CN206397838U - A kind of revolute joint drive device - Google Patents
A kind of revolute joint drive device Download PDFInfo
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- CN206397838U CN206397838U CN201621339506.6U CN201621339506U CN206397838U CN 206397838 U CN206397838 U CN 206397838U CN 201621339506 U CN201621339506 U CN 201621339506U CN 206397838 U CN206397838 U CN 206397838U
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- fluid port
- hydraulic fluid
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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 includes sector-shaped compartments, and the circle centre position of sector-shaped compartments, which rotates to be fixed with rotary shaft, rotary shaft, is fixed with quadrant block；Sector-shaped compartments are separated into the first sector-shaped compartments and the second sector-shaped compartments by quadrant block；First sector-shaped compartments are provided with the first hydraulic fluid port, and the second sector-shaped compartments are provided with the second hydraulic fluid port；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 hydraulic fluid port and the second hydraulic fluid port respectively；The hydraulic oil of hydraulic cylinder is full of the first sector-shaped compartments and the second sector-shaped compartments by the first hydraulic fluid port and the second hydraulic fluid port；The area ratio of the contact end face of quadrant block and piston with hydraulic oil is fixed proportion.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 includes sector-shaped compartments, and the center of circle of the sector-shaped compartments, which is rotated, to be fixed with rotary shaft, the rotary shaft
It is fixed with quadrant block；The sector-shaped compartments are separated into the first sector-shaped compartments and the second sector-shaped compartments by the quadrant block；Institute
State the first sector-shaped compartments and be provided with the first hydraulic fluid port, second sector-shaped compartments are provided with the second hydraulic fluid port；
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 hydraulic fluid port and second hydraulic fluid port respectively；The hydraulic oil of the hydraulic cylinder passes through first hydraulic fluid port and institute
The second hydraulic fluid port is stated full of first sector-shaped compartments and second sector-shaped compartments；The quadrant block and the piston with it is described
The area of the contact end face of hydraulic oil is fixed value.
It is preferred that, first hydraulic fluid port and second hydraulic fluid port are respectively arranged with telescopic sealing device, described telescopic
Sealing device stretches out to the sector-shaped compartments.
It is preferred that, the valve body includes valve seat and bonnet, and the valve seat and the bonnet enclose the sector-shaped compartments.
It is preferred that, it is provided with anti-foaming agent in the hydraulic oil.
Using said structure, the utility model proposes revolute joint drive device, when the piston is moving, drive
Hydraulic oil driving sliding block is rotated, and sliding block is fixed on the rotating shaft, can be with by the way that revolute joint is fixed on the rotating shaft
Being rotated by piston movement driving sliding block drives rotary shaft to rotate so as to drive revolute joint to rotate, due to quadrant block
The area of contact end face with piston with hydraulic oil is fixed value, is determined so as to the displacement according to piston and fixed value
The rotational angle of sliding block, 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 includes sector-shaped compartments, and the center of circle of sector-shaped compartments, which rotates to be fixed with rotary shaft 101, rotary shaft, is fixed with fan
Shape sliding block 102；Sector-shaped compartments are separated into the first sector-shaped compartments 103 and the second sector-shaped compartments 104 by quadrant block 102；First fan
Shape chamber 103 is provided with the first hydraulic fluid port 105, and the second sector-shaped compartments 104 are provided with the second hydraulic fluid port 106；
Hydraulic drive mechanism 2, which includes being slidingly sealed in hydraulic cylinder, hydraulic cylinder, is provided with piston 201, the two ends of hydraulic cylinder 2 difference
Connect the first hydraulic fluid port 105 and the second hydraulic fluid port 106；The hydraulic oil of hydraulic cylinder is by the first hydraulic fluid port 105 and the second hydraulic fluid port 106 full of the
One sector-shaped compartments 103 and the second sector-shaped compartments 104；The area of the contact end face of quadrant block 102 and piston 201 with hydraulic oil is
Fixed value.
