CN210013879U - Vector rotation mechanism with servo cylinder - Google Patents
Vector rotation mechanism with servo cylinder Download PDFInfo
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- CN210013879U CN210013879U CN201920162826.6U CN201920162826U CN210013879U CN 210013879 U CN210013879 U CN 210013879U CN 201920162826 U CN201920162826 U CN 201920162826U CN 210013879 U CN210013879 U CN 210013879U
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Abstract
The utility model provides a take vector rotation mechanism of servo jar, its simple structure, the output corner reaches 360, and its mechanical efficiency is high, the reliability is high. The device comprises two linear servo cylinders, namely a first linear servo cylinder and a second linear servo cylinder, wherein the two linear servo cylinders are arranged in a 90-degree space, the device further comprises a slewing mechanism shell, an input rotating arm shaft and an output rotating shaft are arranged on the slewing mechanism shell, the input rotating arm shaft is inserted into a radial positioning structure of the output rotating shaft, the output rotating shaft is inserted into a bearing inner ring of an output rotating shaft hole of the slewing mechanism shell, the distance between the input rotating arm shaft and a central shaft of the output rotating shaft is r, the two linear servo cylinders are uniformly arranged in an inner cavity of the slewing mechanism shell, the two linear servo cylinders are fixedly connected through a first connecting seat, the output end of one linear servo cylinder controls transverse motion, and a transverse shaft of a rectangular coordinate system is formed; the output end of the other linear servo cylinder controls the longitudinal movement.
Description
Technical Field
The utility model relates to a technical field of servo jar specifically is a take vector rotation mechanism of servo jar.
Background
Currently, there are two main categories of servo cylinders that can achieve rotational movement of a load:
1) piston type swing servo cylinders (including rack and pinion type, spiral piston type, chain type, crank type and reciprocating type) all adopt mechanical structures to realize the rotary motion of loads. But the inherent friction, dead zone and life of the mechanical structure greatly influence the use of the mechanical structure.
2) The vane type swing servo cylinder can realize the rotary motion of the load without any speed change mechanism. But the moving part is difficult to seal, complex to process and expensive.
Disclosure of Invention
To the problem, the utility model provides a take vector rotation mechanism of servo jar, its simple structure, the output corner reaches 360, and its mechanical efficiency is high, the reliability is high.
The utility model provides a take vector rotation mechanism of servo cylinder which characterized in that: the device comprises two linear servo cylinders, namely a first linear servo cylinder and a second linear servo cylinder, wherein the two linear servo cylinders are arranged in a 90-degree space, and the device further comprises a slewing mechanism shell, wherein an input rotating arm shaft and an output rotating shaft are arranged on the slewing mechanism shell, the input rotating arm shaft is inserted into a radial positioning structure of the output rotating shaft, the output rotating shaft is inserted into a bearing inner ring of an output rotating shaft hole of the slewing mechanism shell, the distance between the input rotating arm shaft and a central shaft of the output rotating shaft is r, the two linear servo cylinders are uniformly arranged in an inner cavity of the slewing mechanism shell, the two linear servo cylinders are fixedly connected through a first connecting seat, and the output end of one linear servo cylinder controls transverse motion to form a transverse shaft of a rectangular coordinate system; the output end of the other linear servo cylinder controls longitudinal movement to form a longitudinal axis of a rectangular coordinate system; two straight line servo cylinder motion combinations form the plane of a rectangular coordinate system, and a straight line servo cylinder rigidity, another straight line servo cylinder passes through first connecting seat rigid coupling is in the output of the straight line servo cylinder of rigidity, and the controller connects two respectively through independent solenoid valve the input of straight line servo cylinder, the end of the output of another straight line servo cylinder are the delivery point, the link of input rotor shaft is connected to the delivery point, controller control input rotor arm uses the center pin of output rotor shaft as the centre of a circle, is the circular motion of radius r, two the home distance of the output of straight line servo cylinder all is not less than 2 r.
