CN110091352B - Miniature large-torque high-speed joint integrated hydraulic driver - Google Patents
Miniature large-torque high-speed joint integrated hydraulic driver Download PDFInfo
- Publication number
- CN110091352B CN110091352B CN201910240771.0A CN201910240771A CN110091352B CN 110091352 B CN110091352 B CN 110091352B CN 201910240771 A CN201910240771 A CN 201910240771A CN 110091352 B CN110091352 B CN 110091352B
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- rack
- hydraulic cylinder
- gear
- torque
- fixedly connected
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- 230000005540 biological transmission Effects 0.000 claims abstract description 37
- 238000006073 displacement reaction Methods 0.000 claims abstract description 13
- 230000004044 response Effects 0.000 abstract description 5
- 230000010354 integration Effects 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 abstract description 3
- 238000010030 laminating Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
Abstract
The invention discloses a miniature large-torque high-speed joint integrated hydraulic driver which comprises a mechanical structure body, a transmission chain unit, a torque and speed sensor and a force and displacement sensor, wherein the mechanical structure body comprises an outer shell, a rear end cover, a front end cover, a rear support bearing sleeve cup, a front support bearing sleeve cup, two support shaft bearings, two rack fixing frames, two rack fixing frame bearings and a slip ring bearing, the two support shaft bearings are assembled at two ends of a support shaft, and the transmission chain unit comprises a support shaft, a hydraulic cylinder, a piston rod, a rack, a straight gear, a gear transmission shaft, a small bevel gear, a slip ring and a large bevel gear. The problems of high power density, large load, high frequency response, low inertia and sensing integration of the existing rotary joint robot joint driving are solved, the output torque and the large load frequency response of the driver are greatly increased by adopting a hydraulic cylinder as a driving element, and the high acceleration following characteristic of the driver is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a miniature large-torque high-speed joint integrated hydraulic driver.
Background
The rotary joint type robot is characterized in that two sections of arms are connected through a rotary joint, relative motion between the two sections of arms is realized by the rotary joint, and execution of a target task is finally completed.
The driving mechanism of the existing rotary joint can be divided into a servo motor and a hydraulic servo, the driving mechanism of the servo motor is the most widely applied structural form in the existing rotary joint, but the servo motor has small power density, limited output torque and low large load frequency response, so that the rotary joint of the robot has large volume, limited output torque and rotating speed, large inertia, difficult starting, poor high acceleration following characteristic and the like. The hydraulic servo is mainly applied to a heavy-load rotary joint at present, linear motion of a hydraulic cylinder is converted into rotary motion of the joint by means of a hinge and the hydraulic cylinder, or the hydraulic motor directly outputs the rotary motion, but the influence of the swing inertia of the hydraulic cylinder used for driving the joint of the legged robot in the legged robot cannot be ignored. Meanwhile, the leg space of the foot robot is compact, the arrangement of the hydraulic cylinder and the hydraulic oil circuit is also a big problem, the compact arrangement of the hydraulic cylinder means that the corresponding moment arm is small, if the same torque is output, the size of the hydraulic cylinder must be increased, and the problems are that the leg inertia and the size of the foot robot are synchronously increased, the flow required by the increase of the size of the hydraulic cylinder is increased, so that the corresponding configurations of a servo valve, a hydraulic oil source and the like are also increased, and finally the size and the mass of the whole robot are increased, so that the moving foot robot is unfavorable.
Disclosure of Invention
Aiming at the problems of the existing driving mechanism of the rotary joint, the invention provides a miniature large-torque high-speed joint integrated hydraulic driver, which is used for solving the problems of high power density, large load, high frequency response, low inertia and sensing integration of the existing rotary joint type robot joint driving.
