CN211639905U - Linear oil cylinder driven multi-joint mechanical arm - Google Patents
Linear oil cylinder driven multi-joint mechanical arm Download PDFInfo
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- CN211639905U CN211639905U CN202020122868.XU CN202020122868U CN211639905U CN 211639905 U CN211639905 U CN 211639905U CN 202020122868 U CN202020122868 U CN 202020122868U CN 211639905 U CN211639905 U CN 211639905U
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- oil cylinder
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- linear oil
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Abstract
The utility model relates to a linear oil cylinder driving multi-joint mechanical arm, which comprises a plurality of connecting rods which are connected in sequence, wherein three connecting rods close to the tail end are a first connecting rod, a second connecting rod and a third connecting rod in sequence, the first connecting rod is hinged with the second connecting rod to form a first hinge point, and the second connecting rod is hinged with the third connecting rod to form a second hinge point; the first connecting rod is internally provided with a first linear oil cylinder, the second connecting rod is provided with a first driving shaft and a second linear oil cylinder, the third connecting rod is provided with a second driving shaft, the driving end of the first linear oil cylinder is connected with the first driving shaft and drives the second connecting rod to rotate around the first hinge point, and the driving end of the second linear oil cylinder is connected with the second driving shaft and drives the third connecting rod to rotate around the second hinge point. The utility model discloses a linear oil cylinder drives the arm and is located terminal connecting rod, and linear oil cylinder is the low friction hydro-cylinder, and frictional force is little, and the dead weight is little, and is located the end joint who is close to the arm, can increase arm load/dead weight ratio, improves the dynamic property and the precision of arm.
Description
Technical Field
The utility model relates to an industrial robot correlation field, concretely relates to straight line cylinder drive articulated arm.
Background
At present, the existing hydraulic servo-driven multi-joint robot is abroad, the load/self-weight ratio is large, the stability, the precision and the flexibility of a system still need to be improved, the hydraulic servo-driven multi-joint robot is suitable for underwater and strong electromagnetic interference operation environments, and no mature product exists in China.
Patent document CN104647365A discloses a hydraulic mechanical arm, the joints between the link components are all connected through rotary joints, each rotary joint is connected with a hydraulic oil cylinder, the link component IV and the link component V are driven through a swing cylinder, the rotation of the link component IV drives a worm gear through a hydraulic motor, the joint driven by the swing cylinder is self-significant due to the weight of the swing cylinder and the influence of friction, and the influence of the dead weight closer to the tail end is larger, the control precision is poor, and the dead weight load ratio and the control performance of the whole mechanical arm are influenced.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that the more terminal joint dead weight influence that is close to of current arm is big more, and control accuracy is poor, influences the dead weight load ratio and the control performance of whole arm.
The utility model provides an above-mentioned technical problem's technical scheme as follows: a linear oil cylinder driven multi-joint mechanical arm comprises a plurality of connecting rods which are connected in sequence, wherein three connecting rods close to the tail end are a first connecting rod, a second connecting rod and a third connecting rod in sequence, the first connecting rod is hinged with the second connecting rod to form a first hinge point, and the second connecting rod is hinged with the third connecting rod to form a second hinge point; the hinge joint structure is characterized in that a first linear oil cylinder is arranged in the first connecting rod, a first driving shaft and a second linear oil cylinder are arranged on the second connecting rod, a second driving shaft is arranged on the third connecting rod, the driving end of the first linear oil cylinder is connected with the first driving shaft and drives the second connecting rod to rotate around the first hinge joint, and the driving end of the second linear oil cylinder is connected with the second driving shaft and drives the third connecting rod to rotate around the second hinge joint.
The utility model has the advantages that: the utility model discloses a linear oil cylinder drives the arm and is located terminal connecting rod, and linear oil cylinder is the low friction hydro-cylinder, and frictional force is little, and the dead weight is little, and is located the end joint who is close to the arm, can increase arm load/dead weight ratio, improves the dynamic property and the precision of arm.
On the basis of the technical scheme, the utility model discloses can also do following improvement.
Furthermore, a first angle encoder for monitoring angular displacement of the two connecting rods relative to the connecting rod is arranged at the first hinge point of the first connecting rod; and a second angle encoder for monitoring the angular displacement of the third connecting rod relative to the second connecting rod is arranged at the second hinge point of the third connecting rod.
