CN207953915U - Robot hydraulic knuckle - Google Patents
Robot hydraulic knuckle Download PDFInfo
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- CN207953915U CN207953915U CN201820254796.7U CN201820254796U CN207953915U CN 207953915 U CN207953915 U CN 207953915U CN 201820254796 U CN201820254796 U CN 201820254796U CN 207953915 U CN207953915 U CN 207953915U
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Abstract
This patent discloses a kind of robot hydraulic knuckles, including integrated electro-hydraulic ball pump dynamical system, oscillating oil cylinder (41) and control system, and pedestal (21) is provided on shell (1)；Integrated electro-hydraulic ball pump dynamical system is made of ball pump (40), motor stator (3) and rotor (4) with positive and negative rotating function, ball pump (40) is fixedly connected with rotor (4), ball pump (40) is arranged in the side of connecting plate, oscillating oil cylinder (41) is arranged in the other side of connecting plate (7), it is connected with cylinder sleeve end cap (14) on swinging cylinder sleeve (13), cylinder sleeve end cap is provided with connection ring on (14)；Controller (27) is electrically connected with motor, sensor and brake system, for receiving sensor signal, the operating for controlling motor, the start and stop etc. of brake system.The advantages of this patent is simple in structure, torque is big, power-mass ratio is big, and motion flexibility is good.
Description
Technical field
This patent is related to a kind of robot hydraulic knuckle, belongs to robotic technology field.
Background technology
The snatch component of robot includes hand, arm and joint of robot, and joint of robot is as the important of robot
Component plays very important effect to indexs such as robot volume, weight, dexterity of action, snatch strength sizes.Currently,
The type of drive of joint of robot includes motor reducer driving, Pneumatic artificial muscle driving and hydraulic-driven.Artificial pneumatic flesh
Meat driving has the characteristics that light-weight, price is low, easy care, but its control accuracy is low, using limited；Motor reducer driving tool
Have the advantages that at low cost, control is simple, small, but its greatest problem is that power-mass ratio is low, the too big shortage of rigidity is flexible,
The shortcomings of being easily damaged during the motion；In contrast, the great advantage of hydraulic-driven is power-mass ratio height, motion flexibility
It is good, so, hydraulic-driven joint is more and more being applied in robot in recent years, and hydraulic-driven machine people has become machine
The important directions and trend of device people research.
But current hydraulic-driven machine person joint passes through a big work(using being centralized hydraulic pressure compartment system
Rate, big flow hydraulic pump as central hydraulic source, then be assigned to by configuring various valves and control system pressure each
It is that power system architecture is heavy, power consumption is big to need the position acted, caused problem, by the increased number of parts of valve institute
It is mostly very big so as to cause the energy loss that is sufficiently bulky, generating of system.
Ball pump is a kind of variable displacement type mechanism of brand new, and smaller volume can realize very high pressure, spherical
Pump has many advantages for robot dynamical system, and the volume reduction, weight saving, energy consumption of robot dynamical system can be made to drop
It is low.
Invention content
The purpose of this patent is exactly to design a kind of robot hydraulic knuckle, and using last word ball pump technology, use is electro-hydraulic
Oscillating oil cylinder is driven, to improve power-mass ratio, the response speed for improving joint and the flexibility of hydraulic knuckle, reduction energy consumption, subtract
Small weight and volume.
The technical solution of this patent is robot hydraulic knuckle, it is characterized in that：Including integrated electro-hydraulic inside the shell is arranged
Ball pump dynamical system, oscillating oil cylinder and control system, are provided with pedestal on the shell, wherein：
The integrated electro-hydraulic ball pump dynamical system is turned by ball pump, motor stator and motor with positive and negative rotating function
Son is constituted, and rotor connector is the cylinder type of one end open, and ball pump is placed in the cylindrical cavity of rotor connector, rotor
The external cylindrical surface of connector is fixedly connected with the inner cylinder face of rotor, and motor stator and connecting plate are fixed in shell cylinder
On the inner cylinder face of chamber；The side center of connecting plate inwardly concaves a cylindrical cavity to match with cylinder cap top cylinder boss,
The protruding central shaft in other side center of connecting plate；It is provided with hydraulic circuit in central shaft and cylinder cap；Ball pump pump case
Top end face of flange be bonded and be fixed by screws on the side end face of connecting plate with a side end face of connecting plate, cylinder cap top
After the cylindrical cavity on the cylinder boss insertion connecting plate of pump case is stretched out at end, the end face of cylinder cap top cylinder boss and connecting plate are recessed
The bottom surface of the cylindrical cavity entered fits closely, and two on cylinder cap connect into outage and two on connecting plate into outage respectively
Logical, two overflow ducts on cylinder cap are respectively turned on two overflow ducts on connecting plate；The bottom end of rotor connector is inside
The turntable for protruding a drive shaft and ball pump connects, rotor connector inner cylinder face and ball pump pump case external cylindrical surface it
Between be provided with C bearings, the protruding support shaft in bottom end of rotor connector is connected with D bearings and bearing pressure in support shaft
