CN111687880A - Hydraulic drive's three degree of freedom robot joint - Google Patents
Hydraulic drive's three degree of freedom robot joint Download PDFInfo
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- CN111687880A CN111687880A CN202010700268.1A CN202010700268A CN111687880A CN 111687880 A CN111687880 A CN 111687880A CN 202010700268 A CN202010700268 A CN 202010700268A CN 111687880 A CN111687880 A CN 111687880A
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- 239000007788 liquid Substances 0.000 claims description 28
- 238000010146 3D printing Methods 0.000 claims description 2
- 239000003638 chemical reducing agent Substances 0.000 abstract description 8
- 239000003921 oil Substances 0.000 description 23
- 238000007493 shaping process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a hydraulically-driven three-degree-of-freedom robot joint, which comprises a first hydraulic rotary cylinder, a second hydraulic rotary cylinder, a third hydraulic rotary cylinder, a first connecting frame and a second connecting frame; the three hydraulic rotary cylinders respectively comprise a shell and a cylinder body, and the cylinder body rotates relative to the shell; the cylinder body connecting end of the first connecting frame is fixed on the cylinder body of the first hydraulic rotary cylinder, and the shell connecting end of the first connecting frame is fixed on the shell of the second hydraulic rotary cylinder; the cylinder body connecting end of the second connecting frame is fixed on the cylinder body of the second hydraulic rotary cylinder, and the shell connecting end of the second connecting frame is fixed on the shell of the third hydraulic rotary cylinder. Compared with a motor and a speed reducer, the hydraulic rotary cylinder has smaller weight, so that the overall weight of the robot joint is reduced, and the lightweight design of the robot joint is realized; and the hydraulic rotary cylinder driven by hydraulic pressure can provide larger torque, and the design of high load-dead weight ratio of the robot is realized.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a hydraulically-driven three-degree-of-freedom robot joint.
Background
In the field of robots, lightweight robots are becoming the market leading position, and robots with high load-to-weight ratios are the technological development direction. The robot joint plays an important role in a robot as an important component of the robot. The performance of the robot joint has an important influence on the performance of the robot, such as the load-weight ratio of the robot, the precision and the speed of the robot, and the like.
Traditional robot joints are electrically driven, namely, a mode that a motor is matched with a speed reducer is adopted, so that the movement of the robot joints is realized. However, the electric driving mode has extremely high requirements on the wiring and has a complex structure; due to the structure and the dead weight of the motor and the reducer, the load dead weight ratio of the robot joint is limited, and the power provided by the robot joint is often insufficient under the condition of certain self mass.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The invention aims to provide a hydraulic-driven three-degree-of-freedom robot joint, which at least solves the problem that the current robot joint is limited by the structure and the dead weight of a motor and a speed reducer and the self-load dead weight ratio of the robot joint is limited.
In order to achieve the above purpose, the invention provides the following technical scheme:
a hydraulically-driven three-degree-of-freedom robot joint comprises a first hydraulic rotary cylinder, a second hydraulic rotary cylinder, a third hydraulic rotary cylinder, a first connecting frame and a second connecting frame; the first hydraulic rotary cylinder, the second hydraulic rotary cylinder and the third hydraulic rotary cylinder respectively comprise a shell and a cylinder body, and the cylinder body rotates relative to the shell; the cylinder body connecting end of the first connecting frame is fixed on the cylinder body of the first hydraulic rotary cylinder, and the shell connecting end of the first connecting frame is fixed on the shell of the second hydraulic rotary cylinder; and the cylinder body connecting end of the second connecting frame is fixed on the cylinder body of the second hydraulic rotary cylinder, and the shell connecting end of the second connecting frame is fixed on the shell of the third hydraulic rotary cylinder.
In the hydraulically-driven three-degree-of-freedom robot joint, preferably, the rotation axis of the first hydraulic rotation cylinder is perpendicular to the rotation axis of the second hydraulic rotation cylinder, and the rotation axis of the second hydraulic rotation cylinder is perpendicular to the rotation axis of the third hydraulic rotation cylinder.
