CN116044862A - Integrated hydraulic cylinder with built-in displacement sensor and hydraulic driving robot - Google Patents
Integrated hydraulic cylinder with built-in displacement sensor and hydraulic driving robot Download PDFInfo
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- CN116044862A CN116044862A CN202211582814.1A CN202211582814A CN116044862A CN 116044862 A CN116044862 A CN 116044862A CN 202211582814 A CN202211582814 A CN 202211582814A CN 116044862 A CN116044862 A CN 116044862A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
- F15B15/2869—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using electromagnetic radiation, e.g. radar or microwaves
- F15B15/2876—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using electromagnetic radiation, e.g. radar or microwaves using optical means, e.g. laser
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1428—Cylinders
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1447—Pistons; Piston to piston rod assemblies
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1447—Pistons; Piston to piston rod assemblies
- F15B15/1452—Piston sealings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1457—Piston rods
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/149—Fluid interconnections, e.g. fluid connectors, passages
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
- F15B15/2884—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using sound, e.g. ultrasound
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6656—Closed loop control, i.e. control using feedback
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
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Abstract
The invention discloses an integrated hydraulic cylinder with a built-in displacement sensor and a hydraulic driving robot, wherein the integrated hydraulic cylinder comprises an output shaft assembly, a cylinder barrel assembly, a servo valve, a dust-proof ring, a sealing ring assembly, a pressure sensor assembly and a hydraulic cylinder end cover; the output shaft assembly comprises a fish-eye joint, a piston rod, a reading head assembly, a piston assembly and a fastening nut; the piston rod is uniformly etched with a grating array in the axial direction, and the reading head senses the axial movement of the piston rod grating to output a pulse signal; the piston divides a cylinder barrel assembly of the integrated hydraulic cylinder into a left working cavity and a right working cavity; the servo valve is connected with the cylinder barrel assembly through bolts; the pressure sensor is connected with a cylinder barrel assembly of the integrated hydraulic cylinder through threads. According to the invention, the grating grooves are uniformly distributed through the reading head and the piston rod so as to realize displacement detection of the hydraulic cylinder, and the hydraulic cylinder has the characteristics of high integration level, small size and high accuracy.
Description
Technical Field
The invention relates to the field of hydraulic robot driving joints, in particular to an integrated hydraulic cylinder with a built-in displacement sensor and a hydraulic driving robot.
Background
The hydraulic cylinder is a core driving unit of the hydraulic driving robot and has the outstanding advantages of high output force, high power density and the like. The hydraulic cylinder directly controls the rotation of the hydraulic robot joint, and the displacement signal is an important feedback signal for robot control. However, the traditional magnetostrictive sensor, LVDT sensor and the like are required to be provided with a measuring rod and a magnetic ring (or an induction coil) in the hydraulic cylinder, so that the axial size and the weight of the hydraulic cylinder are increased, the installation structure is complex, and the integration and the miniaturization of the hydraulic cylinder are not facilitated. It is thus highly desirable to develop an integrated hydraulic cylinder with a built-in displacement sensor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an integrated hydraulic cylinder with a built-in displacement sensor and a hydraulic driving robot. The integrated hydraulic cylinder with the built-in displacement sensor has the advantages that the force output element piston rod is multiplexed into the hydraulic cylinder displacement direct feedback element, the grating array is evenly etched in the axial direction of the piston rod, the reading head senses the axial movement of the piston rod grating to output pulse signals, and the integrated hydraulic cylinder has the advantages of simplicity in installation, high integration level and high measurement accuracy.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
according to a first aspect of the present invention, there is provided an integrated hydraulic cylinder with a built-in displacement sensor, comprising an output shaft assembly, a cylinder barrel assembly, a servo valve, a dust ring, a sealing ring assembly, a pressure sensor assembly and a hydraulic cylinder end cover; the output shaft assembly comprises a fish-eye joint, a piston rod, a reading head assembly and a piston assembly; the reading head assembly comprises a reading head and a cable; the built-in displacement sensor consists of a piston rod and a reading head assembly; the right end of the fish-eye joint is connected with the piston rod; the left end of the cylinder barrel assembly is connected with the dust-proof ring, the right end of the cylinder barrel assembly is connected with the hydraulic cylinder end cover, and the top of the cylinder barrel assembly is connected with the servo valve; the cable is led out axially through holes in the dustproof ring and the sealing ring assembly; the end face of the inner hole on the left side of the piston assembly is contacted with the stepped end face of the piston rod;
the piston rod is provided with a grating array which is uniformly etched along the axial direction, and the reading head senses the axial movement of the grating on the piston rod to output a pulse signal; so as to obtain the displacement of the piston rod; the reading head assembly is sleeved on the piston rod, the left end of the reading head assembly is contacted with the right end face of the sealing ring assembly, and the right end face of the reading head assembly is contacted with the end face of the stepped hole of the cylinder barrel assembly, so that the axial positioning of the reading head is realized.
