CN1563728A - Joint fixed lead reciprocating, rotary driving annular cylinder - Google Patents
Joint fixed lead reciprocating, rotary driving annular cylinder Download PDFInfo
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- CN1563728A CN1563728A CN 200410006253 CN200410006253A CN1563728A CN 1563728 A CN1563728 A CN 1563728A CN 200410006253 CN200410006253 CN 200410006253 CN 200410006253 A CN200410006253 A CN 200410006253A CN 1563728 A CN1563728 A CN 1563728A
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- 238000007789 sealing Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 4
- 210000000245 forearm Anatomy 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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- 230000008571 general function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Abstract
The driving cylinder is composed of the arc main cylinder, arc piston and ring piston rod. The main cylinder connects with front shield, which forms an arc sliding way for the cylinder. The arch piton can move in the square sliding way of the cylinder. The ring piston rod and arc piston combine the circle piston rod. The ring piston rod connects with the output shaft through the connector to output the torque directly.
Description
Technical field
A kind of joint is decided the angle reciprocating rotating and is driven cylinder, belongs to the Mechanical Manufacturing and Automation field, is mainly used in the mechanical systems such as articulated robot, electronic chip positioning means and production line for automatically assembling.
Background technique
Complicated many rotatingshafts movable machineries such as each robotlike of machine building industry, wrapping machine, automatic loading/unloading and automatic assembling mechanism have been widely used in the various piece of automatic production line at present, become the key link that realizes mechanical automation, in the joint part design of these complicated multi-joint mechanical mechanisms, mainly adopt the linear reciprocating cylinder to drive eccentric wheel and realize the joint rotation motion.The linear reciprocation rotary cylinder as shown in Figure 3,8 is air inlet/outlet among the figure, 19 is front cover, 20 is cylinder block, 21 is piston ring, 22 is rear end cover, and 23 is piston rod, and its working principle is for to move by the axial direction linear reciprocation of the pressure difference piston rod 23 between the air inlet/outlet 8 along cylinder block 20; Characteristics such as this driving mode has simple in structure, and cost is cheap relatively, but when the driving rotational joint, also need to adopt eccentric center principle, straight line motion is converted to rotation motion.There are several problems in this joint driving mode: first structure is difficult to realize exquisitenessization, and straight line cylinder will have fulcrum and the eccentric point that promotes, and promotes the joint revolution and also need the incision angle that keeps certain, causes structure huge; It two is that this class driving structure angle of revolution is limited, and is easy to generate the problem at dead point, joint.
Summary of the invention
The objective of the invention is to overcome above-mentioned technological deficiency, proposed a kind ofly can directly export flywheel moment, driver part is decided the angle and back and forth decide angle reciprocating rotating driving circular cylinder in the joint of rotation.
The structure and the running principle of angle reciprocating rotating driving circular cylinder decide in the joint that the present invention proposes can be referring to accompanying drawing 1, Fig. 2 and Fig. 3, it is by the camber Master cylinder body 4 that is the arc form in the center of circle with the set point that angle reciprocating rotating driving cylinder is decided in joint of the present invention, and concentric camber piston 2 that matches with camber Master cylinder body 4 slideways 17 and ring-like piston rod 7 constitute.Concrete structure is: cylinder body is two parts up and down to dig by slideway and the plane vertical with rotor shaft direction, be respectively camber Master cylinder body 4 and camber front end housing 10, both link together by cylinder body clamping bolt 9 by shown in Figure 2, and forming with center output shaft 13 axis is the arcuation cylinder block slideway 17 in the center of circle; On the junction plane between camber Master cylinder body 4 and the camber front end housing 10, be provided with cylinder body sealing gasket 11, and adopted folding structure to keep the tightness of cylinder body, see accompanying drawing 3.Camber piston 2 can slide in cylinder block square slideway 17, ring-like piston rod 7 and camber piston 2 connect by piston attachment bolt 16 and constitute the round piston rod concentric with cylinder block slideway 17, the center of ring-like piston rod 7 is provided with the axle 15 of a band keyway, be connected with outside output shaft 13 by connecting key 14, thereby directly export torque; Also be provided with left side cylinder cap 5 and right side cylinder cap 18 at the two ends of camber Master cylinder body 4, link together by side cylinder cap clamping bolt 12 and Master cylinder body 4, the place is provided with side cylinder cap sealing gasket 6 at the connection junction plane, with the tightness that keeps cylinder body and side cylinder cap to connect; Each side cylinder cap center all offers a center hole, and the center hole that makes ring-like piston rod 7 can pass the side cylinder cap outwards transmits the power that the cylinder body inner carrier produces.Respectively establish an air inlet/outlet 8 at the two ends of camber Master cylinder body 4, be used for the input and output pressurized gas, under the effect of two air inlet/outlet gas pressure difference, can make camber piston 2 in camber Master cylinder body 4 along 17 to-and-fro motion of cylinder block slideway.Side in camber cylinder block 4 is evenly distributed with two plates 1 along the circular arc direction, is used for installing and fixing cylinder block 4.
