CN210011001U - Novel vector control rotary joint - Google Patents
Novel vector control rotary joint Download PDFInfo
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- CN210011001U CN210011001U CN201920225215.1U CN201920225215U CN210011001U CN 210011001 U CN210011001 U CN 210011001U CN 201920225215 U CN201920225215 U CN 201920225215U CN 210011001 U CN210011001 U CN 210011001U
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Abstract
The utility model provides a novel vector control rotary joint, its simple structure, the volume is small, be convenient for integrate, low friction, high reliability. The joint mounting structure comprises a joint mounting shell, a first servo cylinder, a second servo cylinder and an output shaft, wherein a mounting inner cavity is formed in the joint mounting shell, a first cylinder body of the first servo cylinder and a second cylinder body of the second servo cylinder are fixedly mounted on the corresponding sides of the mounting inner cavity of the joint mounting shell respectively, the output shaft penetrates through an output hole of the joint mounting shell and then protrudes outwards, a first piston rod of the first servo cylinder is pivoted with one end of a first transmission shaft, a second piston rod of the second servo cylinder is pivoted with one end of a second transmission shaft, a hinge center is arranged on the inner end face, located in the mounting inner cavity, of the output shaft, the hinge center and the center of the output shaft are arranged in an eccentric mode, and the other end of the first transmission shaft and the other end of the second transmission shaft are hinged to the hinge center respectively.
Description
Technical Field
The utility model relates to a technical field of robot joint specifically is a novel vector control rotary joint.
Background
The robot joint is used as a key mechanism of a robot system, is not only a driving execution mechanism of the robot, but also an energy conversion mechanism of the robot, connects an electric part or a hydraulic part of the robot with a mechanical part of the robot, realizes the conversion and amplification of electric-mechanical and electric-hydraulic-mechanical signals, and the performance of the robot joint determines the performance of the whole robot system to a great extent, particularly has great influence on the accuracy, the responsiveness and the like of the motion of the robot system.
Currently, the joints that can achieve load rotation motion fall into two broad categories:
1) the motor is directly driven, no speed change mechanism is needed, and the rotary motion of the load can be realized. However, as the output torque requirement increases, the motor power inevitably increases, and the price also inevitably increases.
2) The motor and the mechanical conversion mechanism (including various speed reducers) adopt a mechanical structure to realize the rotary motion of a load. The structure is complicated, and the volume is not easy to lighten.
3) The hydraulic motor can realize the rotary motion of the load without any speed change mechanism. But the processing and manufacturing process is complex and expensive.
Therefore, in the field of robots, a high-frequency-response robot joint which is small in size, light in weight, convenient to integrate and extremely reliable in service life, especially a novel vector control rotary joint, is urgently needed to be developed.
Disclosure of Invention
To the problem, the utility model provides a novel vector control rotary joint, its simple structure, the volume is small, be convenient for integrate, low friction, high reliability.
A novel vector control rotary joint is characterized in that: the hydraulic joint comprises a joint mounting shell, a first servo cylinder, a second servo cylinder and an output shaft, wherein a mounting inner cavity is formed in the joint mounting shell, a first cylinder body of the first servo cylinder and a second cylinder body of the second servo cylinder are fixedly mounted on the corresponding sides of the mounting inner cavity of the joint mounting shell respectively, the output shaft penetrates through an output hole of the joint mounting shell and then protrudes outwards, a first piston rod of the first servo cylinder is pivoted with one end of a first transmission shaft, a second piston rod of the second servo cylinder is pivoted with one end of a second transmission shaft, a hinge center is arranged on the inner end face of the mounting inner cavity of the output shaft, the hinge center and the center of the output shaft are eccentrically arranged, the other end of the first transmission shaft and the other end of the second transmission shaft are respectively hinged with the hinge center, and the other end of the first transmission shaft and the other end of the second transmission shaft are spatially stacked, the first piston rod and the second piston rod are arranged at an angle of 90-170 degrees in space, and the input ends of the first servo cylinder and the second servo cylinder are externally connected with the controller respectively.