It is further characterized in that:
the motion direction of the first output end of the first linear servo cylinder forms a transverse axis of a rectangular coordinate system, the motion direction of the second output end of the second linear servo cylinder forms a longitudinal axis of the rectangular coordinate system, the motion combination of the two linear servo cylinders forms a plane of the rectangular coordinate system, two ends of the first piston rod of the first linear servo cylinder in the length direction are respectively positioned at corresponding positions of the slewing mechanism shell, the first cylinder body of the first linear servo cylinder does transverse movement of a rectangular coordinate system along the length direction of the first piston rod, the first cylinder body is fixedly connected with the second linear servo cylinder through the first connecting seat, the second cylinder body of the second linear servo cylinder does longitudinal motion of a rectangular coordinate system along the length direction of the second piston rod, the position of the second cylinder body, which corresponds to the connecting end of the input rotating arm shaft, is fixedly connected with the connecting end of the input rotating arm shaft;
the first cylinder body is connected with one end of the second piston rod in the length direction through a first connecting seat, the other end of the second piston rod in the length direction is positioned at a corresponding position of a second connecting seat, a first linear bearing is arranged on the second connecting seat, a first guide rail is inserted into a through hole of the first linear bearing, two ends of the first guide rail are fixedly arranged at corresponding positions of the shell of the swing mechanism respectively, and the first guide rail is arranged in parallel to the first piston rod;
a second linear bearing is fixedly connected to one side of the second cylinder body, a second guide rail is inserted into a through hole of the second linear bearing, two ends of the second guide rail in the length direction are fixedly connected to corresponding positions of the first connecting seat and the second connecting seat respectively, the second guide rail is arranged in parallel to the second piston rod, and the second linear bearing and the second guide rail ensure stable and reliable Y-axis motion of the second cylinder body;
the first connecting seat comprises but is not limited to a mounting seat, a linear fixing frame, an L-shaped fixing frame, a Z-shaped fixing frame and a space fixing frame;
the controller is connected with the input end of a first electromagnetic valve through a first line, the output end of the first electromagnetic valve is connected with the input end of the first linear servo cylinder, the controller is connected with the input end of a second electromagnetic valve through a second line, and the output end of the second electromagnetic valve is connected with the input end of the second linear servo cylinder;
preferably, the rectangular coordinate system is an XY coordinate system, the controller calculates a vector difference between a coordinate of a next motion point of the output point on the circumference and the coordinate at the time in real time in a working state, then decomposes the vector difference to a corresponding X coordinate axis and a corresponding Y coordinate axis, and then drives the first cylinder and the second cylinder to perform corresponding vector motions, so that the output point performs circular motion with a radius r.
Adopt the utility model discloses afterwards, by the controller give-out order, the motion of the output cross axle direction of one of them sharp servo jar of drive solenoid valve control, by the controller give-out order simultaneously, the motion of the other sharp servo jar of solenoid valve control that the drive corresponds output axis of ordinates direction, the output fortune of two sharp servo jars forms vector effect, make input swivel arm axle be circular motion with radius r, finally make the output pivot be rotary motion, a structure is simple, the output corner reaches 360, its mechanical efficiency is high, high reliability.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention;
FIG. 2 is a side view cross-sectional structural schematic of FIG. 1;
FIG. 3 is a schematic top view cross-sectional structure of FIG. 1;
FIG. 4 is an XY coordinate plane established by the present invention;
the names corresponding to the sequence numbers in the figure are as follows:
the device comprises a first linear servo cylinder 1, a first piston rod 101, a first cylinder body 102, a second linear servo cylinder 2, a second piston rod 201, a second cylinder body 202, a slewing mechanism shell 3, an output rotating shaft hole 31, a bearing 32, an input rotating arm shaft 4, an output rotating shaft 5, a positioning structure 51, a first connecting seat 6, a second connecting seat 7, a first linear bearing 8, a first guide rail 9, a second linear bearing 10 and a second guide rail 11.
Detailed Description
A vector slewing mechanism with servo cylinder, see fig. 1-4: the device comprises two linear servo cylinders, specifically a first linear servo cylinder 1 and a second linear servo cylinder 2, wherein the two linear servo cylinders are arranged at 90 degrees in space, the device also comprises a rotary mechanism shell 3, an input rotary arm shaft 4 and an output rotary shaft 5 are arranged on the rotary mechanism shell 3, the input rotary arm shaft 4 is inserted in a radial positioning structure 51 of the output rotary shaft 5, the output rotary shaft 5 is inserted in an inner ring of a bearing 32 of an output rotary shaft hole 31 of the rotary mechanism shell 3, the distance between central shafts of the input rotary arm shaft 4 and the output rotary shaft 5 is r, the two linear servo cylinders are uniformly arranged in an inner cavity of the rotary mechanism shell 3, the two linear servo cylinders are fixedly connected through a first connecting seat 6, the motion direction of an output end of one linear servo cylinder is the transverse motion of a rectangular coordinate system, the motion direction of an output end of the other linear servo cylinder is the longitudinal motion of the rectangular coordinate system, the two linear servo cylinders are combined to form a plane of a rectangular coordinate system in a moving mode, one linear servo cylinder is fixed in position, the other linear servo cylinder is fixedly connected to the linear servo cylinder with the fixed position through a first connecting seat 6, a controller is respectively connected with input ends (not shown in the figure and belongs to the existing mature connecting structure) of the two linear servo cylinders through independent electromagnetic valves, the tail end of the output end of the other linear servo cylinder is an output point, the output point is connected with a connecting end of an input rotating arm shaft 4, the controller controls the input rotating arm 4 to move circularly with the radius of r as the center of a circle by using a central shaft of an output rotating shaft 5, and the moving distance of the output ends of the two linear servo cylinders is not less than 2 r.
