CN109849048A - A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot - Google Patents

A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot Download PDF

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Publication number
CN109849048A
CN109849048A CN201910029483.0A CN201910029483A CN109849048A CN 109849048 A CN109849048 A CN 109849048A CN 201910029483 A CN201910029483 A CN 201910029483A CN 109849048 A CN109849048 A CN 109849048A
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China
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rear end
servo
cylinder component
ball
arms body
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CN201910029483.0A
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CN109849048B (en
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徐兵
张付
苏琦
钱剑勇
麻云
岳艺明
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Zhejiang University ZJU
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Zhejiang University ZJU
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Abstract

The invention discloses a kind of double freedom hydraulic machinery shoulder joints coupled using flexural pivot, including rear end ball hinge, right servo-cylinder component, rear end arms body, left servo-cylinder component, connection cross axle, holder, front end ball hinge and preceding end arms body;Rear end ball hinge and rear end arms body are connected, rear end ball hinge connect to form ball pair by flexural pivot with right servo-cylinder component, end arms body and left servo-cylinder component form revolute pair afterwards, right servo-cylinder component connect to form ball pair by flexural pivot with front end ball hinge, and left servo-cylinder component and holder form revolute pair;Holder is fixed on the vertical axes bottom end of connection cross axle, and the trunnion axis and rear end arms body of connection cross axle form revolute pair, and vertical axes and preceding end arms body form revolute pair;The present invention uses two flexural pivots and cross axle structure, realizes that mechanical arm is rotated around the double freedom of two axis by two servo-cylinders of hydraulic-driven, flexible movement can be realized under the conditions of heavy duty work, has the advantages that energy density is big.