In the hydraulically-driven three-degree-of-freedom robot joint, the rotation axes of the first hydraulic rotation cylinder, the second hydraulic rotation cylinder and the third hydraulic rotation cylinder preferably intersect at a point.
In the hydraulically-driven three-degree-of-freedom robot joint, preferably, the first connecting frame is a butterfly connecting frame, the outer shell connecting end of the butterfly connecting frame is cylindrical, and the outer shell connecting end of the butterfly connecting frame is fixed around the outer periphery of the outer shell of the second hydraulic rotary cylinder; the cylinder body connecting end of the butterfly connecting frame is connected with one end face of the cylinder body of the first hydraulic rotary cylinder, and the cylinder body connecting end of the butterfly connecting frame is connected with the shell connecting end of the butterfly connecting frame to enable the butterfly connecting frame to be butterfly-shaped.
In the three-degree-of-freedom hydraulically-driven robot joint, preferably, the cylinder connecting end of the butterfly connecting frame is plate-shaped, and the cylinder connecting end of the butterfly connecting frame is located on one radial side of the housing connecting end of the butterfly connecting frame.
In the three-degree-of-freedom hydraulically-driven robot joint, preferably, the second connecting frame is a U-shaped connecting frame, the connecting end of the outer shell of the U-shaped connecting frame is cylindrical, and the connecting end of the outer shell of the U-shaped connecting frame is fixed around the outer periphery of the outer shell of the third hydraulic rotary cylinder.
The hydraulically-driven three-degree-of-freedom robot joint preferably has a U-shaped cylinder body connecting end of the U-shaped connecting frame, the U-shaped structure includes two connecting plates which are oppositely arranged, the two connecting plates are respectively connected to two axial ends of the cylinder body of the second hydraulic rotary cylinder, and the two connecting plates are connected to one axial side of a housing connecting end of the U-shaped connecting frame.
The three-degree-of-freedom robot joint driven by hydraulic pressure preferably has avoidance holes arranged at the connecting ends of the shell of the butterfly connecting frame and the shell of the U-shaped connecting frame, and the avoidance holes are used for avoiding the liquid inlet and the liquid outlet.
In the three-degree-of-freedom robot joint hydraulically driven, preferably, the butterfly connecting frame and the U-shaped connecting frame are both provided with lightening holes.
In the three-degree-of-freedom robot joint driven by hydraulic pressure, preferably, the butterfly-shaped connecting frame and the U-shaped connecting frame are both formed by 3D printing.
Compared with the closest prior art, the technical scheme provided by the invention has the following excellent effects:
the invention provides a hydraulically-driven three-degree-of-freedom robot joint, which adopts a driving mode that a hydraulic rotary cylinder replaces a driven motor and a speed reducer to be matched, and has smaller weight compared with the motor and the speed reducer, thereby reducing the overall weight of the robot and realizing the lightweight design of the robot; and the hydraulic rotary cylinder is connected with the hydraulic pump through a hydraulic pipeline, a traditional wiring connection mode is replaced by a hydraulic loop, and the hydraulic rotary cylinder driven by hydraulic pressure can provide larger torque, so that larger power can be provided for the joint of the three-degree-of-freedom robot, and the design of the joint of the three-degree-of-freedom robot with high load self-weight ratio is realized.
The shell of butterfly link, U-shaped link and hydraulic pressure gyration jar all adopts 3D to print the shaping, that is to say that link and shell all are integrated into one piece manufacturing shaping, and this has just guaranteed that link and shell not only have higher intensity, and weight is comparatively light moreover, realizes three degree of freedom robot joint's lightweight design, has solved the complicated and not enough problem of power of the wiring of traditional joint.
