CN208841446U - Robot hydraulic-driven joint - Google Patents

Abstract

The utility model provides robot hydraulic-driven joint, it rotates the straight robot joint driving valve and blade oscillating cylinder and integrating based on hydraulic plug-in, the detecting element of hydraulic actuator, electrohydraulic servo valve, position sensor and pressure sensor is subjected to modularization Integrated design and is applied to joint of robot, its growth requirement that not only can satisfy current robot can also expand the application of robot.It, which includes that screw thread inserting type rotation is straight, drives electrohydraulic servo valve, the dedicated blade swing type hydraulic cylinder in robot motion joint, the hereinafter referred to as hydraulic plug-in rotation of the straight drive electrohydraulic servo valve of screw thread inserting type rotation is straight to drive valve, the dedicated blade swing type hydraulic cylinder in robot motion joint hereinafter referred to as blade oscillating cylinder, center one end of the central rotating shaft of blade oscillating cylinder is prefabricated with valve body installation cavity, the shape of valve body installation cavity makes according to the hydraulic straight insertion portion shape for driving valve of plug-in rotation, and the hydraulic straight valve that drives of plug-in rotation is plugged in the valve body installation cavity.

Description

Robot hydraulic-driven joint

Technical field

The utility model relates to the technical fields of joint of robot, specially robot hydraulic-driven joint.

Background technique

Joint of robot is the basic components of robot, and the quality of performance directly affects the overall performance of robot.With The continuous development of the mechanical & electrical technologies such as servo-drive, control and sensing technology, joint of robot show new feature and development Trend, such as: high-torque high-precision, is quick on the draw, minimizes, electromechanical integration, standardization and modularization trend, to adapt to The development of robot technology.Current existing joint of robot all adds harmonic speed reducer or RV to slow down using servo motor substantially Device, although this structure has obtained extensive utilization in robot field, also undeniably its torque density ratio relatively Low and reaction is not sensitive enough.Since hydraulic-driven has the characteristics that power density is big and valve control servo-system bandwidth, mesh Each state of former world all is used for hydraulic valve control servo-system to require higher robot applications seeking energetically.

Summary of the invention

In view of the above-mentioned problems, the utility model provides robot hydraulic-driven joint, revolved based on hydraulic plug-in Turn the straight robot joint driving valve and blade oscillating cylinder and integrating, by hydraulic actuator, electrohydraulic servo valve, position sensor and pressure The detecting element of force snesor carries out modularization Integrated design and is applied to joint of robot, not only can satisfy current machine Man-based development demand can also expand the application of robot.

Robot hydraulic-driven joint, it is characterised in that: it, which includes that screw thread inserting type rotation is straight, drives electrohydraulic servo valve, machine The dedicated blade swing type hydraulic cylinder of device people's movable joint, screw thread inserting type rotation is straight to drive the hereinafter referred to as hydraulic inserting of electrohydraulic servo valve Formula rotation is straight to drive valve, the dedicated blade swing type hydraulic cylinder in robot motion joint hereinafter referred to as blade oscillating cylinder, the blade pendulum Center one end of the central rotating shaft of dynamic cylinder is prefabricated with valve body installation cavity, and the shape of the valve body installation cavity is according to the hydraulic inserting The straight insertion portion shape production for driving valve of formula rotation, the hydraulic straight valve that drives of plug-in rotation are plugged in the valve body installation cavity Interior, the hydraulic straight driving motor for driving valve of plug-in rotation exposes to the central rotating shaft；

The blade oscillating cylinder further includes having upper cover, cylinder body, stator, lower cover, the convex blade in side, and the central rotating shaft passes through side Bulge loop connects the convex blade in side, and the radial other end that the convex blade in side is under zero-bit state relative to side bulge loop is disposed with The correspondence outer wall clearance fit of stator, the inner wall of the stator and the side bulge loop, the stator independently of the side bulge loop and Radial position fixed and arranged, the cylinder body, side bulge loop, upper cover, region composed by lower cover are divided by the convex blade in side, stator One working chamber, the second working chamber are provided with the first hydraulic fluid port, the second hydraulic fluid port on the inner wall of the valve body installation cavity；First oil Mouth passes through described in pipeline connection built in second second by the first working chamber described in piping connection built in first, second hydraulic fluid port Working chamber, the inside of the central rotating shaft are additionally provided with P channel, the channel T, and the upper surface of the central rotating shaft is disposed with P mouthfuls, T Mouthful；

The other end of the central rotating shaft is connected with angular transducer, and the bottom cover of the lower cover is equipped with seal closure, described The pedestal of angled sensor is bolted in the centre bore of seal closure and the angular transducer, and pressure sensor is installed in The seal closure and central rotating shaft are formed by cavity, and the pressure sensor is installed in the central rotating shaft, the pressure The inductive connector of sensor connects first hydraulic fluid port, the second hydraulic fluid port,

