CN206393664U - Revolute joint drive device - Google Patents
Revolute joint drive device Download PDFInfo
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- CN206393664U CN206393664U CN201621339543.7U CN201621339543U CN206393664U CN 206393664 U CN206393664 U CN 206393664U CN 201621339543 U CN201621339543 U CN 201621339543U CN 206393664 U CN206393664 U CN 206393664U
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Abstract
The utility model provides a kind of revolute joint drive device, including valve body and hydraulic drive mechanism；Valve body rotates and is fixed with rotary shaft；Projection is fixed with rotary shaft；Projection both sides are connected with the first circular arc bar and the second circular arc bar, and the center of circle of the first circular arc bar and the second circular arc bar is overlapped with the center of circle of rotary shaft；One end of first circular arc bar and the second circular arc bar is connected with projection, and the other end is slidingly sealed the first loop bar of connection and the second loop bar respectively；One end of first loop bar and the second loop bar is circular arc, and the first circular arc bar and the second circular arc bar are slided in the arc end of the first loop bar and the second loop bar respectively；Hydraulic drive mechanism, which includes being slidingly sealed in hydraulic cylinder, hydraulic cylinder, is provided with piston, and hydraulic cylinder two ends connect the first loop bar and the second loop bar respectively；The hydraulic oil of hydraulic cylinder promotes the first circular arc bar and the second circular arc bar by the first loop bar and the second loop bar；The contact face area of piston and the first circular arc bar and/or the second circular arc bar with hydraulic oil is fixed value.The utility model can directly determine the amount of spin of revolute joint.
Description
Technical field
The utility model is related to joint of robot actuation techniques field, more particularly to a kind of revolute joint driving dress
Put.
Background technology
Robot (Robot) is the automatic installations for performing work.It can both receive mankind commander, can run again
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of the mankind, for example, produce industry, construction industry, or dangerous work.
Robot in motion process, it is necessary to drive the joint of robot to carry out straight line, a series of motion such as rotation, from
And complete various actions.
At present, when driving the rotation of revolute joint, it is necessary to set sensor in the cradle head of robot
Check the amount of spin of revolute joint, and the rotation of cradle head is controlled according to the amount of spin of sensor feedback.It can be seen that,
In the prior art, it is necessary to just can determine that the amount of spin of cradle head in devices such as cradle head install sensors.
Utility model content
In view of this, the technical problems to be solved in the utility model is to provide a kind of revolute joint drive device,
The amount of spin of revolute joint can directly be determined.
What the technical solution of the utility model was realized in：
A kind of revolute joint drive device, including valve body and hydraulic drive mechanism；
The valve body rotates and is fixed with rotary shaft；Projection is fixed with the rotary shaft；The projection both sides are connected with
The center of circle of one circular arc bar and the second circular arc bar, the first circular arc bar and the second circular arc bar and the center of circle weight of the rotary shaft
Close；One end of the first circular arc bar and the second circular arc bar is connected with the projection, and the other end is slidingly sealed connection respectively
First loop bar and the second loop bar；One end of first loop bar and second loop bar be circular arc, the first circular arc bar and
The second circular arc bar is slided in the arc end of first loop bar and second loop bar respectively；
The hydraulic drive mechanism, which includes being slidingly sealed in hydraulic cylinder, the hydraulic cylinder, is provided with piston, the hydraulic cylinder
Two ends connect first loop bar and second loop bar respectively；The hydraulic oil of the hydraulic cylinder passes through first loop bar and institute
State the second loop bar and promote the first circular arc bar and the second circular arc bar；The piston and the first circular arc bar and/or institute
The area for stating the second circular arc bar end face of the contact with the hydraulic oil is fixed value.
It is preferred that, first loop bar and the second loop bar arc end are respectively arranged with stopping means.
It is preferred that, the other end of the first circular arc bar and the second circular arc bar is slidingly sealed the first loop bar of connection respectively
Include with the second loop bar：
The other end of the first circular arc bar and the second circular arc bar is respectively arranged with sealing piston, the sealing piston
It is slidingly sealed and is arranged in first loop bar and the second loop bar.
It is preferred that, it is provided with anti-foaming agent in the hydraulic oil.
Using said mechanism, the utility model proposes revolute joint drive device, when the piston is moving, drive
Hydraulic oil drives the first circular arc bar and the second circular arc bar to be moved in the first loop bar and the second loop bar, so as to promote projection and drive
Rotary shaft is rotated, by the way that revolute joint is fixed on the rotating shaft, piston and the first circular arc bar and/or described the
The area of the two circular arc bars end face of the contact with the hydraulic oil is fixed value, so as to the displacement according to piston and fixation
Value determines the rotational angle of rotary shaft, you can directly to determine the amount of spin of revolute joint.
