CN207111555U - The multi-joint support arm of closed hydraulic loop control - Google Patents
The multi-joint support arm of closed hydraulic loop control Download PDFInfo
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- CN207111555U CN207111555U CN201720320805.3U CN201720320805U CN207111555U CN 207111555 U CN207111555 U CN 207111555U CN 201720320805 U CN201720320805 U CN 201720320805U CN 207111555 U CN207111555 U CN 207111555U
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- hydraulic cylinder
- support arm
- revolute joint
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Abstract
A kind of multi-joint support arm of closed hydraulic loop control, is the leverage being serially connected in by some revolute joints and connecting rod.Hydraulic cylinder is housed on revolute joint.Hydraulic pump is plunger pump.The hydraulic fluid port of the hydraulic fluid port of hydraulic pump and each hydraulic cylinder is joined directly together with hydraulic tube, forms closed circuit.When hydraulic pump plunger stretches out, system low-voltage, the hydraulic cylinder on revolute joint is held out against on gyroaxis under groups of springs promotion, revolute joint locking.When hydraulic pump plunger is retracted, system high pressure, hydraulic cylinder leaves gyroaxis, and revolute joint unclamps.Drive the flexible of hydraulic pump plunger, it is possible to the flexibly locking and release of control support arm.Closed hydraulic loop is formed simply, and power-weight ratio is big, and the locking and release of support arm are controlled with it, reduces the volume and weight of device, and can obtain big coupling mechanism force, while easy to control.Using this support arm, the performance of the dexterous type apparatus such as medicine equipment can be significantly improved.
Description
Technical field
Shaft-like serial mechanism is the utility model is related to, especially a kind of multi-joint support arm of closed hydraulic loop control.
Background technology
Multivariant shaft-like serial mechanism is widely used in manipulator, multiple degrees of freedom apparatus for adjusting position, end effector
The support arm of the occasions such as modified gear, particularly medicine equipment, rehabilitation appliances and physical therapy apparatus.Its its structure is that some revolutions are closed
Section and connecting rod are connected the leverage to be formed.Revolute joint at work by working condition requirement, it is necessary to convert rotation or locking state,
Seek to be equipped with controllable locking device.The existing polytype of locking device at present, such as Chinese patent《200510092591 is a kind of
Electromagnetic locking device with rotary joint》The pattern announced.But the locking device of existing various revolute joints, its size and weight are very
Difficulty meets the requirement of dexterous type apparatus.Closed hydraulic loop simple system is utilized for this, the characteristics of power-weight ratio is big, it is proposed that
A kind of multi-joint support arm of closed hydraulic loop control, can better meet various dexterous type apparatuses and support arm is wanted
Ask.
Utility model content
The purpose of this utility model, is to provide that a kind of size is small, in light weight, coupling mechanism force is big, locking loosens that conversion is fast, control
Simple multi-joint support arm.
For this purpose, technical solution adopted in the utility model is as follows：
A kind of multi-joint support arm of closed hydraulic loop control, mainly by hydraulic pump, hydraulic cylinder, revolute joint, connection
Bar, groups of springs are formed, it is characterized in that some revolute joints and connecting rod are serially connected in leverage, hydraulic pressure is housed on revolute joint
The hydraulic fluid port of cylinder, the hydraulic fluid port of hydraulic pump and each hydraulic cylinder is joined directly together to form closed circuit with hydraulic tube.
Further feature is that revolute joint is made up of revolving sleeve and gyroaxis, and revolving sleeve and gyroaxis are revolution respectively
Two connection ends in joint, it is two orthogonal ducts inside revolving sleeve, gyroaxis bearings are in a duct, another
Hydraulic cylinder is housed, there is step the duct outer end, and a groups of springs both ends are held out against in hydraulic cylinder rear end face respectively in one duct
On the duct outer end step, hydraulic cylinder front end is held out against on gyroaxis, and there is a cross-drilled hole hydraulic cylinder front end, has in cross-drilled hole
Both ends are fixed on the latch on revolving sleeve, and the plunger of hydraulic cylinder is stretched out by hydraulic cylinder front end to be held out against on latch.Hydraulic pressure
Cylinder has a hydraulic fluid port, and the hydraulic fluid port is reached outside revolving sleeve.
Further feature is some revolute joints and connecting rod, is serially connected in the first way of leverage and is, first
One connection end of individual revolute joint is fixedly connected with frame, another connection end of the revolute joint and first connecting rod one
End is fixedly connected, and first connecting rod other end is fixedly connected with a connection end of second revolute joint, time of second
Turn another connection end of joint to be fixedly connected with second connecting rod one end, second connecting rod other end and the 3rd revolution are closed
One connection end of section is fixedly connected, and is connected in the above described manner to leverage last connecting rod.
Further feature is some revolute joints and connecting rod, is serially connected in the second way of leverage and is, leverage
In a connection end of some revolute joint be fixedly connected with a connection end of another revolute joint.