Hydraulic straight P mouth, T mouthfuls, A mouthfuls, the B mouthfuls of correspondence mouth cloth according to the blade oscillating cylinder for driving valve of plug-in rotation It sets, under normal operating conditions, the P oral fluid pressure oil of the blade oscillating cylinder passes through the hydraulic straight inside for driving valve of plug-in rotation A hydraulic fluid port in first hydraulic fluid port or the second hydraulic fluid port described in pipeline connection, another oil in first hydraulic fluid port or the second hydraulic fluid port Mouth is connected to the T mouth of blade oscillating cylinder by the hydraulic straight internal duct for driving valve of plug-in rotation.

It is further characterized by:

The P mouth of the central rotating shaft upper surface, T mouthfuls be fitted with flared fitting respectively；

The straight valve that drives of hydraulic plug-in rotation includes driving motor, upper end cover, spool, valve pocket, lower cover, the driving Motor connects the spool, and the periphery of the spool is set with the valve pocket, and the upper end cover, lower cover are packaged in the valve pocket Axial ends, the spool is built-in with mutual disconnected P channel, the channel T, A channel, channel B, pre- on the valve body installation cavity It is formed with the first hydraulic fluid port, the second hydraulic fluid port, the two sides of the convex blade in side correspond to first working chamber, the second working chamber is set respectively It is equipped with corresponding third hydraulic fluid port, the 4th hydraulic fluid port, the third hydraulic fluid port is connected to first working chamber, and the 4th hydraulic fluid port is connected to institute The second working chamber is stated, for each third hydraulic fluid port by the first hydraulic fluid port described in piping connection built in first, the 4th hydraulic fluid port is logical The second hydraulic fluid port described in piping connection built in second is crossed, the lower surface of the upper end cover, the upper surface of lower cover work equipped with indent The working edge cooperating that oil groove, the working edge of the indent work oil groove and the A channel of the spool, the channel B are projected, Corresponding first oil-through-hole is offered respectively on the periphery anchor ring for corresponding to the P channel, A channel, channel B of the spool, Corresponding second oil-through-hole is provided on the periphery of the valve pocket, first oil-through-hole, the position dimension of the second oil-through-hole are true Protecting servo valve can work normally in the operating condition；

The valve pocket is set in the periphery anchor ring of the spool, the periphery anchor ring of the spool and the interior chow ring of the valve pocket The assembling of face radial clearance fit, the spool includes central axis, and the upper and lower end of the central axis externally protrudes out in the valve pocket respectively Corresponding end surface, the upper end cover lid loaded on the valve pocket upper surface, simultaneously with the central axis it is convex partially radially between Gap cooperation, the convex part of central axis connect the output end of the driving motor, the lower cover lid after central through-hole Under lower end surface, the simultaneously central blind hole of the lower cover and the bottom of the central axis loaded on the valve pocket between the radial direction of convex portion Gap cooperation, the both ends of the surface of the valve pocket are respectively and fixedly connected with the upper end cover, lower cover, the lower surface of the upper end cover, lower cover Upper surface is equipped with indent work oil groove；

The outside circumferential surface of upper end cover axis is equipped with external screw thread, is used to connect installation with the internal screw thread of valve body installation cavity；

It is provided with ring-shaped groove in the central through-hole of the upper end cover, is embedded with Glais ring, institute in the circumferential direction groove The upper nose for stating central axis is provided with first step axis, the radial clearance installation of the first step axis and the central through-hole Cooperation, the inner wall of the Glais ring are close to the upper end corresponding position region of the central axis；The lower convex end of the central axis is arranged There are second step axis, the second step axis and central blind hole radial clearance fit；

The both ends of the surface of the valve pocket pass through the affixed upper end cover of axial bolt, lower cover respectively；

The work edge profile that the A channel of the spool, channel B are projected is fan-shaped ring structure, the upper end cover, lower end The working edge of the correspondence indent work oil groove of lid is fan-shaped ring structure, the working edge of the spool under zero-bit state and upper end Working edge corresponding to lid, lower cover is respectively cooperating with to form zero lap, and P channel, the channel T, A channel, channel B are mutually separated by From, and due to forming linear ratio relation for the size and flow of fan-shaped ring structure, driving driving motor rotational angle, it is convenient for Control；

The external screw thread lower part of the upper end cover, the outside circumferential surface of axis of valve pocket are provided with ring-shaped groove, each ring The O-ring seal of correspondingly-sized is installed, each O-ring seal is respectively perpendicular to central axis and adjacent O-shaped close in shape groove Seal parastate arrangement, the valve body are positioned at the valve body positioning chamber by O-ring seal inserting, it is ensured that valve pocket, upper end The sealed connection of the inner wall of lid and central rotating shaft；

