CN110962156A

CN110962156A - Oil-feeding swing cylinder integrated joint

Info

Publication number: CN110962156A
Application number: CN201911362648.2A
Authority: CN
Inventors: 李旭; 付宜利; 封海波
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2020-04-07
Anticipated expiration: 2039-12-25
Also published as: CN110962156B

Abstract

An oil-feeding oscillating cylinder integrated joint relates to an integrated joint, in particular to an oil-feeding oscillating cylinder integrated joint. The invention aims to solve the problems of insufficient driving torque and too small load torque of the existing robot joint. The invention comprises a first round nut, a left actuator, a left cylinder cover, a cylinder body, a right actuator, a right cylinder cover, a second round nut and an output shaft, wherein the cylinder body is sleeved in the middle of the output shaft, the first round nut and the left cylinder cover serving as the actuator are sequentially sleeved at the left end of the output shaft from left to right, and the second round nut, the right actuator and the right cylinder cover are sequentially sleeved at the right end of the output shaft from right to left. The invention belongs to the field of robots.

Description

Oil-feeding swing cylinder integrated joint

Technical Field

The invention relates to an integrated joint, in particular to an oil-feeding swing cylinder integrated joint, and belongs to the field of robots.

Background

Nowadays, joint driving of a robot is mainly divided into two modes of motor driving and hydraulic driving: the robot joint driven by the motor has the advantages of simple structure, simple and convenient control, flexible movement and the like, but has low power density and low load; most of the hydraulic-driven motion joints adopt linear cylinders, the linear cylinders are widely applied due to the advantages of simple structure, reliable sealing, high power density and the like, but a transmission mechanism needs to be designed to convert the linear motion of a hydraulic cylinder into the rotary motion of the joints, most of the hydraulic-driven robots at present adopt the transmission mechanism of the linear hydraulic cylinder and a connecting rod or a gear rack to realize the motion conversion, and the oil way passing through the joints is realized by an external hydraulic hose to realize the transition.

The drive joints of these robots have the following problems: the robot joint driven by the motor has the disadvantages that the joint driving torque is insufficient, the load torque is too small, the output torque of the magnetic material used by the motor is limited due to the saturation characteristic, and therefore, a motor with a larger size is required to obtain a sufficient output torque. A hydraulic-driven robot joint has a high-power mass ratio and a flexible electro-hydraulic control mode, a linear hydraulic cylinder is basically connected with a transmission mechanism to drive the joint, the linear cylinder needs to convert linear motion into rotary motion required by the joint through a connecting rod or a gear rack and other mechanisms, but the linear cylinder outputs the linear motion, so that not only a larger stroke space is required, but also other mechanisms need to be designed to convert the motion form, the complexity and the volume of the robot joint are increased, and oil flowing at the joint is basically transited by an external oil pipe, so that the size of the robot joint is larger and inflexible, a hydraulic hose is easy to wear, and the assembly, disassembly and maintenance are inconvenient.

Disclosure of Invention

The invention provides an oil-walking oscillating cylinder integrated joint for solving the problems of insufficient driving torque and too small load torque of the existing robot joint.

The technical scheme adopted by the invention for solving the problems is as follows: the invention comprises a first round nut, a left actuator, a left cylinder cover, a cylinder body, a right actuator, a right cylinder cover, a second round nut and an output shaft, wherein the cylinder body is sleeved in the middle of the output shaft, the first round nut and the left cylinder cover serving as the actuator are sequentially sleeved at the left end of the output shaft from left to right, and the second round nut, the right actuator and the right cylinder cover are sequentially sleeved at the right end of the output shaft from right to left.

Furthermore, the invention also comprises an angle sensor which is arranged at the left end of the output shaft.

Further, the present invention further includes a servo valve installed on an upper surface of the cylinder body.

Furthermore, the invention also comprises a low-pressure oil sensor which is arranged on the upper surface of the cylinder body and is positioned at one side of the servo valve.

Further, the invention also comprises a high-pressure oil sensor which is arranged on the upper surface of the cylinder body and is positioned on the other side of the servo valve.