Further, the piston rod acts as a force output element and is multiplexed as a displacement feedback element of the integrated hydraulic cylinder.
Further, the piston assembly further comprises a piston, a third sealing ring and a fourth sealing ring; the piston assembly divides the cylinder assembly into a left chamber and a right chamber; the third sealing ring and the fourth sealing ring are used for avoiding the condition that leakage exists in the left cavity and the right cavity, when the left cavity is communicated with the servo valve, the high-pressure oil pushes the piston rod to move rightwards, and when the right cavity is communicated with the servo valve, the high-pressure oil pushes the piston rod to move leftwards.
Further, the output shaft assembly further comprises a first nut and a second nut; the right side of the piston assembly is compressed through the first nut and the second nut so as to realize the axial positioning of the piston.
Further, the right end of the fish-eye joint is connected with the piston rod through threads.
Further, the top of the cylinder barrel assembly is connected with a servo valve through a bolt, the cylinder barrel assembly is provided with a P oil port, an A oil port, a B oil port and a T oil port, and the servo valve is provided with an oil inlet and an oil return port; the P oil port and the T oil port are respectively communicated with the oil inlet and the oil return port through internal pipelines; and the oil port A and the oil port B are respectively connected with a left cavity and a right cavity of the integrated hydraulic cylinder through an inner pipeline.
Further, the left end of the cylinder barrel assembly is connected with the dust-proof ring through bolts; the right end is connected with the hydraulic cylinder end cover through bolts.
Further, the pressure sensor assembly further comprises a first pressure sensor and a second pressure sensor; the first pressure sensor and the second pressure sensor are connected with the cylinder barrel assembly through threads and are respectively communicated with the left cavity and the right cavity of the cylinder barrel assembly.
Further, the first pressure sensor and the second pressure sensor are respectively used for monitoring the pressure of the left cavity and the right cavity of the integrated hydraulic cylinder.
According to a second aspect of the present invention, there is provided a hydraulically driven robot comprising an integrated hydraulic cylinder with a built-in displacement sensor as described above; the hip joint of the hydraulic driving robot is connected with an integrated hydraulic cylinder with a built-in displacement sensor through a central hole of the fish-eye joint.
The beneficial results of the invention are: the integrated hydraulic cylinder provided by the invention multiplexes the piston rod of the force output element into the direct feedback element of the hydraulic cylinder displacement, integrates the displacement sensor under the original size of the hydraulic cylinder, and has the characteristics of small number of measuring elements, high integration level and high displacement measuring precision.
Drawings
FIG. 1 is a schematic view of the external structure of an integrated hydraulic cylinder with a built-in displacement sensor according to the present invention;
FIG. 2 is a cross-sectional view of an integrated hydraulic cylinder incorporating a displacement sensor according to the present invention;
FIG. 3 is a diagram of an output shaft assembly of an integrated hydraulic cylinder incorporating a displacement sensor according to the present invention;
FIG. 4 is a piston rod diagram of an integrated hydraulic cylinder with a built-in displacement sensor according to the present invention;
FIG. 5 is a diagram of a cylinder assembly of an integrated hydraulic cylinder incorporating a displacement sensor according to the present invention;
fig. 6 is a schematic structural diagram of a hydraulic driving robot according to an embodiment of the present invention.
In the figure: the device comprises an output shaft assembly 1, a fish eye joint 1.1, a piston rod 1.2, a reading head assembly 1.3, a reading head 1.3.1, a cable 1.3.2, a first sealing ring 1.3.3, a second sealing ring 1.3.4, a piston assembly 1.4, a piston 1.4.1, a third sealing ring 1.4.2, a fourth sealing ring 1.4.3, a first nut 1.5, a second nut 1.6, a cylinder assembly 2, a servo valve 3, a dust ring 4, a sealing ring assembly 5, a pressure sensor assembly 6, a first pressure sensor 6.1, a second pressure sensor 6.2 and a hydraulic cylinder end cover 7.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
The present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In addition, the technical features of the embodiments described below may be combined with each other as long as they do not collide with each other.
