CN208744873U - A kind of hydraulic monolithic superposing type robot flexibility joint - Google Patents
A kind of hydraulic monolithic superposing type robot flexibility joint Download PDFInfo
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- CN208744873U CN208744873U CN201821222106.6U CN201821222106U CN208744873U CN 208744873 U CN208744873 U CN 208744873U CN 201821222106 U CN201821222106 U CN 201821222106U CN 208744873 U CN208744873 U CN 208744873U
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- servo motor
- inserted sheet
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Abstract
The utility model discloses a kind of hydraulic monolithic superposing type robot flexibility joints, including pedestal (28), servo motor component, hydraulic package, joint assembly and executing agency's pedestal (24), pedestal (28) upper surface is provided with servo motor component, wherein servo motor component upper surface is provided with hydraulic package, servo motor component one end connecting joint component, wherein joint assembly end connection executing agency's pedestal (24), the joint assembly is multiple and is sequentially connected that plurality of joint assembly is connect with hydraulic package respectively.The utility model robot flexibility joint realizes that the angle of robotic shoulder joint controls using the angle change of displacement inserted sheet, belongs to rod piece flexibility but has rigidity again simultaneously, with small, the easily operated feature of single-arm slewing radius.
Description
Technical field
The utility model belongs to joint of robot technical field more particularly to a kind of hydraulic monolithic superposing type robot flexibility
Joint.
Background technique
In existing technical background, each joint of robot is equipped with a servo motor, and matches
Deceleration mechanism, the angular displacement in association joint and the relative coordinate displacement of executing agency are adjusted to adjust with this, such structure matches
Scheme is set, though it can achieve the purpose that control adjustment constrains each joint and connected joint rod piece mechanical arm, because of its joint angles
Change relatively stiff, not easy to operate, later period maintenance etc. is at high cost, and each joint motions path is in a planar dimensions
It is interior, constrain the multidimensional flexibility and operating characteristics of articulated mechanical arm.
Utility model content
The purpose of the utility model is to overcome above-mentioned the deficiencies in the prior art, provide a kind of hydraulic monolithic superposing type machine
People's flexible joint, overcome in the prior art 1: joint angles variation is relatively stiff, and not easy to operate, 2: each joint motions path exists
In one planar dimensions, 3: the problems such as multidimensional flexibility and poor operating characteristics.
In order to solve technical problem, the technical solution of the utility model is: a kind of hydraulic monolithic superposing type robot flexibility
Joint, including pedestal, servo motor component, hydraulic package, joint assembly and executing agency's pedestal, the pedestal upper surface setting
There is servo motor component, wherein servo motor component upper surface is provided with hydraulic package, the connection of servo motor component one end
Joint assembly, wherein joint assembly end connects executing agency's pedestal, and the joint assembly is multiple and is sequentially connected, wherein more
A joint assembly is connect with hydraulic package respectively.
Preferably, the hydraulic package includes hydraulic pump, distributing valve and hydraulic oil pipe, wherein hydraulic pump, distributing valve and liquid
Pressuring oil pipe is sequentially connected, and the hydraulic pump and distributing valve are fixed on servo motor component upper end, wherein hydraulic oil pipe respectively with it is more
A joint assembly connection.
Preferably, the servo motor component includes servo motor, wherein one end face of servo motor by positioning bolt with
The joint assembly of front end connects.
Preferably, the joint assembly includes that expansion corrugated pipe, displacement inserted sheet, square tube, connecting rod, curved surface briquetting, connecting rod push away
Pull rod, joint end casing, hydraulic mandril, hydraulic cylinder, hollow servo motor and joint base plate, wherein joint end casing one end
Face is connect by positioning bolt with servo motor, and joint end casing other end is connect with joint base plate, wherein joint
End casing center connects hydraulic mandril, and the hydraulic mandril is socketed in hydraulic cylinder, and wherein hydraulic cylinder outer wall is equipped with
Multiple curved surface briquettings, the multiple curved surface briquetting are divided into two groups, wherein two suite face pressure blocks are symmetrically disposed on the outer of hydraulic cylinder
Wall two sides, the square tube and joint base plate weld, and wherein hydraulic cylinder is set in square tube, and the square tube, which is equipped with, swings cross
Slot, plurality of connecting rod push-pull rod are fixed in the swing translot of square tube, and the multiple connecting rod push-pull rod one end connects sliding axle
Connect respectively with corresponding curved surface briquetting, wherein each connecting rod push-pull rod other end is separately connected two connecting rods, outside the square tube
Side is equipped with multiple displacement inserted sheets, the side wall that plurality of displacement inserted sheet is successively rotatably fixed on square tube by conjugating inserted sheet axis
On, described two connecting rods are separately connected two adjacent displacement inserted sheets, and the multiple displacement inserted sheet is externally provided with expansion corrugated pipe,
Middle expansion corrugated pipe wraps up entire joint assembly, and the end of the joint assembly is equipped with hollow servo motor, wherein hollow watch
Motor one end connection rear end displacement inserted sheet is taken, the joint end casing of next joint assembly, the liquid is bolted in the other end
Cylinder pressure body is connect with hydraulic oil pipe.
Preferably, described displacement inserted sheet one end is equipped with connecting rod axle bed, and described connecting rod one end is equipped with axis on connecting rod, wherein connecting rod
One end passes through the connecting rod axle bed on connecting rod on the connection of axis 8 displacement inserted sheet.
Preferably, connecting rod push-pull rod one end is equipped with hinged shaft of connecting rod, and wherein hinged shaft of connecting rod connects two connecting rods, institute simultaneously
Connecting rod push-pull rod center is stated equipped with slideway, wherein connecting rod push-pull rod passes through slideway and swing translot and is fixed on by push-pull rod pivot pin
In square tube.
Preferably, the hydraulic mandril is connect by mandril location nut with joint end casing.
Preferably, the multiple displacement inserted sheet is sequentially fixed on the side wall of square tube by conjugating inserted sheet axis, wherein conjugating
Tab central offers inserted sheet straight trough mouth, and the internal diameter of the inserted sheet straight trough mouth is greater than the outer diameter of square tube.