The beneficial effect of adopting the further scheme is that: the angular displacement of the second connecting rod relative to the first connecting rod can be monitored in real time by the first angle encoder, the angular displacement of the third connecting rod relative to the second connecting rod can be monitored in real time by the second angle encoder, and the angular displacement can be fed back to the controller to form closed-loop angular displacement servo control.
Further, the first linear oil cylinder is installed on the first connecting rod through a first trunnion, and the second linear oil cylinder is installed on the second connecting rod through a second trunnion.
The beneficial effect of adopting the further scheme is that: the installation of the driving oil cylinder is realized by using the trunnion, and the assembly and disassembly are convenient.
Further, the first driving shaft and the second driving shaft are arranged perpendicular to each other.
The beneficial effect of adopting the further scheme is that: and the two driving shafts are vertically arranged, so that the second connecting rod and the third connecting rod can rotate towards different directions.
Furthermore, the first driving shaft is close to the first hinge point, and one end, far away from the second driving shaft, of the second linear oil cylinder is close to the second hinge point.
The beneficial effect of adopting the further scheme is that: the connection between the first connecting rod and the third connecting rod and the swinging of the third connecting rod at the tail end of the mechanical arm in different angles and directions can be realized by utilizing the shorter length of the second connecting rod.
And the hydraulic servo valves are respectively connected with the connecting rods in a one-to-one correspondence manner and control the corresponding connecting rods to act.
Further, the first linear oil cylinder and the second linear oil cylinder are aluminum alloy linear oil cylinders respectively.
The beneficial effect of adopting the further scheme is that: the aluminum alloy linear oil cylinder is a low-friction oil cylinder, and compared with a swinging cylinder, the aluminum alloy linear oil cylinder is easy to manufacture, low in cost and good in control performance.
Drawings
Fig. 1 is a schematic structural view of the robot arm of the present invention;
fig. 2 is a first schematic structural view of a connecting rod at the end of the mechanical arm according to the present invention;
fig. 3 is a schematic structural diagram of the end link of the robot arm of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a first connecting rod; 11. a trunnion I; 12. a first connecting plate; 2. a second connecting rod; 21. a trunnion II; 22. a first hinged plate; 23. a second hinge plate; 3. a third connecting rod; 31. a second connecting plate; 4. a linear oil cylinder I; 5. a linear oil cylinder II; 6. a first driving shaft; 7. a second driving shaft; 8. a first angle encoder; 9. a second angle encoder;
100. a first hinge point; 200. a second hinge point; 300. integrating a hydraulic servo valve; 400. a connecting rod.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1-3, the linear cylinder driven multi-joint robot arm of the present embodiment includes a plurality of sequentially connected connecting rods 400, three connecting rods 400 near the end are a first connecting rod 1, a second connecting rod 2, and a third connecting rod 3, where the first connecting rod 1 is hinged to the second connecting rod 2 to form a first hinge point 100, and the second connecting rod 2 is hinged to the third connecting rod 3 to form a second hinge point 200; the hinge structure is characterized in that a first linear oil cylinder 4 is arranged in the first connecting rod 1, a first driving shaft 6 and a second linear oil cylinder 5 are arranged on the second connecting rod 2, a second driving shaft 7 is arranged on the third connecting rod 3, the driving end of the first linear oil cylinder 4 is connected with the first driving shaft 6 and drives the second connecting rod 2 to rotate around the first hinge point 100, and the driving end of the second linear oil cylinder 5 is connected with the second driving shaft 7 and drives the third connecting rod 3 to rotate around the second hinge point 200.
The mechanical arm of this embodiment adopts the straight line hydro-cylinder to drive the connecting rod that the mechanical arm is located terminal, and the straight line hydro-cylinder is low friction hydro-cylinder, and frictional force is little, and the dead weight is little, and is located the terminal joint that is close to the mechanical arm, can increase mechanical arm load/dead weight ratio, improves the dynamic behavior and the precision of mechanical arm.
