CN111687880B - Hydraulic drive's three degree of freedom robot joints - Google Patents
Hydraulic drive's three degree of freedom robot joints Download PDFInfo
- Publication number
- CN111687880B CN111687880B CN202010700268.1A CN202010700268A CN111687880B CN 111687880 B CN111687880 B CN 111687880B CN 202010700268 A CN202010700268 A CN 202010700268A CN 111687880 B CN111687880 B CN 111687880B
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- connecting frame
- hydraulic rotary
- rotary cylinder
- shell
- hydraulic
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- 239000007788 liquid Substances 0.000 claims description 28
- 238000010146 3D printing Methods 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 abstract description 8
- 239000003921 oil Substances 0.000 description 23
- 230000033001 locomotion Effects 0.000 description 8
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 3
- 235000017491 Bambusa tulda Nutrition 0.000 description 3
- 241001330002 Bambuseae Species 0.000 description 3
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 3
- 239000011425 bamboo Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000007493 shaping process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000007704 transition 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
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, wherein the first hydraulic rotary cylinder is connected with the second hydraulic rotary cylinder; the three hydraulic rotary cylinders 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 the hydraulic pressure can provide larger torque, so that the design of the 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 hydraulic-driven three-degree-of-freedom robot joint.
Background
In the field of robots, lightweight robots are becoming dominant in the market, and robots with high load-to-weight ratios are a direction of technological development. The robot joints serve as an important component of the robot and play an important role in the robot. The performance of the robot joint has important influence on the performances such as the robot frontal load weight ratio, the precision and the speed of the robot.
The traditional robot joints are all driven electrically, namely, a mode that a motor is matched with a speed reducer for use is adopted, so that the movement of the robot joints is realized. However, the electric driving mode has extremely high requirements on wiring and has a relatively complex structure; the robot joint is limited in load self-weight ratio due to the structure and the dead weight of the motor and the speed reducer, and the power provided by the robot joint is often insufficient under the condition of certain self-weight.
Accordingly, 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 existing robot joint is limited in self-weight ratio due to the fact that the structure and the self weight of a motor and a speed reducer are limited.
In order to achieve the above object, the present invention provides the following technical solutions:
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 first hydraulic rotary cylinder, the second hydraulic rotary cylinder and the third hydraulic rotary cylinder 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.
In the hydraulically driven three-degree-of-freedom robot joint as described above, preferably, the rotation axis of the first hydraulic rotary cylinder is perpendicular to the rotation axis of the second hydraulic rotary cylinder, and the rotation axis of the second hydraulic rotary cylinder is perpendicular to the rotation axis of the third hydraulic rotary cylinder.
The three degree of freedom robot joint driven by hydraulic pressure as described above is preferable that the rotation axes of the first hydraulic rotation cylinder, the second hydraulic rotation cylinder and the third hydraulic rotation cylinder intersect at a point.
The hydraulic-driven three-degree-of-freedom robot joint as described above, preferably, the first connecting frame is a butterfly connecting frame, the connecting end of the housing of the butterfly connecting frame is cylindrical, and the connecting end of the housing of the butterfly connecting frame is fixed around the outer periphery of the housing 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 in a butterfly shape.
Preferably, the cylinder body connecting end of the butterfly-shaped connecting frame is plate-shaped, and the cylinder body connecting end of the butterfly-shaped connecting frame is positioned at one radial side of the shell connecting end of the butterfly-shaped connecting frame.
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 fixedly wound around the outer shell of the third hydraulic rotary cylinder.
As described above, preferably, the cylinder body connecting end of the U-shaped connecting frame is a U-shaped structure, the U-shaped structure includes two connecting plates that are disposed opposite to each other, 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.
As for the hydraulically-driven three-degree-of-freedom robot joint, preferably, the connecting ends of the butterfly-shaped connecting frame and the outer shell of the U-shaped connecting frame are respectively provided with an avoidance hole, and the avoidance holes are used for avoiding the liquid inlet and the liquid outlet.
The three-degree-of-freedom robot joint driven by hydraulic pressure as described above is preferable, and weight reducing holes are formed on the butterfly-shaped connecting frame and the U-shaped connecting frame.