Preferably, any group of number in the two suites face pressure block is a, and mean camber briquetting is oblique angled triangle knot
Structure, the pull rod sliding axle can be scrolled up and down in the slope surface of the oblique angled triangle structure longest edge of curved surface briquetting, two suite
The positive and negative setting of the slope surface of face pressure block, the top of a hill being provided in one N-Side surf briquetting slope surface of hydraulic cylinder are correspondingly arranged in hydraulic cylinder
The bottom of slope of another N-Side surf briquetting slope surface of body.
Preferably, the two neighboring joint assembly is in axial interlaced 90 ° of settings, wherein two neighboring joint assembly
In a joint assembly up and down angle change when, another joint assembly or so angle change.
Compared with the existing technology, utility model has the advantages that
(1) the utility model robot flexibility joint uses servo motor and hydraulic cylinder combination, utilizes servo motor
The angle needs for controlling to adjust total joint component recycle hydraulic package to control each joint assembly bending, while utilizing sky
The variation of the lower joint assembly angle of heart Serve Motor Control, meets the positioning of executing agency, keeps each joint assembly independent
Or collaboration complete operational order, reach can various dimensions adjust joint angles function and effect, while in this way reduce servo electricity
The usage amount of machine and hydraulic cylinder, reduces production cost and use cost, reduces the cost of later period maintenance；
(2) the utility model is made of multiple groups displacement inserted sheet, connecting rod, curved surface briquetting, hollow servo motor, hydraulic cylinder,
Curved surface briquetting is driven by hydraulic cylinder, curved surface briquetting pushes connecting rod, and displacement inserted sheet is made to rotate, and cooperation servo electric control is closed
Section does angle change movement flexible；
(3) robotic shoulder joint is realized using the angle change of displacement inserted sheet in the utility model robot flexibility joint
Angle control, it is flexible but have rigidity again simultaneously to belong to rod piece, with small, the easily operated feature of single-arm slewing radius.
Detailed description of the invention
The structural schematic diagram of Fig. 1, the utility model；
Fig. 2, the utility model A to cross-sectional view；
The joint assembly structural schematic diagram of Fig. 3, the utility model.
Description of symbols:
1- hydraulic pump, 2- distributing valve, 3- expansion corrugated pipe, 4- conjugate inserted sheet, 5- connecting rod axle bed, 6- square tube, 7- connecting rod, 8-
Axis on connecting rod, 9- curved surface briquetting, 10- hinged shaft of connecting rod, 11- connecting rod push-pull rod, the joint 12- end casing, 13- hydraulic mandril, 14- are pushed away
Pull rod pivot pin, 15- hydraulic cylinder, 16- mandril location nut, the hollow servo motor of 17-, 18- conjugate inserted sheet axis, 19- servo electricity
Machine, 20- hydraulic oil pipe, 21- sliding axle, 22- slideway, 23- swing translot, 24- executing agency pedestal, the joint 25- base plate,
26- positioning bolt, 27- inserted sheet straight trough mouth, 28- pedestal.
Specific embodiment
Specific embodiment of the present invention is described with reference to the accompanying drawings and embodiments:
It should be noted that structure, ratio, the size etc. illustrated in this specification institute attached drawing, only to cooperate explanation
The revealed content of book is not intended to limit the utility model enforceable so that those skilled in the art understands and reads
Qualifications, the modification of any structure, the change of proportionate relationship or the adjustment of size, can be generated not influencing the utility model
The effect of and the purpose that can reach under, should all still fall in the range of the revealed technology contents of the utility model can cover.
Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, also
Only being illustrated convenient for narration, rather than to limit the enforceable range of the utility model, relativeness is altered or modified,
Under the content of no substantial changes in technology, when being also considered as the enforceable scope of the utility model.
Embodiment 1
As shown in Fig. 1 ~ 3, the utility model discloses a kind of hydraulic monolithic superposing type robot flexibility joints, including pedestal
28, servo motor component, hydraulic package, joint assembly and executing agency's pedestal 24,28 upper surface of pedestal are provided with servo
Electric machine assembly, wherein servo motor component upper surface is provided with hydraulic package, servo motor component one end connecting joint group
Part, wherein joint assembly end connects executing agency's pedestal 24, and the joint assembly is multiple and is sequentially connected, plurality of pass
Section component is connect with hydraulic package respectively.
Embodiment 2
As shown in Fig. 1 ~ 3, the utility model discloses a kind of hydraulic monolithic superposing type robot flexibility joints, including pedestal
28, servo motor component, hydraulic package, joint assembly and executing agency's pedestal 24,28 upper surface of pedestal are provided with servo
Electric machine assembly, wherein servo motor component upper surface is provided with hydraulic package, servo motor component one end connecting joint group
Part, wherein joint assembly end connects executing agency's pedestal 24, and the joint assembly is multiple and is sequentially connected, plurality of pass
Section component is connect with hydraulic package respectively.
As shown in Fig. 1 ~ 3, it is preferred that the hydraulic package includes hydraulic pump 1, distributing valve 2 and hydraulic oil pipe 20, wherein liquid
Press pump 1, distributing valve 2 and hydraulic oil pipe 20 are sequentially connected, and the hydraulic pump 1 and distributing valve 2 are fixed on servo motor component upper end,
Wherein hydraulic oil pipe 20 is connect with multiple joint assemblies respectively.
Embodiment 3
As shown in Fig. 1 ~ 3, the utility model discloses a kind of hydraulic monolithic superposing type robot flexibility joints, including pedestal
28, servo motor component, hydraulic package, joint assembly and executing agency's pedestal 24,28 upper surface of pedestal are provided with servo
Electric machine assembly, wherein servo motor component upper surface is provided with hydraulic package, servo motor component one end connecting joint group
Part, wherein joint assembly end connects executing agency's pedestal 24, and the joint assembly is multiple and is sequentially connected, plurality of pass
Section component is connect with hydraulic package respectively.
As shown in Fig. 1 ~ 3, it is preferred that the hydraulic package includes hydraulic pump 1, distributing valve 2 and hydraulic oil pipe 20, wherein liquid
Press pump 1, distributing valve 2 and hydraulic oil pipe 20 are sequentially connected, and the hydraulic pump 1 and distributing valve 2 are fixed on servo motor component upper end,
Wherein hydraulic oil pipe 20 is connect with multiple joint assemblies respectively.