It is further characterized in that:
the part of the output shaft, which is positioned in the installation inner cavity, is provided with a transmission turntable, a side convex connecting shaft is arranged on the inner end surface of the transmission turntable, the side convex connecting shaft is a hinge center, the central shafts of the side convex connecting shaft and the output shaft are arranged in parallel but not coaxially, and the other end of the first transmission shaft and the other end of the second transmission shaft are respectively sleeved on the side convex connecting shaft;
the joint mounting shell comprises a base and an upper cover, a first servo cylinder mounting cavity and a second servo cylinder mounting cavity are formed after the base and the upper cover are spliced, the first cylinder body is fixedly arranged in the first servo cylinder mounting cavity, and the second cylinder body is fixedly arranged in the second servo cylinder mounting cavity;
the feeding amount of the first piston rod ensures that the first transmission shaft driving side convex connecting shaft rotates 360 degrees around the central shaft of the output shaft, and the feeding amount of the second piston rod ensures that the second transmission shaft driving side convex connecting shaft rotates 360 degrees around the central shaft of the output shaft;
the output shaft is positioned in the output hole through a first bearing, so that the normal rotation of the output shaft is ensured;
the two ends of the first transmission shaft are respectively provided with a second bearing, the output end of the first piston rod is provided with a vertical first connecting rod, the first connecting rod is connected with the inner ring of the second bearing positioned at one end of the first transmission shaft in a positioning manner, the two ends of the second transmission shaft are respectively provided with a third bearing, the output end of the second piston rod is provided with a vertical second connecting rod, the second connecting rod is connected with the inner ring of the third bearing positioned at one end of the second transmission shaft in a positioning manner, the inner ring of the second bearing positioned at the other end of the first transmission shaft and the inner ring of the third bearing positioned at the other end of the second transmission shaft are respectively fixedly sleeved on the side convex connecting shaft, so that friction is small in the process of power transmission of the piston rod, and the service life of the;
the first servo cylinder further comprises a first guide support, the first piston rod extends and retracts linearly along the first guide support, the second servo cylinder further comprises a second guide support, and the second piston rod extends and retracts linearly along the second guide support;
preferably, the first and second piston rods are spatially arranged at 90 °;
preferably, the first and second piston rods are spatially arranged at 170 °.
After the utility model is adopted, the two servo cylinders are arranged in the space at 90-170 degrees, the piston rods of the two servo cylinders are hinged on the output shaft through respective transmission shafts, when the control signal is set to be positive value, one servo cylinder stretches out to drive the transmission shaft to do clockwise motion around the hinge center, and the other servo cylinder retracts to drive the transmission shaft to do clockwise motion around the hinge center, thereby driving the output shaft to do clockwise motion; when the control signal is set to be a negative value, one servo cylinder retracts to drive the transmission shaft to move anticlockwise around the hinge center, and when the other servo cylinder extends out, the transmission shaft is driven to move anticlockwise around the hinge center, so that the output shaft is driven to move anticlockwise; the two servo cylinders are controlled by the motion vector of the two servo cylinders to realize the alternate combined motion of the two servo cylinders, so that the output shaft is driven to rotate by 360 degrees. The rotary motion of the load is realized by connecting the load on the output shaft; the structure is simple, the volume is small, the integration is convenient, the friction is low, and the reliability is high.