High-precision absolute optical encoder, the output shaft and valve of the driving motor are integrated in the driving motor The first step axis of core is connected by yielding coupling, and the driving motor is connected by screw in the upper surface of upper end cover；

The bottom of the lower cover is additionally provided with installation locating notch, convenient for the radial direction of entire valve body and valve body installation cavity Location and installation；

The upper cover is set in the central rotating shaft and is located at the top of the side bulge loop, and the lower cover is set in described Heart shaft and the lower part for being located at the side bulge loop, the convex blade in the side, stator corresponding equivalent whole outer ring surface be set with Cylinder body, be separately installed with angular contact ball bearing in the upper cover, the internal channel of the axial inner ends of lower cover, the upper cover, lower cover The internal channel of axial outer end is equipped with the second Glais ring；The inner ring of the angular contact bearing of corresponding position is set in the center The inner ring of the corresponding position of shaft, second Glais ring of corresponding position is set in the corresponding position of the central rotating shaft, institute It states upper cover, lower cover and passes through the corresponding position that screw is fixed in the cylinder body respectively；

The stator is fixedly connected by pin with lower cover, and the corresponding end surface of the lower end surface of the stator and the lower cover is tight The outer peripheral surface of closely connected conjunction, the stator is fitted closely in the correspondence inner surface of the cylinder body, and the inner surface of the stator is in described The corresponding outer surface clearance fit of side bulge loop is arranged；

The thickness of the convex blade in side is greater than the thickness of the side bulge loop, the position of the convex blade of the side bulge loop and the side Step surface is formed, the thickness of the stator is identical with the thickness of the convex blade in the side, and the upper cover, lower cover are respectively arranged with correspondence Inner end protruding ring, the lateral wall of the inner end protruding ring is close to the stator of corresponding position and between the convex blade corresponding position in side Gap cooperation, it is ensured that easy for installation, positioning is reliably；

The outer surface of the convex blade in side and the corresponding region internal surface gaps of the cylinder body cooperate, the convex blade in side Upper and lower end face is arranged with the upper cover, the cooperation of the correspondence surface gap of lower cover respectively；

Upper surface, the lower end surface of the cylinder body correspond to the upper cover, the inner side surface of lower cover is respectively arranged with end face ring Slot is respectively provided with the second O-ring seal in the corresponding end face annular groove；

Raised spiral-lock is sealed in the first of the correspondence top of the central rotating shaft by first in the top inner end of the upper cover In enclosed slot；Raised spiral-lock is sealed in the second of the correspondence lower part of the central rotating shaft by second in the bottom inner end of the lower cover In enclosed slot.

It is that the straight robot for driving valve and blade oscillating cylinder and integrating is rotated based on hydraulic plug-in after the utility model With movable joint, constant pressure oil source is inputted by hydraulic system, is accessed by flared fitting, and central rotating shaft is screwed, made Stator drives cylinder body and upper cover, lower cover to rotate together under the action of pressure oil, when hydraulic plug-in rotates straight drive valve no current When input, oil liquid is flowed in P mouthfuls of stoppings, and pressure sensor and angular transducer no signal export at this time；When hydraulic plug-in revolves When turning straight drive valve has the input of positive current signal, rotate a certain angle under spool, oil liquid flows into hydraulic plug-ins by P mouthfuls and revolves at this time The first of the dedicated blade swing type hydraulic cylinder in robot motion joint is reached after turning the straight A mouth for driving valve, A channel road working line Working chamber, stator drives cylinder body and upper cover, lower cover to turn together under the action of pressure oil, the dedicated blade pendulum in robot motion joint The oil liquid outflow of second working chamber of actuated hydraulic cylinder is returned by straight B mouthfuls of the spool for driving valve of hydraulic plug-in rotation and by T mouthfuls To fuel tank, pressure sensor has corresponding detection signal to export and feeds back to hydraulic plug-in rotation with angular transducer at this time Straight drive valve and its input signal do difference comparsion until being zero, make the dedicated blade swing type hydraulic cylinder rotation in robot motion joint Specified pressure is kept to specified angle and the first working chamber and the second working chamber, to reach accurately position control and power Square control；Conversely, the first working chamber that oil liquid flows through is when hydraulic plug-in, which rotates straight drive valve, the input of negative current signal It is fuel-displaced, to flow through the second working chamber be oil inlet, control mode is identical；It is based on the straight drive valve of hydraulic plug-in rotation and blade The integrated robot joint of oscillating cylinder, by the detection of hydraulic actuator, electrohydraulic servo valve, position sensor and pressure sensor Element carries out modularization Integrated design and is applied to joint of robot, not only can satisfy the growth requirement of current robot, The application of robot can also be expanded.