As shown in Fig. 1 ~ 3, it is preferred that the servo motor component includes servo motor 19, wherein 19 one end of servo motor
Face is connect by positioning bolt 26 with the joint assembly of front end.
Embodiment 4
As shown in Fig. 1 ~ 3, the utility model discloses a kind of hydraulic monolithic superposing type robot flexibility joints, including pedestal
28, servo motor component, hydraulic package, joint assembly and executing agency's pedestal 24,28 upper surface of pedestal are provided with servo
Electric machine assembly, wherein servo motor component upper surface is provided with hydraulic package, servo motor component one end connecting joint group
Part, wherein joint assembly end connects executing agency's pedestal 24, and the joint assembly is multiple and is sequentially connected, plurality of pass
Section component is connect with hydraulic package respectively.
As shown in Fig. 1 ~ 3, it is preferred that the hydraulic package includes hydraulic pump 1, distributing valve 2 and hydraulic oil pipe 20, wherein liquid
Press pump 1, distributing valve 2 and hydraulic oil pipe 20 are sequentially connected, and the hydraulic pump 1 and distributing valve 2 are fixed on servo motor component upper end,
Wherein hydraulic oil pipe 20 is connect with multiple joint assemblies respectively.
As shown in Fig. 1 ~ 3, it is preferred that the servo motor component includes servo motor 19, wherein 19 one end of servo motor
Face is connect by positioning bolt 26 with the joint assembly of front end.
As shown in Fig. 1 ~ 3, it is preferred that the joint assembly include expansion corrugated pipe 3, displacement inserted sheet 4, square tube 6, connecting rod 7,
Curved surface briquetting 9, connecting rod push-pull rod 11, joint end casing 12, hydraulic mandril 13, hydraulic cylinder 15, hollow servo motor 17 and pass
Base plate 25 is saved, wherein end casing 12 1 end face in joint is connect by positioning bolt 26 with servo motor 19, the joint end cap
12 other end of plate is connect with joint base plate 25, and wherein end casing 12 center in joint connects hydraulic mandril 13, the liquid
The bar 13 that bears down on one is socketed in hydraulic cylinder 15, and wherein 15 outer wall of hydraulic cylinder is equipped with multiple curved surface briquettings 9, the multiple curved surface pressure
It is two groups that block 9, which is divided to, wherein two suite face pressure blocks 9 are symmetrically disposed on the outer wall two sides of hydraulic cylinder 15, the square tube 6 and joint base
Seat board 25 welds, and wherein hydraulic cylinder 15 is set in square tube 6, and the square tube 6, which is equipped with, swings translot 23, and plurality of connecting rod pushes away
Pull rod 11 is fixed in the swing translot 23 of square tube 6, the multiple 11 one end of connecting rod push-pull rod connection sliding axle 21 respectively with phase
The curved surface briquetting 9 answered connects, wherein each 11 other end of connecting rod push-pull rod is separately connected two connecting rods 7, sets on the outside of the square tube 6
There are multiple displacement inserted sheets 4, the side wall that plurality of displacement inserted sheet 4 is successively rotatably fixed on square tube 6 by conjugating inserted sheet axis 18
On, described two connecting rods 7 are separately connected two adjacent displacement inserted sheets 4, and the multiple displacement inserted sheet 4 is externally provided with expansion corrugated pipe
3, wherein expansion corrugated pipe 3 wraps up entire joint assembly, and the end of the joint assembly is equipped with hollow servo motor 17, wherein
Hollow 17 one end of servo motor connection rear end conjugates inserted sheet 4, and the joint end cap of next joint assembly is bolted in the other end
Plate 12, the hydraulic cylinder 15 are connect with hydraulic oil pipe 20.
Embodiment 5
As shown in Fig. 1 ~ 3, the utility model discloses a kind of hydraulic monolithic superposing type robot flexibility joints, including pedestal
28, servo motor component, hydraulic package, joint assembly and executing agency's pedestal 24,28 upper surface of pedestal are provided with servo
Electric machine assembly, wherein servo motor component upper surface is provided with hydraulic package, servo motor component one end connecting joint group
Part, wherein joint assembly end connects executing agency's pedestal 24, and the joint assembly is multiple and is sequentially connected, plurality of pass
Section component is connect with hydraulic package respectively.
As shown in Fig. 1 ~ 3, it is preferred that the hydraulic package includes hydraulic pump 1, distributing valve 2 and hydraulic oil pipe 20, wherein liquid
Press pump 1, distributing valve 2 and hydraulic oil pipe 20 are sequentially connected, and the hydraulic pump 1 and distributing valve 2 are fixed on servo motor component upper end,
Wherein hydraulic oil pipe 20 is connect with multiple joint assemblies respectively.
As shown in Fig. 1 ~ 3, it is preferred that the servo motor component includes servo motor 19, wherein 19 one end of servo motor
Face is connect by positioning bolt 26 with the joint assembly of front end.
As shown in Fig. 1 ~ 3, it is preferred that the joint assembly include expansion corrugated pipe 3, displacement inserted sheet 4, square tube 6, connecting rod 7,
Curved surface briquetting 9, connecting rod push-pull rod 11, joint end casing 12, hydraulic mandril 13, hydraulic cylinder 15, hollow servo motor 17 and pass
Base plate 25 is saved, wherein end casing 12 1 end face in joint is connect by positioning bolt 26 with servo motor 19, the joint end cap
12 other end of plate is connect with joint base plate 25, and wherein end casing 12 center in joint connects hydraulic mandril 13, the liquid
The bar 13 that bears down on one is socketed in hydraulic cylinder 15, and wherein 15 outer wall of hydraulic cylinder is equipped with multiple curved surface briquettings 9, the multiple curved surface pressure
It is two groups that block 9, which is divided to, wherein two suite face pressure blocks 9 are symmetrically disposed on the outer wall two sides of hydraulic cylinder 15, the square tube 6 and joint base
Seat board 25 welds, and wherein hydraulic cylinder 15 is set in square tube 6, and the square tube 6, which is equipped with, swings translot 23, and plurality of connecting rod pushes away
Pull rod 11 is fixed in the swing translot 23 of square tube 6, the multiple 11 one end of connecting rod push-pull rod connection sliding axle 21 respectively with phase
The curved surface briquetting 9 answered connects, wherein each 11 other end of connecting rod push-pull rod is separately connected two connecting rods 7, sets on the outside of the square tube 6
There are multiple displacement inserted sheets 4, the side wall that plurality of displacement inserted sheet 4 is successively rotatably fixed on square tube 6 by conjugating inserted sheet axis 18
On, described two connecting rods 7 are separately connected two adjacent displacement inserted sheets 4, and the multiple displacement inserted sheet 4 is externally provided with expansion corrugated pipe
3, wherein expansion corrugated pipe 3 wraps up entire joint assembly, and the end of the joint assembly is equipped with hollow servo motor 17, wherein
Hollow 17 one end of servo motor connection rear end conjugates inserted sheet 4, and the joint end cap of next joint assembly is bolted in the other end
Plate 12, the hydraulic cylinder 15 are connect with hydraulic oil pipe 20.