It can be seen that, the revolute joint drive device that the utility model embodiment is proposed, when the piston is moving, band hydrodynamic
Force feed driving sliding block is rotated, and sliding block is fixed on the rotating shaft, by the way that revolute joint is fixed on the rotating shaft, Ke Yitong
Cross piston movement driving sliding block and rotate and drive rotary shaft to rotate so as to driving revolute joint to rotate, due to quadrant block and
The area of contact end face of the piston with hydraulic oil is fixed value, determines to slide so as to the displacement according to piston and fixed value
The rotational angle of block, 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 side sector-shaped compartments, so as to promote sliding block to rotate, drives rotary shaft to rotate, from
And drive fixed revolute joint on the rotating shaft to rotate.
Wherein, hydraulic oil is fixed value with the area of quadrant block 102 and the contact end face of piston 201, so as to true
Determine the ratio of the move distance of quadrant block 102 and piston 201, it is possible to by changing hydraulic oil and quadrant block 102 and living
The area ratio of the contact end face of plug 201 changes the ratio of move distance.
For example, when piston 201 is moved upwards, hydraulic oil can pass through the first hydraulic fluid port 105 to first on the upside of hydraulic cylinder
Sector-shaped compartments 103 are moved, because the first sector-shaped compartments 103 are full of hydraulic oil, when hydraulic oil is fanned by the first hydraulic fluid port 105 to first
When shape chamber 103 is moved, hydraulic oil can not be compressed, and quadrant block 102 can be promoted to be moved to the second sector-shaped compartments 104, be fanned simultaneously
Shape sliding block 102 can promote the hydraulic oil of the second sector-shaped compartments 104 by the second hydraulic fluid port 106 to lateral movement under hydraulic cylinder.Whole
In motion process, the both sides of quadrant block 102 are full of hydraulic oil all the time.Detailed, if quadrant block 102 rotates the liquid needed for 1 degree
Force feed volume is A, and the area of contact end face of the piston 201 with hydraulic oil is B；When piston displacement is C, movable hydraulic oil
Volume is B*C, and the rotational angle of quadrant block 102 is B*C/A.
Detailed, when can set piston 201 and moving 1 millimeter, quadrant block 102 rotates 1 °.
In the present embodiment, rotary shaft 101 is cylinder,
In a preferred embodiment of the present utility model, the first hydraulic fluid port 105 and the second hydraulic fluid port 106 are respectively arranged with flexible
Formula sealing device, telescopic sealing device stretches out to sector-shaped compartments.
Specifically, due to the limitation of mechanical part processing technology, the first sector-shaped compartments 203 and the second sector-shaped compartments 204 it
Between can not be fully sealed to completely cut off hydraulic oil, if hydraulic oil can not be completely cut off completely, when hydraulic fluid leak, just can not accurately enter
The positioning of row quadrant block.
Therefore, in the present embodiment, the first hydraulic fluid port 105 and the second hydraulic fluid port 106 are respectively arranged with telescopic sealing device.Liquid
The hydraulic oil of cylinder pressure enters sector-shaped compartments by the first hydraulic fluid port 105 and the second hydraulic fluid port 106.Wherein, telescopic sealing device is soft
Property sealing device, will not be expanded when sealing device does not stress, take very little volume, can be expanded during stress.For example, stretch
Contracting formula sealing device can be balloon；Hydraulic oil is entered after sector-shaped compartments by balloon, between balloon hydraulic oil and sector-shaped compartments,
Composition hydraulic oil is isolated with sector-shaped compartments, so as to complete the sealing of hydraulic oil.It will not be expanded when not stressed due to balloon, so that
The positioning of quadrant block 102 is not interfered with.In addition, telescopic sealing device can also be the device of accordion class.
In a preferred embodiment of the present utility model, valve body includes valve seat and bonnet, and valve seat and bonnet enclose fan
Shape chamber.