Lid, bearing gland are fixed on shell, and rotor connector is supported using C bearings and D bearings as rotation；In the outside of bearing gland
Electric appliance end cap is provided on end face, elastic oil conservator setting is formed by bearing gland and electric appliance end cap in closing vessel, bullet
Property oil conservator and motor stator and pump case between vessel connect；
The side for stretching out central shaft is arranged on connecting plate in the oscillating oil cylinder, and oscillating oil cylinder includes swinging cylinder sleeve, movable vane
Piece, fixed blade swing cylinder collar and are wound on central shaft, and movable vane piece is fixed on the inner periphery for swinging cylinder sleeve, and fixed blade is fixed on
In the intermediate cylindrical surface of central shaft, cylinder sleeve end has been connected by screw on the annulus end face for swinging cylinder sleeve connection movable vane piece side
Lid, cylinder sleeve end cap, swing cylinder sleeve, the cylindrical surface of intermediate cylindrical boss of central shaft, movable vane piece, fixed blade combination constitute and swing oil
Two of cylinder closing working chambers, two closed working chambers respectively in the intermediate cylindrical surface of centrally disposed axis into outage
Opening connect, the root of central shaft cylinder boss cylindrical surface and swing cylinder sleeve between be provided with A bearings, in center shaft end
B axle is provided between portion cylinder boss cylindrical surface and cylinder sleeve end cap to hold；Connection ring, connection ring and machine are provided on cylinder sleeve end cap
The pedestal of device human hand, arm or other hydraulic knuckles connects；
The control system includes controller, sensor and brake system；Brake system and sensor are arranged in oscillating cylinder
Between set and connecting plate side, brake system is stopped control for oscillating oil cylinder, rotation of the sensor for perceiving swing cylinder sleeve
The information such as angle, velocity of rotation；Controller is arranged in the cavity that bearing gland and electric appliance end cap are formed, controller and motor,
Sensor and brake system electrical connection, for receiving sensor signal, the operating for controlling motor, the start and stop etc. of brake system；
Further, central shaft is three concentric circles that a diameter stretched out from connection plate end face center becomes smaller successively
Column boss, setting is there are two into outage and two overflow ducts in central shaft, and two on central shaft into outage and two
The one end open of a overflow ducts is located on the bottom end face of connecting plate cylindrical cavity；Two another end openings into outage are set
It sets on the external cylindrical surface of the intermediate cylindrical boss of central shaft, is connect respectively with the hydraulic oil of two working chambers of oscillating oil cylinder inlet and outlet
It is logical；Two overflow ducts in central shaft are blind hole, and one in the cecum and central shaft of one of overflow ducts is into oil extraction
Hole is connected, another in the cecum and central shaft of another overflow ducts is connected into outage, in each overflow ducts oral area
Be provided with check valve, hydraulic oil from the oral area of connecting plate overflow circulation road through check valve can enter in central shaft into outage；
There are two spout holes for setting on the cylinder boss cylindrical surface of cylinder cap top bump, corresponding on the faying face of connecting plate and pump case
Two overflow launders of setting, the overflow ducts on cylinder cap on one end and cylinder cap of each spout hole connect, the other end and overflow launder
It connects；One end of each overflow launder is connected to spout hole, and the cavity between the other end and pump case and motor stator is connected；
Further, brake system includes the brake disc of annular, the electromagnet of annular and annular armature, brake disc setting
It on the excircle of connecting plate central shaft root cylinder boss, is connected by screw on the side of connecting plate, electromagnet installation
It is fixed in the annular groove in brake side surface, armature is pressed by spring, pin and bolt and swinging cylinder sleeve and brake disc
On opposite end face, armature is rotated in company with cylinder sleeve is swung；
Further, it is provided in the toroidal cavity between the excircle of the brake disc of brake system and shell inner periphery
Sensor, sensor include card reader and magnetic rings, and card reader is fixed in the toroidal cavity between brake disc and shell, and solid
The annular magnet ring being scheduled in the outside circumference for swinging cylinder sleeve it is opposite and between there are gaps.
The advantages of this patent is：
1, hydraulic knuckle power-mass ratio is big, and torque is big, and flexibility of joint is good；
2, due to the unique principal advantage of ball pump, have the characteristics that small, with small vibration, and have can be just for ball pump
The characteristics of to reversely rotating, to drive the swing cylinder sleeve of oscillating oil cylinder, the hydraulic system of robot is using distributed hydraulic pressure
Source scheme eliminates complicated high-pressure oil pipe and electromagnetic hydraulic pressure reversal valve, can substantially reduce the weight, volume and power consumption of system,
Control system is significantly simplified；
3, check valve in overflow ducts is set, hydraulic circuit is formed by elastic oil conservator and entire hydraulic system, is protected
It is always low pressure to have demonstrate,proved ball pump overflow oil sump, and the hydraulic oil of overflow oil sump can be made to circulate；Elastic oil conservator is protected simultaneously
The hydraulic oil volume caused by temperature change for having demonstrate,proved closed system is adjusted.