As shown in Fig. 1 ~ 3, it is preferred that described 4 one end of displacement inserted sheet is equipped with connecting rod axle bed 5, and described 7 one end of connecting rod, which is equipped with, to be connected
Axis 8 on bar, wherein 7 one end of connecting rod passes through the connecting rod axle bed 5 on connecting rod on the connection of axis 8 displacement inserted sheet 4.
Embodiment 6
As shown in Fig. 1 ~ 3, the utility model discloses a kind of hydraulic monolithic superposing type robot flexibility joints, including pedestal
28, servo motor component, hydraulic package, joint assembly and executing agency's pedestal 24,28 upper surface of pedestal are provided with servo
Electric machine assembly, wherein servo motor component upper surface is provided with hydraulic package, servo motor component one end connecting joint group
Part, wherein joint assembly end connects executing agency's pedestal 24, and the joint assembly is multiple and is sequentially connected, plurality of pass
Section component is connect with hydraulic package respectively.
As shown in Fig. 1 ~ 3, it is preferred that the hydraulic package includes hydraulic pump 1, distributing valve 2 and hydraulic oil pipe 20, wherein liquid
Press pump 1, distributing valve 2 and hydraulic oil pipe 20 are sequentially connected, and the hydraulic pump 1 and distributing valve 2 are fixed on servo motor component upper end,
Wherein hydraulic oil pipe 20 is connect with multiple joint assemblies respectively.
As shown in Fig. 1 ~ 3, it is preferred that the servo motor component includes servo motor 19, wherein 19 one end of servo motor
Face is connect by positioning bolt 26 with the joint assembly of front end.
As shown in Fig. 1 ~ 3, it is preferred that the joint assembly include expansion corrugated pipe 3, displacement inserted sheet 4, square tube 6, connecting rod 7,
Curved surface briquetting 9, connecting rod push-pull rod 11, joint end casing 12, hydraulic mandril 13, hydraulic cylinder 15, hollow servo motor 17 and pass
Base plate 25 is saved, wherein end casing 12 1 end face in joint is connect by positioning bolt 26 with servo motor 19, the joint end cap
12 other end of plate is connect with joint base plate 25, and wherein end casing 12 center in joint connects hydraulic mandril 13, the liquid
The bar 13 that bears down on one is socketed in hydraulic cylinder 15, and wherein 15 outer wall of hydraulic cylinder is equipped with multiple curved surface briquettings 9, the multiple curved surface pressure
It is two groups that block 9, which is divided to, wherein two suite face pressure blocks 9 are symmetrically disposed on the outer wall two sides of hydraulic cylinder 15, the square tube 6 and joint base
Seat board 25 welds, and wherein hydraulic cylinder 15 is set in square tube 6, and the square tube 6, which is equipped with, swings translot 23, and plurality of connecting rod pushes away
Pull rod 11 is fixed in the swing translot 23 of square tube 6, the multiple 11 one end of connecting rod push-pull rod connection sliding axle 21 respectively with phase
The curved surface briquetting 9 answered connects, wherein each 11 other end of connecting rod push-pull rod is separately connected two connecting rods 7, sets on the outside of the square tube 6
There are multiple displacement inserted sheets 4, the side wall that plurality of displacement inserted sheet 4 is successively rotatably fixed on square tube 6 by conjugating inserted sheet axis 18
On, described two connecting rods 7 are separately connected two adjacent displacement inserted sheets 4, and the multiple displacement inserted sheet 4 is externally provided with expansion corrugated pipe
3, wherein expansion corrugated pipe 3 wraps up entire joint assembly, and the end of the joint assembly is equipped with hollow servo motor 17, wherein
Hollow 17 one end of servo motor connection rear end conjugates inserted sheet 4, and the joint end cap of next joint assembly is bolted in the other end
Plate 12, the hydraulic cylinder 15 are connect with hydraulic oil pipe 20.
As shown in Fig. 1 ~ 3, it is preferred that described 4 one end of displacement inserted sheet is equipped with connecting rod axle bed 5, and described 7 one end of connecting rod, which is equipped with, to be connected
Axis 8 on bar, wherein 7 one end of connecting rod passes through the connecting rod axle bed 5 on connecting rod on the connection of axis 8 displacement inserted sheet 4.
As shown in Fig. 1 ~ 3, it is preferred that described 11 one end of connecting rod push-pull rod is equipped with hinged shaft of connecting rod 10, wherein hinged shaft of connecting rod 10
Two connecting rods 7 are connected simultaneously, and 11 center of connecting rod push-pull rod is equipped with slideway 22, and wherein connecting rod push-pull rod 11 passes through push-pull rod axis
Pin 14 passes through slideway 22 and swings translot 23 and is fixed in square tube 6.
As shown in Fig. 1 ~ 3, it is preferred that the hydraulic mandril 13 is connected by mandril location nut 16 and joint end casing 12
It connects.
As shown in Fig. 1 ~ 3, it is preferred that the multiple displacement inserted sheet 4 is sequentially fixed at square tube 6 by conjugating inserted sheet axis 18
On side wall, wherein displacement 4 center of inserted sheet offers inserted sheet straight trough mouth 27, the internal diameter of the inserted sheet straight trough mouth 27 is greater than square tube 6
Outer diameter.
