CN216241576U

CN216241576U - Light double rack unilateral single oil inlet and outlet type robot joint hydraulic driver

Info

Publication number: CN216241576U
Application number: CN202122527372.8U
Authority: CN
Inventors: 薛德余; 王敏
Original assignee: Shandong Hanshen Machinery Co ltd
Current assignee: Shandong Hanshen Machinery Co ltd
Priority date: 2021-10-20
Filing date: 2021-10-20
Publication date: 2022-04-08
Anticipated expiration: 2031-10-20

Abstract

The utility model discloses a light double rack single-side single oil inlet and outlet type robot joint hydraulic driver which comprises a gear box body, a lower bearing cover, an end cover body and a rear end cover, wherein a gear shaft is inserted in the gear box body, an angular contact bearing is arranged on the lower bearing cover, the tail end of the gear shaft is inserted in the angular contact bearing, an angle sensor is arranged at the bottom end of the lower bearing cover, an upper bearing cover is connected to the surface of one side, away from the lower bearing cover, of the gear box body through an inner hexagon screw, the bottom end of the upper bearing cover is also provided with the angular contact bearing, a pull rod is arranged on one side of the gear box body, a nut is installed at one end, away from the gear box body, rack bearing bushes are arranged on two sides in the gear box body, and set screws are installed on two sides of the gear box body. The utility model has the advantages of reducing weight, enabling the appearance to be more beautiful, preventing rust and the like.

Description

Light double rack unilateral single oil inlet and outlet type robot joint hydraulic driver

Technical Field

The utility model relates to the technical field of hydraulic drivers, in particular to a light double rack unilateral single oil inlet and outlet type robot joint hydraulic driver.

Background

Conventional hydraulic actuators are mainly used to achieve linear reciprocating motion and workpiece rotating motion. Especially, the traditional mechanical arm drive generally adopts a motor drive. The part adopts the rack and pinion formula swing pneumatic cylinder of hydraulic drive to realize through self structure that change into positive and negative swing rotation and provide enough big moment of torsion by reciprocating linear motion, but because conventional rack and pinion pneumatic cylinder design is influenced by material factor and structural design and is used on light weight type equipment such as arm joint and is a bit heavier, receives original structure and material design and can not be used for invading the water environment.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a light double-rack single-side single-oil-inlet-outlet type robot joint hydraulic driver which has the advantages of being capable of reducing weight, enabling appearance to be more attractive, being rustproof and the like, and solves the problems that a conventional gear rack hydraulic cylinder is designed to be slightly heavier in weight and is used on light equipment such as robot joints and the like due to the fact that carbon steel metal materials are adopted, the size is reduced compared with a speed reducer, weight is affected by material factors, and structural design is generally complex.

In order to achieve the purpose, the utility model provides the following technical scheme:

a light double rack unilateral single oil inlet and outlet type robot joint hydraulic driver comprises a gear box body, a lower bearing cover, an end cover body and a rear end cover, wherein a gear shaft is inserted in the gear box body, the lower bearing cover is installed at the bottom end of the gear box body, an angular contact bearing is arranged on the lower bearing cover, the tail end of the gear shaft is inserted in the angular contact bearing, an angle sensor is arranged at the bottom end of the lower bearing cover, a sensor protective cover is connected to the bottom end of the lower bearing cover through a hexagon socket head cap screw, an upper bearing cover is connected to the surface of one side, away from the lower bearing cover, of the gear box body through the hexagon socket cap screw, an angular contact bearing is also arranged at the bottom end of the upper bearing cover, the gear shaft penetrates through the angular contact bearing inserted in the upper bearing cover, a pull rod is arranged on one side of the gear box body, and a nut is installed at one end, away from the gear box body, of the pull rod, the end cover body is installed to the one end that the pull rod deviates from the gear box body, the rear end housing is installed to one side that the gear box body deviates from the pull rod, be equipped with fifth O type circle between rear end housing and the gear box body, install hexagon socket head cap screw on the rear end housing, the inside both sides of gear box body are equipped with the rack axle bush, just holding screw is installed to the both sides of gear box body.