Further feature is that hydraulic pump is plunger pump, is covered in hydraulic pressure pump barrel and is filled with hydraulic pump plunger, had on hydraulic pressure pump barrel
One hydraulic pump hydraulic fluid port.
The multi-joint support arm course of work of this closed hydraulic loop control is such：The support arm is multiple due to having
Revolute joint, its end have multiple frees degree.During original state, hydraulic medium is full of in hydraulic circuit, hydraulic pump plunger is stretched
Going out, hydraulic medium is atmospheric pressure state, and the hydraulic cylinder front end on each revolute joint is held out against on gyroaxis under groups of springs promotion,
Gyroaxis can not be rotated, and each revolute joint is in locking state, and support arm position is fixed, if hydraulic pump plunger is retracted, be compressed
Hydraulic medium in hydraulic pressure pump barrel, makes its pressure rise, the liquid that the hydraulic medium of high pressure is entered on each revolute joint by pipeline
Cylinder pressure cylinder, promote each cylinder plunger to hold out against latch, can not be moved forward because cylinder plunger is withstood on latch, high pressure
Hydraulic medium then promote hydraulic cylinder to overcome the thrust of groups of springs to be moved rearwards, gyroaxis is left in hydraulic cylinder front end, revolution
Axle can have rotated, and revolute joint is changed into rotatable state.Hydraulic pump plunger stretches out again, and each revolute joint recovers to lock again
Tight state.It can be seen that as long as this closed hydraulic loop driving hydraulic pump plunger is flexible, it is possible to flexibly control multi-joint support
The locking and release of arm.
The beneficial effects of the utility model are：Simple as a result of forming, the big Closed Hydraulic of power-weight ratio is returned
Road, control the locking and release of support arm so that support arm volume and weight is all relatively small, but can obtain big locking
Power, larger rotary torque is reliably undertaken, at the same it is easy to control.Using this support arm, the spirits such as medicine equipment can be significantly improved
The performance of skilful type apparatus.
Brief description of the drawings
Structure of the present utility model is elaborated below in conjunction with the accompanying drawings：
Accompanying drawing 1 is the three-dimensional profile figure of the multi-joint support arm of closed hydraulic loop control.
Accompanying drawing 2 is the hydraulic schematic diagram of the multi-joint support arm of closed hydraulic loop control.
Accompanying drawing 3 is the cradle head diagrammatic sectional view of the multi-joint support arm of closed hydraulic loop control.
Accompanying drawing 4 is the P-P profiles in accompanying drawing 3.
Accompanying drawing 5 is the second way schematic diagram that leverage is connected in series.
In the accompanying drawings, 1 it is revolute joint, 2 be connecting rod, 3 be frame, 4 be hydraulic pressure pump barrel, 5 be hydraulic pump plunger, 6 is
Hydraulic pump hydraulic fluid port, 7 be hydraulic cylinder, 8 be cylinder plunger, 9 be hydraulic cylinder hydraulic fluid port, 10 be revolving sleeve, 11 be bearing, 12 be back
Rotating shaft, 13 be latch, 14 be groups of springs, 15 be hydraulic tube.
Embodiment
As shown in drawings, the multi-joint support arm of closed hydraulic loop control, mainly by hydraulic pump, hydraulic cylinder, revolution
Joint, connecting rod, groups of springs are formed.Concrete structure is some revolute joints 1 and connecting rod 2 is serially connected in leverage, and revolution is closed
Hydraulic cylinder 7 is housed on section 1, the hydraulic fluid port 6 of hydraulic pressure pump barrel 4 and the hydraulic fluid port 9 of each hydraulic cylinder 7 are joined directly together to be formed with hydraulic tube 15
Closed circuit.Revolute joint 1 is made up of revolving sleeve 10 and gyroaxis 12, and revolving sleeve 10 and gyroaxis 12 are revolute joint 1 respectively
Two connection ends, be two orthogonal ducts inside revolving sleeve 10, gyroaxis 12 is supported in a duct with bearing 11,
Hydraulic cylinder 7 is housed in another duct, there is step the duct outer end, and the both ends of groups of springs 14 are held out against in hydraulic cylinder respectively
On 7 rear end faces of cylinder and the duct outer end step, the front end of hydraulic cylinder 7 is held out against on gyroaxis 12, and the front end of hydraulic cylinder 7 has one
Cross-drilled hole, there is the latch 13 that both ends are fixed on revolving sleeve 10 in cross-drilled hole, and the plunger 8 of hydraulic cylinder is stretched out by the front end of hydraulic cylinder 7
Hold out against on latch 13.Hydraulic cylinder 7 has a hydraulic fluid port 9, and the hydraulic fluid port 9 reaches the outside of revolving sleeve 10.
