限公司 | Flexible positioning and supporting device for pneumatic joint |
-
2017
- 2017-03-30 CN CN201710199946.9A patent/CN108661962A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109538644A (en) * | 2018-11-07 | 2019-03-29 | 盐城哈力动力传动及智能装备产业研究院有限公司 | A kind of easy-to-dismount right angle shaft coupling |
| CN111006620A (en) * | 2019-12-10 | 2020-04-14 | 渤海造船厂集团有限公司 | Flexible positioning and supporting device for hydraulic joint |
| CN111015724A (en) * | 2019-12-10 | 2020-04-17 | 渤海造船厂集团有限公司 | Flexible positioning and supporting device for pneumatic joint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190107 Address after: 311200 first floor, 4 building, 389 Hongxing Road, Xiaoshan economic and Technological Development Zone, Xiaoshan District, Hangzhou, Zhejiang. Applicant after: Hangzhou Chen Zheng Zheng Technology Co., Ltd. Address before: Room 705, 9 Building, No. 1 Courtyard, Dewai Xinfeng Street, Xicheng District, Beijing 100086 Applicant before: Ma Jianqun Applicant before: Zhang Lei |
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201020 Address after: 317317 Baita Industrial Cluster, Baita Town, Xianju County, Taizhou City, Zhejiang Province Applicant after: Xianju Boyuan surgical medical equipment Co., Ltd Address before: Hung Hing Road, Xiaoshan economic and Technological Development Zone of Xiaoshan District of Hangzhou City, Zhejiang province 311200 No. 389 Building No. 4 Building Applicant before: HANGZHOU GUOCHEN ZHENGYU TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210305 Address after: 317317 Baita Industrial Cluster, Baita Town, Xianju County, Taizhou City, Zhejiang Province Applicant after: Xianju Xingzhi Technology Co.,Ltd. Address before: 317317 Baita Industrial Cluster, Baita Town, Xianju County, Taizhou City, Zhejiang Province Applicant before: Xianju Boyuan surgical medical equipment Co., Ltd |