Description of the drawings
Fig. 1：Robot hydraulic knuckle example structure sectional view described in this patent；
Fig. 2：Robot hydraulic knuckle example structure outline drawing described in this patent；
Fig. 3：Remove the right view after cylinder sleeve end cap in structure shown in Fig. 1；
Fig. 4：Ball pump structure enlargement diagram (in terms of head side)；
Fig. 5：A-A sectional views in Fig. 4；
Fig. 6：B-B sectional views in Fig. 4；
Fig. 7：Rotor connector front view；
Fig. 8：Rotor connector vertical view；
Fig. 9：Oscillating cylinder nested structure schematic diagram；
Figure 10：Connecting board structure front view；
Figure 11：Connecting board structure left view；
Figure 12：Brake disc structural schematic diagram；
Figure 13：Pump case structural schematic diagram；
Figure 14：Piston structure schematic diagram；
Figure 15：Turntable structure schematic diagram；
Figure 16：Cylinder cover structure front view；
Figure 17：Cylinder cover structure upward view；
Figure 18：Cylinder cover structure vertical view；
Figure 19：Hydraulic knuckle hydraulic schematic diagram shown in this patent；
In figure：1- shells；2- rotor connectors；3- motor stators；4- rotors；5-C bearings；6- pump cases；7- connections
Plate；8- brake discs；9- electromagnet；10- card reader；11- magnetic rings；12- Yu iron；13- swings cylinder sleeve；14- cylinder sleeve end caps；15-A
Bearing；16- is into outage；17- stop screws；18-B bearings；19-movable vane pieces；20- fixed blades；21- pedestals；22- cylinder caps；
23- pistons；24- axis pins；25- turntables；26- cylinder bodies；27- controllers；28- electric appliance end caps；29-D bearings；30- bearing glands；
31- elasticity oil conservators；32- is into oil drain passage；33- pump work chambers；34- central shafts；35- overflow ducts；36- overflow launders；37- is slided
Boots；38- sliding slots；39- check valves；40- ball pumps；41- oscillating oil cylinders；42- drive shafts；43- support shafts；44- spout holes.
Specific implementation mode
As shown in Fig. 1 to Fig. 2, robot hydraulic knuckle described in this patent includes the integrated electro-hydraulic ball being arranged in shell 1
Shape pump power system, oscillating oil cylinder 41 and control system, shell 1 are cylinder-like structure, are provided on the external cylindrical surface of shell 1
Pedestal 21 is provided with connection ring on pedestal 21, and hydraulic knuckle is mounted on fixture by the connection ring on pedestal 21 or it
In the connection ring of the cylinder sleeve end cap 14 of its hydraulic knuckle；One side end of shell 1 is installed with electric appliance end cap 28, another side
Portion be oscillating oil cylinder 41 cylinder sleeve end cap 14, cylinder sleeve end cap 14 be connected by screw swing cylinder sleeve 13 on, cylinder sleeve end cap 14 with
The swing cylinder sleeve 13 of oscillating oil cylinder 41 is swung, and connection ring is provided on cylinder sleeve end cap 14, hydraulic knuckle passes through cylinder sleeve end cap 14
On connection ring and robot hand, arm or other hydraulic knuckles pedestal 1 connect.
The integrated electro-hydraulic ball pump dynamical system is by ball pump 40, rotor connector 2, electricity with positive and negative rotating function
Machine stator 3 and rotor 4 are constituted, and as shown in Figure 7, Figure 8, rotor connector 2 is the cylinder type of one end open, ball pump
40 are placed in the cylindrical cavity of rotor connector 2, in 6 excircle of pump case of the cylindrical inner wall and ball pump 40 of rotor connector 2
Between it is set be equipped with C bearings 5, C bearings 5 are needle bearing, and the excircle of rotor connector 2 is logical with the inner periphery of rotor 4
The mode for crossing hot pressing is tightly fixed connection, when connection first rotor 4 is heated make the interior circular diameter of rotor 4 increase or
Person, which freezes rotor connector 2, to be made the outside diameter of rotor connector 2 shrink to become smaller, and to after room temperature after assembly, rotor 4 is just
It firmly binds round fixed on rotor connector 2；Motor stator 3 is fixed in 1 cylindrical inner wall of shell；The bottom end of rotor connector 2
A protruding support shaft 43, is connected with D bearings 29 on the axle journal of support shaft 43, and D bearings 29 are rolling bearing；Bearing gland
30 are connected by screw on the end face of shell 1, and bearing gland 30 is provided centrally with the bearing block to match with D bearings 29, axis
Pressure cap 30 presses on the outer ring of D bearings 29；Rotor connector 2 is with the D bearings 29 between bearing gland 30 and support shaft 43
C bearings 5 between pump case 6 and rotor connector 2 are supported as rotation；Connecting plate 7 is fixed on the inner cylinder face of shell 1；
As shown in Figure 16, Figure 18, two of ball pump 40 are arranged into the opening of outage 16 and the opening of two overflow ducts 35 in cylinder
On the end face of the cylinder boss of 22 top of lid protrusion；As shown in Figure 10, Figure 11, connecting plate 7 is towards a side end face of ball pump 40
Center inwardly concaves a cylindrical cavity to match with 22 top cylinder boss of cylinder cap, in another side end face mediad of connecting plate 7
One central shaft 34 of outer stretching, central shaft 34 are that become smaller successively three of a diameter protruded from 7 end face center of connecting plate are concentric
Cylinder boss, be also provided in central shaft 34 there are two into outage 16 and two overflow ducts 35, two on connecting plate 7
It is located on the bottom end face of cylindrical cavity into the one end open of outage 16 and two overflow ducts 35 and convex with 22 top of cylinder cap
Two on the end face of the cylinder boss gone out are corresponding into outage 16 and two overflow ducts 35；Two on connecting plate 7 into
Another end opening of outage 16 is arranged on the external cylindrical surface of the intermediate cylindrical boss of the central shaft 34 of connecting plate 7, respectively with
The working chamber hydraulic oil inlet and outlet of oscillating oil cylinder 41 are connected.