Drawings
FIG. 1 is a schematic three-dimensional structure diagram of a hydraulically driven three-degree-of-freedom robot joint according to an embodiment of the present invention;
FIG. 2 is a schematic three-dimensional structure diagram of another angle of a hydraulically driven three-degree-of-freedom robot joint according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a hydraulic swing cylinder according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a butterfly link according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a U-shaped connecting frame in an embodiment of the invention.
In the figure: 1. a first hydraulic rotary cylinder; 2. a second hydraulic rotary cylinder; 3. a third hydraulic slewing cylinder; 12. a butterfly-shaped connecting frame; 23. a U-shaped connecting frame; 101. a first oil inlet hose; 102. a first oil outlet hose; 201. a second oil inlet hose; 202. a second oil outlet hose; 301. a third oil inlet hose; 302. a third oil outlet hose; 10. a housing; 20. a cylinder body; 103. a liquid inlet; 104. a liquid outlet; 121. a butterfly frame avoidance hole; 122. a butterfly frame lightening hole; 231. a U-shaped frame avoidance hole; 232. u-shaped frame connecting plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected" and "connected" used herein should be interpreted broadly, and may include, for example, a fixed connection or a detachable connection; they may be directly connected or indirectly connected through intermediate members, and specific meanings of the above terms will be understood by those skilled in the art as appropriate.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
According to an embodiment of the present invention, as shown in fig. 1 to 5, the present invention provides a hydraulically driven three-degree-of-freedom robot joint; the main principle is as follows: hydraulic power is provided for the three hydraulic rotary cylinders through the hydraulic pump and the loop, so that the three hydraulic rotary cylinders can perform autorotation motion, and the three-degree-of-freedom rotation of the robot joint is realized.
The hydraulic-driven three-degree-of-freedom robot joint adopts a hydraulic rotary cylinder as a driving device of the robot joint, as shown in fig. 3, the hydraulic rotary cylinder comprises a shell 10 and a cylinder body 20, the cylinder body 20 is a rotating shaft positioned in the shell 10, the cylinder body 20 can rotate relative to the shell 10, a liquid inlet 103 and a liquid outlet 104 are arranged on the shell 10, the liquid inlet 103 and the liquid outlet 104 are connected with a hydraulic pump through a hydraulic pipeline and are used for controlling the hydraulic rotary cylinder to rotate through the hydraulic pump, the hydraulic rotary cylinder integrates very high torque by applying hydraulic pressure in a small space, and although the power of the hydraulic rotary cylinder is very high, the hydraulic rotary cylinder can still be accurately and easily controlled to rotate; and the hydraulic rotary cylinder is of an internal hollow structure, so that the weight of the whole three-degree-of-freedom robot joint can be reduced, and a pipeline can be configured in the hydraulic rotary cylinder. The hydraulic rotary cylinder makes the rotary cylinder body (rotary shaft) and the hydraulic rotary cylinder shell generate relative rotary motion due to the action of hydraulic oil and pressure difference. The driving power of the three-degree-of-freedom robot joint is mainly provided by hydraulic pressure, the hydraulic pump controls the hydraulic rotary cylinder to rotate by adjusting and controlling the flow of hydraulic oil, so that the connecting frame is driven to move, and the three-degree-of-freedom motion of the robot joint is realized by controlling the flow of the hydraulic pump.
The hydraulically-driven three-degree-of-freedom robot joint comprises a hydraulic pump, 6 hydraulic hoses, three hydraulic rotary cylinders, a butterfly-shaped connecting frame and a U-shaped connecting frame, wherein the two hydraulic rotary cylinders are connected with each other through the corresponding connecting frames, the hydraulic pump supplies power to the hydraulic rotary cylinders through the hydraulic hoses to realize the motion of a single hydraulic rotary cylinder, and therefore the three-degree-of-freedom motion of the robot joint is realized.