Embodiment 7
As shown in Fig. 1 ~ 3, the utility model discloses a kind of hydraulic monolithic superposing type robot flexibility joints, including pedestal
28, servo motor component, hydraulic package, joint assembly and executing agency's pedestal 24,28 upper surface of pedestal are provided with servo
Electric machine assembly, wherein servo motor component upper surface is provided with hydraulic package, servo motor component one end connecting joint group
Part, wherein joint assembly end connects executing agency's pedestal 24, and the joint assembly is multiple and is sequentially connected, plurality of pass
Section component is connect with hydraulic package respectively.
As shown in Fig. 1 ~ 3, it is preferred that the hydraulic package includes hydraulic pump 1, distributing valve 2 and hydraulic oil pipe 20, wherein liquid
Press pump 1, distributing valve 2 and hydraulic oil pipe 20 are sequentially connected, and the hydraulic pump 1 and distributing valve 2 are fixed on servo motor component upper end,
Wherein hydraulic oil pipe 20 is connect with multiple joint assemblies respectively.
As shown in Fig. 1 ~ 3, it is preferred that the servo motor component includes servo motor 19, wherein 19 one end of servo motor
Face is connect by positioning bolt 26 with the joint assembly of front end.
As shown in Fig. 1 ~ 3, it is preferred that the joint assembly include expansion corrugated pipe 3, displacement inserted sheet 4, square tube 6, connecting rod 7,
Curved surface briquetting 9, connecting rod push-pull rod 11, joint end casing 12, hydraulic mandril 13, hydraulic cylinder 15, hollow servo motor 17 and pass
Base plate 25 is saved, wherein end casing 12 1 end face in joint is connect by positioning bolt 26 with servo motor 19, the joint end cap
12 other end of plate is connect with joint base plate 25, and wherein end casing 12 center in joint connects hydraulic mandril 13, the liquid
The bar 13 that bears down on one is socketed in hydraulic cylinder 15, and wherein 15 outer wall of hydraulic cylinder is equipped with multiple curved surface briquettings 9, the multiple curved surface pressure
It is two groups that block 9, which is divided to, wherein two suite face pressure blocks 9 are symmetrically disposed on the outer wall two sides of hydraulic cylinder 15, the square tube 6 and joint base
Seat board 25 welds, and wherein hydraulic cylinder 15 is set in square tube 6, and the square tube 6, which is equipped with, swings translot 23, and plurality of connecting rod pushes away
Pull rod 11 is fixed in the swing translot 23 of square tube 6, the multiple 11 one end of connecting rod push-pull rod connection sliding axle 21 respectively with phase
The curved surface briquetting 9 answered connects, wherein each 11 other end of connecting rod push-pull rod is separately connected two connecting rods 7, sets on the outside of the square tube 6
There are multiple displacement inserted sheets 4, the side wall that plurality of displacement inserted sheet 4 is successively rotatably fixed on square tube 6 by conjugating inserted sheet axis 18
On, described two connecting rods 7 are separately connected two adjacent displacement inserted sheets 4, and the multiple displacement inserted sheet 4 is externally provided with expansion corrugated pipe
3, wherein expansion corrugated pipe 3 wraps up entire joint assembly, and the end of the joint assembly is equipped with hollow servo motor 17, wherein
Hollow 17 one end of servo motor connection rear end conjugates inserted sheet 4, and the joint end cap of next joint assembly is bolted in the other end
Plate 12, the hydraulic cylinder 15 are connect with hydraulic oil pipe 20.
As shown in Fig. 1 ~ 3, it is preferred that described 4 one end of displacement inserted sheet is equipped with connecting rod axle bed 5, and described 7 one end of connecting rod, which is equipped with, to be connected
Axis 8 on bar, wherein 7 one end of connecting rod passes through the connecting rod axle bed 5 on connecting rod on the connection of axis 8 displacement inserted sheet 4.
As shown in Fig. 1 ~ 3, it is preferred that described 11 one end of connecting rod push-pull rod is equipped with hinged shaft of connecting rod 10, wherein hinged shaft of connecting rod 10
Two connecting rods 7 are connected simultaneously, and 11 center of connecting rod push-pull rod is equipped with slideway 22, and wherein connecting rod push-pull rod 11 passes through push-pull rod axis
Pin 14 passes through slideway 22 and swings translot 23 and is fixed in square tube 6.
As shown in Fig. 1 ~ 3, it is preferred that the hydraulic mandril 13 is connected by mandril location nut 16 and joint end casing 12
It connects.
As shown in Fig. 1 ~ 3, it is preferred that the multiple displacement inserted sheet 4 is sequentially fixed at square tube 6 by conjugating inserted sheet axis 18
On side wall, wherein displacement 4 center of inserted sheet offers inserted sheet straight trough mouth 27, the internal diameter of the inserted sheet straight trough mouth 27 is greater than square tube 6
Outer diameter.
As shown in Fig. 1 ~ 3, it is preferred that any group of number in the two suites face pressure block 9 is 3, mean camber briquetting 9
For oblique angled triangle structure, the pull rod sliding axle 21 can be in the slope surface of the oblique angled triangle structure longest edge of curved surface briquetting 9
Lower rolling, the positive and negative setting of slope surface of the two suites face pressure block 9 are provided in 15 1 N-Side surf briquetting of hydraulic cylinder, 9 slope surface
Top of a hill be correspondingly arranged in the bottom of slope of another 9 slope surface of N-Side surf briquetting of hydraulic cylinder 15.
Embodiment 8
As shown in Fig. 1 ~ 3, the utility model discloses a kind of hydraulic monolithic superposing type robot flexibility joints, including pedestal
28, servo motor component, hydraulic package, joint assembly and executing agency's pedestal 24,28 upper surface of pedestal are provided with servo
Electric machine assembly, wherein servo motor component upper surface is provided with hydraulic package, servo motor component one end connecting joint group
Part, wherein joint assembly end connects executing agency's pedestal 24, and the joint assembly is multiple and is sequentially connected, plurality of pass
Section component is connect with hydraulic package respectively.