Angle reciprocating rotating driving circular cylinder is decided in the joint of the above-mentioned proposition of the present invention can be assemblied in the joint part that robot, production line for automatically assembling etc. need reciprocal rotation, directly export flywheel moment, driver part is decided the angle and is back and forth rotated, it is little to have volume, cost is low, the connection characteristic of simple, reduce the structural complexity of automatic greatly, reduce the global design and the lead time of automatic assembly machine, improve the reliability of integral product.
Description of drawings
Angle reciprocating rotating circular cylinder front view is decided in the joint that Fig. 1 the present invention proposes
Among the figure 1, axle 16, piston attachment bolt 17, cylinder block square slideway 18, the right side cylinder cap of plate 2, camber piston 3, side cylinder cap seal ring 4, camber Master cylinder body 5, left side cylinder cap 6, side cylinder cap sealing gasket 7, ring-like piston rod 8, air inlet/outlet side 12, cylinder cap clamping bolt 13, outside output shaft 15, band keyway;
Fig. 2 decides in joint of the present invention angle reciprocating rotating circular cylinder side view
Among the figure 10, camber front end housing 11, cylinder body sealing gasket 14, connecting key;
Fig. 3 decides in joint of the present invention the camber Master cylinder body 4 of angle reciprocating rotating circular cylinder and the folding connecting structure enlarged view of camber front end housing 10;
The reciprocating linear type that Fig. 4 is traditional drives the cylinder schematic representation
Among the figure 8, air inlet/outlet 19, front cover 20, cylinder block 21, piston ring 22, rear end cover 23 piston rods;
Fig. 5 embodiment illustrates illustration
Be Olympic Games boxer comprehensive simulation training boxing robot arm action control principle figure.
Embodiment
According to the described structure of Fig. 1-Fig. 3, adopt conventional mechanical link and Sealing, press the design of known technology means and constitute.
The joint that the present invention proposes decide the angle reciprocating rotating and is driven cylinder, has been applied on the arm into " training of Olympic Games boxer comprehensive simulation box robot " of General Administration of Sport's development, and its general function principle is seen accompanying drawing 5.This left and right arm of boxing robot has six joints, be respectively the big arm swing in a left side, hypozygal and right big arm swing about the big arm in a left side, on the left forearm, revolute joint about the right big arm, about the right forearm, the joint of all having adopted the present invention to propose is decided the angle reciprocating rotating and is driven the cylinder realization, make the robot arm configuration small and exquisite, cheap, and perfection realizes the robot punch action, reached very desirable effect.The air pump pressure that adopts in practicality is 8mp, by the single channel multiple-way valve to each cylinder conveying gas power, and determine the reciprocating rotating action of each rotary cylinder by solenoid directional control valve, adopted the transformer of 220V in the system to 24V, provide electric power to air pump and programmable controller, and control the logical weak point of the solenoid directional control valve in each joint by the working procedure of programmable controller, thereby the working condition of each cylinder of control robot left and right sides arm realizes the requirement action of robot arm.The center radius of curvature of employed cylinder block square slideway 17 is for being 55.5mm in the system, and its cross section rectangular cross-section is of a size of 21 * 14mm;
The joint that the present invention proposes is decided the angle reciprocating rotating and is driven circular cylinder, also can amplify in proportion and dwindle, form the product of seriation, be applied to different sizes, the various joint links of deciding angle reciprocating rotating driving device that different capacity requires have wide applications.If in design, move if adopt traditional servo-system to drive the joint reciprocating rotating, the cost that each turning axle needs is approximately on average about 20,000 yuan, and the angular convolution rotaring cylinder of deciding that adopts the present invention to propose drives, and cost only needs about 1,000 yuan, dwindles product cost greatly.