A hydraulically-driven three-degree-of-freedom robot joint comprises a first hydraulic rotary cylinder 1, a second hydraulic rotary cylinder 2, a third hydraulic rotary cylinder 3, a first connecting frame and a second connecting frame; the first hydraulic rotary cylinder 1, the second hydraulic rotary cylinder 2 and the third hydraulic rotary cylinder 3 respectively comprise a shell 10 and a cylinder body 20, and the cylinder body 20 rotates relative to the shell 10; one end of the butterfly connecting frame 12 is fixed on the cylinder body 20 of the first hydraulic rotary cylinder 1, and the other end of the butterfly connecting frame 12 is fixed on the shell 10 of the second hydraulic rotary cylinder 2; one end of the U-shaped link frame 23 is fixed to the cylinder body 20 of the second hydraulic swing cylinder 2, and the other end of the U-shaped link frame 23 is fixed to the housing 10 of the third hydraulic swing cylinder 3. The rotary axis of the first hydraulic rotary cylinder 1 is perpendicular to the rotary axis of the second hydraulic rotary cylinder 2, and the rotary axis of the second hydraulic rotary cylinder 2 is perpendicular to the rotary axis of the third hydraulic rotary cylinder 3. The rotary axes of the first hydraulic rotary cylinder 1, the second hydraulic rotary cylinder 2 and the third hydraulic rotary cylinder 3 are intersected at one point. The rotary axes of the three hydraulic rotary cylinders are vertical in pairs, and the rotary axes of the three hydraulic rotary cylinders are intersected at one point, so that the layout of the three hydraulic rotary cylinders is more compact, and the overall structure of the three-degree-of-freedom robot joint is more compact; and the mass distribution of the three hydraulic rotary cylinders is more uniform, so that the overall mass distribution of the joint of the three-degree-of-freedom robot is ensured to be more uniform.
The shells 10 of the first hydraulic rotary cylinder 1, the second hydraulic rotary cylinder 2 and the third hydraulic rotary cylinder 3 are all provided with a liquid inlet 103 and a liquid outlet 104; the liquid inlet 103 and the liquid outlet 104 are connected to a hydraulic pump through hydraulic pipes, which are an oil inlet hose and an oil outlet hose in this embodiment, for realizing the rotary motion of the cylinder body 20 relative to the housing 10.
The liquid inlet 103 and the liquid outlet 104 on the first hydraulic rotary cylinder 1 are respectively connected with a hydraulic pump through a first oil inlet hose 101 and a first oil outlet hose 102, the liquid inlet 103 and the liquid outlet 104 on the second hydraulic rotary cylinder 2 are respectively connected with a hydraulic pump through a second oil inlet hose 201 and a second oil outlet hose 202, and the liquid inlet 103 and the liquid outlet 104 on the third hydraulic rotary cylinder 3 are respectively connected with a hydraulic pump through a third oil inlet hose 301 and a third oil outlet hose 302.
Further, the first connecting frame is a butterfly connecting frame 12, the shell connecting end of the butterfly connecting frame 12 is cylindrical, and the shell connecting end of the butterfly connecting frame 12 surrounds the outer periphery of the shell 10 of the second hydraulic rotary cylinder 2. The shell connecting end of the butterfly connecting frame is cylindrical and is fixed on the periphery of the shell of the second hydraulic rotary cylinder in a surrounding mode, so that the butterfly connecting frame and the second hydraulic rotary cylinder have the largest connecting area, and connection between the butterfly connecting frame and the second hydraulic rotary cylinder is firmer.