Brief description of the drawings
Fig. 1 is the structural representation of revolute joint drive device in the utility model embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
As shown in figure 1, the utility model embodiment proposes a kind of revolute joint drive device, for driving machine
Device people cradle head rotates, including valve body 1 and hydraulic drive mechanism 2；
Valve body 1 rotates and is fixed with rotary shaft 101；Projection 102 is fixed with rotary shaft 101；The both sides of projection 102 are connected with
The center of circle of one circular arc bar 103 and the second circular arc bar 104, the first circular arc bar 103 and the second circular arc bar 104 and the circle of rotary shaft 101
The heart is overlapped；One end of first circular arc bar 103 and the second circular arc bar 104 is connected with projection 102, and the other end is slidingly sealed connection respectively
First loop bar 105 and the second loop bar 106；One end of first loop bar 105 and the second loop bar 106 is circular arc, the first circular arc bar 103
Slided respectively in the arc end of the first loop bar 105 and the second loop bar 106 with the second circular arc bar 104；
Hydraulic drive mechanism 2, which includes being slidingly sealed in hydraulic cylinder, hydraulic cylinder, is provided with piston 201, hydraulic cylinder two ends difference
Connect the first loop bar 105 and the second loop bar 106；The hydraulic oil of hydraulic cylinder promotes the by the first loop bar 105 and the second loop bar 106
One circular arc bar 103 and the second circular arc bar 104；The circular arc bar 103 of piston 201 and first and/or the second circular arc bar 104 and hydraulic oil
Contact face area is fixed value.
It can be seen that, the utility model proposes revolute joint drive device, when the piston is moving, drive hydraulic oil drive
Dynamic first circular arc bar and the second circular arc bar are moved in the first loop bar and the second loop bar, so as to promote projection and drive rotary shaft to turn
It is dynamic, by the way that revolute joint is fixed on the rotating shaft, piston and the first circular arc bar and/or the second circular arc bar and hydraulic oil
Contact end face area be fixed value, the angle of rotation of rotary shaft is determined so as to the displacement and fixed value according to piston
Degree, you can directly to determine the amount of spin of revolute joint.
In the present embodiment, when revolute joint drive device works, external motive device driving piston 201 is transported
It is dynamic.The motion of piston 201 drives hydraulic oil to be moved to the first loop bar 105 or the second loop bar 106, so as to promote the first circular arc bar 103
Or second circular arc bar 104 rotated along arc end, so as to promote projection to rotate, drive rotary shaft to rotate, turn so as to drive and be fixed on
Revolute joint on moving axis is rotated.
For example, during piston upwards, hydraulic oil can promote first to justify by the first loop bar 105 on the upside of hydraulic cylinder
Arc bar 103 is moved to the direction of projection 102, and projection 102 drives rotary shaft 101 to rotate.Detailed, if the first circular arc bar 103 is promoted
Projection 102 rotates the hydraulic oil volume needed for 1 degree for A, and the contact area of piston and hydraulic oil is B；Piston displacement is C
When, the volume of movable hydraulic oil is B*C, and the rotational angle of projection 102 is B*C/A.During due to piston 201 along hydraulic cylinder,
The area of contact end face of the piston 201 with hydraulic oil is constant always, thus the motor unit of piston 201 apart from when, cause hydraulic oil
It is identical in the mobile volume of sector-shaped compartments；Similarly the area of contact end face of the circular arc bar with hydraulic oil is constant always, and hydraulic oil exists
During loop bar Moving Unit volume, the distance that projection 102 is rotated is fixed range, that is, the angle rotated is fixed angle.
Detailed, when can set piston 201 and moving 1 millimeter, projection 102 rotates 1 °.
In a preferred embodiment of the present utility model, the first loop bar 105 and the arc end of the second loop bar 106 are set respectively
Limited location device 107.
Specifically, the first circular arc bar 103 and the second circular arc bar 104 are transported in the first loop bar 105 and the arc end of the second loop bar 106
When dynamic, if the distance of motion is excessive, the first loop bar 105 or the second loop bar 106 are easily separated from out, so as to cause failure, is influenceed
Normally use.First loop bar 105 and the arc end of the second loop bar 106 are respectively arranged with stopping means 107, can avoid the first circular arc
The circular arc bar 104 of bar 103 and second departs from the first loop bar 105 and the second loop bar 106, while being also prevented from rotary shaft rotational angle
It is excessive, damage is caused to external revolute joint.
In a preferred embodiment of the present utility model, the first circular arc bar 103 and the other end of the second circular arc bar 104 difference
Being slidingly sealed the first loop bar 105 of connection and the second loop bar 106 includes：
First circular arc bar 103 and the other end of the second circular arc bar 104 are respectively arranged with sealing piston 108, and sealing piston 108 is slided
Dynamic sealing is arranged in the first loop bar and the second loop bar.
Detailed, due to the limitation of mechanical part processing technology, the first circular arc bar 103 and the second circular arc bar 104 and first
It can not be fully sealed between the loop bar 106 of loop bar 105 and second to completely cut off hydraulic oil, if hydraulic oil can not be completely cut off completely, work as liquid
During force feed leakage, the positioning of projection just can not be accurately carried out.