Example 1
The embodiment of the invention provides an integrated hydraulic cylinder with a built-in displacement sensor, which comprises an output shaft assembly 1, a cylinder barrel assembly 2, a servo valve 3, a dust-proof ring 4, a sealing ring assembly 5, a pressure sensor assembly 6 and a hydraulic cylinder end cover 7; the output shaft assembly 1 comprises a fish-eye joint 1.1, a piston rod 1.2, a reading head assembly 1.3, a piston assembly 1.4, a first nut 1.5 and a second nut 1.6; the reading head assembly 1.3 comprises a reading head 1.3.1, a cable 1.3.2, a first sealing ring 1.3.3 and a second sealing ring 1.3.4; the piston assembly 1.4 comprises a piston 1.4.1, a third sealing ring 1.4.3 and a fourth sealing ring 1.4.3; the pressure sensor assembly 6 comprises a first pressure sensor 6.1 and a second pressure sensor 6.2. The built-in displacement sensor consists of a piston rod 1.2 and a reading head assembly 1.3.
As shown in fig. 3, the right end of the fisheye joint 1.1 in the output shaft assembly 1 is connected with the piston rod 1.2 through threads.
As shown in fig. 4, the piston rod 1.2 is uniformly etched with a grating array along the axial direction, and the reading head (1.3.1) senses the axial movement of the grating on the piston rod (1.2) to output a pulse signal so as to obtain the displacement of the piston rod (1.2); wherein, one grating corresponds to one pulse, and the displacement is equal to the product of the grating spacing and the pulse number; furthermore, the length of the grating array is determined by the span. The piston rod 1.2 serving as a force output element is multiplexed into an integrated hydraulic cylinder displacement feedback element, so that the addition of additional elements is avoided, and the overall structural compactness of the integrated hydraulic cylinder can be improved.
As shown in fig. 2 and 3, the reading head assembly 1.3 is sleeved on the piston rod 1.2, the left end of the reading head assembly 1.3 is contacted with the right end face of the sealing ring assembly 5, and the right end of the reading head assembly 1.3 is contacted with the end face of the stepped hole of the cylinder barrel assembly 2 for realizing the axial positioning of the reading head 1.3.1. The cable 1.3.2 is led out axially through a hole in the dust ring 4 and the sealing ring assembly 5.
The left inner hole end face of the piston assembly 1.4 is contacted with the stepped end face of the piston rod 1.2, and the right side is tightly pressed by the first nut 1.5 and the second nut 1.6, so that the axial positioning of the piston 1.4.1 is realized. The mode that uses the double nut to compress tightly can avoid the piston to appear not hard up under the high pressure effect and lead to the condition that integrated pneumatic cylinder became invalid, can reach the purpose that machinery was loosened to improve the reliability of compress tightly the structure. The piston assembly 1.4 divides the cylinder assembly 2 into a left cavity and a right cavity; the third sealing ring 1.4.2 and the fourth sealing ring 1.4.3 are used for avoiding the condition that leakage exists in the left cavity and the right cavity, when the left cavity is communicated with the servo valve 3, the high-pressure oil pushes the piston rod to move rightwards, and when the right cavity is communicated with the servo valve 3, the high-pressure oil pushes the piston rod to move leftwards.
As shown in fig. 1 and 5, the cylinder barrel assembly 2 is integrally printed and formed through 3D printing, so that the special-shaped layout of the integrated hydraulic cylinder runner is facilitated, the quality of the integrated hydraulic cylinder is reduced, and the installation structure is simplified. The top of the cylinder assembly 2 is connected to the servo valve 3 by means of bolts. The cylinder barrel assembly 2 is provided with a P oil port, an A oil port, a B oil port and a T oil port, and the servo valve 3 is provided with an oil inlet and an oil return port; the oil inlet and the oil return port are respectively communicated with the oil port P and the oil port T through internal pipelines, and the oil port A and the oil port B are respectively connected with the left cavity and the right cavity of the integrated hydraulic cylinder through internal pipelines. The right end of the cylinder barrel assembly 2 is connected with a hydraulic cylinder end cover 7 through a bolt; the left end of the cylinder barrel assembly 2 is connected with a dust-proof ring 4 through bolts; wherein, dust ring 4 can avoid external impurity to get into inside the integrated pneumatic cylinder, effectively avoid the oil pollution, integrated pneumatic cylinder reveal, servo valve 3 jam scheduling trouble.
As shown in fig. 2, the first pressure sensor 6.1 and the second pressure sensor 6.2 in the pressure sensor assembly 6 are connected with the cylinder assembly 2 through threads, are respectively communicated with the left cavity and the right cavity of the cylinder assembly 2, are used for monitoring the pressures of the left cavity and the right cavity of the integrated hydraulic cylinder in real time, and provide feedback signals for the closed-loop control of the pressure of the hydraulic system of the hydraulic driving robot.