Detailed, valve body includes valve seat and bonnet, can conveniently carry out processing and rotary shaft and the sector cunning of sector-shaped compartments
The installation of the devices such as block, and it is easy to follow-up maintenance etc. to operate.Further, rigidity can also be increased inside sector-shaped compartments close
Seal apparatus, prevents fluid from revealing.Similarly, in quadrant block and sector-shaped compartments contact position sliding sealing device can also be set to carry out
Sealing.
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 as to cause hydraulic oil can not be full of liquid
Cylinder pressure, the first sector-shaped compartments 103 and the second sector-shaped compartments 104, so as to influence the mobile accuracy of quadrant block, i.e. robot to turn
The accuracy of diarthrodial amount of spin.By being provided with anti-foaming agent in hydraulic oil, the generation of foam in hydraulic oil can be suppressed,
It ensure 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 driving sliding block is driven to rotate, sliding block, which is fixed on, to be turned
On moving axis, by the way that revolute joint is fixed on the rotating shaft, drive can be rotated by piston movement driving sliding block and turned
Moving axis rotates to drive revolute joint to rotate, the area of the contact end face due to quadrant block and piston with hydraulic oil
For fixed value, the rotational angle of sliding block is determined so as to the displacement and fixed value according to piston, you can directly to determine
The amount of spin of revolute joint.
In the utility model embodiment, the first hydraulic fluid port and the second hydraulic fluid port are respectively arranged with telescopic sealing device, stretch
Formula sealing device is stretched out to sector-shaped compartments, and so as to the accurate positioning for carrying out quadrant block, machine is determined so as to accurate
The amount of spin of people cradle head.
In the utility model embodiment, valve body includes valve seat and bonnet, and valve seat and bonnet enclose sector-shaped compartments, so that
The installation of the devices such as processing and rotary shaft and the quadrant block of sector-shaped compartments can conveniently be carried out.
In the utility model embodiment, anti-foaming agent is provided with hydraulic oil, so as to accurate progress quadrant block
Positioning, 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 includes sector-shaped compartments, and the circle centre position of the sector-shaped compartments, which is rotated, to be fixed with rotary shaft, the rotary shaft admittedly
Surely there is quadrant block；The sector-shaped compartments are separated into the first sector-shaped compartments and the second sector-shaped compartments by the quadrant block；It is described
First sector-shaped compartments are provided with the first hydraulic fluid port, and second sector-shaped compartments are provided with the second hydraulic fluid port；
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 hydraulic fluid port and second hydraulic fluid port are connected respectively；The hydraulic oil of the hydraulic cylinder passes through first hydraulic fluid port and described
Two hydraulic fluid ports are full of first sector-shaped compartments and second sector-shaped compartments；The quadrant block and the piston and the hydraulic pressure
The area of the contact end face of oil is fixed value.
2. revolute joint drive device as claimed in claim 1, it is characterised in that first hydraulic fluid port and described
Two hydraulic fluid ports are respectively arranged with telescopic sealing device, and the telescopic sealing device stretches out to the sector-shaped compartments.
3. revolute joint drive device as claimed in claim 1, it is characterised in that the valve body includes valve seat and valve
Lid, the valve seat and the bonnet enclose the sector-shaped compartments.
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 |
|---|---|---|---|
| CN201621339506.6U CN206397838U (en) | 2016-12-02 | 2016-12-02 | A kind of revolute joint drive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621339506.6U CN206397838U (en) | 2016-12-02 | 2016-12-02 | A kind of revolute joint drive device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206397838U true CN206397838U (en) | 2017-08-11 |
Family
ID=59509416
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621339506.6U Active CN206397838U (en) | 2016-12-02 | 2016-12-02 | A kind of revolute joint drive device |
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|---|---|
| CN (1) | CN206397838U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106499679A (en) * | 2016-12-02 | 2017-03-15 | 合肥瑞硕科技有限公司 | A kind of revolute joint's driving means |
-
2016
- 2016-12-02 CN CN201621339506.6U patent/CN206397838U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106499679A (en) * | 2016-12-02 | 2017-03-15 | 合肥瑞硕科技有限公司 | A kind of revolute joint's driving means |
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