Description

A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot
Technical field
The present invention relates to hydraulic manipulator field more particularly to a kind of double freedom hydraulic manipulators coupled using flexural pivot Joint.
Background technique
Mechanical arm is that most widely used mechanical device is obtained in current robot field, for substituting automobile manufacture, electricity Manual operation in the industries such as sub electrical greatly reduces human cost, improves production efficiency, and effectively improves production Quality.Traditional mechanical arm design applications for considering single forms more, it is general only to complete specific task, specific joint and from It is poor by the changing capability spent, and the mode of motor acceleration and deceleration machine is mostly used, bearing capacity is relatively small, hence it is imperative that Develop a kind of mechanical arm with larger bearing capacity of novel driving method.
It addresses that need, the present invention has carried out the design of fro hydraulic driving machinery shoulder joint, because hydraulic drive has The outstanding advantages that power is big, light-weight, inertia is small and output rigidity is big, meanwhile, hydraulic system can pass through the pressure of raising system Power improves output power, and power is again than with huge advantage, especially with the mechanical arm of larger bearing capacity.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to which it is hydraulic to provide a kind of double freedom using flexural pivot connection Joint of mechanical arm can be realized around two simultaneously using two flexural pivots and a cross axle structure by fro hydraulic driving machinery arm front end The double freedom of axis rotates, and flexible movement can be realized under the operating condition of heavy duty, has power again than big, flexible movements and steady Fixed advantage.
The purpose of the present invention is achieved through the following technical solutions: a kind of double freedom using flexural pivot connection is hydraulic Joint of mechanical arm, including rear end ball hinge, right servo-cylinder component, rear end arms body, left servo-cylinder component, connection cross Axis, holder, front end ball hinge and preceding end arms body;
The rear end ball hinge and rear end arms body are connected, and rear end ball hinge connect shape by flexural pivot with right servo-cylinder component Balling-up pair, rear end arms body and left servo-cylinder component form revolute pair, and right servo-cylinder component and front end ball hinge pass through flexural pivot Connection forms ball pair, and left servo-cylinder component and holder form revolute pair;The holder is fixed on the vertical of connection cross axle Axis bottom end, the trunnion axis and rear end arms body of connection cross axle form revolute pair, the vertical axes and preceding end arms of connection cross axle Body forms revolute pair, and front end ball hinge and preceding end arms body are connected;
When the right piston bar of right servo-cylinder component elongates or shortens, preceding end arms body turns around the vertical axes of connection cross axle It is dynamic, to realize that joint is movable to the left or to the right;
When the left piston bar of left servo-cylinder component elongates or shortens, preceding end arms body turns around the trunnion axis of connection cross axle It is dynamic, to realize that joint is movable upward or downward;
Right piston bar and left piston bar are run simultaneously, to realize activity of the joint on space angle.
Further, the right servo-cylinder component includes rear end pin ball, right oil cylinder, right piston bar and front end pin ball, institute It states rear end pin ball and right oil cylinder is connected, and form ball pair with rear end ball hinge, the front end pin ball and right piston bar are connected, and with Front end ball hinge forms ball pair.
Further, the left servo-cylinder component include rear ring, left oil cylinder, left piston bar and front ring, it is described after ring with Left oil cylinder is connected, and forms revolute pair with rear end arms body, and the front ring and left piston bar are connected, and form revolute pair with holder.
Beneficial outcomes of the invention are: double freedom hydraulic machinery shoulder joint of the present invention is connected using two flexural pivots and cross axle Structure can adjust two piston pole lengths according to different requirements, realize movement of the mechanical arm under space angle, meet different Application, realize the flexible motion of mechanical arm;It will mechanically and hydraulically be integrated in one, and have the characteristics that energy density will be big.
Detailed description of the invention
Fig. 1 is complete mechanical shoulder joint figure;
Fig. 2 is right servo-cylinder component drawings;
Fig. 3 is left servo-cylinder component drawings;
Fig. 4 is clip seat structure figure;
Fig. 5 is connection cross axle structure figure;
Fig. 6 is preceding end arms body structure chart.
Specific embodiment
Present invention is further described in detail in the following with reference to the drawings and specific embodiments.
A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot provided by the invention, utilizes two flexural pivots and one Cross axle structure can realize double freedom rotation under the operating condition of heavy duty;As shown in Figure 1, the joint includes rear end flexural pivot It is seat 3.1, right servo-cylinder component 1, rear end arms body 3.2, left servo-cylinder component 2, connection cross axle 3.3, holder 3.4, preceding Hold ball hinge 3.5 and preceding end arms body 3.6;
The rear end ball hinge 3.1 is connected with rear end arms body 3.2, and rear end ball hinge 3.1 passes through with right servo-cylinder component 1 Flexural pivot connects to form ball pair, and rear end arms body 3.2 forms revolute pair, right servo-cylinder component 1 and front end with left servo-cylinder component 2 Ball hinge 3.5 connects to form ball pair by flexural pivot, and left servo-cylinder component 2 forms revolute pair with holder 3.4;The knot of holder 3.4 Structure is as shown in Figure 4;
The holder 3.4 is fixed on the vertical axes bottom end of connection cross axle 3.3, the connection trunnion axis of cross axle 3.3 Revolute pair is formed with rear end arms body 3.2, the vertical axes of connection cross axle 3.3 and preceding end arms body 3.6 form revolute pair, front end ball Free bearing 3.5 and preceding end arms body 3.6 are connected;The structure of connection cross axle 3.3 is as shown in Figure 5;The structure of preceding end arms body 3.6 is as schemed Shown in 6;
As shown in Fig. 2, the right servo-cylinder component 1 includes that ball 1.1, right oil cylinder 1.2,1.3 and of right piston bar are sold in rear end Ball 1.4 is sold in front end, and the rear end pin ball 1.1 and right oil cylinder 1.2 are connected, and form ball pair, the front end with rear end ball hinge 3.1 It sells ball 1.4 and right piston bar 1.3 is connected, and form ball pair with front end ball hinge 3.5.
As shown in figure 3, the left servo-cylinder component 2 includes rear ring 2.1, left oil cylinder 2.2, left piston bar 2.3 and front ring 2.4, the rear ring 2.1 is connected with left oil cylinder 2.2, and forms revolute pair, the front ring 2.4 and left piston with rear end arms body 3.2 Bar 2.3 is connected, and forms revolute pair with holder 3.4.
The control system of hydraulic manipulator is connected with right servo-cylinder component 1, left servo-cylinder component 2, the control right side is watched Take cylinder component 1, the piston rod of left servo-cylinder component 2 elongates or shortens;
When the right piston bar 1.3 of right servo-cylinder component 1 elongates or shortens, preceding end arms body 3.6 is around connection cross axle 3.3 Vertical axes rotation, to realize that joint is movable to the left or to the right;
When the left piston bar 2.3 of left servo-cylinder component 2 elongates or shortens, preceding end arms body 3.6 is around connection cross axle 3.3 Trunnion axis rotation, to realize that joint is movable upward or downward;
Right piston bar 1.3 and left piston bar 2.3 are run simultaneously, to realize activity of the joint on space angle.
The course of work of the invention is as follows:
(1) joint is installed to hydraulic manipulator;
(2) it is connected with the dynamical system of hydraulic manipulator and control system;
(3) after debugging is good, the test of hydraulic machinery shoulder joint is carried out;
(4) when the right piston bar 1.3 that control system controls right servo-cylinder component 1 elongates or shortens, preceding end arms body 3.6 around The vertical axes of connection cross axle 3.3 rotate, to realize that joint is movable to the left or to the right;
(5) when the left piston bar 2.3 that control system controls left servo-cylinder component 2 elongates or shortens, preceding end arms body 3.6 around The trunnion axis of connection cross axle 3.3 rotates, to realize that joint is movable upward or downward;
(6) right piston bar 1.3 and left piston bar 2.3 are run simultaneously, to realize activity of the joint on space angle.
It is finally noted that above description is a kind of specific application example of the invention, can according to need, if Count a variety of mechanical arm front ends and revolute pair form, it is clear that other application example identical with general principles also should belong to this The protection scope of invention.