The invention has the beneficial effects that: the invention adopts the swing hydraulic cylinder as the joint driver, avoids the hydraulic robot from adopting the linear hydraulic cylinder to connect the transmission mechanism to drive the joints, the linear cylinder needs to convert the linear motion into the rotary motion required by the joints through a connecting rod or a gear rack and other mechanisms, and the swing cylinder is utilized to output large torque to directly drive each joint, so that the structure of the transmission system is more compact, the weight is lighter, and the advantage of high power-to-mass ratio of a hydraulic driving mode is fully exerted; the invention adopts an integrated machine structure with an internal oil-feeding oscillating cylinder, does not need to connect a large number of hydraulic pipelines and electric lines, and has simple structure and convenient installation and disassembly; meanwhile, the abrasion fault of the pipeline is greatly reduced, and the safety and the reliability are improved; the integrated mechanical structure ensures that the whole robot has compact structure and light weight.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a front cross-sectional view of the present invention;

FIG. 4 is a cross-sectional view A-A of FIG. 2;

FIG. 5 is a cross-sectional view B-B of FIG. 2;

fig. 6 is a cross-sectional view taken along line D-D in fig. 2.

Detailed Description

The first embodiment is as follows: the oil-feeding swing cylinder integrated joint is described with reference to fig. 1 and 2, and the oil-feeding swing cylinder integrated joint in the embodiment includes a first round nut 2, a left actuator 3, a left cylinder cover 4, a cylinder body 5, a right actuator 9, a right cylinder cover 10, a second round nut 11 and an output shaft 12, wherein the cylinder body 5 is sleeved on the middle portion of the output shaft 12, the first round nut 2 and the left cylinder cover 4 of the actuator 3 are sequentially sleeved on the left end of the output shaft 12 from left to right, and the second round nut 11, the right actuator 9 and the right cylinder cover 10 are sequentially sleeved on the right end of the output shaft 12 from right to left.

In the embodiment, the blades 5-1 are symmetrically arranged in the cylinder body 5 from top to bottom, and the baffles 5-2 are symmetrically arranged in the cylinder body 5 from left to right. The joint rotation is realized through the double-blade oscillating cylinder, an oil feeding integrated structure in the joint is adopted, and an oil way is arranged in the joint, so that the joint of the robot moves more flexibly, and the structure is more compact.

The second embodiment is as follows: the present embodiment is described with reference to fig. 1 and 2, and the oil-feeding swing cylinder integrated joint according to the present embodiment further includes an angle sensor 1, and the angle sensor 1 is attached to the left end of the output shaft 12. Other components and connections are the same as those in the first embodiment.

The third concrete implementation mode: the present embodiment will be described with reference to fig. 1 and 2, and the oil-feeding swing cylinder integrated joint according to the present embodiment further includes a servo valve 7, and the servo valve 7 is attached to the upper surface of the cylinder 5. Other components and connections are the same as those in the first embodiment.

The fourth concrete implementation mode: the present embodiment is described with reference to fig. 1 and 2, and the oil-feeding swing cylinder integrated joint according to the present embodiment further includes a low pressure oil sensor 6, the low pressure oil sensor 6 is mounted on the upper surface of the cylinder 5, and the low pressure oil sensor 6 is located on one side of the servo valve 7. Other components and connection relationships are the same as those in the first or third embodiment.

The fifth concrete implementation mode: the oil-feeding swing cylinder integrated joint according to the present embodiment is further provided with a high-pressure oil sensor 8, the high-pressure oil sensor 8 is mounted on the upper surface of the cylinder body 5, and the high-pressure oil sensor 6 is located on the other side of the servo valve 7, as described with reference to fig. 1 and 2. Other components and connection relationships are the same as those in the first or third embodiment.

Principle of operation

The working principle of the invention is explained in conjunction with fig. 1 as follows: the angle sensor 1 is connected and fixed at the left end of an output shaft 12, the right end of a left actuator 3 is supported on a left cylinder cover 4 through a bearing to swing, the left end is fixed on the output shaft 12 through a round nut 2 to be axially positioned, the left cylinder cover 4 is fixed at the left end of a cylinder body 5 through a bolt group, a low-pressure oil sensor 6, a servo valve 7 and a high-pressure oil sensor 8 are arranged on the cylinder body 5 to control and detect oil pressure of the swing cylinder, a right cylinder cover 10 is fixed at the right end of the cylinder body 5 through the bolt group, the left end of a right actuator 9 is supported on the right cylinder cover 4 through the bearing to swing, and the right end is fixed on the output shaft 12. Hydraulic oil enters through a left oil inlet and enters the cylinder body 5 through a built-in oil way, the servo valve 7 controls the oil pressure, and the blades 5-1 in the cylinder body 5 work to drive an actuator on a shaft to rotate; if the servo valve 7 is reversed, the cylinder body 5 swings reversely, and the forward and reverse rotation motion of the robot joint can be realized.