As shown in Fig. 1 ~ 3, it is preferred that the hydraulic package includes hydraulic pump 1, distributing valve 2 and hydraulic oil pipe 20, wherein liquid
Press pump 1, distributing valve 2 and hydraulic oil pipe 20 are sequentially connected, and the hydraulic pump 1 and distributing valve 2 are fixed on servo motor component upper end,
Wherein hydraulic oil pipe 20 is connect with multiple joint assemblies respectively.
As shown in Fig. 1 ~ 3, it is preferred that the servo motor component includes servo motor 19, wherein 19 one end of servo motor
Face is connect by positioning bolt 26 with the joint assembly of front end.
As shown in Fig. 1 ~ 3, it is preferred that the joint assembly include expansion corrugated pipe 3, displacement inserted sheet 4, square tube 6, connecting rod 7,
Curved surface briquetting 9, connecting rod push-pull rod 11, joint end casing 12, hydraulic mandril 13, hydraulic cylinder 15, hollow servo motor 17 and pass
Base plate 25 is saved, wherein end casing 12 1 end face in joint is connect by positioning bolt 26 with servo motor 19, the joint end cap
12 other end of plate is connect with joint base plate 25, and wherein end casing 12 center in joint connects hydraulic mandril 13, the liquid
The bar 13 that bears down on one is socketed in hydraulic cylinder 15, and wherein 15 outer wall of hydraulic cylinder is equipped with multiple curved surface briquettings 9, the multiple curved surface pressure
It is two groups that block 9, which is divided to, wherein two suite face pressure blocks 9 are symmetrically disposed on the outer wall two sides of hydraulic cylinder 15, the square tube 6 and joint base
Seat board 25 welds, and wherein hydraulic cylinder 15 is set in square tube 6, and the square tube 6, which is equipped with, swings translot 23, and plurality of connecting rod pushes away
Pull rod 11 is fixed in the swing translot 23 of square tube 6, the multiple 11 one end of connecting rod push-pull rod connection sliding axle 21 respectively with phase
The curved surface briquetting 9 answered connects, wherein each 11 other end of connecting rod push-pull rod is separately connected two connecting rods 7, sets on the outside of the square tube 6
There are multiple displacement inserted sheets 4, the side wall that plurality of displacement inserted sheet 4 is successively rotatably fixed on square tube 6 by conjugating inserted sheet axis 18
On, described two connecting rods 7 are separately connected two adjacent displacement inserted sheets 4, and the multiple displacement inserted sheet 4 is externally provided with expansion corrugated pipe
3, wherein expansion corrugated pipe 3 wraps up entire joint assembly, and the end of the joint assembly is equipped with hollow servo motor 17, wherein
Hollow 17 one end of servo motor connection rear end conjugates inserted sheet 4, and the joint end cap of next joint assembly is bolted in the other end
Plate 12, the hydraulic cylinder 15 are connect with hydraulic oil pipe 20.
As shown in Fig. 1 ~ 3, it is preferred that described 4 one end of displacement inserted sheet is equipped with connecting rod axle bed 5, and described 7 one end of connecting rod, which is equipped with, to be connected
Axis 8 on bar, wherein 7 one end of connecting rod passes through the connecting rod axle bed 5 on connecting rod on the connection of axis 8 displacement inserted sheet 4.
As shown in Fig. 1 ~ 3, it is preferred that described 11 one end of connecting rod push-pull rod is equipped with hinged shaft of connecting rod 10, wherein hinged shaft of connecting rod 10
Two connecting rods 7 are connected simultaneously, and 11 center of connecting rod push-pull rod is equipped with slideway 22, and wherein connecting rod push-pull rod 11 passes through push-pull rod axis
Pin 14 passes through slideway 22 and swings translot 23 and is fixed in square tube 6.
As shown in Fig. 1 ~ 3, it is preferred that the hydraulic mandril 13 is connected by mandril location nut 16 and joint end casing 12
It connects.
As shown in Fig. 1 ~ 3, it is preferred that the multiple displacement inserted sheet 4 is sequentially fixed at square tube 6 by conjugating inserted sheet axis 18
On side wall, wherein displacement 4 center of inserted sheet offers inserted sheet straight trough mouth 27, the internal diameter of the inserted sheet straight trough mouth 27 is greater than square tube 6
Outer diameter.
As shown in Fig. 1 ~ 3, it is preferred that any group of number in the two suites face pressure block 9 is 3, mean camber briquetting 9
For oblique angled triangle structure, the pull rod sliding axle 21 can be in the slope surface of the oblique angled triangle structure longest edge of curved surface briquetting 9
Lower rolling, the positive and negative setting of slope surface of the two suites face pressure block 9 are provided in 15 1 N-Side surf briquetting of hydraulic cylinder, 9 slope surface
Top of a hill be correspondingly arranged in the bottom of slope of another 9 slope surface of N-Side surf briquetting of hydraulic cylinder 15.
Preferably, the two neighboring joint assembly is in axial interlaced 90 ° of settings, wherein two neighboring joint assembly
In a joint assembly up and down angle change when, another joint assembly or so angle change.
Preferably, the number of the joint assembly is six, and six of them joint assembly is sequentially connected, first pass
Section component front end is connect by positioning bolt 26 with servo motor 19, wherein the rear end of the 6th joint assembly and executing agency's base
Seat 24 connects, the hollow servo motor 17 of first joint assembly rear end and the joint end cap of first joint assembly front end
Plate 12 connects, and six joint assemblies are separately connected hydraulic oil pipe 20, and first joint assembly is controlled by servo motor 19 and closed
Whole angle degree of rotating freely is saved, second to the 6th joint assembly is adjusted by the hollow servo motor 17 of previous joint assembly
Any angle.