Claims (3)

1. a kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot, it is characterised in that: including rear end ball hinge (3.1), right servo-cylinder component (1), rear end arms body (3.2), left servo-cylinder component (2), connection cross axle (3.3), folder Seat (3.4), front end ball hinge (3.5) and preceding end arms body (3.6);
The rear end ball hinge (3.1) and rear end arms body (3.2) are connected, rear end ball hinge (3.1) and right servo-cylinder component (1) It connects to form ball pair by flexural pivot, rear end arms body (3.2) and left servo-cylinder component (2) form revolute pair, right servo-cylinder group Part (1) connect to form ball pair by flexural pivot with front end ball hinge (3.5), and left servo-cylinder component (2) and holder (3.4) form and turn Dynamic pair;The holder (3.4) is fixed on the vertical axes bottom end of connection cross axle (3.3), the connection level of cross axle (3.3) Axis and rear end arms body (3.2) form revolute pair, and the connection vertical axes of cross axle (3.3) and preceding end arms body (3.6), which are formed, to be rotated Pair, front end ball hinge (3.5) and preceding end arms body (3.6) are connected;
When the right piston bar (1.3) of right servo-cylinder component (1) elongates or shortens, preceding end arms body (3.6) is around connection cross axle (3.3) vertical axes rotation, to realize that joint is movable to the left or to the right;
When the left piston bar (2.3) of left servo-cylinder component (2) elongates or shortens, preceding end arms body (3.6) is around connection cross axle (3.3) trunnion axis rotation, to realize that joint is movable upward or downward;
Right piston bar (1.3) and left piston bar (2.3) are run simultaneously, to realize activity of the joint on space angle.
2. a kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot according to claim 1, it is characterised in that: The right servo-cylinder component (1) includes rear end pin ball (1.1), right oil cylinder (1.2), right piston bar (1.3) and front end pin ball (1.4), rear end pin ball (1.1) and right oil cylinder (1.2) is connected, and forms ball pair, the front end with rear end ball hinge (3.1) It sells ball (1.4) and right piston bar (1.3) to be connected, and forms ball pair with front end ball hinge (3.5).
3. a kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot according to claim 1, it is characterised in that: The left servo-cylinder component (2) includes rear ring (2.1), left oil cylinder (2.2), left piston bar (2.3) and front ring (2.4), described Ring (2.1) and left oil cylinder (2.2) are connected afterwards, and form revolute pair, the front ring (2.4) and left piston with rear end arms body (3.2) Bar (2.3) is connected, and forms revolute pair with holder (3.4).
CN201910029483.0A 2019-01-13 2019-01-13 Double-freedom-degree hydraulic mechanical arm joint adopting spherical hinge connection Active CN109849048B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114872084A (en) * 2022-06-30 2022-08-09 浙江大学 Robot joint balancing unit