As shown in figure 13, the pump case 6 of ball pump 40 is the cylinder-like structure that top carries flange, is set in 6 flange of pump case
Be equipped with 22 top cylinder boss of cylinder cap by positioning step, the cylinder boss of 22 top of cylinder cap protrusion is from the method on 6 top of pump case
It is stretched out in flange aperture, the top end face of flange of pump case 6 is bonded with a side end face of connecting plate 7 towards ball pump 40 and is consolidated by screw
It is scheduled on the side end face of connecting plate 7, the cylindrical cavity on the cylinder boss insertion connecting plate 7 of pump case 6 is stretched out on 22 top of cylinder cap
Afterwards, the bottom surface of the cylinder boss end face cylindrical cavity recessed with connecting plate 7 of 22 top of cylinder cap protrusion fits closely, on cylinder cap 22
Two be respectively turned on into outage 16 and two on connecting plate 7 into outage 16, two on cylinder cap 22 overflow ducts 35
It is respectively turned on two overflow ducts 35 on connecting plate 7；Two overflow ducts 35 on connecting plate 7 are blind hole, one of them
The cecum of overflow ducts 35 is connected with one on connecting plate 7 into outage 16, the cecum of another overflow ducts 35 and connection
Another on plate 7 is connected into outage 16, internal thread is arranged in 35 oral area of each overflow ducts, check valve 39 is connected by screw thread
It is connected on the oral area of overflow ducts 35, hydraulic oil can enter connecting plate 7 from the oral area of 7 overflow circulation road 35 of connecting plate through check valve 39
On into outage 16；There are two spout holes 44 for setting on the cylinder boss cylindrical surface of 22 top bump of cylinder cap, in connecting plate 7
With two overflow launders 36 are set accordingly on the faying face of pump case 6, on cylinder cap 22 one end of each spout hole 44 on cylinder cap 22
Overflow ducts 35 connect, the other end and overflow launder 36 are connected；One end of each overflow launder 36 is connected to spout hole 44, the other end
Cavity between pump case 6 and motor stator 3 is connected.
Ball pump 40 is enclosed in a sealing unit by bearing gland 30, shell 1 and connecting plate 7, in motor stator 3 and pump
Collection chamber of the gap as ball pump 40 between shell 6, the hydraulic oil leaked in 40 operational process of ball pump collect in the oil-collecting
Intracavitary.Electric appliance end cap 28 is provided in the end face outside of bearing gland 30, the shape between electric appliance end cap 28 and bearing gland 30
At a vessel, the setting of elastic oil conservator 31 is formed by bearing gland 30 and electric appliance end cap 28 in closing vessel, the elasticity
Oil conservator 31 is one section of flexible emulsion tube, and one end of emulsion tube is connected to the end of bearing gland 30 by screwed pipe joint
On face, other end closing, the collection chamber of elastic oil conservator 31 and ball pump 40 connect (i.e. with motor stator 3 and ball pump 40 it
Between vessel connect).