Specific examples, see fig. 1-3: the rectangular coordinate system is an XY coordinate system, the moving direction of the first output end of the first linear servo cylinder 1 is the transverse movement of the X coordinate system, the motion direction of the second output end of the second linear servo cylinder 2 is the longitudinal motion of a Y coordinate system, the motion combination of the two linear servo cylinders forms a plane of the XY coordinate system, the two ends of the first piston rod 101 of the first linear servo cylinder 1 in the length direction are respectively positioned at the corresponding positions of the swing mechanism shell 3, the first cylinder body 102 of the first linear servo cylinder 1 makes the transverse motion of the X coordinate system along the length direction of the first piston rod 101, the first cylinder body 102 is fixedly connected with the second linear servo cylinder 2 through a first connecting seat 6, the second cylinder body 202 of the second linear servo cylinder 2 makes the longitudinal motion of the Y coordinate system along the length direction of the second piston rod 201, and the position of the second cylinder body 202 corresponding to the connecting end of the input swing arm shaft 4 is fixedly connected with the connecting end of the input swing arm shaft 4;
the first cylinder 102 is connected with one end of the second piston rod 201 in the length direction through the first connecting seat 6, the other end of the second piston rod 201 in the length direction is positioned at a corresponding position of the second connecting seat 7, the second connecting seat 7 is provided with a first linear bearing 8, a first guide rail 9 is inserted into a through hole of the first linear bearing 8, two ends of the first guide rail 9 are respectively and fixedly arranged at corresponding positions of the swing mechanism shell 3, and the first guide rail 9 is arranged in parallel to the first piston rod 101;
a second linear bearing 10 is fixedly connected to one side of the second cylinder 201, a second guide rail 11 is inserted into a through hole of the second linear bearing 10, two ends of the second guide rail 11 in the length direction are fixedly connected to corresponding positions of the first connecting seat 6 and the second connecting seat 7 respectively, the second guide rail 11 is arranged in parallel to the second piston rod 201, and the second linear bearing 10 and the second guide rail 11 ensure that the Y-axis motion of the second cylinder 202 is stable and reliable;
the first connecting seat 6 includes but is not limited to a common connecting seat, a linear fixing frame, an L-shaped fixing frame, a Z-shaped fixing frame and a space fixing frame, and the specific shape of the first connecting seat 6 is determined according to the space position;
the controller is connected with the input end of the first electromagnetic valve through a first line, the output end of the first electromagnetic valve is connected with the input end of the first linear servo cylinder, the controller is connected with the input end of the second electromagnetic valve through a second line, and the output end of the second electromagnetic valve is connected with the input end of the second linear servo cylinder;
the controller calculates the vector difference value of the next motion point coordinate of the output point on the circumference and the current coordinate in real time under the working state, then decomposes the vector difference value to the corresponding X coordinate axis and Y coordinate axis, and then drives the first cylinder body and the second cylinder body to do corresponding vector motion, so that the output point does circular motion with the radius r.
The working principle of the specific embodiment is as follows: any point on the circumference can be decomposed into one point on the X coordinate system and one point on the Y coordinate system, and conversely, any point on the circumference can be obtained through one point on the X coordinate system and one point on the Y coordinate system. A circle can be formed by the combination of several points, see point 1(X1, Y1), point 2(X2, Y2), point 3(X3, Y3), point 4(X4, Y4) in fig. 4; the controller sends out an instruction to drive the electromagnetic valve to control the first cylinder body to output movement in the X-axis direction, and simultaneously the controller sends out an instruction to drive the corresponding electromagnetic valve to control the second cylinder body to output movement in the Y-axis direction, and the first cylinder body and the second cylinder body output movement form vector action to enable the input rotating arm shaft to do circular movement with the radius r and finally enable the output rotating shaft to do rotary movement.
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 (7)
1. The utility model provides a take vector rotation mechanism of servo cylinder which characterized in that: the device comprises two linear servo cylinders, namely a first linear servo cylinder and a second linear servo cylinder, wherein the two linear servo cylinders are arranged in a 90-degree space, and the device further comprises a slewing mechanism shell, wherein an input rotating arm shaft and an output rotating shaft are arranged on the slewing mechanism shell, the input rotating arm shaft is inserted into a radial positioning structure of the output rotating shaft, the output rotating shaft is inserted into a bearing inner ring of an output rotating shaft hole of the slewing mechanism shell, the distance between the input rotating arm shaft and a central shaft of the output rotating shaft is r, the two linear servo cylinders are uniformly arranged in an inner cavity of the slewing mechanism shell, the two linear servo cylinders are fixedly connected through a first connecting seat, and the output end of one linear servo cylinder controls transverse motion to form a transverse shaft of a rectangular coordinate system; the output end of the other linear servo cylinder controls longitudinal movement to form a longitudinal axis of a rectangular coordinate system; two straight line servo cylinder motion combinations form the plane of a rectangular coordinate system, and a straight line servo cylinder rigidity, another straight line servo cylinder passes through first connecting seat rigid coupling is in the output of the straight line servo cylinder of rigidity, and the controller connects two respectively through independent solenoid valve the input of straight line servo cylinder, the end of the output of another straight line servo cylinder are the delivery point, the link of input rotor shaft is connected to the delivery point, controller control input rotor arm uses the center pin of output rotor shaft as the centre of a circle, is the circular motion of radius r, two the home distance of the output of straight line servo cylinder all is not less than 2 r.