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US5410944A (en) * 1993-06-03 1995-05-02 Cushman; William B. Telescoping robot arm with spherical joints
CN1267581A (en) * 2000-04-21 2000-09-27 清华大学 Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation
CN1267582A (en) * 2000-04-21 2000-09-27 清华大学 Four-axial parallel machine tool structure with two-dimensional shift and two-dimensional rotation
CN102501246A (en) * 2011-11-08 2012-06-20 北京邮电大学 Three-drive extensible dexterous mechanical arm
CN102987771A (en) * 2012-12-25 2013-03-27 大连理工计算机控制工程有限公司 Three degree of freedom electric dynamic chair
CN107538464A (en) * 2017-10-31 2018-01-05 李刚 A kind of substation bus bar cylinder inwall clean robot driving arm assembly
CN108016585A (en) * 2017-12-01 2018-05-11 东北石油大学 A kind of grand micro-mechanical arm of underwater robot
CN108058158A (en) * 2017-12-14 2018-05-22 天津理工大学 Two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved
CN108527348A (en) * 2018-04-04 2018-09-14 北京航空航天大学 A kind of multi-joint mechanical arm
CN108818609A (en) * 2018-06-30 2018-11-16 郑州大学 Linear drives freedom degree parallel connection hip joint mechanism
CN209364656U (en) * 2019-01-13 2019-09-10 浙江大学 A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN87216690U (en) * 1987-12-19 1988-12-14 机械委北京机械工业自动化研究所 Manipulator wrist of robot
US5410944A (en) * 1993-06-03 1995-05-02 Cushman; William B. Telescoping robot arm with spherical joints
CN1267581A (en) * 2000-04-21 2000-09-27 清华大学 Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation
CN1267582A (en) * 2000-04-21 2000-09-27 清华大学 Four-axial parallel machine tool structure with two-dimensional shift and two-dimensional rotation
CN102501246A (en) * 2011-11-08 2012-06-20 北京邮电大学 Three-drive extensible dexterous mechanical arm
CN102987771A (en) * 2012-12-25 2013-03-27 大连理工计算机控制工程有限公司 Three degree of freedom electric dynamic chair
CN107538464A (en) * 2017-10-31 2018-01-05 李刚 A kind of substation bus bar cylinder inwall clean robot driving arm assembly
CN108016585A (en) * 2017-12-01 2018-05-11 东北石油大学 A kind of grand micro-mechanical arm of underwater robot
CN108058158A (en) * 2017-12-14 2018-05-22 天津理工大学 Two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved
CN108527348A (en) * 2018-04-04 2018-09-14 北京航空航天大学 A kind of multi-joint mechanical arm
CN108818609A (en) * 2018-06-30 2018-11-16 郑州大学 Linear drives freedom degree parallel connection hip joint mechanism
CN209364656U (en) * 2019-01-13 2019-09-10 浙江大学 A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114872084A (en) * 2022-06-30 2022-08-09 浙江大学 Robot joint balancing unit
CN114872084B (en) * 2022-06-30 2022-09-23 浙江大学 Robot joint balancing unit

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