Drawings
FIG. 1 is a schematic diagram of a structure of an embodiment of the present invention;
FIG. 2 is a schematic view of section A-A of FIG. 1;
FIG. 3 is a schematic diagram of a second embodiment of the present invention;
FIG. 4 is a schematic view of section B-B of FIG. 3;
the names corresponding to the sequence numbers in the figure are as follows:
the joint mounting structure comprises a joint mounting shell 1, a mounting inner cavity 101, an output hole 102, a base 103, an upper cover 104, a first servo cylinder mounting cavity 105, a second servo cylinder mounting cavity 106, a first servo cylinder 2, a first cylinder body 201, a first piston rod 202, a first connecting rod 203, a first guide support 204, a second servo cylinder 3, a second cylinder body 301, a second piston rod 302, a second connecting rod 303, a second guide support 304, an output shaft 4, a transmission turntable 41, a first transmission shaft 5, a second transmission shaft 6, a side convex connecting shaft 7, a controller 8, a first bearing 9, a second bearing 10 and a third bearing 11.
Detailed Description
A novel vector control rotary joint is shown in figures 1-4: the joint mounting structure comprises a joint mounting shell 1, a first servo cylinder 2, a second servo cylinder 3 and an output shaft 4, wherein a mounting inner cavity 101 is formed in the joint mounting shell 1, a first cylinder body 201 of the first servo cylinder 2 and a second cylinder body 301 of the second servo cylinder 3 are fixedly mounted on the corresponding sides in the mounting inner cavity 101 of the joint mounting shell 1 respectively, the output shaft 4 protrudes outwards after penetrating through an output hole 102 of the joint mounting shell 1, a first piston rod 202 of the first servo cylinder 2 is pivoted with one end of a first transmission shaft 5, a second piston rod 302 of the second servo cylinder 3 is pivoted with one end of a second transmission shaft 6, a hinge center is arranged on the inner end face, located in the mounting inner cavity 101, of the output shaft 4, the hinge center and the center of the output shaft 4 are arranged in an eccentric mode, the other end of the first transmission shaft 5 and the other end of the second transmission shaft 6 are hinged with the hinge center respectively, the other end of the first transmission, the first piston rod 202 and the second piston rod 302 are spatially arranged at an angle of 90-170 degrees, and the input ends of the first servo cylinder 2 and the second servo cylinder 3 are externally connected with the controller 8 respectively.
The part of the output shaft 4, which is positioned in the installation cavity 101, is provided with a transmission turntable 41, the inner end surface of the transmission turntable 41 is provided with a side convex connecting shaft 7, the side convex connecting shaft 7 is a hinge center, the central shafts of the side convex connecting shaft 7 and the output shaft 4 are parallel but not coaxial, and the other end of the first transmission shaft 5 and the other end of the second transmission shaft 6 are respectively sleeved on the side convex connecting shaft 7;
the joint mounting shell 1 comprises a base 103 and an upper cover 104, a first servo cylinder mounting cavity 105 and a second servo cylinder mounting cavity 106 are formed after the base 103 and the upper cover 104 are spliced, a first cylinder body 201 is fixedly arranged in the first servo cylinder mounting cavity 105, and a second cylinder body 301 is fixedly arranged in the second servo cylinder mounting cavity 106;
the feeding amount of the first piston rod 202 ensures that the first transmission shaft 5 drives the side convex connecting shaft 7 to rotate 360 degrees around the central axis of the output shaft 4, and the feeding amount of the second piston rod 302 ensures that the second transmission shaft 6 drives the side convex connecting shaft 7 to rotate 360 degrees around the central axis of the output shaft 4;
the output shaft 4 is positioned in the output hole 102 through the first bearing 9, and normal rotation of the output shaft 4 is ensured;
the two ends of the first transmission shaft 5 are respectively provided with a second bearing 10, the output end of the first piston rod 202 is provided with a vertical first connecting rod 203, the first connecting rod 203 is connected with the inner ring of the second bearing 10 positioned at one end of the first transmission shaft 5 in a positioning manner, the two ends of the second transmission shaft 6 are respectively provided with a third bearing 11, the output end of the second piston rod 302 is provided with a vertical second connecting rod 303, the second connecting rod 303 is connected with the inner ring of the third bearing 11 positioned at one end of the second transmission shaft 3 in a positioning manner, the inner ring of the second bearing 10 at the other end of the first transmission shaft 5 and the inner ring of the third bearing 11 at the other end of the second transmission shaft 6 are respectively fixedly sleeved on the side convex connecting shaft 7, so that friction is small in the process of power transmission of the;
the first servo cylinder 2 further comprises a first guide support 204, the first piston rod 202 extends and retracts linearly along the first guide support 204, the second servo cylinder 3 further comprises a second guide support 304, and the second piston rod 302 extends and retracts linearly along the second guide support 304; by adding the guide support, the radial rigidity of the two piston rods is enhanced, and the motion error of the robot joint during motion is reduced.