The working principle of the oil circuit of the present invention is described with reference to fig. 3 to 6:

clockwise rotation oil circuit: high-pressure oil is introduced to the left side, during experiments, the hydraulic oil is introduced from a left actuator through a first oil way 13 and enters a second oil way 14 to a third oil way 15 of a left cavity of the shaft, and rotary seals are added at the left and right sides of the joint to prevent oil leakage of an oil groove; then hydraulic oil enters an end cover circulation groove of the cylinder body 5, a lower side oil way is connected, an upper side oil way passes through a fourth oil way 16, enters a fifth oil way 17 at the upper end of the cylinder body, and then enters a high-pressure input port of the servo valve through a sixth oil way 18; and finally, the oil enters an eighth oil way 20, a ninth oil way 21 and a tenth oil way 22 of an inner annular rib of the cylinder body 5 through a seventh oil way 19 through a servo valve control port A, and enters two pairs of side cavities through eleventh oil ways 23 and twelfth oil ways 24 on baffles on two sides, so that the blades are pushed to rotate clockwise to output torque.

Rotating the oil path counterclockwise: high-pressure oil is introduced to the right side, during experiments, the hydraulic oil is introduced from the right actuator through a thirteenth oil way 25 and enters a fourteenth oil way 26 to a fifteenth oil way 27 of a left cavity of the shaft, and rotary seals are added at the left and right sides of the joint to prevent oil leakage of an oil groove; then the hydraulic oil enters an end cover circulation groove of the cylinder body 5, a lower side oil way is connected, an upper side oil way passes through a sixteenth oil way 28, enters a seventeenth oil way 29 at the upper end of the cylinder body, and enters a high-pressure input port of the servo valve through an eighteenth oil way 30; and finally, the oil enters a twentieth oil way 32, a twenty-first oil way 33 and a twenty-second oil way 34 of the annular rib of the cylinder body 5 through a nineteenth oil way 31 through a servo valve control port A, and enters two opposite side cavities through twenty-third oil ways 35 and twenty-fourth oil ways 36 on the baffles on two sides, so that the blades 5-1 are pushed to rotate anticlockwise to output torque.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a walk oily swing cylinder integration joint which characterized in that: walk oily swing jar integration joint and include first round nut (2), left executor (3), left cylinder cap (4), cylinder body (5), there are executor (9) on the right side, right cylinder cap (10), second round nut (11) and output shaft (12), and cylinder body (5) suit is at the middle part of output shaft (12), and first round nut (2), do executor (3) left cylinder cap (4) suit in proper order at the left end of output shaft (12) from left to right, and second round nut (11), right executor (9), right cylinder cap (10) suit in proper order at the right-hand member of output shaft (12) from right to left.

2. The oil-feeding swing cylinder integrated joint as claimed in claim 1, characterized in that: the oil walking swing cylinder integrated joint further comprises an angle sensor (1), and the angle sensor (1) is installed at the left end of the output shaft (12).

3. The oil-feeding swing cylinder integrated joint as claimed in claim 1, characterized in that: the oil walking swing cylinder integrated joint further comprises a servo valve (7), and the servo valve (7) is installed on the upper surface of the cylinder body (5).

4. The oil-carrying swing cylinder integrated joint according to claim 1 or 3, characterized in that: the oil-walking swing cylinder integrated joint further comprises a low-pressure oil sensor (6), wherein the low-pressure oil sensor (6) is installed on the upper surface of the cylinder body (5), and the low-pressure oil sensor (6) is located on one side of the servo valve (7).

5. The oil-carrying swing cylinder integrated joint according to claim 1 or 3, characterized in that: the oil-feeding swing cylinder integrated joint further comprises a high-pressure oil sensor (8), the high-pressure oil sensor (8) is installed on the upper surface of the cylinder body (5), and the high-pressure oil sensor (6) is located on the other side of the servo valve (7).