The cylinder body connecting end of the butterfly connecting frame 12 is plate-shaped, and the cylinder body connecting end of the butterfly connecting frame 12 is connected with one end face of the cylinder body 20 of the first hydraulic rotary cylinder 1. The cylinder body connecting end of the butterfly connecting frame 12 is located on one radial side of the shell connecting end of the butterfly connecting frame 12, the cylinder body connecting end of the butterfly connecting frame 12 is connected with the shell connecting end of the butterfly connecting frame to enable the butterfly connecting frame 12 to be in a butterfly shape, specifically, the cylinder body connecting end is connected through a cylindrical structure, one end of the cylindrical structure is connected with the cylinder body connecting end or serves as the cylinder body connecting end, the other end of the cylindrical structure is connected with the middle of the shell connecting end of the butterfly connecting frame 12, a plurality of contact points are arranged between the cylinder body connecting end and the shell connecting end of the butterfly connecting frame, the butterfly connecting frame is guaranteed to have high structural strength, and accordingly the three-degree-of-freedom robot joint can. In order to improve the connection strength, a reinforcing rib structure is connected to the outer shell connecting end of the cylindrical structure and the butterfly connecting frame.
A butterfly frame avoiding hole 121 is formed in the shell connecting end of the butterfly connecting frame 12, and the butterfly frame avoiding hole 121 is used for avoiding the liquid inlet 103 and the liquid outlet 104 of the second hydraulic rotary cylinder 2, so that the liquid inlet and the liquid outlet of the hydraulic rotary cylinder can be conveniently connected with a hydraulic pipeline; the shell connecting end of the butterfly connecting frame 12 is provided with a butterfly frame lightening hole 122 for lightening the weight of the butterfly connecting frame 12, so that the weight of the butterfly connecting frame and the U-shaped connecting frame can be lightened conveniently, and the overall weight of the three-degree-of-freedom robot joint can be lightened as much as possible. The end of the butterfly-shaped connecting frame 12 connected with the first hydraulic rotary cylinder 1 is a flat plate, a connecting hole is arranged on the flat plate, and the flat plate is connected to the end face of one side of the cylinder body 20 of the first hydraulic rotary cylinder 1.
Further, the second connecting frame is a U-shaped connecting frame 23; the shell connecting end of the U-shaped link 23 is cylindrical, and the shell connecting end of the U-shaped link 23 is wound around the periphery of the third hydraulic slewing cylinder 3. The shell connecting end of the U-shaped connecting frame is cylindrical and is fixed on the periphery of the shell of the third hydraulic rotary cylinder in a surrounding mode, so that the U-shaped connecting frame and the third hydraulic rotary cylinder have the largest connecting area, and connection between the U-shaped connecting frame and the third hydraulic rotary cylinder is firmer.
The cylinder body 20 connecting end of the U-shaped connecting frame 23 is of a U-shaped structure, the U-shaped structure comprises two U-shaped frame connecting plates 232 which are oppositely arranged, the two connecting plates are respectively connected to the two axial ends of the cylinder body 20 of the second hydraulic rotary cylinder 2, and the two U-shaped frame connecting plates 232 are connected to one axial side of the shell connecting end of the U-shaped connecting frame 23. The cylinder body connecting end of the U-shaped connecting frame is respectively connected to the two axial sides of the cylinder body of the second hydraulic rotary cylinder through two oppositely arranged connecting plates, so that the reliable connection between the U-shaped connecting frame and the second hydraulic rotary cylinder is ensured; because the cylinder body link of U-shaped link is connected in the axial both sides of second hydraulic pressure gyration jar for second hydraulic pressure gyration jar can more even output moment of torsion.
The shell connecting end of the U-shaped connecting frame 23 is provided with a U-shaped frame avoiding hole 231, and the U-shaped frame avoiding hole 231 is used for avoiding the liquid inlet 103 and the liquid outlet 104 on the third connecting hydraulic rotary cylinder 3, so that a hydraulic pipeline is connected with the liquid inlet and the liquid outlet on the hydraulic rotary cylinder conveniently. Lightening holes are formed in the transition part of the U-shaped frame connecting plate 232 of the U-shaped connecting frame 23 and the shell connecting end, and the lightening holes are used for lightening the weight of the U-shaped connecting frame; the weight of the butterfly connecting frame and the U-shaped connecting frame can be conveniently reduced, and therefore the overall weight of the joint of the three-degree-of-freedom robot can be reduced as much as possible.