First embodiment, see fig. 1 and 2, the first piston rod 202 and the second piston rod 302 are spatially arranged at 90 °.
Second embodiment, see fig. 3 and 4, the first piston rod 202 and the second piston rod 302 are spatially arranged at 170 °.
The working principle is as follows, two servo cylinders are arranged in space at 90-170 degrees, piston rods of the two servo cylinders are hinged to an output shaft through respective transmission shafts, when a control signal is set to be a positive value, one servo cylinder extends out to drive the transmission shaft to move clockwise around a hinge center, and the other servo cylinder retracts to drive the transmission shaft to move clockwise around the hinge center, so that the output shaft is driven to move clockwise; when the control signal is set to be a negative value, one servo cylinder retracts to drive the transmission shaft to move anticlockwise around the hinge center, and when the other servo cylinder extends out, the transmission shaft is driven to move anticlockwise around the hinge center, so that the output shaft is driven to move anticlockwise; the two servo cylinders are controlled by the motion vector of the two servo cylinders to realize the alternate combined motion of the two servo cylinders, so that the output shaft is driven to rotate by 360 degrees. The rotary motion of the load is realized by connecting the load on the output shaft; the structure is simple, the volume is small, the integration is convenient, the friction is low, and the reliability is high.
When the controller sends a positive command, the first piston rod of the first servo cylinder does extension movement. The first piston rod extends out to drive the first transmission shaft connected with the first piston rod to do clockwise motion around the hinge center, and the second piston rod of the second servo cylinder does retraction motion. The retraction of the second piston rod drives the second transmission shaft connected with the second piston rod to do clockwise motion around the hinge center. The first transmission shaft and the second transmission shaft realize clockwise motion of the output shaft under the combined action;
when the controller sends a negative instruction, the first piston rod of the first servo cylinder retracts, the first piston rod retracts to drive the first transmission shaft connected with the first piston rod to move anticlockwise around the hinge center, the second piston rod of the second servo cylinder extends, and the second piston rod extends to drive the second transmission shaft connected with the second piston rod to move anticlockwise around the hinge center. Under the combined action of the first transmission shaft and the second transmission shaft, the output shaft is enabled to move anticlockwise.
The detailed description of the embodiments of the present invention has been provided, but the present invention is only the preferred embodiments of the present invention, and should not be considered as limiting the scope of the present invention. All equivalent changes and modifications made in accordance with the scope of the present invention shall fall within the scope of the present patent application.
Claims (9)
1. A novel vector control rotary joint is characterized in that: the hydraulic joint comprises a joint mounting shell, a first servo cylinder, a second servo cylinder and an output shaft, wherein a mounting inner cavity is formed in the joint mounting shell, a first cylinder body of the first servo cylinder and a second cylinder body of the second servo cylinder are fixedly mounted on the corresponding sides of the mounting inner cavity of the joint mounting shell respectively, the output shaft penetrates through an output hole of the joint mounting shell and then protrudes outwards, a first piston rod of the first servo cylinder is pivoted with one end of a first transmission shaft, a second piston rod of the second servo cylinder is pivoted with one end of a second transmission shaft, a hinge center is arranged on the inner end face of the mounting inner cavity of the output shaft, the hinge center and the center of the output shaft are eccentrically arranged, the other end of the first transmission shaft and the other end of the second transmission shaft are respectively hinged with the hinge center, and the other end of the first transmission shaft and the other end of the second transmission shaft are spatially stacked, the first piston rod and the second piston rod are arranged at an angle of 90-170 degrees in space, and the input ends of the first servo cylinder and the second servo cylinder are externally connected with the controller respectively.
