CN203856787U - Mobile joint driving device for robot - Google Patents
Mobile joint driving device for robot Download PDFInfo
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- CN203856787U CN203856787U CN201420143593.2U CN201420143593U CN203856787U CN 203856787 U CN203856787 U CN 203856787U CN 201420143593 U CN201420143593 U CN 201420143593U CN 203856787 U CN203856787 U CN 203856787U
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- robot
- hydraulic cylinder
- oil hydraulic
- drive unit
- prismatic joint
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Abstract
The utility model discloses a mobile joint driving device for a robot. The driving device comprises a hydraulic cylinder of which one end is connected with a robot component, a hydraulic pump for supplying power to the motion of the hydraulic cylinder, a servo motor for driving the hydraulic pump to rotate and output pressure oil, a detection module and a processing module which are used for detecting displacements of the hydraulic cylinder and the robot component and performing comparison processing output, and a motor controller for receiving a control signal output by the processing module and adjusting a rotating speed of the servo motor according to the control signal. The servo motor drives a hydraulic actuation mechanism to perform outputting, and the output power is high; a demand of a mobile working robot needing a mobile joint with high power and a compact structure can be effectively met. Due to the matched action of a transducer and an amplifier, the variations of the hydraulic cylinder and the robot component can be fed back in time and be compared with set values, so that the precision of the displacement is guaranteed, and the reliability is higher. Moreover, the driving device adopts the hydraulic cylinder to drive the robot component to move, so that the mobile joint driving device for the robot is simple in structure and convenient to implement.
Description
Technical field
The utility model belongs to joint of robot actuation techniques field, is specifically related to a kind of robot prismatic joint drive unit.
Background technique
Large absolutely number movable robot adopts the driving element of actuating motor as joint at present.The high-performance actuating motor of selling on market has the feature of high rotating speed, low moment of torsion mostly, therefore must carry out suitable deceleration and just can be used for each joint of drive machines people.For the motion that is robot the conversion of motion of driver, except directly driving, also need the conversion of movement velocity etc., and the motion of driver need to be delivered to the driving mechanism etc. that is positioned at different location.The motion of robot is transmitted these motion converters and transfer mechanism is combined to realize.
The movable robot's of Industrial Robot Technology development joint drive mainly adopts the mechanical transmission actuator taking DC servo motor as driving source to realize.Although DC servo motor has, response is fast, and detent torque is large, and inertia is little, rotates the advantages such as level and smooth, and DC motor structure complexity, cost are high.The output power of Mobile working machine people (as transmission line operating robot) the demand motive device of some specific uses is large, compact structure, be that the executive component that specific power is larger carrys out handling machine people's mass distribution problem, joint of robot actuation techniques cannot address this problem well at present.
Therefore, in view of above problem, be necessary to propose a kind of simple in structure, be convenient to realize, reliability is high, the robot prismatic joint that output power is large, and that the Mobile working machine people who solves specific use needs is high-power, the demand of the prismatic joint of compact structure.
Model utility content
In view of this, the utility model provides a kind of robot prismatic joint drive unit, this drive unit adopts driven by servomotor hydraulic actuator to export, output power is large, can effectively solve the demand that Mobile working machine people needs the prismatic joint of high-power, compact structure, and this driving device structure is simple, to be convenient to realize, reliability is higher.
A kind of robot prismatic joint drive unit proposing according to the purpose of this utility model, moves linearly along guide rail for drive machines people parts, comprising: connect robot components and drive the oil hydraulic cylinder of robot components linear reciprocating motion; For the motion of described oil hydraulic cylinder provides the oil hydraulic pump of power, between described oil hydraulic pump and described oil hydraulic cylinder two chambeies, be connected with hydraulic circuit; Be electrically connected and drive oil hydraulic pump to rotate the actuating motor of pressure oil output with described oil hydraulic pump; For detection of the testing module of piston, piston rod and the robot components amount of movement of described oil hydraulic cylinder inside; Receive the testing signal of described testing module and contrast the puocessing module of rear output control signal with the reference signal of setting; And be electrically connected with described puocessing module, receive the control signal of described puocessing module output and adjust the electric machine controller of the rotating speed of described actuating motor.
Preferably, described testing module is sensor.
Preferably, described puocessing module is transmitter and amplifier.