Some revolute joints 1 and connecting rod 2, being serially connected in the mode of leverage is, a company of first revolute joint 1
End is connect to be fixedly connected with frame 3, another connection end of the revolute joint 1 is fixedly connected with first one end of connecting rod 2, and first
The individual other end of connecting rod 2 is fixedly connected with a connection end of second revolute joint 1, the revolute joint 1 of second another
Connection end is fixedly connected with second one end of connecting rod 2, one of second other end of connecting rod 2 and the 3rd revolute joint 1
Connection end is fixedly connected, and is connected in the above described manner to leverage last connecting rod.A company of some revolute joint 1 in leverage
Connect end directly can also be fixedly connected with a connection end of another revolute joint 1, the 3rd and the 4th revolution in accompanying drawing 5
Joint is exactly the example of this connected mode.Hydraulic pump is plunger pump, is covered in hydraulic pressure pump barrel 4 and is filled with hydraulic pump plunger 5, hydraulic pump
There is a hydraulic pump hydraulic fluid port 6 on cylinder 4.
A kind of preferred embodiment of the present utility model is the foregoing is only, is not limited to the utility model, it is all at this
All any modification, equivalent and improvement done within utility model thinking and principle etc., it is both contained in guarantor of the present utility model
Within the scope of shield.
Claims (5)
1. a kind of multi-joint support arm of closed hydraulic loop control, mainly by hydraulic pump, hydraulic cylinder, revolute joint, connecting rod,
Groups of springs is formed, it is characterized in that some revolute joints and connecting rod are serially connected in leverage, hydraulic cylinder, liquid are housed on revolute joint
The hydraulic fluid port of the hydraulic fluid port of press pump and each hydraulic cylinder is joined directly together to form closed circuit with hydraulic tube.
2. the multi-joint support arm of closed hydraulic loop control according to claim 1, it is characterised in that：Revolute joint by
Revolving sleeve and gyroaxis composition, revolving sleeve and gyroaxis are two connection ends of revolute joint respectively, are two inside revolving sleeve
Orthogonal duct, gyroaxis bearings are equipped with hydraulic cylinder in a duct in another duct, and the duct outer end has
Step, a groups of springs both ends are held out against on hydraulic cylinder rear end face and the duct outer end step respectively, hydraulic cylinder front end top
Tightly on gyroaxis, there is a cross-drilled hole hydraulic cylinder front end, has both ends to be fixed on the latch on revolving sleeve, hydraulic cylinder in cross-drilled hole
Plunger by hydraulic cylinder front end stretch out hold out against on latch, hydraulic cylinder has a hydraulic fluid port, and the hydraulic fluid port is reached outside revolving sleeve
Face.
3. the multi-joint support arm of the closed hydraulic loop control according to claim 1 or claim 2, its feature exist
In：Some revolute joints and connecting rod, being serially connected in the first way of leverage is, a connection of first revolute joint
End is fixedly connected with frame, and another connection end of the revolute joint is fixedly connected with first connecting rod one end, first company
The extension bar other end is fixedly connected with a connection end of second revolute joint, another connection end of the revolute joint of second with
Second connecting rod one end is fixedly connected, and a connection end of second connecting rod other end and the 3rd revolute joint, which is fixed, to be connected
Connect, be connected in the above described manner to leverage last connecting rod.
4. the multi-joint support arm of the closed hydraulic loop control according to claim 1 or claim 2, its feature exist
In：Some revolute joints and connecting rod, being serially connected in the second way of leverage is, one of some revolute joint in leverage
Connection end is fixedly connected with a connection end of another revolute joint.
5. the multi-joint support arm of closed hydraulic loop control according to claim 1, it is characterised in that：Hydraulic pump is post
Pump is filled in, set is filled with hydraulic pump plunger in hydraulic pressure pump barrel, there is a hydraulic pump hydraulic fluid port on hydraulic pressure pump barrel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720320805.3U CN207111555U (en) | 2017-03-30 | 2017-03-30 | The multi-joint support arm of closed hydraulic loop control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720320805.3U CN207111555U (en) | 2017-03-30 | 2017-03-30 | The multi-joint support arm of closed hydraulic loop control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207111555U true CN207111555U (en) | 2018-03-16 |
Family
ID=61595399
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720320805.3U Active CN207111555U (en) | 2017-03-30 | 2017-03-30 | The multi-joint support arm of closed hydraulic loop control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207111555U (en) |
-
2017
- 2017-03-30 CN CN201720320805.3U patent/CN207111555U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201021 Address after: 317317 Baita Industrial Cluster, Baita Town, Xianju County, Taizhou City, Zhejiang Province Patentee after: Xianju Boyuan surgical medical equipment Co., Ltd Address before: Hung Hing Road, Xiaoshan economic and Technological Development Zone of Xiaoshan District of Hangzhou City, Zhejiang province 311200 No. 389 Building No. 4 Building Patentee before: HANGZHOU GUOCHEN ZHENGYU TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210312 Address after: 317317 Baita Industrial Cluster, Baita Town, Xianju County, Taizhou City, Zhejiang Province Patentee after: Xianju Xingzhi Technology Co.,Ltd. Address before: 317317 Baita Industrial Cluster, Baita Town, Xianju County, Taizhou City, Zhejiang Province Patentee before: Xianju Boyuan surgical medical equipment Co., Ltd |