2. The novel vector-controlled rotary joint of claim 1, wherein: the part of the output shaft, which is positioned in the installation inner cavity, is provided with a transmission turntable, a side convex connecting shaft is arranged on the inner end surface of the transmission turntable, the side convex connecting shaft is a hinge center, the side convex connecting shaft and the central shaft of the output shaft are arranged in parallel but not coaxially, and the other end of the first transmission shaft and the other end of the second transmission shaft are respectively sleeved on the side convex connecting shaft.
3. The novel vector-controlled rotary joint of claim 1, wherein: the joint mounting shell comprises a base and an upper cover, a first servo cylinder mounting cavity and a second servo cylinder mounting cavity are formed after the base and the upper cover are spliced, the first cylinder body is fixedly mounted in the first servo cylinder mounting cavity, and the second cylinder body is fixedly mounted in the second servo cylinder mounting cavity.
4. A novel vector-controlled rotary joint as claimed in claim 2, wherein: the first piston rod is fed by an amount that ensures that the first transmission shaft drive side convex connecting shaft rotates 360 ° around the central axis of the output shaft, and the second piston rod is fed by an amount that ensures that the second transmission shaft drive side convex connecting shaft rotates 360 ° around the central axis of the output shaft.
5. The novel vector-controlled rotary joint of claim 1, wherein: the output shaft is positioned at the output hole by a first bearing.
6. A novel vector-controlled rotary joint as claimed in claim 2, wherein: the two ends of the first transmission shaft are respectively provided with a second bearing, the output end of the first piston rod is provided with a vertical first connecting rod, the first connecting rod is positioned and connected with the inner ring of the second bearing at one end of the first transmission shaft, the two ends of the second transmission shaft are respectively provided with a third bearing, the output end of the second piston rod is provided with a vertical second connecting rod, the second connecting rod is positioned and connected with the inner ring of the third bearing at one end of the second transmission shaft, and the inner ring of the second bearing at the other end of the first transmission shaft and the inner ring of the third bearing at the other end of the second transmission shaft are respectively and fixedly sleeved on the side convex connecting shaft.
7. The novel vector-controlled rotary joint of claim 1, wherein: the first servo cylinder further comprises a first guide support, the first piston rod extends and retracts linearly along the first guide support, the second servo cylinder further comprises a second guide support, and the second piston rod extends and retracts linearly along the second guide support.
8. The novel vector-controlled rotary joint of claim 1, wherein: the first piston rod and the second piston rod are arranged at 90 degrees in space.
9. The novel vector-controlled rotary joint of claim 1, wherein: the first piston rod and the second piston rod are arranged at 170 degrees in space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920225215.1U CN210011001U (en) | 2019-02-22 | 2019-02-22 | Novel vector control rotary joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920225215.1U CN210011001U (en) | 2019-02-22 | 2019-02-22 | Novel vector control rotary joint |
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| CN210011001U true CN210011001U (en) | 2020-02-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920225215.1U Active CN210011001U (en) | 2019-02-22 | 2019-02-22 | Novel vector control rotary joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623870A (en) * | 2019-02-22 | 2019-04-16 | 江苏钧微动力科技有限公司 | A kind of novel vector controlled rotary joint |
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2019
- 2019-02-22 CN CN201920225215.1U patent/CN210011001U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623870A (en) * | 2019-02-22 | 2019-04-16 | 江苏钧微动力科技有限公司 | A kind of novel vector controlled rotary joint |
| CN109623870B (en) * | 2019-02-22 | 2024-04-12 | 江苏钧微动力科技有限公司 | Vector control rotary joint |
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