Such as Fig. 1, Fig. 3, shown in fig. 4, fig. 9, the side for stretching out central shaft 34, pendulum is arranged on connecting plate 7 in oscillating oil cylinder 41
Dynamic oil cylinder 41 includes swinging cylinder sleeve 13, movable vane piece 19, fixed blade 20 and central shaft 34, oscillating oil cylinder 41 to stretch out with connecting plate 7
Central shaft 34 is used as fixing axle, and the side for swinging cylinder sleeve 13 is the cylindrical cavity for installing movable vane piece, has installation on another side end face
The annular space of the annular groove and installation annular magnetic rings 11 of ring armature 12, the centre bore for swinging cylinder sleeve 13 are movably connected in company
On the central shaft 34 of fishplate bar 7, the centre bore mating part for swinging cylinder sleeve 13 is provided with dynamic sealing ring, movable vane in central shaft 34
Piece 19 is fixedly connected on by screw on the inner periphery for swinging cylinder sleeve 13, and fixed blade 20 is fixedly connected on connecting plate 7 by screw
On central shaft 34 intermediate cylindrical surface on, swing cylinder sleeve 13 blade side cylindrical cavity annular end face on pass through screw
It is connected with cylinder sleeve end cap 14, cylinder sleeve end cap 14 swings cylinder sleeve 13, the cylindrical surface of intermediate cylindrical boss of central shaft 34, movable vane piece
19, the combination of fixed blade 20 constitutes two closing working chambers of oscillating oil cylinder 41, and two closed working chambers are respectively with setting even
The opening into outage 16 on the intermediate cylindrical boss cylindrical surface of the central shaft 34 of fishplate bar 7 is connected, in the root of central shaft 34
Cylinder boss cylindrical surface and swing and be provided with A bearings 15 between cylinder sleeve 13, in 7 central shaft of connecting plate, 34 end cylinder boss circle
It is provided with B axle between cylinder and cylinder sleeve end cap 14 and holds 18；It swings cylinder sleeve 13 and passes through the B axle between cylinder sleeve end cap 14 and central shaft 34
The A bearings 15 for holding 18 and swinging between cylinder sleeve 13 and central shaft 34 form rotation support；Cylinder sleeve 13, cylinder sleeve end cap 14 are swung in
The axis oscillating of mandrel 34, two working chambers alternately change as swing cylinder sleeve 13 swings its constancy of volume；Ball pump 40 is positive
When rotation, high pressure liquid pressure oil enters a working chamber of oscillating oil cylinder 41 through one into outage 16, another works at this time
Cavity pressure is relatively low, so cylinder sleeve end cap 14 is revolved in company with cylinder sleeve 13 is swung relative to the positive swing of connecting plate 7 when ball pump 40 is reversed
Turn, then high pressure liquid pressure oil enters another working chamber of oscillating oil cylinder 41, high pressure original at this time through another into outage 16
Work cavity pressure be lower, so the swing cylinder sleeve 13 and cylinder sleeve end cap 14 of oscillating oil cylinder 41 are reversed relative to connecting plate 7
It swings；Connection ring is provided on cylinder sleeve end cap 14, hydraulic knuckle is by being arranged the connection ring on swinging cylinder sleeve 13 and machine
Either arm or the pedestal of other hydraulic knuckles 21 connect human hand；It is logical that the end face center of cylinder sleeve end cap 14 is provided with screw
Via is provided with screw thread hole in the end face center of 7 central shaft of connecting plate, 34 outermost end cylinder boss, and stop screw 17 passes through
It is connected in the end thread of central shaft 34 after screw through hole on cylinder sleeve end cap 14, the big end inner portion of stop screw 17
End face is located on the outside of 14 end face of cylinder sleeve end cap, and cylinder sleeve end cap 14 and oscillating cylinder are prevented by the inner portion end face of stop screw 17
Set 13 disengages connecting plate 7 in an axial direction, and cylinder sleeve end cap 14 can rotate around stop screw 17, cylinder sleeve end cap 14 and stop screw 17 it
Between be provided with dynamic sealing.
The control system includes controller 27, sensor and brake system；In the end face for swinging cylinder sleeve 13 and connecting plate 7
Between brake system is set, as shown in Fig. 1, Figure 12, brake system include annular brake disc 8, annular electromagnet 9 and annular
Armature 12, brake disc 8 is arranged on the excircle of the 34 root cylinder boss of central shaft of connecting plate 7, is connected by screw
On one side end face of connecting plate 7, electromagnet 9 is fixed in the annular groove on 8 end face of brake disc, and armature 12 passes through bullet
On swinging the end face opposite with brake disc 8 of cylinder sleeve 13, armature 12 is rotated in company with cylinder sleeve 13 is swung for spring, pin and bolt pressure holding,
When 9 work once electrified of electromagnet of brake system, the suction that electromagnet 9 generates overcomes pressure of the spring to armature 12, to make
Armature 12 connect actuation with brake disc 8, and rotation stops；When swing cylinder sleeve 13 needs to swing, 9 dead electricity of electromagnet, the work in spring
(recoil of spring) is disengaged with armature 12 under, and armature 12 is acted in company with cylinder sleeve 13 is swung；In the excircle and shell 1 of brake disc 8
Sensor is provided in toroidal cavity between inner periphery, sensor includes card reader 10 and magnetic rings 11, and card reader 10 is fixed
In toroidal cavity between brake disc 8 and shell 1, with the annular magnet ring being fixed in the outside circumference for swinging cylinder sleeve 13
11 it is opposite and between there are gap, sensor is used to perceive the information such as rotational angle, velocity of rotation of swing cylinder sleeve；In bearing pressure