The three-degree-of-freedom robot joint driven by hydraulic pressure as described above is preferable, and the butterfly-shaped connecting frame and the U-shaped connecting frame are 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 hydraulic-driven three-degree-of-freedom robot joint, which adopts a driving mode that a hydraulic rotary cylinder replaces a transmission motor to be matched with a speed reducer, and the hydraulic rotary cylinder has smaller weight compared with 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; the hydraulic rotary cylinder is connected with the hydraulic pump through a hydraulic pipeline, a traditional wiring connection mode is replaced by a hydraulic circuit, and the hydraulic rotary cylinder driven by hydraulic pressure can provide larger torque, so that larger power can be provided for the three-degree-of-freedom robot joint, and the high-load self-weight ratio design of the three-degree-of-freedom robot joint is realized.
The shell of butterfly link, U-shaped link and hydraulic rotary cylinder all adopts 3D to print the shaping, that is link and shell all are integrated into one piece, and this just has 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 complex and power not enough problem of wiring of traditional joint.
Drawings
FIG. 1 is a schematic three-dimensional structure of a hydraulically driven three-degree-of-freedom robotic joint in an embodiment of the invention;
FIG. 2 is a schematic view of a three-dimensional structure of another angle of a hydraulically driven three-degree-of-freedom robotic joint in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a hydraulic rotary cylinder according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a butterfly connection frame according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a U-shaped connection frame according to an embodiment of the present invention.
In the figure: 1. a first hydraulic rotary cylinder; 2. a second hydraulic rotary cylinder; 3. a third hydraulic rotary cylinder; 12. a butterfly connection 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; 103. a liquid inlet; 104. a liquid outlet; 121. a butterfly frame avoiding hole; 122. a butterfly frame lightening hole; 231. the U-shaped frame avoids the hole; 232. and a U-shaped frame connecting plate.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the invention, fall within the scope of protection of the invention.
In the description of the present invention, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. refer to the orientation or positional relationship based on that shown in the drawings, merely for convenience of description of the present invention 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 "coupled" and "connected" as used herein are to be construed broadly and may be, for example, fixedly coupled or detachably coupled; either directly or indirectly through intermediate components, the specific meaning of the terms being understood by those of ordinary skill in the art as the case may be.
The invention will be described in detail below with reference to the drawings in connection with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
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: the hydraulic pump and the loop provide hydraulic power for the three hydraulic rotary cylinders, so that the three hydraulic rotary cylinders can perform autorotation movement, and the three-degree-of-freedom rotation of the robot joint can be realized.
The hydraulic rotary cylinder is adopted as the driving equipment 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 hydraulic pipelines and are used for controlling the hydraulic rotary cylinder to rotate through the hydraulic pump, the hydraulic rotary cylinder uses hydraulic pressure to integrate very high torque in a very small space, and the hydraulic rotary cylinder can still accurately and easily control the hydraulic rotary cylinder to rotate despite high power; the hydraulic rotary cylinder is of a hollow structure, so that the weight of the whole three-degree-of-freedom robot joint can be reduced, and the arrangement of pipelines can be carried out in the hydraulic rotary cylinder. The hydraulic rotary cylinder is characterized in that the rotary cylinder body (rotary shaft) and the hydraulic rotary cylinder shell generate relative rotary motion under 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 movement of the robot joint is realized by controlling the flow of the hydraulic pump.
The hydraulic driven three-degree-of-freedom robot joint consists of 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 frame, the hydraulic pump supplies power to the hydraulic rotary cylinders through the hydraulic hoses, and movement of a single hydraulic rotary cylinder is achieved, so that three-degree-of-freedom movement of the robot joint is achieved.