Detailed description of the invention

Fig. 1 is main view (broken section) structural schematic diagram of the utility model；

Fig. 2 is side view schematic cross-sectional view (the removal angular transducer, seal closure, pressure sensing of the utility model Device)；

The A-A that Fig. 3 is Fig. 2 cuts open structural schematic diagram (removing the hydraulic straight drive valve of plug-in rotation)；

Fig. 4 is the straight main view schematic cross-sectional view for driving valve of hydraulic plug-in rotation of the utility model；

Fig. 5 is the three-dimensional figure structure schematic representation of the spool of Fig. 3；

Fig. 6 is the vertical view figure structure schematic representation of the spool of Fig. 4；

Fig. 7 is the three-dimensional figure structure schematic representation of the valve pocket of Fig. 3；

Fig. 8 is the three-dimensional figure structure schematic representation of the upper end cover of Fig. 4；

Fig. 9 is the three-dimensional figure structure schematic representation of the lower cover of Fig. 4；

Title corresponding to serial number is as follows in figure:

Hydraulic plug-in rotation is straight to drive valve 1, blade oscillating cylinder 2, angular transducer 3, seal closure 4, pressure sensor 5, expands Mouth formula pipe fitting 6, O-ring seal 7, installation locating notch 8

Driving motor 11, upper end cover 12, spool 13, central axis 131, valve pocket 14, lower cover 15, indent work oil groove 16, External screw thread 17, the first oil-through-hole 18, the second oil-through-hole 19, Glais ring 20

Central rotating shaft 21, valve body installation cavity 22, upper cover 23, cylinder body 24, stator 25, lower cover 26, the convex blade 27 in side, side bulge loop 28, the first working chamber 29, the second working chamber 30, the first hydraulic fluid port 31, pipeline 33, the second built-in pipe built in the second hydraulic fluid port 32, first Road 34, P channel 35, the channel T 36, third hydraulic fluid port 37, the 4th hydraulic fluid port 38, angular contact ball bearing 39, the second Glais ring 40, inner end are convex Play ring 41, the second O-ring seal 42, first seals raised 43, first enclosed slot 44, second and seals raised 45, second enclosed slot 46。

Specific embodiment

Robot hydraulic-driven joint, sees Fig. 1-Fig. 9: it, which includes that hydraulic plug-in rotation is straight, drives valve 1, blade oscillating cylinder 2, center one end of the central rotating shaft 21 of blade oscillating cylinder 2 is prefabricated with valve body installation cavity 22, the shape of valve body installation cavity 22 according to The hydraulic straight insertion portion shape for driving valve 1 of plug-in rotation makes, and the straight valve that drives of hydraulic plug-in rotation inserts 1 loaded on valve body installation cavity In 22, the hydraulic straight driving motor 11 for driving valve 1 of plug-in rotation exposes to central rotating shaft 21；

Blade oscillating cylinder 2 further includes having upper cover 23, cylinder body 24, stator 25, lower cover 26, the convex blade 27 in side, central rotating shaft 21 By the convex blade 27 of 28 connecting side of side bulge loop, the convex blade 27 in side is in the radial other end under zero-bit state relative to side bulge loop 28 It is disposed with stator 25, the correspondence outer wall clearance fit of the inner wall of stator 25 and the side bulge loop 28, stator 25 is independently of side bulge loop 28 and radial position fixed and arranged, cylinder body 24, side bulge loop 28, upper cover 23, region composed by lower cover 26 by the convex blade 27 in side, Stator 25 is divided into the first working chamber 29, the second working chamber 30, be provided on the inner wall of valve body installation cavity 22 first hydraulic fluid port 31, Second hydraulic fluid port 32；First hydraulic fluid port 31 passes through pipeline 33 built in first and connects the first working chamber 29, and the second hydraulic fluid port 32 passes through in second It sets pipeline 34 and is connected to the second working chamber 30, the inside of central rotating shaft 21 is additionally provided with P channel 35, the channel T 36, central rotating shaft 21 Upper surface is disposed with P mouthfuls, T mouthfuls；

The other end of central rotating shaft 21 is connected with angular transducer 3, and the bottom cover of lower cover 26 is equipped with seal closure 4, seal closure 4 pedestal that angled sensor 3 is bolted with the centre bore of the angular transducer, pressure sensor 5 are installed in Seal closure 4 and central rotating shaft 21 are formed by cavity, and pressure sensor 5 is installed in central rotating shaft 21, the sense of pressure sensor 5 Connector is answered to connect the first hydraulic fluid port 31, the second hydraulic fluid port 32,

Straight P mouth for driving valve 1 of hydraulic plug-in rotation, T mouthfuls, A mouthfuls, B mouthfuls according to the correspondence mouth of blade oscillating cylinder 2 arrangement, just Under normal working condition, the P oral fluid pressure oil of blade oscillating cylinder 2 is connected to the by the straight internal duct for driving valve 1 of hydraulic plug-in rotation Another hydraulic fluid port in a hydraulic fluid port in one hydraulic fluid port 31 or the second hydraulic fluid port 32, the first hydraulic fluid port 31 or the second hydraulic fluid port 32 passes through hydraulic The straight internal duct for driving valve 1 of plug-in rotation is connected to the T mouth of blade oscillating cylinder 2.