The shell of butterfly link, U-shaped link and hydraulic pressure gyration jar all adopts 3D to print the shaping, that is to say that the link all is the integrated into one piece with the shell promptly, and this has just also guaranteed that link and shell not only have higher intensity, and weight is comparatively light moreover, realizes the lightweight design of arm joint. The problems of complex wiring and insufficient power of the traditional joint are solved.
When the hydraulically-driven three-degree-of-freedom robot joint is used, the shell 10 of the first hydraulic rotary cylinder 1 is connected with the base; the hydraulic pump is connected with three hydraulic rotary cylinders through six-way valves and 6 hydraulic hoses, and the rotation of the hydraulic rotary cylinders is controlled by adjusting the flow of hydraulic oil.
The hydraulic pump supplies oil to the first hydraulic rotary cylinder 1 through the first oil inlet hose 101 and the first oil outlet hose 102, so that the cylinder body 20 of the first hydraulic rotary cylinder 1 drives the butterfly-shaped connecting frame 12 to rotate; the hydraulic pump supplies oil to the second hydraulic rotary cylinder 2 through the second oil inlet hose 201 and the second oil outlet hose 202, so that the cylinder body 20 of the second hydraulic rotary cylinder 2 drives the U-shaped connecting frame 23 to perform pitching oscillation; the hydraulic pump supplies oil to the third hydraulic rotary cylinder 3 through the third oil inlet hose 301 and the third oil outlet hose 302, so that the cylinder body 20 of the third hydraulic rotary cylinder 3 rotates, and three-degree-of-freedom motion of the three-degree-of-freedom robot joint is realized.
In summary, in the specific scheme of the three-degree-of-freedom robot joint hydraulically driven according to the present invention:
the three-degree-of-freedom robot joint adopts a driving mode that a hydraulic rotary cylinder replaces a driven motor and a speed reducer to be matched, and the hydraulic rotary cylinder has smaller weight than the motor and the speed reducer, so that the overall weight of the robot is reduced, and the lightweight design of the robot is realized; and hydraulic pressure gyration jar passes through hydraulic pressure pipeline and hydraulic pump connection, replaces traditional line connected mode of walking with hydraulic circuit, adopts hydraulic drive's hydraulic pressure gyration jar can provide great moment of torsion to can provide great power for the robot joint, realize the high load dead weight ratio design of robot.
The shell of butterfly link, U-shaped link and hydraulic pressure gyration jar all adopts 3D to print the shaping, that is to say that link and shell all are integrated into one piece manufacturing shaping, and this has just guaranteed that link and shell not only have higher intensity, and weight is comparatively light moreover, realizes three degree of freedom robot joint's lightweight design. The problems of complex wiring and insufficient power of the traditional joint are solved.
The invention is not to be considered as limited to the particular embodiments shown, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A hydraulically-driven three-degree-of-freedom robot joint is characterized in that the joint comprises a first hydraulic rotary cylinder, a second hydraulic rotary cylinder, a third hydraulic rotary cylinder, a first connecting frame and a second connecting frame;
the first hydraulic rotary cylinder, the second hydraulic rotary cylinder and the third hydraulic rotary cylinder respectively comprise a shell and a cylinder body, and the cylinder body rotates relative to the shell;
the cylinder body connecting end of the first connecting frame is fixed on the cylinder body of the first hydraulic rotary cylinder, and the shell connecting end of the first connecting frame is fixed on the shell of the second hydraulic rotary cylinder;
and the cylinder body connecting end of the second connecting frame is fixed on the cylinder body of the second hydraulic rotary cylinder, and the shell connecting end of the second connecting frame is fixed on the shell of the third hydraulic rotary cylinder.
2. The hydraulically driven three degree of freedom robot joint of claim 1, wherein the axis of rotation of the first hydraulic swing cylinder is orthogonal to the axis of rotation of the second hydraulic swing cylinder, which is orthogonal to the axis of rotation of the third hydraulic swing cylinder.