Therefore, sealing piston 108 is respectively arranged with the first circular arc bar 103 and the other end of the second circular arc bar 104, can be so as to
In sealing, make the positioning of projection more accurate.
In the present embodiment, the oil pressure at piston two ends can be set as 10Kg/cm2。
In a preferred embodiment of the present utility model, anti-foaming agent is provided with hydraulic oil.
Specifically, hydraulic oil is in use it is possible that some bubbles, so that the mobile accuracy of projection is influenceed,
That is the accuracy of the amount of spin of revolute joint.By being provided with anti-foaming agent in hydraulic oil, it can suppress in hydraulic oil
The generation of foam, it is ensured that the accuracy of the amount of spin of revolute joint.
In summary, the utility model embodiment can at least realize following effect：
In the utility model embodiment, when the piston is moving, hydraulic oil is driven to drive the first circular arc bar and the second circular arc
Bar is moved in the first loop bar and the second loop bar, so as to promote projection and drive rotary shaft to rotate, by the way that revolute is closed
Section is fixed on the rotating shaft, and the area of the contact end face of piston and the first circular arc bar and/or the second circular arc bar with hydraulic oil is solid
Definite value, the rotational angle of rotary shaft is determined so as to the displacement and fixed value according to piston, you can directly to determine machine
The amount of spin of device people cradle head.
In the utility model embodiment, the first loop bar and the second loop bar arc end are respectively arranged with stopping means, can be with
The first circular arc bar and the second circular arc bar is avoided to depart from the first loop bar and the second loop bar, while being also prevented from rotary shaft rotational angle
It is excessive, damage is caused to external revolute joint.
In the utility model embodiment, the first circular arc bar and the second circular arc bar other end are respectively arranged with sealing piston,
Sealing piston, which is slidingly sealed, to be arranged in the first loop bar and the second loop bar, in order to seal the positioning of projection can be made more accurate.
In the utility model embodiment, anti-foaming agent is provided with hydraulic oil, so as to the accurate positioning for carrying out projection,
So as to the accurate amount of spin for determining revolute joint.
It is last it should be noted that：Preferred embodiment of the present utility model is the foregoing is only, this practicality is merely to illustrate
New technical scheme, is not intended to limit protection domain of the present utility model.It is all it is of the present utility model spirit and principle it
Interior done any modification, equivalent substitution and improvements etc., are all contained in protection domain of the present utility model.
Claims (4)
1. a kind of revolute joint drive device, it is characterised in that including valve body and hydraulic drive mechanism；
The valve body rotates and is fixed with rotary shaft；Projection is fixed with the rotary shaft；The projection both sides are connected with the first circle
The center of circle of arc bar and the second circular arc bar, the first circular arc bar and the second circular arc bar is overlapped with the center of circle of the rotary shaft；
One end of the first circular arc bar and the second circular arc bar is connected with the projection, and the other end is slidingly sealed connection first respectively
Loop bar and the second loop bar；One end of first loop bar and second loop bar is circular arc, the first circular arc bar and described
Second circular arc bar is slided in the arc end of first loop bar and second loop bar respectively；
The hydraulic drive mechanism, which includes being slidingly sealed in hydraulic cylinder, the hydraulic cylinder, is provided with piston, the hydraulic cylinder two ends
First loop bar and second loop bar are connected respectively；The hydraulic oil of the hydraulic cylinder passes through first loop bar and described
Two loop bars promote the first circular arc bar and the second circular arc bar；The piston and the first circular arc bar and/or described
Two circular arc bars contact with hydraulic oil face area is fixed value.
2. revolute joint drive device as claimed in claim 1, it is characterised in that first loop bar and described
Two loop bar arc ends are respectively arranged with stopping means.
3. revolute joint drive device as claimed in claim 1, it is characterised in that the first circular arc bar and described
The other end of second circular arc bar is slidingly sealed the first loop bar of connection and the second loop bar respectively to be included：
The first circular arc bar and the second circular arc bar and the other end be respectively arranged with sealing piston, the sealing piston is slided
Dynamic sealing is arranged in first loop bar and second loop bar.
4. the revolute joint drive device as described in claim any one of 1-3, it is characterised in that in the hydraulic oil
It is provided with anti-foaming agent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621339543.7U CN206393664U (en) | 2016-12-02 | 2016-12-02 | Revolute joint drive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621339543.7U CN206393664U (en) | 2016-12-02 | 2016-12-02 | Revolute joint drive device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206393664U true CN206393664U (en) | 2017-08-11 |
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ID=59509377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621339543.7U Active CN206393664U (en) | 2016-12-02 | 2016-12-02 | Revolute joint drive device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206393664U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695864A (en) * | 2016-12-02 | 2017-05-24 | 合肥瑞硕科技有限公司 | Robot rotary joint driving device |
-
2016
- 2016-12-02 CN CN201621339543.7U patent/CN206393664U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695864A (en) * | 2016-12-02 | 2017-05-24 | 合肥瑞硕科技有限公司 | Robot rotary joint driving device |
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