The P mouth of 21 upper surface of central rotating shaft, T mouthfuls be fitted with flared fitting 6 respectively；

The hydraulic straight valve 1 that drives of plug-in rotation includes driving motor 11, upper end cover 12, spool 13, valve pocket 14, lower cover 15, Driving motor 11 connects spool 13, and the periphery of spool 13 is set with valve pocket 14, and upper end cover 12, lower cover 15 are packaged in valve pocket 14 Axial ends, spool 13 are built-in with the mutual disconnected channel P, the channel T, A channel, channel B, are prefabricated on valve body installation cavity 22 First hydraulic fluid port 31, the second hydraulic fluid port 32, the two sides of the convex blade 27 in side correspond to the first working chamber 29, the second working chamber 30 is respectively set There are corresponding third hydraulic fluid port 37, the 4th hydraulic fluid port 38, third hydraulic fluid port 37 is connected to the first working chamber 29, and the 4th hydraulic fluid port 38 is connected to the second work Make chamber 30, each third hydraulic fluid port 37 passes through pipeline 33 built in first and connects the first hydraulic fluid port, and the 4th hydraulic fluid port 38 passes through the second built-in pipe Road 34 connects the second hydraulic fluid port 32, and the lower surface of upper end cover 12, the upper surface of lower cover 15 are equipped with indent work oil groove 16, indent work Make the working edge of oil groove 16 and working edge cooperating that the A channel of spool 13, channel B are projected, spool 13 it is logical corresponding to P Road, A channel, channel B periphery anchor ring on offer corresponding first oil-through-hole 18 respectively, be provided on the periphery of valve pocket 14 Corresponding second oil-through-hole 19, the first oil-through-hole 18, the second oil-through-hole 19 position dimension ensure servo valve in the operating condition It can work normally；

A kind of working condition when specific implementation: when valve core rotation, so that the second oil-through-hole P of the corresponding position on valve pocket P mouthfuls of the first oil-through-hole of mouth connection spool, P channel are connected to any channel in A channel or channel B by the working edge of end cap, Then the first hydraulic fluid port is accessed to by corresponding first oil-through-hole, the second oil-through-hole, another channel in A channel or channel B is logical Cross corresponding first oil-through-hole, the second oil-through-hole accesses the second hydraulic fluid port, the internal path access valve body that the second hydraulic fluid port passes through valve body T mouth, the T mouth of valve body is correspondingly connected with the channel T of blade oscillating cylinder, then passes through T mouthfuls of discharge hydraulic oil.

Valve pocket 14 is set in the periphery anchor ring of spool 13, the periphery anchor ring of spool 13 and the inner circumferential anchor ring radial clearance of valve pocket Cooperation assembling, spool 13 includes central axis 131, and the upper and lower end of central axis 131 externally protrudes out in the corresponding end surface of valve pocket 14 respectively, The lid of upper end cover 12 is loaded on the upper surface of valve pocket 14, while the convex part radial clearance fit with central axis 131, central axis 131 Convex part the output end of driving motor 11 is connected after the central through-hole, the lid of lower cover 15 is loaded on the lower end of valve pocket 14 Convex portion radial clearance fit is installed under face, the central blind hole of lower cover 15 and the bottom of central axis 131, the both ends of valve pocket 14 Face is respectively and fixedly connected with upper end cover 12, lower cover 15, and the lower surface of upper end cover 12, the upper surface of lower cover 15 are equipped with indent work oil groove 16；

The outside circumferential surface of 12 axis of upper end cover is equipped with external screw thread 17, is used to connect peace with the internal screw thread of valve body installation cavity 22 Dress；

It is provided with ring-shaped groove in the central through-hole of upper end cover 12, is embedded with Glais ring 20, central axis in circumferential groove 131 upper nose is provided with first step axis, and the radial clearance installation of first step axis and central through-hole cooperates, Glais ring 20 Inner wall be close to central axis upper end corresponding position region；The lower convex end of central axis 131 is provided with second step axis, and second Rank axis and central blind hole radial clearance fit；

The both ends of the surface of valve pocket 14 pass through the affixed upper end cover 12 of axial bolt, lower cover 15 respectively；