3. The hydraulically driven three degree of freedom robot joint of claim 2, wherein the axes of rotation of the first, second and third hydraulic slewing cylinders intersect at a point.
4. The hydraulically driven three-degree-of-freedom robot joint as claimed in claim 1, wherein the first connecting frame is a butterfly connecting frame, the outer shell connecting end of the butterfly connecting frame is cylindrical, and the outer shell connecting end of the butterfly connecting frame is fixed around the outer periphery of the outer shell of the second hydraulic rotary cylinder; the cylinder body connecting end of the butterfly connecting frame is connected with one end face of the cylinder body of the first hydraulic rotary cylinder, and the cylinder body connecting end of the butterfly connecting frame is connected with the shell connecting end of the butterfly connecting frame to enable the butterfly connecting frame to be butterfly-shaped.
5. The hydraulically driven three-degree-of-freedom robot joint according to claim 4, wherein the cylinder connecting end of the butterfly link is plate-shaped, and the cylinder connecting end of the butterfly link is located on one radial side of the housing connecting end of the butterfly link.
6. The hydraulically driven three-degree-of-freedom robot joint according to claim 4, wherein the second link is a U-shaped link, the housing connecting end of the U-shaped link is cylindrical, and the housing connecting end of the U-shaped link is fixed around the outer periphery of the housing of the third hydraulic rotary cylinder.
7. The hydraulically driven three-degree-of-freedom robot joint according to claim 6, wherein the cylinder body connecting end of the U-shaped connecting frame is a U-shaped structure, the U-shaped structure comprises two connecting plates which are oppositely arranged, the two connecting plates are respectively connected to two axial ends of the cylinder body of the second hydraulic rotary cylinder, and the two connecting plates are connected to one axial side of the housing connecting end of the U-shaped connecting frame.
8. The hydraulically driven three-degree-of-freedom robot joint as claimed in claim 6 or 7, wherein the butterfly link and the shell connecting end of the U-shaped link are both provided with avoidance holes for avoiding the liquid inlet and the liquid outlet on the hydraulic rotary cylinder.
9. The hydraulically driven three-degree-of-freedom robot joint as claimed in claim 6 or 7, wherein the butterfly link and the U-shaped link are provided with weight-reducing holes.
10. The hydraulically driven three-degree-of-freedom robot joint as claimed in claim 6 or 7, wherein the butterfly link and the U-shaped link are both formed by 3D printing.
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| CN202010700268.1A CN111687880B (en) | 2020-07-20 | 2020-07-20 | Hydraulic drive's three degree of freedom robot joints |
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| CN202010700268.1A CN111687880B (en) | 2020-07-20 | 2020-07-20 | Hydraulic drive's three degree of freedom robot joints |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112692868A (en) * | 2021-01-18 | 2021-04-23 | 之江实验室 | Integrated joint with two-end output |
| CN113511282A (en) * | 2021-06-30 | 2021-10-19 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Hip joint for foot type robot and foot type robot |
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| CN114872033A (en) * | 2022-04-29 | 2022-08-09 | 广东博智林机器人有限公司 | Three-axis rotation module and robot |
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|---|---|---|---|---|
| WO2022121506A1 (en) * | 2020-12-11 | 2022-06-16 | 烟台盛利达工程技术有限公司 | Rear-mounted direct-drive type rotary mechanical arm |
| CN112692868A (en) * | 2021-01-18 | 2021-04-23 | 之江实验室 | Integrated joint with two-end output |
| CN113511282A (en) * | 2021-06-30 | 2021-10-19 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Hip joint for foot type robot and foot type robot |
| CN114872033A (en) * | 2022-04-29 | 2022-08-09 | 广东博智林机器人有限公司 | Three-axis rotation module and robot |
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| CN111687880B (en) | 2024-02-23 |
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