CN113815012A - Integrated hydraulic robot connecting rod - Google Patents
Integrated hydraulic robot connecting rod Download PDFInfo
- Publication number
- CN113815012A CN113815012A CN202010577030.4A CN202010577030A CN113815012A CN 113815012 A CN113815012 A CN 113815012A CN 202010577030 A CN202010577030 A CN 202010577030A CN 113815012 A CN113815012 A CN 113815012A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- piston rod
- integrated hydraulic
- robot
- hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003921 oil Substances 0.000 claims abstract description 32
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims description 14
- 239000007788 liquid Substances 0.000 claims description 6
- 230000017525 heat dissipation Effects 0.000 claims description 2
- 238000005452 bending Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 230000003068 static effect Effects 0.000 abstract description 2
- 238000007789 sealing Methods 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The inertia of the connecting rod of the robot has great influence on the static and dynamic performance of the robot, and the lowest inertia is obtained through stress on the premise of meeting the performance requirement. However, the connecting rod and the driving unit of the existing hydraulic robot mostly adopt a split structure, the volume and the weight of the connecting rod are increased invisibly, meanwhile, as the driving unit adopts an external hydraulic oil pipe to supply oil to the driving unit, the bending force generated by bending a hydraulic hose also has a powerful effect on the torque of the joint of the robot, the force is difficult to measure, and the control precision of the torque of the joint is reduced. The invention provides an integrated hydraulic robot connecting rod, which solves the problems that the existing hydraulic robot connecting rod has single function, is large in volume and weight after being matched with a driver, influences of bending force of a hydraulic hose on joint torque and the like, and meanwhile, oil can be radiated in the flowing process of a connecting rod oil passage, so that the radiating power of a system is reduced.
Description
The technical field is as follows:
the invention relates to an integrated hydraulic robot connecting rod, and belongs to the field of robots.
Background art:
the inertia of the connecting rod of the robot has great influence on the static and dynamic performance of the robot, and the lowest inertia is obtained through stress on the premise of meeting the performance requirement. However, the connecting rod and the driving unit of the existing hydraulic robot mostly adopt a split structure, the volume and the weight of the connecting rod are increased invisibly, meanwhile, as the driving unit adopts an external hydraulic oil pipe to supply oil to the driving unit, the bending force generated by bending a hydraulic hose also has a powerful effect on the torque of the joint of the robot, the force is difficult to measure, and the control precision of the torque of the joint is reduced.
The invention content is as follows:
the invention provides an integrated hydraulic robot connecting rod, aiming at solving the problems that the existing hydraulic robot connecting rod has single function, is large in volume and weight after being matched with a driver, and influences of bending force of a hydraulic hose on joint torque.
The invention discloses an integrated hydraulic robot connecting rod which comprises a connecting rod ear ring (101), a hydraulic pressure sensor (102), a servo valve (103), a piston rod (104), a hydraulic pressure sensor (105), a connecting rod body (106), a one-dimensional force sensor (107), a piston rod ear ring (108), a connecting pin shaft (109), a guide slider (110), a displacement sensor (116) and guide wheels (501), (502), (503), (504), (505), (506), (507) and (508).
One end of the guide sliding block (110) is connected with a piston rod ear ring (108) through a pin shaft (109), the piston rod ear ring (108) is connected with a one-dimensional force sensor (107) through threads, and the other end of the one-dimensional force sensor (107) is connected with the piston rod (104) through threads. Under the action of pressure oil, the piston rod (104) can move in the cavity of the connecting rod body (106).
One end of the displacement sensor (115) is connected with the piston rod ear ring (108), and the other end of the displacement sensor is connected with the connecting rod body (106) through a fastening screw (116). For measuring the amount of movement of the piston rod (104) relative to the connecting rod body (106).
The liquid pressure sensor (102) and the liquid pressure sensor (105) are connected with the connecting rod body (106) through threads and used for measuring the pressure of two cavities of the connecting rod body (106).