The work edge profile that the A channel of spool 13, channel B are projected is fan-shaped ring structure, upper end cover 12, lower cover The working edge of 15 correspondence indent work oil groove 16 is fan-shaped ring structure, the working edge of the spool 13 under zero-bit state and upper end Working edge corresponding to lid 12, lower cover 15 is respectively cooperating with to form zero lap, and makes P channel, the channel T, A channel, channel B mutual It is isolated, and due to being formed linearly for the size and flow of fan-shaped ring structure, driving direct current brushless servo motor rotational angle Proportionate relationship, convenient for control；

The external screw thread lower part of upper end cover 12, the outside circumferential surface of axis of valve pocket 14 are provided with ring-shaped groove, each annular ditch The O-ring seal 7 of correspondingly-sized is installed, each O-ring seal 7 is respectively perpendicular to central axis and adjacent O-shaped sealing in slot 7 parastates arrangement is enclosed, valve body is positioned at valve body positioning chamber 22 by the inserting of O-ring seal 7, it is ensured that valve pocket 14, upper end cover 12 With the sealed connection of the inner wall of central rotating shaft 21；

It is integrated with high-precision absolute optical encoder in driving motor 11, the output shaft of driving motor 11 and spool First step axis is connected by yielding coupling, and driving motor 11 is connected by screw in the upper surface of upper end cover 12；

The bottom of lower cover 15 is additionally provided with installation locating notch 8, convenient for the radial direction of entire valve body and valve body installation cavity Location and installation；

Upper cover 23 is set in central rotating shaft 21 and is located at the top of side bulge loop 28, and lower cover 26 is set in central rotating shaft 21 and position In the lower part of side bulge loop 28, the convex blade 27 in side, stator 25 corresponding equivalent whole outer ring surface be set with cylinder body 24, upper cover 23, angular contact ball bearing 39, the axial outer end of upper cover 23, lower cover 26 are separately installed in the internal channel of the axial inner ends of lower cover 26 Internal channel the second Glais ring 40 is installed；The inner ring of the angular contact bearing 39 of corresponding position is set in the correspondence of central rotating shaft 21 Position, the inner ring of the second Glais ring 40 of corresponding position are set in the corresponding position of central rotating shaft 21, and upper cover 23, lower cover 26 are distinguished The corresponding position of cylinder body 24 is fixed in by screw；

Stator 25 is fixedly connected by pin with lower cover 26, and the lower end surface of stator 25 and the corresponding end surface of lower cover 26 are closely pasted It closes, the outer peripheral surface of stator 25 is fitted closely in the correspondence inner surface of cylinder body 24, and the inner surface of stator 25 is in the correspondence of side bulge loop 28 Outer surface clearance fit arrangement；

The thickness of the convex blade 27 in side is greater than the thickness of side bulge loop 28, and the position of the convex blade 27 of side bulge loop 28 and side forms step Face, the thickness of stator 25 is identical with the thickness of the convex blade 27 in side, and upper cover 23, lower cover 26 are respectively arranged with corresponding inner end protrusion Ring 41, the lateral wall of inner end protruding ring 41 be close to the stator 25 of corresponding position and with the convex 27 corresponding position clearance fit of blade in side, Ensure that easy for installation, positioning is reliable；

The corresponding region internal surface gaps of the outer surface of the convex blade 27 in side and cylinder body 24 cooperate, the convex blade 27 in side it is upper and lower End face is arranged with upper cover 23, the cooperation of the correspondence surface gap of lower cover 26 respectively；

Upper surface, the lower end surface of cylinder body 24 correspond to upper cover, the inner side surface of lower cover is respectively arranged with end face annular groove, corresponding End face annular groove in be respectively provided with the second O-ring seal 42；

Raised 43 spiral-locks are sealed in first envelope on the correspondence top of central rotating shaft 21 by first in the top inner end of upper cover 23 In mouth slot 44；Raised 45 spiral-locks are sealed in the second envelope of the correspondence lower part of central rotating shaft 21 by second in the bottom inner end of lower cover 26 In mouth slot 46.