Preferably, in the piston of described oil hydraulic cylinder, piston rod and robot components, be provided with sensor, corresponding transmitter and the amplifier of being electrically connected with on each described sensor.
Preferably, described sensor is displacement transducer.
Preferably, described oil hydraulic cylinder is dual-rod hydraulic cylinder.
Preferably, described oil hydraulic pump is two-way displacement pump.
Preferably, between described robot components and described oil hydraulic cylinder, be connected with buffer.
Preferably, described drive unit also comprises accumulator and equilibrium valve.
Compared with prior art, the advantage of the disclosed robot of the utility model prismatic joint drive unit is:
1, this drive unit is by adopting driven by servomotor hydraulic actuator to export, and output power is large, and that the Mobile working machine people that can effectively solve specific use needs is high-power, the demand of the prismatic joint of compact structure.
2, by adopting the mating reaction of transmitter and amplifier, the variable quantity of robot components and piston and piston rod can be fed back timely and contrasts with setting value, effectively adjust the amount of movement of robot components, ensure the accuracy of moving displacement, reliability is higher.
In addition, this drive unit adopts the motion of Driven by Hydraulic Cylinder robot components, simple in structure, is convenient to realize.
Brief description of the drawings
In order to be illustrated more clearly in the utility model embodiment or technological scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structural representation of the disclosed a kind of robot of the utility model prismatic joint drive unit.
The title of the numeral in figure or the corresponding part of alphabetical representative:
1, oil hydraulic cylinder 2, oil hydraulic pump 3, actuating motor 4, electric machine controller 5, robot components 6, accumulator 7, equilibrium valve 8, one-way valve 9, sequence valve 10, transmitter 11, amplifier 12, buffer
Embodiment
Current, movable robot's joint drive mainly adopts the mechanical transmission actuator taking DC servo motor as driving source to realize, but DC motor structure complexity, cost are high.The output power of Mobile working machine people (as transmission line operating robot) the demand motive device of some specific uses is large, compact structure, be that the executive component that specific power is larger carrys out handling machine people's mass distribution problem, joint of robot actuation techniques cannot address this problem well at present.
The utility model is for deficiency of the prior art, a kind of robot prismatic joint drive unit is provided, this drive unit adopts driven by servomotor hydraulic actuator to export, output power is large, the Mobile working machine people that can effectively solve specific use needs the demand of the prismatic joint of high-power, compact structure, and this driving device structure is simple, to be convenient to realize, reliability is higher.
To be clearly and completely described the technical solution of the utility model by embodiment below.Obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment who obtains under creative work prerequisite, all belong to the scope of the utility model protection.
Refer to Fig. 1, as shown in the figure, a kind of robot prismatic joint drive unit, comprising:
Oil hydraulic cylinder 1: one end of oil hydraulic cylinder 1 connects robot components 5, drives robot components 5 to-and-fro motion, realizes moving forward and backward of prismatic joint.
Oil hydraulic pump 2: oil hydraulic pump 2, for the motion of oil hydraulic cylinder 1 provides power, is connected with hydraulic circuit between two chambeies of oil hydraulic pump 2 and oil hydraulic cylinder 1, realizes moving back and forth of hydraulic cylinder piston by oil hydraulic pump to oil-feed in oil hydraulic cylinder, oil return.
Actuating motor 3: drive oil hydraulic pump 2 to rotate pressure oil output.Oil hydraulic pump 2 is dynamical elements of hydraulic system, mainly, by motor or motoring, sucks fluid from hydraulic oil container, and mineralization pressure oil is discharged.The output flow of oil hydraulic pump can be by regulating the rotating speed of actuating motor adjust, the amount of movement of the different control parts by output flow.
Testing module: for detection of the amount of movement of piston, piston rod and robot components 5 in oil hydraulic cylinder 1.Wherein testing module is sensor, is mainly used in monitoring the mobile of oil hydraulic cylinder and robot components and changes, and this testing signal is passed.Sensor specifically can be displacement transducer.Wherein, the piston of oil hydraulic cylinder and piston rod, and be provided with sensor in robot components, corresponding transmitter and the amplifier of being electrically connected with on each sensor.Ensure oil hydraulic cylinder everywhere with the synchronized movement of robot components.