The technology adopted by the invention is as follows: the utility model provides an integrated hydraulic drive of miniature big moment of torsion high-speed joint, includes mechanical structure body, driving chain unit, moment speed sensor and power and displacement sensor, the driving chain unit be located mechanical structure originally internally, the mechanical structure body include shell body, rear end cap, front end housing, back support bearing retainer cup, preceding support bearing retainer cup, two back shaft bearings, two rack holders, two rack holder bearings, sliding ring bearing, two back shaft bearings assemble respectively in back support bearing retainer cup and the preceding support bearing retainer cup that is located the back shaft both ends, the rear end cap laminating is on back support bearing retainer cup terminal surface, the front end housing laminating is on preceding support bearing retainer cup terminal surface, two rack holders are located inside the shell body, be equipped with rack holder bearing on every rack holder, the sliding ring bearing assembles on the sliding ring, is located between two rack holders, the driving chain unit include back shaft, rack, piston rod, rack, straight-tooth wheel unit, pinion, sliding ring, big bevel gear, the axis of rotation passes the pilot hole on the back shaft, both ends link firmly on the sliding ring, straight-tooth gear unit and pinion, the straight-tooth gear mesh on the piston rod, the hydraulic cylinder is located the rear end gear and the straight-tooth gear unit, the hydraulic cylinder is in the hydraulic cylinder, the hydraulic cylinder is connected with the straight-tooth gear, the hydraulic cylinder is connected with the hydraulic cylinder, the hydraulic cylinder is connected with the gear. The invention also has the following technical characteristics:
1. the pneumatic cylinder and back shaft do not produce the motion, the pneumatic cylinder drives the piston rod and is linear motion, the rack that piston rod one end linked firmly drives the straight-teeth gear unit and is rotary motion around gear drive shaft with straight-teeth gear unit meshing, link firmly little bevel gear on gear drive shaft and the big bevel gear meshing that links firmly on the shell body, will change the rotary motion around gear drive shaft into the rotary motion around the back shaft.
2. The force and displacement sensor realizes servo control of the hydraulic cylinder and monitors displacement and output information of the hydraulic cylinder, the torque and rotating speed sensor monitors rotating speed and torque output by the hydraulic driver, and large closed-loop servo control of the position and the force of the hydraulic driver is realized through a control algorithm.
3. The straight-teeth gear unit include two gears, the terminal surface of two gears links firmly, the tooth top of two gears certain angle that staggers, straight-teeth gear unit and rack are when the meshing transmission, keep closely laminating between the flank of tooth all the time for the flank of tooth closely laminates with rack lower flank of tooth under one gear, the flank of tooth closely laminates on another gear flank and the rack, guarantee closely laminate all the time at transmission in-process rack and straight-teeth gear unit, eliminate the clearance that the reciprocal transmission in-process caused, improve the transmission precision, the collision each other of gear and rack when avoiding the transmission, increase rack and pinion life-span.
The invention has the advantages and beneficial effects that: the invention is used for the rotary joint robot, because the compact closed transmission chain is adopted to realize the conversion of the linear motion of the hydraulic cylinder into the rotary motion of the joint, the sealing and the lubrication of the transmission chain unit are ensured, the service life is greatly prolonged, and the transmission friction loss is reduced; the integrated arrangement of the transmission element greatly reduces the volume size of the driver, greatly improves the power density ratio of the driver, reduces the inertia of the driver and ensures that the driver is easy to start and brake; the integration of multiple sensors can sense key parameters such as internal force and displacement of the driver, meanwhile, connecting pieces are reduced, and the integration level of the system is increased; the hydraulic cylinder is used as a driving element, so that the output torque and the large load frequency response of the driver are greatly increased, and the high acceleration following characteristic and the high speed following characteristic of the driver are improved; the inner transmission shaft can be designed into a direct connection type and a hinge type, and the size of the driver can be adapted to more application occasions by adopting different transmission shafts; various control modes such as hydraulic cylinder servo small ring control, joint large ring servo control and the like can be realized by selecting different integrated sensor feedback information, and the control performance is greatly improved.
Drawings
FIG. 1 is a schematic structural view of a miniature large-torque high-speed joint integrated hydraulic driver;
FIG. 2 is an exploded view of the integrated hydraulic actuator of the micro high torque high speed joint;
FIG. 3 is a supplementary exploded view of the integrated hydraulic actuator of the micro high-torque high-speed joint;
FIG. 4 is a schematic structural diagram of a transmission chain unit;
FIG. 5 is a schematic structural diagram of a spur gear unit;
fig. 6 is a side view of the spur gear unit structure.