Its working principles are as follows: it is to rotate the straight valve that drives based on hydraulic plug-in to use with the robot that blade oscillating cylinder integrates Movable joint inputs constant pressure oil source by hydraulic system, is accessed by flared fitting, and central rotating shaft is screwed, and it is fixed to make Piece drives cylinder body and upper cover, lower cover to rotate together under the action of pressure oil, when the straight drive valve no current of hydraulic plug-in rotation is defeated Fashionable, oil liquid is flowed in P mouthfuls of stoppings, and pressure sensor and angular transducer no signal export at this time；When hydraulic plug-in rotates When straight drive valve has the input of positive current signal, rotate a certain angle under spool, oil liquid flows into hydraulic plug-ins by P mouthfuls and rotates at this time The first work of the dedicated blade swing type hydraulic cylinder in robot motion joint is reached after the straight A mouth for driving valve, A channel road working line Make chamber, stator drives cylinder body and upper cover, lower cover to turn together under the action of pressure oil, the dedicated blade oscillating in robot motion joint The oil liquid outflow of second working chamber of formula hydraulic cylinder is returned to by straight B mouthfuls of the spool for driving valve of hydraulic plug-in rotation and by T mouthfuls Fuel tank, pressure sensor has corresponding detection signal to export and feeds back to hydraulic plug-in rotation directly with angular transducer at this time It drives valve and its input signal does difference comparsion until being zero, rotate to the dedicated blade swing type hydraulic cylinder in robot motion joint Specified angle and the first working chamber and the second working chamber keep specified pressure, to reach accurately position control and torque Control；Conversely, the first working chamber that oil liquid flows through is when hydraulic plug-in, which rotates straight drive valve, the input of negative current signal Oil, to flow through the second working chamber be oil inlet, and control mode is identical；It is put based on the straight drive valve of hydraulic plug-in rotation and blade The integrated robot joint of dynamic cylinder, by the detection member of hydraulic actuator, electrohydraulic servo valve, position sensor and pressure sensor Part carries out modularization Integrated design and is applied to joint of robot, not only can satisfy the growth requirement of current robot, The application of robot can be expanded.

Specific embodiment of the utility model is described in detail above, but content is only what the utility model was created Preferred embodiment should not be construed as limiting the practical range of the utility model creation.All create according to the utility model is applied All the changes and improvements made by range etc., shall still fall within the scope of this patent.

Claims (10)

1. robot hydraulic-driven joint, it is characterised in that: it, which includes that hydraulic plug-in rotation is straight, drives valve, blade oscillating cylinder, Center one end of the central rotating shaft of the blade oscillating cylinder is prefabricated with valve body installation cavity, and the shape of the valve body installation cavity is according to institute The straight insertion portion shape production for driving valve of hydraulic plug-in rotation is stated, the hydraulic straight valve that drives of plug-in rotation is plugged in the valve In body installation cavity, the hydraulic straight driving motor for driving valve of plug-in rotation exposes to the central rotating shaft；

The blade oscillating cylinder further includes having upper cover, cylinder body, stator, lower cover, the convex blade in side, and the central rotating shaft passes through side bulge loop The convex blade in the side is connected, the convex blade in side, which is in the radial other end under zero-bit state relative to side bulge loop and is disposed with, to be determined The correspondence outer wall clearance fit of piece, the inner wall of the stator and the side bulge loop, the stator is independently of the side bulge loop and diameter To position fixed and arranged, the cylinder body, side bulge loop, upper cover, region composed by lower cover are divided into first by the convex blade in side, stator Working chamber, the second working chamber are provided with the first hydraulic fluid port, the second hydraulic fluid port on the inner wall of the valve body installation cavity；First hydraulic fluid port By the first working chamber described in piping connection built in first, second hydraulic fluid port passes through the second work described in pipeline connection built in second Make chamber, the inside of the central rotating shaft is additionally provided with P channel, the channel T, and the upper surface of the central rotating shaft is disposed with P mouthfuls, T mouthfuls；

The other end of the central rotating shaft is connected with angular transducer, and the bottom cover of the lower cover is equipped with seal closure, the sealing The pedestal of angled sensor is bolted in the centre bore of cover and the angular transducer, and pressure sensor is installed in described Seal closure and central rotating shaft are formed by cavity, and the pressure sensor is installed in the central rotating shaft, the pressure sensing The inductive connector of device connects first hydraulic fluid port, the second hydraulic fluid port,

Straight P mouth for driving valve of the hydraulic plug-in rotation, T mouthfuls, A mouthfuls, B mouthfuls according to the correspondence mouth of blade oscillating cylinder arrangement, Under normal operating conditions, the P oral fluid pressure oil of the blade oscillating cylinder passes through the hydraulic straight inner tube for driving valve of plug-in rotation Road is connected to a hydraulic fluid port in first hydraulic fluid port or the second hydraulic fluid port, another hydraulic fluid port in first hydraulic fluid port or the second hydraulic fluid port The T mouth of blade oscillating cylinder is connected to by the hydraulic straight internal duct for driving valve of plug-in rotation.

2. robot as described in claim 1 hydraulic-driven joint, it is characterised in that: the P of the central rotating shaft upper surface Mouthful, T mouthfuls be fitted with flared fitting respectively.