Controller 27, controller 27 and motor, sensor and brake system are additionally provided in the cavity that lid 30 is formed with electric appliance end cap 28
Electrical connection, for receiving sensor signal, the operating for controlling motor, the start and stop etc. of brake system；
As shown in Fig. 5 to Fig. 8, ball pump 40 is by cylinder body 26, cylinder cap 22, pump case 6, piston 23, turntable 25,24 and of axis pin
Rotor connector 2 is constituted, and there is hemispherical inner surface and cylindrical outer surface, cylinder body 26 to be fixed with cylinder cap 22 for cylinder body 26 and cylinder cap 22
Connection forms the spherical inner chamber of ball pump 40, and pump case 6 is the cylindrical shape that top carries flange, cylinder body 26, the cylinder cap of ball pump 40
22 external cylindrical surface is fixedly connected with the inner cylinder face of pump case 6 by way of hot charging, and cylinder cap 22 is provided in 6 flange of pump case
Top cylinder boss by positioning step, 22 top of cylinder cap protrusion cylinder boss stretched out from the flange hole on 6 top of pump case；
As shown in figure 14, there is piston 23 spherical top surface, spherical top surface center to stretch out a piston shaft, two angled sides,
In the piston boss that 23 two sides lower part of piston is formed, piston boss is semi-cylindrical in configuration, and the middle part of semicolumn is fluted, at it
There is the piston pin hole of perforation on axis direction；As shown in Figure 16 to Figure 18, piston axis hole, the axis of piston shaft are provided on cylinder cap 22
Diameter size matches with piston axis hole, and piston shaft is inserted into piston axis hole to be formed and be rotatably assorted, and piston 23 can be around the axis of piston shaft
It is freely rotated in spherical inner chamber, piston spherical shape top surface and the spherical inner chamber centre of sphere having the same simultaneously form the dynamic cooperation of sealing；
Setting is arranged there are two into oil drain passage 32 on the cylinder boss cylindrical surface of 22 top bump of cylinder cap in the Internal Spherical Surface of cylinder cap 22
There are two spout hole 44, there are two overflow ducts 35 and two into row for setting on the cylinder boss end face of 22 top bump of cylinder cap
Oilhole 16, one end of each spout hole 44 is connected with the overflow ducts 35 on cylinder cap 22 on cylinder cap 22, each into oil drain passage 32
It is corresponding to outside connection cylinder to be connected into outage 16；Into in one end of outage 16 and 22 Internal Spherical Surface of cylinder cap each of on cylinder cap 22
One into oil drain passage 32 connect, the cylinder boss protruded on 22 top of cylinder cap is each set into the other end of outage 16
On end face, and connected into outage 16 on connecting plate 7.Utilize the rotation of piston 23 and the spherical surface and cylinder of piston 23
The cooperation of the hemispherical inner surface of lid 22, as the basic fortune for being connected to or closing with two pump work chambers 33 into oil drain passage 32
Dynamic element, to realize oil inlet and oil extraction control.
As shown in figure 15, turntable 25 has turntable shaft, turntable spherical surface and turntable key seat, has cunning in the end set of turntable shaft
Boots 37；The spherical inner chamber and the turntable spherical surface centre of sphere having the same, turntable spherical surface that cylinder body 26 and cylinder cap 22 are constituted are close in spherical shape
Chamber forms the dynamic cooperation of sealing；The both ends of the turntable key seat of turntable 25 are semicolumn groove, and middle part is the semicolumn of protrusion；In semicircle
There is the turntable pin hole of perforation on the axis direction of column.Turntable shaft through hole is provided on cylinder body 26；Rotor connector 2 is one end
The cylinder type of opening, cylinder body 26, cylinder cap 22 and pump case 6 are placed in the cylindrical cavity of rotor connector 2, rotor connector 2
Bottom end to the projecting inward drive shaft 42 of cylinder, the sliding slot to match with piston shoes on turntable shaft 37 is provided on the end face of drive shaft 42
38, drive shaft 42 stretches into the turntable axis connection in the cylinder body 26 of ball pump 40 with ball pump 40 and pushes turntable shaft rotation, turns simultaneously
The piston shoes 37 of dish axle reciprocatingly slide in the sliding slot 38 on 2 end face of rotor connector；In the inner cylinder face and pump of rotor connector 2
It is provided with C bearings 5 between 6 excircle of shell, the protruding support shaft in the bottom end of rotor connector 2 43；Above-mentioned piston shaft and turn
The centre of sphere for the spherical inner chamber that the axis of dish axle and the drive shaft of rotor connector 2 42 is all made up of cylinder body 26 and cylinder cap 22, and
And the axis of piston shaft and turntable shaft and the axis of drive shaft 42 form identical angle α；Axis pin 24 is inserted into the piston of piston 23
Cylinder hinge is formed in the turntable pin hole of pin hole and turntable 25, piston 23 is formed sealing and moved with turntable 25 by cylinder hinge to be connected
It connects, and spherical inner chamber is formed the pump work chamber 33 for being divided into two volumes alternately to change.Driving turns when rotor connector 2 rotates
Disk 25, turntable 25 are moved with piston 23；The movement of piston 23 is the rotation of the uniquely axis around piston shaft, turntable 25 around
While the rotation of own axes, the piston shoes 37 on turntable shaft are in the sliding slot 38 on rotor connector 2 on 42 end face of drive shaft
It reciprocatingly slides；The movement of the above space mechanism is all to rotate the movement of property, therefore do not have high vibration movement parts, this spatial movement
Composite result be：Piston 23 and turntable 25 have a periodic relative swing.