As shown in fig. 2 and 3, the first link 1 of the present embodiment is provided with a first angle encoder 8 at the first hinge point 100 for monitoring the angular displacement of the second link 2 relative to the first link 1; and the second angle encoder 9 for monitoring the angular displacement of the third connecting rod 3 relative to the second connecting rod 2 is arranged on the third connecting rod 3 at the second hinge point 200. The angular displacement of the second connecting rod relative to the first connecting rod can be monitored in real time by the first angle encoder, the angular displacement of the third connecting rod relative to the second connecting rod can be monitored in real time by the second angle encoder, and the angular displacement can be fed back to the controller to form closed-loop angular displacement servo control.
As shown in fig. 2 and 3, the linear cylinder 4 of the present embodiment is mounted on the link 1 via a trunnion 11, and the linear cylinder 5 is mounted on the link 2 via a trunnion 21. The first connecting rod 1 is provided with an trunnion hole matched with the trunnion first 11, and the second connecting rod 2 is provided with an trunnion hole matched with the trunnion second 21. The installation of the driving oil cylinder is realized by using the trunnion, and the assembly and disassembly are convenient.
As shown in fig. 2 and 3, a preferable embodiment of the present invention is that the first driving shaft 6 and the second driving shaft 7 are arranged perpendicular to each other. And the two driving shafts are vertically arranged, so that the second connecting rod and the third connecting rod can rotate towards different directions.
As shown in fig. 2 and 3, the first driving shaft 6 of the present embodiment is disposed near the first hinge point 100, and one end of the second linear cylinder 5, which is far away from the second driving shaft 7, is disposed near the second hinge point 200. The connection between the first connecting rod and the third connecting rod and the swinging of the third connecting rod at the tail end of the mechanical arm in different angles and directions can be realized by utilizing the shorter length of the second connecting rod.
As shown in fig. 1, the mechanical arm of this embodiment is provided with a hydraulic servo valve assembly 300, which is provided with a plurality of hydraulic servo valves, and the plurality of hydraulic servo valves are respectively connected with the plurality of connecting rods 400 in a one-to-one correspondence manner and control the corresponding connecting rods 400 to move. In addition, the mechanical arm is also provided with two-cavity pressure sensors for pressure feedback control. The hydraulic servo valve of the control connecting rod is used for supplying hydraulic oil with certain flow and pressure to the linear oil cylinder and driving the linear oil cylinder to generate corresponding telescopic motion. The linear oil cylinder I4 conducts telescopic motion to drive the driving shaft I6 in the connecting rod II 2 and the first angle encoder 8 to generate rotary motion relative to the connecting rod I1, the first angle encoder 8 monitors the angular displacement of the connecting rod II 2 in real time and feeds the angular displacement back to a control system of the whole mechanical arm, and closed-loop angular displacement servo control is formed. The linear oil cylinder II 5 stretches and retracts to drive the driving shaft II 7 in the connecting rod III 3 and the second angle encoder 9 to rotate relative to the connecting rod II 2, and the second angle encoder 9 monitors the angular displacement of the connecting rod III 3 relative to the connecting rod II 2 in real time and feeds the angular displacement back to the mechanical arm control system to form closed-loop angular displacement servo control.
In a preferred embodiment of this embodiment, the first linear cylinder 4 and the second linear cylinder 5 are aluminum alloy linear cylinders respectively. The aluminum alloy linear oil cylinder is a low-friction oil cylinder, and compared with a swinging cylinder, the aluminum alloy linear oil cylinder is easy to manufacture, low in cost and good in control performance.
As shown in fig. 1-3, a specific solution of this embodiment is that the end of the connecting rod three 3 is further hinged with a connecting rod 400 for executing actions. The connecting rod I1 comprises two connecting plates I12 which are arranged in parallel relatively, and two sides of the linear oil cylinder I4 are hinged between the two connecting plates I12 through trunnions 11 respectively; in the orientation shown in fig. 3, the drive shaft one 6 is located below the hinge point one 100. The hinged end of the first connecting rod 1 is a triangular-like tip, and the first hinged point 100 is located at the tip of the hinged end of the first connecting rod 1. In addition, as shown in fig. 3, two hinge plates one 22 are arranged at one end of the second connecting rod 2 hinged to the first connecting rod 1, two hinge plates two 23 are arranged at one end of the second connecting rod 2 hinged to the third connecting rod 3, the hinge plates one 22 and the hinge plates two 23 are arranged perpendicular to each other, and the positions where the two hinge plates one 22 are hinged to the first connecting rod 1 are also triangular-like tips. The third connecting rod 3 also comprises two connecting plates 31 which are parallel to each other, the two first hinge plates 22 are hinged between the two first connecting plates 12, and the two second hinge plates 23 are hinged between the two second connecting plates 31. The connecting rod I1 is an integral body, and the two connecting plates I12 are part of the integral structure of the connecting rod I1; in addition, the second connecting rod 2 is also an integral body, and the first hinge plate 22 and the second hinge plate 23 are also part of the integral structure of the second connecting rod 2.