The one-dimensional force sensor (107) is used for measuring the driving force of the piston rod (104).
The guide slider (110) is provided with guide wheels (501), (502), (503), (504), (505), (506), (507) and (508), slides in the connecting rod body (106), and can ensure that the piston rod (104) only bears axial force but not radial force.
The invention has the advantages that: the hydraulic robot integrates the connecting rod, the driving unit and the hydraulic oil pipe into a whole, so that the total inertia is reduced on the premise of meeting the system requirements, the influence of the bending force of the hydraulic oil pipe in the movement process of the connecting rod is eliminated, the natural heat exchange of the oil can be realized due to the flow of the hydraulic oil in the metal oil duct, the power of a heat dissipation system is reduced, and in addition, each joint of the robot adopts a needle bearing structure, so that the connecting rod is convenient to replace.
The invention has reasonable structural design, small volume, low inertia and convenient maintenance and replacement, improves the aesthetic property of the connecting rod of the robot and is convenient for improving the performance of the robot.
Drawings
FIG. 1 is an integrated hydraulic robot linkage according to the present invention;
FIG. 2 is a partial cross-sectional view of a connecting rod earring;
FIG. 3 is a partial cross-sectional view at pin 303;
FIG. 4A-A is a sectional view;
FIG. 5B-B is a cross-sectional view;
fig. 6 guides the slide.
Detailed Description
The specific implementation mode is as follows: the integrated hydraulic robot link action process is described below with reference to fig. 1 and 4. The invention discloses an integrated hydraulic robot connecting rod which comprises a connecting rod ear ring (101), a hydraulic pressure sensor (102), a servo valve (103), a piston rod (104), a hydraulic pressure sensor (105), a connecting rod body (106), a one-dimensional force sensor (107), a piston rod ear ring (108), a connecting pin shaft (109), a guide slider (110), a displacement sensor (116) and guide wheels (501), (502), (503), (504), (505), (506), (507) and (508).
One end of the guide sliding block (110) is connected with a piston rod ear ring (108) through a pin shaft (109), the piston rod ear ring (108) is connected with a one-dimensional force sensor (107) through threads, and the other end of the one-dimensional force sensor (107) is connected with the piston rod (104) through threads. Under the action of pressure oil, the piston rod (104) can move in the cavity of the connecting rod body (106).
One end of the displacement sensor (115) is connected with the piston rod ear ring (108), and the other end of the displacement sensor is connected with the connecting rod body (106) through a fastening screw (116). For measuring the amount of movement of the piston rod (104) relative to the connecting rod body (106).
The liquid pressure sensor (102) and the liquid pressure sensor (105) are connected with the connecting rod body (106) through threads and used for measuring the pressure of two cavities of the connecting rod body (106).
The one-dimensional force sensor (107) is used for measuring the driving force of the piston rod (104).
The guide slider (110) is provided with guide wheels (501), (502), (503), (504), (505), (506), (507) and (508), slides in the connecting rod body (106), and can ensure that the piston rod (104) only bears axial force but not radial force.
When high-pressure oil output by the servo valve (103) enters a rodless cavity of the connecting rod body (106) to push the piston rod (104) to extend out, low-pressure oil flows into the oil channel (402) through the servo valve (103), the piston rod (104) pushes the guide slider (110) to move, the guide slider (110) pushes the driving rod (112) to move, the driving rod (112) drives the second connecting rod (114) to rotate around the pin shaft (303) through the pin shaft (113), and the increase of the angle between the connecting rod body (106) and the second connecting rod lug ring (114) is realized.
The flow mode of the hydraulic oil is described below with reference to fig. 2, fig. 3, fig. 4, and fig. 5, and a part of the high-pressure oil flowing into the high-pressure cavity (206) of the link earring (101) enters the oil supply port of the servo valve (103) through the oil passage (325) and the oil passage (401), and a part of the high-pressure oil enters the oil passage (314) of the second link earring (115) through the oil passage (327) of the pin shaft (322), so that the high-pressure oil is conveyed between the links.