Detailed Description
The invention is further illustrated by way of example in the accompanying drawings of the specification:
example 1
As shown in figures 1-4, the integrated hydraulic driver of the miniature large-torque high-speed joint comprises a mechanical structure body 1, a transmission chain unit 2, a torque and speed sensor 3-1 and a force and displacement sensor 3-2, wherein the transmission chain unit 2 is positioned in the mechanical structure body 1, the mechanical structure body 1 comprises an outer shell 1-1, a rear end cover 1-2, a front end cover 1-3, a rear support bearing retainer cup 1-4, a front support bearing retainer cup 1-5, two support shaft bearings 1-6, two rack retainer brackets 1-7, two rack retainer bracket bearings 1-8 and a slip ring bearing 1-9, the two support shaft bearings 1-6 are respectively assembled in the rear support bearing retainer cup 1-4 and the front support bearing retainer cup 1-5 which are positioned at the two ends of a support shaft 2-1, the rear end cover 1-2 is attached to the end face of a rear supporting bearing retainer cup 1-4, the front end cover 1-3 is attached to the end face of a front supporting bearing retainer cup 1-5, two rack fixing frames 1-7 are positioned inside an outer shell 1-1, a rack fixing frame bearing 1-8 is assembled on each rack fixing frame 1-7, a slip ring bearing 1-9 is assembled on a slip ring 2-8 and positioned between the two rack fixing frames 1-7, the transmission chain unit 2 comprises a supporting shaft 2-1, a hydraulic cylinder 2-2, a piston rod 2-3, a rack 2-4, a straight gear unit 2-5, a gear transmission shaft 2-6, a small bevel gear 2-7, a slip ring 2-8 and a large bevel gear 2-9, a gear rotating shaft 2-6 penetrates through an assembling hole in the supporting shaft 2-1, two ends are fixedly connected with a slip ring 2-8, a straight gear unit 2-5 and a small bevel gear 2-7 are fixedly connected with a gear transmission shaft 2-6, a large bevel gear 2-9 is meshed with the small bevel gear 2-7 and is fixedly connected inside an outer shell 1-1, a rack 2-4 is meshed with the straight gear unit 2-5, two ends are fixed on a rack fixing frame 1-7, one end of a piston rod 2-3 is fixedly connected with the rack 2-4, the other end of the piston rod is assembled inside a hydraulic cylinder 2-2, a torque and rotating speed sensor 3-1 is positioned on the inner side of a rear end cover 1-2, and a force and displacement sensor 3-2 is positioned at the bottom of the hydraulic cylinder 2-2.
As shown in the figure 2-4, in the transmission chain unit 2, a hydraulic cylinder 2-2 and a supporting shaft 2-1 are fixed on a machine body or an upper connecting arm, the hydraulic cylinder 2-2 and the supporting shaft 2-1 do not move, the hydraulic cylinder 2-2 drives a piston rod 2-3 to do linear motion, a rack 2-4 fixedly connected with one end of the piston rod 2-3 is meshed with a straight gear unit 2-5 to drive a straight gear unit 2-5 to do rotary motion around a gear transmission shaft 2-6, a small bevel gear 2-7 fixedly connected with the gear transmission shaft 2-6 is meshed with a large bevel gear 2-9 fixedly connected with an outer shell 1-1, and the rotary motion around the gear transmission shaft 2-6 is converted into rotary motion around the supporting shaft 2-1.
As shown in fig. 3, the force and displacement sensor 3-2 realizes servo control of the hydraulic cylinder 2-2 and monitors displacement and output information of the hydraulic cylinder 2-2, and the torque and rotation speed sensor 3-1 monitors rotation speed and torque output by the hydraulic driver and realizes large closed-loop servo control of position and force of the hydraulic driver through a control algorithm.
As shown in fig. 5, the straight gear unit 2-5 comprises two gears, the end surfaces of the two gears are fixedly connected, the tooth tops of the two gears are staggered by a certain angle, and the straight gear unit 2-5 and the rack 2-4 are always kept to be tightly attached to each other during meshing transmission, so that a gap caused in the reciprocating transmission process is eliminated, the transmission precision is improved, the mutual collision between the gears and the racks during transmission is avoided, and the service lives of the gears and the racks are prolonged.