3. robot as described in claim 1 hydraulic-driven joint, it is characterised in that: the hydraulic plug-in rotation is straight to drive Valve includes driving motor, upper end cover, spool, valve pocket, lower cover, and the driving motor connects the spool, the spool it is outer It is set with the valve pocket week, the upper end cover, lower cover are packaged in the axial ends of the valve pocket, and the spool is built-in with mutually not The P channel of connection, the channel T, A channel, channel B are prefabricated with the first hydraulic fluid port, the second hydraulic fluid port, the side on the valve body installation cavity The two sides of convex blade correspond to first working chamber, the second working chamber is respectively arranged with corresponding third hydraulic fluid port, the 4th hydraulic fluid port, The third hydraulic fluid port is connected to first working chamber, and the 4th hydraulic fluid port is connected to second working chamber, each third oil Mouth passes through the second oil described in piping connection built in second by the first hydraulic fluid port described in piping connection built in first, the 4th hydraulic fluid port Mouthful, the lower surface of the upper end cover, the upper surface of lower cover are equipped with indent work oil groove, the working edge of the indent work oil groove The working edge cooperating projected with the A channel of the spool, channel B, the spool lead to corresponding to the P channel, A Road, channel B periphery anchor ring on offer corresponding first oil-through-hole respectively, corresponding is provided on the periphery of the valve pocket Two oil-through-holes, first oil-through-hole, the second oil-through-hole position dimension ensure that servo valve can work normally in the operating condition.

4. robot as claimed in claim 3 hydraulic-driven joint, it is characterised in that: the valve pocket is set in the spool Periphery anchor ring, the inner circumferential anchor ring radial clearance fit assembling of the periphery anchor ring of the spool and the valve pocket, the spool packet Central axis is included, the upper and lower end of the central axis externally protrudes out in the corresponding end surface of the valve pocket respectively, and the upper end cover lid is loaded on institute The upper surface of stating valve pocket, convex part radial clearance fit with the central axis simultaneously, during the convex part of central axis is run through Connect the output end of the driving motor after heart through hole, it is lower end surface of the lower cover lid loaded on the valve pocket, described simultaneously Convex portion radial clearance fit under the bottom of the central blind hole of lower cover and the central axis, the both ends of the surface of the valve pocket are solid respectively The upper end cover, lower cover are connect, the lower surface of the upper end cover, the upper surface of lower cover are equipped with indent work oil groove.

5. robot as claimed in claim 3 hydraulic-driven joint, it is characterised in that: the outside circumferential surface of upper end cover axis Equipped with external screw thread, it is used to connect installation with the internal screw thread of valve body installation cavity.

6. robot as claimed in claim 4 hydraulic-driven joint, it is characterised in that: the central through-hole of the upper end cover It is inside provided with ring-shaped groove, is embedded with Glais ring in the circumferential direction groove, the upper nose of the central axis is provided with first step The radial clearance of axis, the first step axis and the central through-hole, which is installed, to be cooperated, described in the inner wall abutting of the Glais ring The upper end corresponding position region of central axis；The lower convex end of the central axis is provided with second step axis, the second step axis with The central blind hole radial clearance fit of the lower cover.

7. robot as claimed in claim 3 hydraulic-driven joint, it is characterised in that: the A channel of the spool, channel B The work edge profile projected be fan-shaped ring structure, the upper end cover, lower cover correspondence indent work oil groove working edge For fan-shaped ring structure, working edge corresponding to the working edge and upper end cover of the spool under zero-bit state, lower cover is distinguished Zero lap is cooperatively formed, and P channel, the channel T, A channel, channel B are mutually isolated.

8. robot as described in claim 1 hydraulic-driven joint, it is characterised in that: the upper cover is set in the center Shaft and the top for being located at the side bulge loop, the lower cover are set in the central rotating shaft and are located at the lower part of the side bulge loop, The convex blade in the side, stator corresponding equivalent whole outer ring surface be set with cylinder body, the upper cover, the axial inner ends of lower cover Angular contact ball bearing is separately installed in internal channel, the upper cover, the internal channel of the axial outer end of lower cover are equipped with the second lattice Lay Circle；The inner ring of the angular contact bearing of corresponding position is set in the corresponding position of the central rotating shaft, corresponding position it is described The inner ring of second Glais ring is set in the corresponding position of the central rotating shaft, and the upper cover, lower cover are fixed in by screw respectively The corresponding position of the cylinder body.

9. robot as claimed in claim 8 hydraulic-driven joint, it is characterised in that: the stator passes through pin and lower cover It is fixedly connected, the corresponding end surface of the lower end surface of the stator and the lower cover fits closely, and the outer peripheral surface of the stator is in described The correspondence inner surface of cylinder body fits closely, and the inner surface of the stator is in the corresponding outer surface clearance fit cloth of the side bulge loop It sets.

10. robot as claimed in claim 8 hydraulic-driven joint, it is characterised in that: the thickness of the convex blade in side is big In the thickness of the side bulge loop, the position of the convex blade of the side bulge loop and the side forms step surface, the thickness of the stator and The thickness of the convex blade in side is identical, and the upper cover, lower cover are respectively arranged with corresponding inner end protruding ring, the inner end protruding ring Lateral wall be close to corresponding position stator and with the convex blade corresponding position clearance fit in side.