And low-pressure oil returned by the second connecting rod lug (115) enters an oil channel (326) of the connecting rod body (106) through an oil channel (312) and an oil channel (328) of the pin shaft (303) and is conveyed to a low-pressure cavity (201) of the connecting body lug (101), so that the low-pressure oil is conveyed. Low-pressure oil discharged from an oil return port of the servo valve (103) is also collected into the oil passage (326) through the oil passage (402).
The sealing condition of the joint is described with reference to fig. 3, and a sealing ring (305) and a sealing ring (307) arranged on the connecting rod body (106) are used for preventing low-pressure hydraulic oil from leaking to the outside; the sealing ring (319) and the sealing ring (320) arranged on the connecting rod body (106) are used for preventing high-pressure hydraulic oil from leaking to the outside; the sealing ring (311) arranged on the second connecting rod ear ring (115) is used for preventing low-pressure oil from leaking to the outside, and the sealing ring (315) is used for preventing high-pressure hydraulic oil from leaking to the outside.
The movement between the different links is described below in connection with fig. 3. The pin shaft (303) is connected with the inner rings of the needle roller bearings (304), (308) and (310), the outer rings of the needle roller bearings (304) and (308) are connected with the connecting rod body (106), and the mutual movement between the pin shaft (303) and the connecting rod body (106) is realized. The outer ring of the needle bearing (310) is connected with the second connecting rod ear ring (115) to realize the mutual movement between the pin shaft (303) and the second connecting rod ear ring (115).
The pin shaft (322) is connected with the inner rings of the needle roller bearings (315), (319) and (320), the outer rings of the needle roller bearings (319) and (320) are connected with the connecting rod body (106), and the mutual movement between the pin shaft (322) and the connecting rod body (106) is realized. The outer ring of the needle bearing (315) is connected with the second connecting rod ear ring (115) to realize the mutual movement between the pin shaft (322) and the second connecting rod ear ring (115).
The pin shaft end cover (302) is connected with the connecting rod body (106) through a fastening screw (301) and used for preventing the pin shaft (302) from moving in the connecting rod body (106) in an axial direction.
The pin shaft end cover (324) is connected with the connecting rod body (106) through a fastening screw (323) and used for preventing the pin shaft (322) from moving in the connecting rod body (106) along the axial direction.
The operation of the invention comprises the following working conditions:
the working condition I is as follows: in a position control mode, the controller realizes the displacement control of the connecting rod of the integrated hydraulic robot through the displacement sensor (115) of the connecting rod of the integrated hydraulic robot and the servo valve (103), and further realizes the joint corner control of the robot.
Working conditions are as follows: and in a driving force control mode, the controller realizes the driving force control of the connecting rod of the integrated hydraulic robot through the one-dimensional force sensor (107) of the connecting rod of the integrated hydraulic robot and the servo valve (103), and further realizes the torque control of the joint of the robot.
Working conditions are as follows: when the driving rod (112) is stressed, the force acts on the guide sliding block (110) through the pin shaft (111), and the force of the force in the radial direction of the piston rod (104) is balanced by the guide wheel, so that the piston rod (104) is prevented from being subjected to radial force, and the motion continuity of the piston rod (104) is ensured.
Claims (10)
1. The integrated hydraulic robot connecting rod is characterized by comprising a connecting rod ear ring (101), a hydraulic pressure sensor (102), a servo valve (103), a piston rod (104), a hydraulic pressure sensor (105), a connecting rod body (106), a one-dimensional force sensor (107), a piston rod ear ring (108), a connecting pin shaft (109), a guide slider (110), a displacement sensor (116) and guide wheels (501), (502), (503), (504), (505), (506), (507) and (508);
one end of the guide sliding block (110) is connected with a piston rod ear ring (108) through a pin shaft (109), the piston rod ear ring (108) is connected with a one-dimensional force sensor (107) through threads, the other end of the one-dimensional force sensor (107) is connected with the piston rod (104) through threads, and the piston rod (104) can move in a cavity of the connecting rod body (106) under the action of pressure oil;
one end of the displacement sensor (115) is connected with the piston rod earring (108), and the other end of the displacement sensor is connected with the connecting rod body (106) through a fastening screw (116) and is used for measuring the movement amount of the piston rod (104) relative to the connecting rod body (106);
the liquid pressure sensor (102) and the liquid pressure sensor (105) are connected with the connecting rod body (106) through threads and used for measuring the pressure of two cavities of the connecting rod body (106);
the one-dimensional force sensor (107) is used for measuring the driving force of the piston rod (104);
the guide slider (110) is provided with guide wheels (501), (502), (503), (504), (505), (506), (507) and (508), slides in the connecting rod body (106), and can ensure that the piston rod (104) only bears axial force but not radial force.