Angle reciprocating rotating driving cylinder decide in the joint of using the present invention to propose, and makes robot cheap, structure and transmission exquisiteness, and be convenient to the installation of Various types of data pick-up transducers, reached very desirable effect.
Claims (6)
1, angle reciprocating rotating driving circular cylinder is decided in the joint, include cylinder block, the piston rod that the power that the cylinder body inner carrier is produced outwards transmits, the cylinder cap that is provided with at the two ends of cylinder body, the air inlet/outlet that is used for the input and output pressurized gas that on cylinder body, is provided with, the invention is characterized in, be by the camber Master cylinder body (4) that is the arc form in the center of circle with the set point, and concentric camber piston (2) that matches with camber Master cylinder body (4) slideway (17) and ring-like piston rod (7) constitute; Concrete structure is: cylinder block is two parts up and down to dig by slideway and the plane vertical with rotor shaft direction, be respectively camber Master cylinder body (4) and camber front end housing (10), both link together by known link, and the axis that forms with center output shaft (13) is the camber cylinder block slideway in the center of circle; Camber piston (2) can slide in the cylinder block slideway, ring-like piston rod (7) connects the formation ring-like piston rod concentric with the cylinder block slideway with camber piston (2) by known link, the center of ring-like piston rod (7) is provided with the axle (15) of a band keyway, be connected with outside output shaft (13) by known connecting key (14), thereby directly export torque; And adopt known fastener that camber Master cylinder body (4) and the left side cylinder cap (5) and the right side cylinder cap (18) that are provided with at its two ends, be used to solve output connecting rod place rigid body sealing problem are linked together.
2, angle reciprocating rotating driving circular cylinder is decided in joint according to claim 1, it is characterized in that, on the junction plane between camber Master cylinder body (4) and the camber front end housing (10), adopted known folding structure and be provided with the cylinder body sealing gasket (11) of channel rubber formula, linked together by cylinder body clamping bolt (9).
3, angle reciprocating rotating driving circular cylinder is decided in joint according to claim 1 and 2, it is characterized in that, left side cylinder cap (5) and right side cylinder cap (18) are provided with side cylinder cap sealing gasket (6) with the junction plane place that connects of Master cylinder body (4), and by clamping bolt (12) side cylinder cap (18) and Master cylinder body (4) are linked together; Each side cylinder cap center all offers a center hole, and the center hole that makes ring-like piston rod (7) can pass the side cylinder cap outwards transmits the power that the cylinder body inner carrier produces.
4, angle reciprocating rotating driving circular cylinder is decided in joint according to claim 3, it is characterized in that respectively being provided with an air inlet/outlet (8) that is used for the input and output pressurized gas at the two ends of camber Master cylinder body (4), under the effect of two air inlet/outlet gas pressure difference, can make camber piston (2) in camber Master cylinder body (4) along cylinder block slideway (17) to-and-fro motion.
5, angle reciprocating rotating driving circular cylinder is decided in joint according to claim 1, it is characterized in that, camber Master cylinder body (4) and camber front end housing (10) link together, and having formed with the axis of center output shaft (13) is the camber cylinder block square slideway (17) in the center of circle.