Example 2
The embodiment of the invention provides a hydraulic driving robot, as shown in fig. 6, comprising an integrated hydraulic cylinder with a built-in displacement sensor in embodiment 1.
The integrated hydraulic cylinder with the built-in displacement sensor is mounted on the hydraulic driving robot as follows:
step one, mounting the integrated hydraulic cylinder on a hip joint of a hydraulic driving robot; the left end of the hydraulic driving robot is connected with an integrated hydraulic cylinder with a built-in displacement sensor through a center hole of the fish-eye joint 1.1.
And step two, connecting the integrated hydraulic cylinder with a power system and a control system of the hydraulic driving robot.
And step three, after the installation, debugging the hydraulic driving robot.
The working process of the hydraulic driving robot is as follows:
(1) After receiving a rightward displacement command of the integrated hydraulic cylinder, a control system on the hydraulic drive robot control panel outputs a control signal to control a valve core of the servo valve 3 to move, so that a P oil port, an A oil port, a left cavity, a right cavity, a B oil port, a T oil port and high-pressure oil push a piston rod 1.2 to move rightward, a reading head assembly 1.3 senses axial movement of a grating of the piston rod 1.2 and outputs a pulse signal, and the displacement of the piston rod 1.2 is obtained through calculation; wherein, one grating corresponds to one pulse, and the displacement is equal to the product of the grating spacing and the pulse number; the displacement is used as a feedback signal to be input into a control system, so that the displacement closed-loop control of the integrated hydraulic cylinder is realized;
(2) After the control system receives a leftward displacement command of the hydraulic cylinder, a control signal is output to control a valve core of the servo valve 3 to move, so that a P oil port, a B oil port, a right cavity, a left cavity, an A oil port and a T oil port are formed, high-pressure oil liquid pushes a piston rod 1.2 to move leftwards, a reading head assembly 1.3 senses axial displacement of a grating of the piston rod 1.2 to output a pulse signal, displacement of the piston rod 1.2 is obtained through calculation, and the displacement is input into the control system as a feedback signal, so that closed-loop displacement control of the integrated hydraulic cylinder is realized.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary or exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Finally, it should be noted that the above description is only a specific application example of the present invention, and various installation forms of the displacement sensor may be designed according to the needs, and obviously other application examples which are the same as the basic principle of the present invention should also belong to the protection scope of the present invention.
Claims (10)
1. An integrated hydraulic cylinder with a built-in displacement sensor is characterized by comprising an output shaft assembly (1), a cylinder barrel assembly (2), a servo valve (3), a dust-proof ring (4), a sealing ring assembly (5), a pressure sensor assembly (6) and a hydraulic cylinder end cover (7); the output shaft assembly (1) comprises a fisheye joint (1.1), a piston rod (1.2), a reading head assembly (1.3) and a piston assembly (1.4); the reading head assembly (1.3) comprises a reading head (1.3.1) and a cable (1.3.2); the built-in displacement sensor consists of a piston rod (1.2) and a reading head assembly (1.3); the right end of the fish eye joint (1.1) is connected with the piston rod (1.2); the left end of the cylinder barrel assembly (2) is connected with the dust-proof ring (4), the right end of the cylinder barrel assembly is connected with the hydraulic cylinder end cover (7), and the top of the cylinder barrel assembly is connected with the servo valve (3); the cable (1.3.2) is led out along the axial direction through the dustproof ring (4) and a hole in the sealing ring component (5); the end face of the left inner hole of the piston assembly (1.4) is contacted with the stepped end face of the piston rod (1.2);
the piston rod (1.2) is provided with a grating array which is uniformly etched along the axial direction, and the reading head (1.3.1) senses the axial movement of the grating on the piston rod (1.2) to output a pulse signal; so as to obtain the displacement of the piston rod (1.2); the reading head assembly (1.3) is sleeved on the piston rod (1.2), the left end of the reading head assembly (1.3) is in contact with the right end face of the sealing ring assembly (5), and the right end face of the reading head assembly is in contact with the end face of the stepped hole of the cylinder barrel assembly (2) so as to realize the axial positioning of the reading head (1.3.1).
2. Integrated hydraulic cylinder with built-in displacement sensor according to claim 1, characterized in that the piston rod (1.2) acts as force output element and is multiplexed as displacement feedback element of the integrated hydraulic cylinder.