The hydraulic oil leaked from cylinder body 26, turntable 25, piston 23 and 2 each mating part of rotor connector is pooled to pump case 6
The collection chamber that space between motor stator 3 is formed, if this partial compromise oil is not discharged, inevitably not because of Leakage Energy
Disconnected increase causes to generate high pressure in collection chamber, is connected for this collection chamber and elastic oil conservator 31 and overflow ducts 35, and lead to
It crosses check valve 39 to connect with major cycle oil circuit, when the hydraulic fluid pressure in collection chamber and elastic oil conservator 31 is set higher than check valve 39
When fixed conducting pressure, the high pressure oil in collection chamber and elastic oil conservator 31 will be imported hydraulic main circuit, to reduce collection
Oily pressure in oil pocket, while major cycle oil circuit repairing is given, it also adjusts since temperature change leads to the total volume of oil circulating system
Variation.It is the hydraulic schematic diagram of this patent as shown in figure 19, ball pump 40 rotates in the forward direction, and high pressure oil is from one on ball pump 40
A working chamber of oscillating oil cylinder 41 is discharged into outage 16, the oil in another working chamber of oscillating oil cylinder 41 is forced out
Ball pump 40 is flowed back into outage 16 by another afterwards, and is inhaled into a working chamber of ball pump 40, oscillating cylinder
Set 13 is swung；Ball pump 40 reversely rotates, and oil circuit is reversed, swings 13 backswing of cylinder sleeve；40 forward and reverse of ball pump rotates
Two oil streams are formed to recycle to opposite working connection.
Claims (4)
1. robot hydraulic knuckle, it is characterized in that：Including integrated electro-hydraulic ball pump dynamical system in shell (1), pendulum is arranged
Dynamic oil cylinder (41) and control system, are provided with pedestal (21) on shell (1), wherein：
The integrated electro-hydraulic ball pump dynamical system is by ball pump (40), motor stator (3) and electricity with positive and negative rotating function
Machine rotor (4) is constituted, and rotor connector (2) is the cylinder type of one end open, and ball pump (40) is placed in rotor connector (2)
Cylindrical cavity in, the external cylindrical surface of rotor connector (2) is fixedly connected with the inner cylinder face of rotor (4), motor stator
(3) and on the inner cylinder face of connecting plate (7) cylindrical cavity that is fixed on shell (1)；The side center of connecting plate (7) inwardly concaves
One cylindrical cavity to match with cylinder cap (22) top cylinder boss, at the protruding center in the other side of connecting plate (7) center
Axis (34)；It is provided with hydraulic circuit in central shaft (34) and cylinder cap (22)；The top flange end of the pump case (6) of ball pump (40)
Face is bonded with a side end face of connecting plate (7) and is fixed by screws on the side end face of connecting plate (7), cylinder cap (22) top
Stretch out pump case (6) cylinder boss be inserted into the cylindrical cavity on connecting plate (7) after, the end face of cylinder cap (22) top cylinder boss with
The bottom surface of connecting plate (7) recessed cylindrical cavity fits closely, and two on cylinder cap (22) are into outage (16) and connecting plate (7)
On two be respectively turned on into outage (16), two on two overflow ducts (35) on cylinder cap (22) and connecting plate (7)
Overflow ducts (35) are respectively turned on；The inwardly projecting drive shaft (42) in bottom end of rotor connector (2) turns with ball pump (40)
Disk (25) connects, and C is provided between the inner cylinder face of rotor connector (2) and pump case (6) external cylindrical surface of ball pump (40)
Bearing (5), the protruding support shaft (43) in bottom end of rotor connector (2), is connected with D bearings (29) in support shaft (43)
With bearing gland (30), bearing gland (30) is fixed on shell (1), and rotor connector (2) is with C bearings (5) and D bearings (29)
It is supported as rotation；Electric appliance end cap (28), elastic oil conservator (31) setting are provided in the end face outside of bearing gland (30)
Be formed by closing vessel in bearing gland (30) and electric appliance end cap (28), elastic oil conservator (31) and motor stator (3) with
Vessel between pump case (6) is connected；
The side for stretching out central shaft (34) is arranged on connecting plate (7) in the oscillating oil cylinder (41), and oscillating oil cylinder (41) includes pendulum
Dynamic cylinder sleeve (13), movable vane piece (19), fixed blade (20) swing cylinder sleeve (13) and are looped around on central shaft (34), and movable vane piece (19) is solid
It is scheduled on the inner periphery for swinging cylinder sleeve (13), fixed blade (20) is fixed in the intermediate cylindrical surface of central shaft (34), in oscillating cylinder
It covers and has been connected by screw cylinder sleeve end cap (14) on the annulus end face of (13) connection movable vane piece (19) side, cylinder sleeve end cap (14),
Swing cylinder sleeve (13), the cylindrical surface of intermediate cylindrical boss of central shaft (34), movable vane piece (19), fixed blade (20) combination constitute pendulum
Two closing working chambers of dynamic oil cylinder (41), two closed working chambers intermediate cylindrical surface with centrally disposed axis (34) respectively
On into outage (16) opening connect, the root of central shaft (34) cylinder boss cylindrical surface and swing cylinder sleeve (13) it
Between be provided with A bearings (15), being provided with B axle between central shaft (34) end cylinder boss cylindrical surface and cylinder sleeve end cap (14) holds
(18)；Connection ring, connection ring and robot hand, the base of arm or other hydraulic knuckles are provided on cylinder sleeve end cap (14)
Seat (21) connection；
The control system includes controller (27), sensor and brake system；Brake system and sensor are arranged in oscillating cylinder
Between covering (13) and connecting plate (7) side, brake system is stopped control for oscillating oil cylinder (41), and sensor is used for perception swing
The rotational angle of cylinder sleeve (13), velocity of rotation information；Controller (27) is arranged in bearing gland (30) and electric appliance end cap (28) shape
At cavity in, controller (27) is electrically connected with motor, sensor and brake system, for receiving sensor signal, control electricity
The operating of machine, the start and stop of brake system.