6, angle reciprocating rotating driving circular cylinder is decided in joint according to claim 1, it is characterized in that, is evenly distributed with two plates (1) that are used for installing and fixing cylinder block in the side of camber cylinder block (4) along the circular arc direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100062536A CN1327140C (en) | 2004-03-19 | 2004-03-19 | Joint fixed lead reciprocating, rotary driving annular cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100062536A CN1327140C (en) | 2004-03-19 | 2004-03-19 | Joint fixed lead reciprocating, rotary driving annular cylinder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1563728A true CN1563728A (en) | 2005-01-12 |
| CN1327140C CN1327140C (en) | 2007-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100062536A Expired - Fee Related CN1327140C (en) | 2004-03-19 | 2004-03-19 | Joint fixed lead reciprocating, rotary driving annular cylinder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1327140C (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100519106C (en) * | 2007-10-19 | 2009-07-29 | 浙江工业大学 | Pneumatic flexible ball joint based on arc pneumatic cylinder |
| CN106695864A (en) * | 2016-12-02 | 2017-05-24 | 合肥瑞硕科技有限公司 | Robot rotary joint driving device |
| WO2017118358A1 (en) * | 2016-01-04 | 2017-07-13 | 广州市诚臻电子科技有限公司 | Non-metal pneumatic cylinder for use in electromagnetic compatibility test, antenna device having adaptable angle of rotation, and system |
| CN107504007A (en) * | 2016-07-31 | 2017-12-22 | 苏州高精特专信息科技有限公司 | A kind of pneumatic type fixes corner servo motor |
| CN109114063A (en) * | 2018-10-02 | 2019-01-01 | 佛山市工芯精密机械有限公司 | A kind of piston and piston rod make the cylinder apparatus of arc trajectory movement |
| CN109333578A (en) * | 2018-11-13 | 2019-02-15 | 杭州电子科技大学 | Vapour-pressure type arc plunger type rotary balance device and its revolution balance method to joint |
| KR20210017104A (en) * | 2019-08-07 | 2021-02-17 | 현대자동차주식회사 | Device for controlling articulated parts of articulated bus |
| CN112871518A (en) * | 2021-01-18 | 2021-06-01 | 集美工业学校 | Trunk spray-brushing lime machine |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2550586B1 (en) * | 1983-08-09 | 1985-11-29 | Somfy | CYLINDER WITH ARTICULATING CAP |
| US4573661A (en) * | 1984-10-15 | 1986-03-04 | Sundstrand Corporation | Multiple schedule valve |
| US6076799A (en) * | 1996-04-12 | 2000-06-20 | Fisher Controls International, Inc. | Rotary valve actuator and linkage |
| DE29703710U1 (en) * | 1997-02-28 | 1997-06-26 | Wilhelm Guth GmbH & Co KG, 76829 Landau | Rotary drive |
| DE19715108B4 (en) * | 1997-04-11 | 2004-07-22 | Johann Weiss Maschinenbau | Pneumatically rotatable tool and / or workpiece turret stop with position identification |
| US6575426B2 (en) * | 2001-08-09 | 2003-06-10 | Worldwide Oilfield Machine, Inc. | Valve system and method |
| CN2711434Y (en) * | 2004-03-19 | 2005-07-20 | 北京工业大学 | Joint angle fixed reciprocative rotation driven annular cylinder |
-
2004
- 2004-03-19 CN CNB2004100062536A patent/CN1327140C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100519106C (en) * | 2007-10-19 | 2009-07-29 | 浙江工业大学 | Pneumatic flexible ball joint based on arc pneumatic cylinder |
| WO2017118358A1 (en) * | 2016-01-04 | 2017-07-13 | 广州市诚臻电子科技有限公司 | Non-metal pneumatic cylinder for use in electromagnetic compatibility test, antenna device having adaptable angle of rotation, and system |
| US10608333B2 (en) | 2016-01-04 | 2020-03-31 | Guangzhou Changen Electronic Technology Co., Ltd | Non-metal pneumatic cylinder for use in electromagnetic compatibility test, antenna device having adaptable angle of rotation, and system |
| CN107504007A (en) * | 2016-07-31 | 2017-12-22 | 苏州高精特专信息科技有限公司 | A kind of pneumatic type fixes corner servo motor |
| CN106695864A (en) * | 2016-12-02 | 2017-05-24 | 合肥瑞硕科技有限公司 | Robot rotary joint driving device |
| CN109114063A (en) * | 2018-10-02 | 2019-01-01 | 佛山市工芯精密机械有限公司 | A kind of piston and piston rod make the cylinder apparatus of arc trajectory movement |
| CN109333578A (en) * | 2018-11-13 | 2019-02-15 | 杭州电子科技大学 | Vapour-pressure type arc plunger type rotary balance device and its revolution balance method to joint |
| KR20210017104A (en) * | 2019-08-07 | 2021-02-17 | 현대자동차주식회사 | Device for controlling articulated parts of articulated bus |
| KR102664100B1 (en) * | 2019-08-07 | 2024-05-07 | 현대자동차주식회사 | Device for controlling articulated parts of articulated bus |
| CN112871518A (en) * | 2021-01-18 | 2021-06-01 | 集美工业学校 | Trunk spray-brushing lime machine |
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| Publication number | Publication date |
|---|---|
| CN1327140C (en) | 2007-07-18 |
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Granted publication date: 20070718 |