The working principle of the utility model is as follows:
The utility model hydraulic mandril 13 is fixed on joint end casing 12 by mandril location nut 16, hydraulic pump 1
Hydraulic oil is transferred in the hydraulic cylinder 15 of each joint assembly by distributing valve 2 through hydraulic oil pipe 20, each joint assembly institute
The hydraulic cylinder used is double acting hydraulic cylinder, since hydraulic cylinder mandril 13 is fixed on joint end casing 12, when 1 work of hydraulic pump
When making, distributing valve 2 according to each joint assembly need to control to adjust hydraulic oil flow to size, make hydraulic cylinder 15 advance or after
It moves back, when hydraulic cylinder 15 moves forward, curved surface briquetting 9 and 15 synchronous shift of hydraulic cylinder on hydraulic cylinder, curved surface briquetting 9
It is divided into two groups, and is symmetricly set on the outer wall two sides of hydraulic cylinder 15, and every group of symmetrically arranged curved surface briquetting 9 and its institute is right
The positive and negative setting of another 9 its slope surface of suite face pressure block answered (top of a hill of i.e. one curved surface briquetting 9, corresponding another N-Side surf briquetting 9
Bottom of slope), the square tube 6 is fixedly welded on joint base plate 25, and hydraulic cylinder 15 is set in square tube 6, in the side of square tube 6
On wall, the swing translot 23 equipped with turnning and milling, connecting rod push-pull rod 11 is fixed on the cross of the swing in square tube 6 by push-pull rod pivot pin 14
Among slot 23, multiple displacement inserted sheets 4 are sequentially fixed on the side wall of square tube 6 by conjugating inserted sheet axis 18, in order to make to conjugate inserted sheet
4 rotate in square tube 6, so the internal diameter of the inserted sheet straight trough mouth 27 of displacement inserted sheet 4 is greater than the outer diameter of square tube 6.
When 15 anterior displacement of hydraulic cylinder, the curved surface briquetting 9 of 15 downside of hydraulic cylinder makes sliding axle 21 be pressurized, the company of promotion
Bar push-pull rod 11 moves outward, while the hinged shaft of connecting rod 10 of 11 upper end of connecting rod push-pull rod drives two connecting rods 7 to synchronize outside position
It moves, because one end of connecting rod 7 is fixed on the pull rod axle bed 5 on displacement inserted sheet 4 by axis 8 on connecting rod, the outside position of connecting rod 7
The angle between two connecting rods 7 that phase shift is handed over becomes larger, and length pushes two adjacent displacement inserted sheets 4 to be subjected to displacement, around it
It conjugates inserted sheet axis 18 to rotate, because axis 8 is fixed on the connecting rod axle bed 5 of displacement inserted sheet 4 on the connecting rod of the connecting rod 7 of each joint end
On, inserted sheet 4 is displaced outwardly and makes to conjugate around the displacement rotation of inserted sheet axis 18, due to next joint assembly when multiple groups connecting rod 7 synchronizes
Joint end casing 12 connect with the displacement inserted sheet 4 of previous joint assembly front end, when the displacement inserted sheet 4 of a upper joint assembly
When angle changes, the angle of coupled joint assembly is also changed correspondingly, due to two suites of 15 two sides of hydraulic cylinder
The slope surface of face pressure block 9 is in positive and negative setting state, and when moving outside the connecting rod push-pull rod 11 of side, the connecting rod push-pull rod 11 of the other side is then
It moves inward, makes to conjugate the expansion side contraction of 4 side of inserted sheet, and expansion corrugated pipe 3 is made to do corresponding displacement, in connecting rod push-pull rod 11
Lower end be equipped with sliding axle 21, can be scrolled up and down in the slope surface of curved surface briquetting 9, the middle part of connecting rod push-pull rod 11 be equipped with push-and-pull
Bar pivot pin 14 and slideway 22, variation when guaranteeing the movement of coupler link push-pull rod 11 with wheelbase position, on pedestal 28
Servo motor 19 is provided with to control to adjust the angle needs of total joint arm, is provided with one between each adjacent segment component
Hollow servo motor 17 cooperates the variation of single joint assembly angle, meets the positioning of executing agency.
The utility model is by multiple groups displacement inserted sheet 4, connecting rod 7, curved surface briquetting 9, hollow servo electric 17 machines, 15 groups of hydraulic cylinder
At by the driving curved surface briquetting 9 of hydraulic cylinder 15, curved surface briquetting 9 pushes connecting rod 7, and displacement inserted sheet 4 is made to rotate, and cooperation is watched
Clothes electricity 19 controls joint of mechanical arm and does angle change movement flexible.
The utility model robot flexibility joint uses servo motor and hydraulic cylinder combination, utilizes Serve Motor Control
The angle for adjusting total joint component needs, and recycles hydraulic package to control each joint assembly bending, while watching using hollow
The variation for taking the lower joint assembly angle of motor control, meets the positioning of executing agency, keep each joint assembly independent or
Collaboration complete operational order, reach can various dimensions adjust joint angles function and effect, while in this way reduce servo motor and
The usage amount of hydraulic cylinder, reduces production cost and use cost, reduces the cost of later period maintenance.
Robotic shoulder joint is realized using the angle change of displacement inserted sheet in the utility model robot flexibility joint
Angle control belongs to rod piece flexibility but has rigidity again simultaneously, with small, the easily operated feature of single-arm slewing radius.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the utility model is not limited to
Above embodiment can also not depart from the utility model within the knowledge of a person skilled in the art
It is made a variety of changes under the premise of objective.
Many other changes and modifications may be made without departing from the spirit and scope of the utility model.It should be appreciated that this reality
It is not limited to specific embodiment with novel, the scope of the utility model is defined by the following claims.
Claims (10)
1. a kind of hydraulic monolithic superposing type robot flexibility joint, it is characterised in that: including pedestal (28), servo motor component,
Hydraulic package, joint assembly and executing agency's pedestal (24), pedestal (28) upper surface are provided with servo motor component, wherein
Servo motor component upper surface is provided with hydraulic package, servo motor component one end connecting joint component, wherein joint group
Part end connects executing agency's pedestal (24), and the joint assembly is multiple and is sequentially connected, plurality of joint assembly difference
It is connect with hydraulic package.
2. a kind of hydraulic monolithic superposing type robot flexibility joint according to claim 1, it is characterised in that: described hydraulic
Component includes hydraulic pump (1), distributing valve (2) and hydraulic oil pipe (20), wherein hydraulic pump (1), distributing valve (2) and hydraulic oil pipe
(20) it is sequentially connected, the hydraulic pump (1) and distributing valve (2) are fixed on servo motor component upper end, wherein hydraulic oil pipe (20)
It is connect respectively with multiple joint assemblies.