The hydraulic-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 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 connecting frame 23 is fixed on the cylinder body 20 of the second hydraulic rotary cylinder 2, and the other end of the U-shaped connecting frame 23 is fixed on the housing 10 of the third hydraulic rotary cylinder 3. The rotation axis of the first hydraulic rotation cylinder 1 is perpendicular to the rotation axis of the second hydraulic rotation cylinder 2, and the rotation axis of the second hydraulic rotation cylinder 2 is perpendicular to the rotation axis of the third hydraulic rotation cylinder 3. The rotation axes of the first hydraulic rotation cylinder 1, the second hydraulic rotation cylinder 2 and the third hydraulic rotation cylinder 3 intersect at a point. The rotation axes of the three hydraulic rotation cylinders are perpendicular to each other, and the rotation axes of the three hydraulic rotation cylinders intersect at one point, so that the layout of the three hydraulic rotation 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 three-degree-of-freedom robot joint 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 respectively provided with a liquid inlet 103 and a liquid outlet 104; the liquid inlet 103 and the liquid outlet 104 are connected with a hydraulic pump through a hydraulic pipeline for realizing the rotary motion of the cylinder body 20 relative to the housing 10, and in this embodiment, the hydraulic pipeline is an oil inlet hose and an oil outlet hose.
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 the 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 the 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 connecting end of the outer shell of the butterfly connecting frame 12 is cylindrical, and the connecting end of the outer shell of the butterfly connecting frame 12 surrounds the outer shell 10 of the second hydraulic rotary cylinder 2. The shell connecting end of the butterfly connecting frame is cylindrical, and the butterfly connecting frame 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 connecting area as large as possible, and the connection between the butterfly connecting frame and the second hydraulic rotary cylinder is ensured to be 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 link of butterfly link 12 is located the radial one side of the shell link of butterfly link 12, the cylinder body link of butterfly link 12 makes butterfly link 12 be the butterfly through the connection with the shell link of butterfly link, specifically, through the connection of a section of thick bamboo type structure, the one end and the cylinder body link of a section of thick bamboo type structure are connected or are regarded as the cylinder body link, the other end and the middle part of the shell link of butterfly link 12 of a section of thick bamboo type structure are connected, have a plurality of contact points between the cylinder body link and the shell link of butterfly link, this has just also guaranteed that butterfly link has higher structural strength, and then guarantee that three degree of freedom robot joints can bear bigger force. In order to improve the connection strength, a reinforcing rib structure is connected with the connecting end of the shell of the cylindrical structure and the butterfly-shaped connecting frame.
A butterfly frame avoiding hole 121 is formed in the connecting end of the outer shell of the butterfly connecting frame 12, and the butterfly frame avoiding hole 121 is used for avoiding a liquid inlet 103 and a liquid outlet 104 on the second hydraulic rotary cylinder 2, so that the liquid inlet and the liquid outlet on the hydraulic rotary cylinder are convenient to connect with a hydraulic pipeline; the butterfly frame lightening holes 122 are arranged on the shell connecting end of the butterfly connecting frame 12 and are used 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 is lightened conveniently, and the overall weight of the three-degree-of-freedom robot joint is lightened as much as possible. The butterfly connection frame 12 is a flat plate at one end connected with the first hydraulic rotary cylinder 1, a connection hole is arranged on the flat plate, and the flat plate is connected to one side end face 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 connecting frame 23 is cylindrical, and the shell connecting end of the U-shaped connecting frame 23 surrounds the periphery of the third hydraulic rotary cylinder 3. The shell connecting end of the U-shaped connecting frame is cylindrical, and the connecting end of the U-shaped connecting frame 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 connecting area as large as possible, and the connection between the U-shaped connecting frame and the third hydraulic rotary cylinder is ensured to be 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 ends of the U-shaped connecting frames are respectively connected to the two axial sides of the cylinder body of the second hydraulic rotary cylinder through two connecting plates which are oppositely arranged, so that the reliable connection between the U-shaped connecting frames and the second hydraulic rotary cylinder is ensured; because the cylinder body connecting ends of the U-shaped connecting frame are connected to the two axial sides of the second hydraulic rotary cylinder, the second hydraulic rotary cylinder can output torque more uniformly.
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 a liquid inlet 103 and a liquid outlet 104 on the third connecting hydraulic rotary cylinder 3, so that the liquid inlet and the liquid outlet on the hydraulic rotary cylinder are convenient to connect with a hydraulic pipeline. The transition part of the U-shaped frame connecting plate 232 of the U-shaped connecting frame 23 and the connecting end of the shell is provided with a weight reducing hole which is used for reducing the weight of the U-shaped connecting frame; the weight of the butterfly-shaped connecting frame and the U-shaped connecting frame is convenient to reduce, so that the overall weight of the three-degree-of-freedom robot joint is reduced as much as possible.