Claims (4)
1. The utility model provides a high-speed joint integrated hydraulic drive of miniature big moment of torsion, includes mechanical structure body (1), driving chain unit (2), moment speed sensor (3-1) and power and displacement sensor (3-2), driving chain unit (2) be located mechanical structure body (1), its characterized in that:
the mechanical structure body (1) comprises an outer shell (1-1), a rear end cover (1-2), a front end cover (1-3), a rear supporting bearing retainer cup (1-4), a front supporting bearing retainer cup (1-5), two supporting shaft bearings (1-6), two rack fixing frames (1-7), two rack fixing frame bearings (1-8) and a sliding ring bearing (1-9), wherein the two supporting shaft bearings (1-6) are respectively assembled in the rear supporting bearing retainer cup (1-4) and the front supporting bearing retainer cup (1-5) which are positioned at two ends of a supporting shaft (2-1), the rear end cover (1-2) is attached to the end face of the rear supporting bearing retainer cup (1-4), the front end cover (1-3) is attached to the end face of the front supporting bearing retainer cup (1-5), the two rack fixing frames (1-7) are positioned in the outer shell (1-1), the rack fixing frame bearings (1-8) are assembled on each rack fixing frame (1-7), the sliding ring bearing (1-9) is assembled on the sliding ring (2-8), the sliding ring bearing (7) is positioned between the two rack fixing frames (1-7),
the transmission chain unit (2) comprises a supporting shaft (2-1), a hydraulic cylinder (2-2), a piston rod (2-3), a rack (2-4), a straight gear unit (2-5), a gear transmission shaft (2-6), a small bevel gear (2-7), a sliding ring (2-8) and a large bevel gear (2-9), wherein the gear transmission shaft (2-6) penetrates through an assembly hole on the supporting shaft (2-1), two ends of the gear transmission shaft are fixedly connected onto the sliding ring (2-8), the straight gear unit (2-5) and the small bevel gear (2-7) are fixedly connected onto the gear transmission shaft (2-6), the large bevel gear (2-9) is meshed with the small bevel gear (2-7) and fixedly connected into the outer shell (1-1), the rack (2-4) is meshed with the straight gear unit (2-5), two ends of the rack are fixed onto a rack fixing frame (1-7), one end of the piston rod (2-3) is fixedly connected with the rack (2-4), and the other end of the piston rod is assembled into the hydraulic cylinder (2-2),
the torque and rotation speed sensor (3-1) is positioned on the inner side of the rear end cover (1-2), and the force and displacement sensor (3-2) is positioned at the bottom of the hydraulic cylinder (2-2).
2. The integrated hydraulic driver of a miniature large-torque high-speed joint as claimed in claim 1, wherein the hydraulic cylinder (2-2) and the support shaft (2-1) do not move, the hydraulic cylinder (2-2) drives the piston rod (2-3) to make linear motion, a rack (2-4) fixedly connected to one end of the piston rod (2-3) is engaged with the spur gear unit (2-5) to drive the spur gear unit (2-5) to make rotational motion around the gear transmission shaft (2-6), a small bevel gear (2-7) fixedly connected to the gear transmission shaft (2-6) is engaged with a large bevel gear (2-9) fixedly connected to the outer housing (1-1), and the rotational motion around the gear transmission shaft (2-6) is converted into rotational motion around the support shaft (2-1).
3. The integrated hydraulic actuator of the miniature large-torque high-speed joint according to claim 1, wherein the force and displacement sensor (3-2) realizes servo control of the hydraulic cylinder (2-2) and monitors displacement and output information of the hydraulic cylinder (2-2), and the torque and rotation speed sensor (3-1) monitors rotation speed and torque output by the hydraulic actuator and realizes large closed-loop servo control of the position and force of the hydraulic actuator through a control algorithm.
4. The integrated hydraulic driver of the miniature large-torque high-speed joint as claimed in claim 1, wherein the spur gear unit (2-5) comprises two gears, the end faces of the two gears are fixedly connected, the tops of the two gears are staggered by a certain angle, and the spur gear unit (2-5) and the rack (2-4) always keep tight fit between the tooth faces during meshing transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910240771.0A CN110091352B (en) | 2019-03-28 | 2019-03-28 | Miniature large-torque high-speed joint integrated hydraulic driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910240771.0A CN110091352B (en) | 2019-03-28 | 2019-03-28 | Miniature large-torque high-speed joint integrated hydraulic driver |
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| Publication Number | Publication Date |
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| CN110091352A CN110091352A (en) | 2019-08-06 |
| CN110091352B true CN110091352B (en) | 2022-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910240771.0A Expired - Fee Related CN110091352B (en) | 2019-03-28 | 2019-03-28 | Miniature large-torque high-speed joint integrated hydraulic driver |
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