3. a kind of hydraulic monolithic superposing type robot flexibility joint according to claim 2, it is characterised in that: the servo
Electric machine assembly includes servo motor (19), and wherein (19) one end face of servo motor passes through the joint group of positioning bolt (26) and front end
Part connection.
4. a kind of hydraulic monolithic superposing type robot flexibility joint according to claim 3, it is characterised in that: the joint
Component include expansion corrugated pipe (3), displacement inserted sheet (4), square tube (6), connecting rod (7), curved surface briquetting (9), connecting rod push-pull rod (11),
Joint end casing (12), hydraulic mandril (13), hydraulic cylinder (15), hollow servo motor (17) and joint base plate (25),
Middle (12) one end face of joint end casing is connect by positioning bolt (26) with servo motor (19), and the joint end casing (12) is another
One end face is connect with joint base plate (25), wherein joint end casing (12) center connection hydraulic mandril (13), the liquid
The bar (13) that bears down on one is socketed in hydraulic cylinder (15), and wherein hydraulic cylinder (15) outer wall is equipped with multiple curved surface briquettings (9), described
Multiple curved surface briquettings (9) are divided into two groups, wherein two suite face pressure blocks (9) are symmetrically disposed on the outer wall two sides of hydraulic cylinder (15),
The square tube (6) and joint base plate (25) are welded, and wherein hydraulic cylinder (15) is set in square tube (6), and the square tube (6) sets
Have swing translot (23), plurality of connecting rod push-pull rod (11) is fixed in the swing translot (23) of square tube (6), the multiple company
Bar push-pull rod (11) one end connection sliding axle (21) connects with corresponding curved surface briquetting (9) respectively, wherein each connecting rod push-pull rod
(11) other end is separately connected two connecting rods (7), is equipped with multiple displacement inserted sheets (4), plurality of displacement on the outside of the square tube (6)
Inserted sheet (4) is successively rotatably fixed on the side wall of square tube (6) by conjugating inserted sheet axis (18), and described two connecting rods (7) are respectively
Two adjacent displacement inserted sheets (4) are connected, the multiple displacement inserted sheet (4) is externally provided with expansion corrugated pipe (3), wherein flexible ripple
Pipe (3) wraps up entire joint assembly, and the end of the joint assembly is equipped with hollow servo motor (17), wherein hollow servo is electric
Machine (17) one end connects rear end displacement inserted sheet (4), and the joint end casing (12) of next joint assembly is bolted in the other end,
The hydraulic cylinder (15) connect with hydraulic oil pipe (20).
5. a kind of hydraulic monolithic superposing type robot flexibility joint according to claim 4, it is characterised in that: the displacement
Inserted sheet (4) one end is equipped with connecting rod axle bed (5), and described connecting rod (7) one end is equipped with axis (8) on connecting rod, and wherein connecting rod (7) one end passes through
Connecting rod axle bed (5) on connecting rod in axis (8) connection displacement inserted sheet (4).
6. a kind of hydraulic monolithic superposing type robot flexibility joint according to claim 4, it is characterised in that: the connecting rod
Push-pull rod (11) one end is equipped with hinged shaft of connecting rod (10), and wherein hinged shaft of connecting rod (10) connects two connecting rods (7) simultaneously, and the connecting rod pushes away
Pull rod (11) center is equipped with slideway (22), and wherein connecting rod push-pull rod (11) passes through slideway (22) by push-pull rod pivot pin (14) and puts
Dynamic translot (23) are fixed on square tube (6).
7. a kind of hydraulic monolithic superposing type robot flexibility joint according to claim 4, it is characterised in that: described hydraulic
Mandril (13) is connect by mandril location nut (16) with joint end casing (12).
8. a kind of hydraulic monolithic superposing type robot flexibility joint according to claim 4, it is characterised in that: the multiple
Displacement inserted sheet (4) is sequentially fixed on the side wall of square tube (6) by conjugating inserted sheet axis (18), wherein displacement inserted sheet (4) center is opened
Equipped with inserted sheet straight trough mouth (27), the internal diameter of the inserted sheet straight trough mouth (27) is greater than the outer diameter of square tube (6).
9. a kind of hydraulic monolithic superposing type robot flexibility joint according to claim 4, it is characterised in that: described two groups
Any group of number in curved surface briquetting (9) is 3, and mean camber briquetting (9) is oblique angled triangle structure, the sliding axle (21)
It can be scrolled up and down in the slope surface of the oblique angled triangle structure longest edge of curved surface briquetting (9), the slope surface of the two suites face pressure block (9)
Positive and negative setting, the top of a hill being provided in hydraulic cylinder (15) one N-Side surf briquetting (9) slope surface are correspondingly arranged in hydraulic cylinder
(15) bottom of slope of another N-Side surf briquetting (9) slope surface.
10. a kind of described in any item hydraulic monolithic superposing type robot flexibility joints, feature exist according to claim 1~9
In: the two neighboring joint assembly is in axial interlaced 90 ° of settings, wherein a joint in two neighboring joint assembly
Above and below component when angle change, another joint assembly or so angle change.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821222106.6U CN208744873U (en) | 2018-07-31 | 2018-07-31 | A kind of hydraulic monolithic superposing type robot flexibility joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821222106.6U CN208744873U (en) | 2018-07-31 | 2018-07-31 | A kind of hydraulic monolithic superposing type robot flexibility joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208744873U true CN208744873U (en) | 2019-04-16 |
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ID=66059411
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|---|---|---|---|
| CN201821222106.6U Active CN208744873U (en) | 2018-07-31 | 2018-07-31 | A kind of hydraulic monolithic superposing type robot flexibility joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748256A (en) * | 2018-07-31 | 2018-11-06 | 陕西蓝智机器人有限公司 | A kind of hydraulic pressure monolithic superposing type robot flexibility joint |
-
2018
- 2018-07-31 CN CN201821222106.6U patent/CN208744873U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748256A (en) * | 2018-07-31 | 2018-11-06 | 陕西蓝智机器人有限公司 | A kind of hydraulic pressure monolithic superposing type robot flexibility joint |
| CN108748256B (en) * | 2018-07-31 | 2023-11-14 | 陕西蓝智机器人有限公司 | Flexible joint of hydraulic single-sheet superposition robot |
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