The shell of butterfly link, U-shaped link and hydraulic rotary cylinder all adopts 3D to print the shaping, that is link and shell all are integrated into one piece, and this just has guaranteed link and shell not only to have higher intensity, and weight is comparatively light moreover, realizes the lightweight design of arm joint. Solves the problems of complex wiring and insufficient power of the traditional joint.
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 a base; the hydraulic pump is connected with the 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 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 swinging; 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 the three-degree-of-freedom motion of the three-degree-of-freedom robot joint is realized.
In summary, the specific scheme of the hydraulic-driven three-degree-of-freedom robot joint provided by the invention is as follows:
the three-degree-of-freedom robot joint adopts a driving mode that a hydraulic rotary cylinder replaces a driven motor to be matched with a speed reducer, and compared with the hydraulic rotary cylinder, the hydraulic rotary cylinder has smaller weight with 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; the hydraulic rotary cylinder is connected with the hydraulic pump through a hydraulic pipeline, a traditional wiring connection mode is replaced by a hydraulic circuit, and the hydraulic rotary cylinder driven by hydraulic pressure can provide larger torque, so that larger power can be provided for the robot joint, and the design of the high load dead weight ratio of the robot is realized.
The butterfly-shaped connecting frame, the U-shaped connecting frame and the shell of the hydraulic rotary cylinder are formed by 3D printing, namely the connecting frame and the shell are integrally manufactured and formed, so that the connecting frame and the shell are guaranteed to have high strength, the weight is light, and the light-weight design of the three-degree-of-freedom robot joint is realized. Solves the problems of complex wiring and insufficient power of the traditional joint.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. The hydraulic-driven three-degree-of-freedom robot joint is characterized by comprising 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 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;
the first connecting frame is a butterfly connecting frame, the connecting end of the shell of the butterfly connecting frame is cylindrical, and the connecting end of the shell of the butterfly connecting frame is fixedly wound on the periphery of the 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 in a butterfly shape;
the second connecting frame is a U-shaped connecting frame, the connecting end of the shell of the U-shaped connecting frame is cylindrical, and the connecting end of the shell of the U-shaped connecting frame is fixedly wound on the periphery of the shell of the third hydraulic rotary cylinder;
the connecting ends of the butterfly-shaped connecting frame and the outer shell of the U-shaped connecting frame are respectively provided with an avoidance hole, and the avoidance holes are used for avoiding a liquid inlet and a liquid outlet on the hydraulic rotary cylinder;
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.
2. The hydraulically driven three degree of freedom robotic joint of claim 1 wherein the axes of rotation of the first, second and third hydraulic rotary cylinders intersect at a point.
3. The hydraulically driven three degree of freedom robot joint of claim 1 wherein 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 a radial side of the housing connecting end of the butterfly connecting frame.
4. The hydraulically driven three degree of freedom robot joint of claim 3 wherein the cylinder body connecting end of the U-shaped connecting frame is of a U-shaped structure, the U-shaped structure comprises two connecting plates which are oppositely arranged, the two connecting plates are respectively connected with the two axial ends of the cylinder body of the second hydraulic rotary cylinder, and the two connecting plates are connected with one axial side of the shell connecting end of the U-shaped connecting frame.
5. The hydraulically driven three degree of freedom robotic joint of claim 3 or 4, wherein the butterfly-shaped connecting frame and the U-shaped connecting frame are provided with lightening holes.
6. The hydraulically driven three degree of freedom robotic joint of claim 3 or 4, wherein the butterfly-shaped and U-shaped links are formed using 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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| CN111687880B true CN111687880B (en) | 2024-02-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112524103A (en) * | 2020-12-11 | 2021-03-19 | 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 |
| CN113511282B (en) * | 2021-06-30 | 2023-07-21 | 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 robot and foot 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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| CN111687880A (en) | 2020-09-22 |
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