2. The vector slewing mechanism with the servo cylinder as claimed in claim 1, wherein: the motion direction of the first output end of the first linear servo cylinder forms a transverse axis of a rectangular coordinate system, the motion direction of the second output end of the second linear servo cylinder forms a longitudinal axis of the rectangular coordinate system, the motion combination of the two linear servo cylinders forms a plane of the rectangular coordinate system, two ends of the first piston rod of the first linear servo cylinder in the length direction are respectively positioned at corresponding positions of the slewing mechanism shell, the first cylinder body of the first linear servo cylinder does transverse movement of a rectangular coordinate system along the length direction of the first piston rod, the first cylinder body is fixedly connected with the second linear servo cylinder through the first connecting seat, the second cylinder body of the second linear servo cylinder does longitudinal motion of a rectangular coordinate system along the length direction of the second piston rod, and the position of the second cylinder body, which corresponds to the connecting end of the input rotating arm shaft, is fixedly connected with the connecting end of the input rotating arm shaft.
3. The vector slewing mechanism with the servo cylinder as claimed in claim 2, wherein: the first cylinder body is connected with one end of the second piston rod in the length direction through a first connecting seat, the other end of the second piston rod in the length direction is positioned at a corresponding position of a second connecting seat, a first linear bearing is arranged on the second connecting seat, a first guide rail is inserted into a through hole of the first linear bearing, two ends of the first guide rail are fixedly arranged at corresponding positions of the shell of the swing mechanism respectively, and the first guide rail is arranged in parallel to the first piston rod.
4. The vector slewing mechanism with the servo cylinder as claimed in claim 3, wherein: one side of the second cylinder body is fixedly connected with a second linear bearing, a second guide rail is inserted into a through hole of the second linear bearing, two ends of the second guide rail in the length direction are fixedly connected to corresponding positions of the first connecting seat and the second connecting seat respectively, and the second guide rail is parallel to the second piston rod.
5. The vector slewing mechanism with the servo cylinder as claimed in claim 1, wherein: the first connecting seat includes, but is not limited to, a mounting seat, a linear fixing frame, an L-shaped fixing frame, a Z-shaped fixing frame, and a space fixing frame.
6. The vector slewing mechanism with the servo cylinder as claimed in claim 1, wherein: the controller is connected with the input end of a first electromagnetic valve through a first line, the output end of the first electromagnetic valve is connected with the input end of the first linear servo cylinder, the controller is connected with the input end of a second electromagnetic valve through a second line, and the output end of the second electromagnetic valve is connected with the input end of the second linear servo cylinder.
7. The vector slewing mechanism with the servo cylinder as claimed in claim 2, wherein: the controller calculates the vector difference value between the next motion point coordinate of the output point on the circumference and the current coordinate in real time under the working state, then decomposes the difference value to the corresponding X coordinate axis and Y coordinate axis, and then drives the first cylinder body and the second cylinder body to do corresponding vector motion, so that the output point does circular motion with the radius r.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920162826.6U CN210013879U (en) | 2019-01-29 | 2019-01-29 | Vector rotation mechanism with servo cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920162826.6U CN210013879U (en) | 2019-01-29 | 2019-01-29 | Vector rotation mechanism with servo cylinder |
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| Publication Number | Publication Date |
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| CN210013879U true CN210013879U (en) | 2020-02-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920162826.6U Active CN210013879U (en) | 2019-01-29 | 2019-01-29 | Vector rotation mechanism with servo cylinder |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109681486A (en) * | 2019-01-29 | 2019-04-26 | 江苏钧微动力科技有限公司 | A kind of vector swing mechanism with servoBcylinder |
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2019
- 2019-01-29 CN CN201920162826.6U patent/CN210013879U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109681486A (en) * | 2019-01-29 | 2019-04-26 | 江苏钧微动力科技有限公司 | A kind of vector swing mechanism with servoBcylinder |
| CN109681486B (en) * | 2019-01-29 | 2024-02-02 | 江苏钧微动力科技有限公司 | Vector rotation mechanism with servo cylinder |
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