3. The integrated hydraulic cylinder with built-in displacement sensor according to claim 1, characterized in that the piston assembly (1.4) further comprises a piston (1.4.1), a third sealing ring (1.4.2) and a fourth sealing ring (1.4.3); the piston assembly (1.4) divides the cylinder assembly (2) into a left chamber and a right chamber; the third sealing ring (1.4.2) and the fourth sealing ring (1.4.3) are used for avoiding the condition that leakage exists in the left cavity and the right cavity, when the left cavity is communicated with the servo valve (3), the high-pressure oil pushes the piston rod (1.2) to move rightwards, and when the right cavity is communicated with the servo valve (3), the high-pressure oil pushes the piston rod (1.2) to move leftwards.
4. -integrated hydraulic cylinder with built-in displacement sensor according to claim 3, characterized in that the output shaft assembly (1) further comprises a first nut (1.5) and a second nut (1.6); the right side of the piston assembly (1.4) is pressed by a first nut (1.5) and a second nut (1.6) so as to realize the axial positioning of the piston (1.4.1).
5. Integrated hydraulic cylinder with built-in displacement sensor according to claim 1, characterized in that the right end of the fisheye joint (1.1) is connected with the piston rod (1.2) by means of a screw thread.
6. The integrated hydraulic cylinder with the built-in displacement sensor according to claim 1, wherein the top of the cylinder barrel assembly (2) is connected with a servo valve (3) through a bolt, the cylinder barrel assembly (2) is provided with a P oil port, an A oil port, a B oil port and a T oil port, and the servo valve (3) is provided with an oil inlet and an oil return port; the P oil port and the T oil port are respectively communicated with the oil inlet and the oil return port through internal pipelines; and the oil port A and the oil port B are respectively connected with a left cavity and a right cavity of the integrated hydraulic cylinder through an inner pipeline.
7. The integrated hydraulic cylinder with built-in displacement sensor according to claim 6, characterized in that the left end of the cylinder assembly (2) is connected with a dust ring (4) by means of bolts; the right end is connected with a hydraulic cylinder end cover (7) through bolts.
8. The integrated hydraulic cylinder with built-in displacement sensor according to claim 7, characterized in that the pressure sensor assembly (6) further comprises a first pressure sensor (6.1) and a second pressure sensor (6.2); the first pressure sensor (6.1) and the second pressure sensor (6.2) are connected with the cylinder barrel assembly (2) through threads and are respectively communicated with the left cavity and the right cavity of the cylinder barrel assembly (2).
9. The integrated hydraulic cylinder with built-in displacement sensor according to claim 8, characterized in that the first pressure sensor (6.1) and the second pressure sensor (6.2) are used for monitoring the pressure of the left and right chambers of the integrated hydraulic cylinder, respectively.
10. A hydraulically driven robot comprising an integrated hydraulic cylinder with built-in displacement sensor according to any of claims 1-9, characterized in that the hip joint of the hydraulically driven robot is connected to the integrated hydraulic cylinder with built-in displacement sensor via the centre hole of the fish-eye joint (1.1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211582814.1A CN116044862A (en) | 2022-12-09 | 2022-12-09 | Integrated hydraulic cylinder with built-in displacement sensor and hydraulic driving robot |
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| CN202211582814.1A CN116044862A (en) | 2022-12-09 | 2022-12-09 | Integrated hydraulic cylinder with built-in displacement sensor and hydraulic driving robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116834061A (en) * | 2023-08-30 | 2023-10-03 | 之江实验室 | Digital hydraulic joint actuator and robot |
| CN117207237A (en) * | 2023-11-09 | 2023-12-12 | 之江实验室 | Joint system and robot |
| CN117415856A (en) * | 2023-10-11 | 2024-01-19 | 北京理工大学 | High-precision detection method for output force of robot joint linear hydraulic driving mechanism |
-
2022
- 2022-12-09 CN CN202211582814.1A patent/CN116044862A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116834061A (en) * | 2023-08-30 | 2023-10-03 | 之江实验室 | Digital hydraulic joint actuator and robot |
| CN116834061B (en) * | 2023-08-30 | 2023-12-26 | 之江实验室 | Digital hydraulic joint actuator and robot |
| CN117415856A (en) * | 2023-10-11 | 2024-01-19 | 北京理工大学 | High-precision detection method for output force of robot joint linear hydraulic driving mechanism |
| CN117415856B (en) * | 2023-10-11 | 2024-05-10 | 北京理工大学 | High-precision detection method for output force of robot joint linear hydraulic driving mechanism |
| CN117207237A (en) * | 2023-11-09 | 2023-12-12 | 之江实验室 | Joint system and robot |
| CN117207237B (en) * | 2023-11-09 | 2024-02-02 | 之江实验室 | Joint system and robot |
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