2. robot hydraulic knuckle according to claim 1, it is characterized in that：Central shaft (34) be one from connecting plate (7) hold
Three concentric cylinder boss that the diameter that face center is stretched out becomes smaller successively, into oil extraction there are two settings in central shaft (34)
Hole (16) and two overflow ducts (35), two on central shaft (34) into the one of outage (16) and two overflow ducts (35)
End opening is located on the bottom end face of connecting plate (7) cylindrical cavity；Two another end openings into outage (16) are arranged in
On the external cylindrical surface of the intermediate cylindrical boss of mandrel (34), imported and exported respectively with the hydraulic oil of (41) two working chambers of oscillating oil cylinder
It connects；Two overflow ducts (35) in central shaft (34) are blind hole, the cecum and central shaft of one of overflow ducts (35)
(34) one in connects into outage (16), the cecum of another overflow ducts (35) in central shaft (34) another into
Outage (16) is connected, and each overflow ducts (35) oral area is provided with check valve (39), and hydraulic oil is from connecting plate (7) overflow
The oral area in channel (35) through check valve (39) can enter in central shaft (34) into outage (16)；In cylinder cap (22) top bump
Cylinder boss cylindrical surface on setting there are two spout hole (44), set accordingly on the faying face of connecting plate (7) and pump case (6)
Two overflow launders (36) are set, each one end of spout hole (44) connects with the overflow ducts (35) on cylinder cap (22) on cylinder cap (22)
Logical, the other end is connected with overflow launder (36)；One end of each overflow launder (36) is connected to spout hole (44), the other end and pump case
(6) cavity between motor stator (3) is connected.
3. robot hydraulic knuckle according to claim 1, it is characterized in that：Brake system include annular brake disc (8),
The armature (12) of the electromagnet (9) and annular of annular, the excircle of brake disc (8) centrally disposed axis (34) root cylinder boss
On, it is connected by screw on the side of connecting plate (7), it is recessed that electromagnet (9) is fixed on the annular on brake disc (8) end face
In slot, armature (12) is pressed by spring, pin and bolt and is swinging cylinder sleeve (13) on the opposite end face of brake disc (8), is held in the mouth
Iron (12) is rotated in company with cylinder sleeve (13) is swung.
4. robot hydraulic knuckle according to claim 1, it is characterized in that：In the outer circle of the brake disc (8) of brake system
It is provided with sensor in toroidal cavity between week and shell (1) inner periphery, sensor includes card reader (10) and magnetic rings
(11), card reader (10) is fixed in the toroidal cavity between brake disc (8) and shell (1), and cylinder sleeve (13) is swung with being fixed on
Outside circumference on annular magnet ring (11) it is opposite and between there are gaps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820254796.7U CN207953915U (en) | 2018-02-12 | 2018-02-12 | Robot hydraulic knuckle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820254796.7U CN207953915U (en) | 2018-02-12 | 2018-02-12 | Robot hydraulic knuckle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207953915U true CN207953915U (en) | 2018-10-12 |
Family
ID=63739608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820254796.7U Withdrawn - After Issue CN207953915U (en) | 2018-02-12 | 2018-02-12 | Robot hydraulic knuckle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207953915U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161979A (en) * | 2018-02-12 | 2018-06-15 | 西安正安环境技术有限公司 | Robot hydraulic knuckle |
| CN112091937A (en) * | 2020-06-10 | 2020-12-18 | 湖南大学 | Precise flexible pneumatic compensation device |
-
2018
- 2018-02-12 CN CN201820254796.7U patent/CN207953915U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161979A (en) * | 2018-02-12 | 2018-06-15 | 西安正安环境技术有限公司 | Robot hydraulic knuckle |
| CN108161979B (en) * | 2018-02-12 | 2023-09-15 | 深圳市球形动力科技有限公司 | Robot hydraulic joint |
| CN112091937A (en) * | 2020-06-10 | 2020-12-18 | 湖南大学 | Precise flexible pneumatic compensation device |
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