2. The integrated hydraulic robot link according to claim 1, characterized in that it integrates a link, a driving unit and a hydraulic oil circuit.
3. The integrated hydraulic robot linkage according to claim 1, wherein a hydraulic pressure sensor, a one-dimensional force sensor and a displacement sensor are provided thereon for measuring the pressure of the two chambers of the integrated linkage, the displacement of the piston rod driver and the piston rod relative to the linkage body, thereby facilitating displacement control and driving force control of the integrated linkage.
4. The integrated hydraulic robot connecting rod according to claim 1, wherein the integrated hydraulic robot connecting rod body is provided with oil supply and return ducts for facilitating heat dissipation of hydraulic oil.
5. The integrated hydraulic robot linkage according to claim 1, wherein the guide slider is provided with a guide wheel in an axial direction to ensure that the piston rod is not subjected to radial forces.
6. The integrated hydraulic robot linkage as recited in claim 1, wherein the integrated hydraulic robot linkage provides oil transfer between different linkages at a joint via a hollow pin.
7. The integrated hydraulic robotic link of claim 1, wherein the integrated hydraulic robotic link is joint driven by a four-bar mechanism.
8. The integrated hydraulic robot linkage according to claim 1, wherein the integrated hydraulic robot linkage is provided with needle bearings and seals at joints to facilitate linkage replacement.
9. The integrated hydraulic robot linkage according to claim 1, wherein the integrated hydraulic robot linkage is position controllable.
10. The integrated hydraulic robot linkage according to claim 1, wherein the integrated hydraulic robot linkage is capable of driving force control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010577030.4A CN113815012A (en) | 2020-06-19 | 2020-06-19 | Integrated hydraulic robot connecting rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010577030.4A CN113815012A (en) | 2020-06-19 | 2020-06-19 | Integrated hydraulic robot connecting rod |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113815012A true CN113815012A (en) | 2021-12-21 |
Family
ID=78912276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010577030.4A Pending CN113815012A (en) | 2020-06-19 | 2020-06-19 | Integrated hydraulic robot connecting rod |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113815012A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013104717A1 (en) * | 2013-05-07 | 2014-11-13 | Ewo Fluid Power Gmbh | Hydraulic cylinder with integrated position transducer |
| CN108161982A (en) * | 2017-11-28 | 2018-06-15 | 北京机械设备研究所 | A kind of robot articular driver |
| CN110816707A (en) * | 2019-11-19 | 2020-02-21 | 山东大学 | Structure integrated leg of driving, sensing and pipeline of hydraulic driving foot type robot |
-
2020
- 2020-06-19 CN CN202010577030.4A patent/CN113815012A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013104717A1 (en) * | 2013-05-07 | 2014-11-13 | Ewo Fluid Power Gmbh | Hydraulic cylinder with integrated position transducer |
| CN108161982A (en) * | 2017-11-28 | 2018-06-15 | 北京机械设备研究所 | A kind of robot articular driver |
| CN110816707A (en) * | 2019-11-19 | 2020-02-21 | 山东大学 | Structure integrated leg of driving, sensing and pipeline of hydraulic driving foot type robot |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20211221 |
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| WD01 | Invention patent application deemed withdrawn after publication |