Puocessing module: receive the testing signal of testing module and contrast rear output control signal with the reference signal of setting; Puocessing module comprises transmitter 10 and amplifier 11, the testing signal of transmitter 10 receiving sensors also changes a feedback voltage signal into, and the reference signal of feedback voltage signal and transmitter inner setting is done to contrast formation error signal, error signal is exaggerated by amplifier 11.
Electric machine controller 4: electric machine controller is electrically connected with puocessing module, the control signal of receiving processing module output is also adjusted the rotating speed of actuating motor 3 according to signal content, then control the output flow of oil hydraulic pump 2, make the amount of movement of oil hydraulic cylinder and robot components and the reference quantity of setting consistent.
Wherein, oil hydraulic cylinder is dual-rod hydraulic cylinder, can realize the to-and-fro motion of robot components constant speed.In addition, oil hydraulic cylinder also can adopt single pole oil hydraulic cylinder etc., allly can drive machines people parts realizes reciprocating oil hydraulic cylinder and all can use, and particular type does not limit.
Oil hydraulic pump can be two-way displacement pump etc., and particular type can need to determine according to using, and does not limit at this.
Between robot components 5 and oil hydraulic cylinder 1, be connected with buffer 12.By buffer being set to avoid piston traveling speed comparatively fast to cause the quick variation of robot prismatic joint, ensure the stability that prismatic joint moves.Buffer can be coil tension spring.
Drive unit also comprises accumulator 6 and equilibrium valve 7.Equilibrium valve is arranged on the branch road that connects two hydraulic circuits, and equilibrium valve is two groups that series connection arranges, and every group comprises the one-way valve 8 and sequence valve 9 that are arranged in parallel.By accumulator being set to ensure the stability of hydraulic system operation.By pressure difference and the difference in flow of equilibrium valve with regulator solution cylinder pressure two ends hydraulic circuit is set, or reach the balance of flow by the method for shunting, improve the stability of hydraulic system operation.
A kind of robot prismatic joint method for driving, adopts robot prismatic joint drive unit, and concrete steps are as follows:
(1), prismatic joint motion: hydraulic cylinder piston and piston rod drive robot components to move;
(2), through the amount of movement of sensor measurement piston, piston rod and robot components and feed back to transmitter;
(3), transmitter changes this amount of movement into a feedback voltage signal, and is that reference voltage compares formation error by the reference signal of this feedback voltage signal and setting, and this error signal is amplified by amplifier;
(4), electric machine controller receives this error signal and exports to actuating motor as controlling output signal;
(5), actuating motor receives the command signal of electric machine controller, adjusts the rotating speed of actuating motor, then affects the flow of oil hydraulic pump, this flow is directly proportional to the piston movement speed in oil hydraulic cylinder, moves back and forth by driven plunger Sports band mobile robot parts.
The utility model discloses a kind of robot prismatic joint drive unit, this drive unit comprises that one end connects robot components and drives the reciprocating oil hydraulic cylinder of robot components, for the motion of oil hydraulic cylinder provides the oil hydraulic pump of power, drive oil hydraulic pump to rotate the actuating motor of pressure oil output, detect oil hydraulic cylinder and robot components amount of movement and contrast testing module and the puocessing module of processing output, the control signal of receiving processing module output the electric machine controller according to this control signal adjustment actuating motor rotating speed.By adopting driven by servomotor hydraulic actuator to export, output power is large, and that the Mobile working machine people that can effectively solve specific use needs is high-power, the demand of the prismatic joint of compact structure.
By adopting the mating reaction of transmitter and amplifier, the variable quantity of robot components and piston and piston rod can be fed back timely and contrasts with setting value, effectively adjust the amount of movement of robot components, ensure the accuracy of moving displacement, reliability is higher.
In addition, this drive unit adopts the motion of Driven by Hydraulic Cylinder robot components, simple in structure, is convenient to realize.