As shown in fig. 1, a specific solution of this embodiment is that the connecting rod connected to the hydraulic servo valve assembly 300 is driven by a swing cylinder, and the other connecting rods are driven by linear cylinders. The rotation of the connecting rod at the tail end of the mechanical arm drives a pair of straight gears and worm gears to rotate through a hydraulic motor.
The linear oil cylinder drives the multi-joint mechanical arm, the connecting rod close to the tail end is an aluminum alloy linear low-friction oil cylinder, the friction force is small, the dead weight is small, the load/dead weight ratio of the mechanical arm is increased, and the aluminum alloy linear low-friction oil cylinder is easy to manufacture compared with a swing cylinder, low in cost and good in control performance. The load/dead weight ratio, the dynamic performance and the precision of the mechanical arm are improved.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (7)
1. A linear oil cylinder driven multi-joint mechanical arm is characterized by comprising a plurality of connecting rods which are connected in sequence, wherein three connecting rods close to the tail end are a first connecting rod, a second connecting rod and a third connecting rod in sequence, the first connecting rod is hinged with the second connecting rod to form a first hinge point, and the second connecting rod is hinged with the third connecting rod to form a second hinge point; the hinge joint structure is characterized in that a first linear oil cylinder is arranged in the first connecting rod, a first driving shaft and a second linear oil cylinder are arranged on the second connecting rod, a second driving shaft is arranged on the third connecting rod, the driving end of the first linear oil cylinder is connected with the first driving shaft and drives the second connecting rod to rotate around the first hinge joint, and the driving end of the second linear oil cylinder is connected with the second driving shaft and drives the third connecting rod to rotate around the second hinge joint.
2. The linear cylinder driven multi-joint mechanical arm as claimed in claim 1, wherein the first connecting rod is provided with a first angle encoder for monitoring angular displacement of the two connecting rods relative to the first connecting rod at the first hinge point; and a second angle encoder for monitoring the angular displacement of the third connecting rod relative to the second connecting rod is arranged at the second hinge point of the third connecting rod.
3. The linear cylinder driven multi-joint mechanical arm according to claim 1, wherein the first linear cylinder is mounted on the first connecting rod through a first trunnion, and the second linear cylinder is mounted on the second connecting rod through a second trunnion.
4. The linear cylinder driven multi-joint robot arm as claimed in claim 1, wherein the first driving shaft and the second driving shaft are arranged perpendicular to each other.
5. The linear cylinder driven multi-joint mechanical arm as claimed in claim 1, wherein the first driving shaft is disposed near the first hinge point, and one end of the second linear cylinder, which is far away from the second driving shaft, is disposed near the second hinge point.
6. The linear cylinder driven multi-joint mechanical arm according to claim 1, further comprising a plurality of hydraulic servo valves, wherein the plurality of hydraulic servo valves are respectively connected with the plurality of connecting rods in a one-to-one correspondence manner and control the corresponding connecting rods to act.
7. The linear cylinder driven multi-joint mechanical arm according to claim 1, wherein the first linear cylinder and the second linear cylinder are aluminum alloy linear cylinders respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020122868.XU CN211639905U (en) | 2020-01-19 | 2020-01-19 | Linear oil cylinder driven multi-joint mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020122868.XU CN211639905U (en) | 2020-01-19 | 2020-01-19 | Linear oil cylinder driven multi-joint mechanical arm |
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| CN211639905U true CN211639905U (en) | 2020-10-09 |
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| CN202020122868.XU Active CN211639905U (en) | 2020-01-19 | 2020-01-19 | Linear oil cylinder driven multi-joint mechanical arm |
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| CN (1) | CN211639905U (en) |
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- 2020-01-19 CN CN202020122868.XU patent/CN211639905U/en active Active
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