To the above-mentioned explanation of the disclosed embodiments, make professional and technical personnel in the field can realize or use the utility model.To be apparent for those skilled in the art to these embodiments' multiple amendment, General Principle as defined herein can, in the situation that not departing from spirit or scope of the present utility model, realize in other embodiments.Therefore, the utility model will can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (9)
1. a robot prismatic joint drive unit, moves linearly along guide rail for drive machines people parts, it is characterized in that, comprising: connect robot components and drive the oil hydraulic cylinder of robot components linear reciprocating motion; For the motion of described oil hydraulic cylinder provides the oil hydraulic pump of power, between described oil hydraulic pump and described oil hydraulic cylinder two chambeies, be connected with hydraulic circuit; Be electrically connected and drive oil hydraulic pump to rotate the actuating motor of pressure oil output with described oil hydraulic pump; For detection of the testing module of piston, piston rod and the robot components amount of movement of described oil hydraulic cylinder inside; Receive the testing signal of described testing module and contrast the puocessing module of rear output control signal with the reference signal of setting; And be electrically connected with described puocessing module, receive the control signal of described puocessing module output and adjust the electric machine controller of the rotating speed of described actuating motor.
2. robot as claimed in claim 1 prismatic joint drive unit, is characterized in that, described testing module is sensor.
3. robot as claimed in claim 2 prismatic joint drive unit, is characterized in that, described puocessing module is transmitter and amplifier.
4. robot as claimed in claim 3 prismatic joint drive unit, is characterized in that, in piston, piston rod and the robot components of described oil hydraulic cylinder, is provided with sensor, corresponding transmitter and the amplifier of being electrically connected with on each described sensor.
5. robot as claimed in claim 2 prismatic joint drive unit, is characterized in that, described sensor is displacement transducer.
6. robot as claimed in claim 1 prismatic joint drive unit, is characterized in that, described oil hydraulic cylinder is dual-rod hydraulic cylinder.
7. robot as claimed in claim 1 prismatic joint drive unit, is characterized in that, described oil hydraulic pump is two-way displacement pump.
8. robot as claimed in claim 1 prismatic joint drive unit, is characterized in that, between described robot components and described oil hydraulic cylinder, is connected with buffer.
9. robot as claimed in claim 1 prismatic joint drive unit, is characterized in that, described drive unit also comprises accumulator and equilibrium valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420143593.2U CN203856787U (en) | 2014-03-27 | 2014-03-27 | Mobile joint driving device for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420143593.2U CN203856787U (en) | 2014-03-27 | 2014-03-27 | Mobile joint driving device for robot |
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| Publication Number | Publication Date |
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| CN203856787U true CN203856787U (en) | 2014-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420143593.2U Expired - Fee Related CN203856787U (en) | 2014-03-27 | 2014-03-27 | Mobile joint driving device for robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103836012A (en) * | 2014-03-27 | 2014-06-04 | 昆山市工业技术研究院有限责任公司 | Robot moving joint drive device and drive method |
| CN106762871A (en) * | 2017-03-09 | 2017-05-31 | 桂林星辰科技股份有限公司 | The servo-pump control hydraulic linear drive system and control method of a kind of single-motor double pump |
| CN109916805A (en) * | 2019-04-02 | 2019-06-21 | 无锡厦泰生物科技有限公司 | A kind of pressure control circuit of the fluid modules based on flow cytometer |
| CN114704388A (en) * | 2022-04-08 | 2022-07-05 | 西安交通大学 | Gas turbine fuel regulating valve, control system and control method |
-
2014
- 2014-03-27 CN CN201420143593.2U patent/CN203856787U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103836012A (en) * | 2014-03-27 | 2014-06-04 | 昆山市工业技术研究院有限责任公司 | Robot moving joint drive device and drive method |
| CN103836012B (en) * | 2014-03-27 | 2017-01-11 | 昆山市工业技术研究院有限责任公司 | Robot moving joint drive device and drive method |
| CN106762871A (en) * | 2017-03-09 | 2017-05-31 | 桂林星辰科技股份有限公司 | The servo-pump control hydraulic linear drive system and control method of a kind of single-motor double pump |
| CN106762871B (en) * | 2017-03-09 | 2018-11-13 | 桂林星辰科技股份有限公司 | A kind of the servo-pump control hydraulic linear drive system and control method of single motor double pump |
| CN109916805A (en) * | 2019-04-02 | 2019-06-21 | 无锡厦泰生物科技有限公司 | A kind of pressure control circuit of the fluid modules based on flow cytometer |
| CN114704388A (en) * | 2022-04-08 | 2022-07-05 | 西安交通大学 | Gas turbine fuel regulating valve, control system and control method |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141001 Termination date: 20210327 |