Preferably, the contact surfaces of the upper bearing pressure cover, the gear box body and the gear shaft are respectively provided with a second O-shaped ring and a first O-shaped ring.

Preferably, the contact surfaces of the lower bearing cover, the gear box body and the sensor protective cover are respectively provided with a second O-shaped ring and a third O-shaped ring.

Preferably, the pull rod consists of a piston body, a cylinder barrel and a rack body, the rack body is located inside the cylinder barrel, one end of the rack body is fixedly connected with the piston body, a piston seal and a support ring are arranged between the piston body and the cylinder barrel, and the rack body is in meshing transmission with a gear shaft.

Preferably, a fourth O-shaped ring is arranged between the end cover body and the cylinder barrel.

Preferably, a sixth O-shaped ring is arranged between the cylinder barrel and the gear box body.

Compared with the prior art, the utility model has the beneficial effects that:

firstly, a form of a single-side oil inlet and outlet is adopted in spatial arrangement, the overall space is reduced by half compared with the space of a double rack, but the torque of the double-side oil inlet and outlet is reduced by half compared with the torque of double-side oil inlet and outlet pressure oil, and the mechanism is adopted under the condition that small moment meets the requirement;

7075 aluminium material is selected for use to the essential part material of part material selection, except that spare part adopts special material not only can reduce weight also can let the outward appearance more pleasing to the eye, rust-resistant simultaneously, structural design pays attention to seal structure, makes this kind of driver can adapt to the operating mode of invading water in the upper period, reduces the weight of whole equipment when guaranteeing material mechanical properties like this promptly greatly, and whole platform is equipped the weight and makes the use that this driver can be fine at arm joint drive department relatively lighter like this. The driver does not need to be sprayed with paint, and is particularly suitable for the driving of mechanical arm joints, especially the conditions of long-term water invasion and deep water working conditions;

therefore, compared with the prior art, the utility model has substantive characteristics and progress, and the beneficial effects of the implementation are also obvious.

Drawings

FIG. 1 is a schematic front cross-sectional view of the present invention;

FIG. 2 is a schematic top cross-sectional view of the present invention;

FIG. 3 is a schematic side view of the present invention.

In the figure: 1. a nut; 2. a pull rod; 3. a gear box body; 4. an upper bearing gland; 5. a gear shaft; 6. a first O-ring; 7. a second O-ring; 8. a socket head cap screw; 9. a third O-ring; 10. a sensor shield; 11. an angle sensor; 12. an angular contact bearing; 13. a lower bearing cap; 14. an end cap body; 15. a fourth O-ring; 16. sealing the piston; 17. a support ring; 18. a piston body; 19. a cylinder barrel; 20. a fifth O-ring; 21. a rear end cap; 22. a socket head cap screw; 23. a rack body; 24. a rack bearing bush; 25. tightening the screw; 26. and a sixth O-ring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 3, an embodiment of the present invention includes:

a light double rack unilateral single oil inlet and outlet type robot joint hydraulic driver comprises a gear box body 3, a lower bearing cover 13, an end cover body 14 and a rear end cover 21, a gear shaft 5 is inserted in the gear box body 3, the lower bearing cover 13 is installed at the bottom end of the gear box body 3, the contact surfaces of the lower bearing cover 13, the gear box body 3 and a sensor protective cover 10 are respectively provided with a second O-shaped ring 7 and a third O-shaped ring 9, an angular contact bearing 12 is arranged on the lower bearing cover 13, the tail end of the gear shaft 5 is inserted in the angular contact bearing 12, the bottom end of the lower bearing cover 13 is provided with an angle sensor 11, the bottom end of the lower bearing cover 13 is connected with the sensor protective cover 10 through an inner hexagon screw 8, the angle sensor 11 is protected by the sensor protective cover 10, the sensor protective cover 10 is provided with the third O-shaped ring 9 which can prevent water and other impurities from entering the inside, except for necessary sealing of an internal piston and the like, all the joints communicated with the outside are provided with O-shaped ring type static seals, the joints comprise the contact part of a gear shaft 5 and a bearing gland 4 flange, any gap between the outside and the inside, such as the joint surface of the bearing gland 4 flange and a gear box body 3, and the like, are provided with static seal structures to ensure the water intrusion performance of the whole equipment, one side surface of the gear box body 3, which deviates from a lower bearing cover 13, is connected with an upper bearing gland 4 through an inner hexagon screw 8, the contact surfaces of the upper bearing gland 4 and the gear box body 3 and the gear shaft 5 are respectively provided with a second O-shaped ring 7 and a first O-shaped ring 6, the bottom end of the upper bearing gland 4 is also provided with an angular contact bearing 12, and the gear shaft 5 penetrates through and is inserted into the angular contact bearing 12 of the upper bearing gland 4.

One side of the gear box body 3 is provided with a pull rod 2, when a hydraulic driver works in a rotating mode, pressure oil provided by a host machine enters the oil from an oil port A, the return oil returns to the host machine through an oil port B, the space arrangement adopts a form of a single-side oil inlet and outlet, the overall space is reduced by half compared with the space of a double rack, but the torque of the pressure oil is reduced by half compared with the torque of the double inlet and outlet pressure oil, the mechanism is adopted under the condition that the small moment meets the requirement, the pull rod 2 consists of a piston body 18, a cylinder 19 and a rack body 23, a sixth O-shaped ring 26 is arranged between the cylinder 19 and the gear box body 3, one side of the gear box body 3, which is far away from the pull rod 2, is provided with a rear end cover 21, a fifth O-shaped ring 20 is arranged between the rear end cover 21, inner hexagonal cylindrical screws 22 are arranged on the rear end cover 21, rack bearing bushes 24 are arranged on two sides in the gear box body 3, and set screws 25 are arranged on two sides of the gear box body 3, the rack body 23 is located inside the cylinder 19, one end of the rack body 23 is fixedly connected with the piston body 18, a piston seal 16 and a support ring 17 are arranged between the piston body 18 and the cylinder 19, the rack body 23 is in meshed transmission with the gear shaft 5, the piston and the gear shaft 5 adopt a split type design, the processing of parts is easier to realize, the processing coaxiality requires to reduce the service life and increase, the nut 1 is installed at one end of the pull rod 2 deviating from the gear box body 3, the end cover body 14 is installed at one end of the pull rod 2 deviating from the gear box body 3, and a fourth O-shaped ring 15 is arranged between the end cover body 14 and the cylinder 19.

The working principle is as follows: when the hydraulic driver works in a rotating mode, pressure oil provided by the main machine enters the oil from an oil port A, the oil inlet pressure is 16MPa, the inner diameter of the cylinder barrel 19 is 32mm, oil return returns to the main machine through an oil port B, the piston body 18 moves linearly under the action of the pressure oil so as to push the rack body 23 to move linearly, the gear shaft 5 rotates under the action of the rack body 23 to calculate the output torque to be 230N.m according to the diameter of the gear reference circle, so that materials connected with the gear shaft 5 are driven to rotate, after the materials rotate to a specified angle (180 degrees), the angle sensor 11 detects a position signal and feeds the position signal back to the main machine, the main machine stops oil supply of the pressure oil, the piston moves to stop, and the gear shaft 5 stops rotating.

When the hydraulic driver resets, pressure oil that the host computer provided is from hydraulic fluid port B oil feed, oil feed pressure is 16MPa, piston body 18 of the other end is linear motion under the effect of pressure oil, thereby promote rack body 23 to carry out linear motion, gear shaft 5 carries out rotary motion under the effect of rack body 23, when gyration to initial position, angle sensor 11 detects position signal and feeds back to the host computer, the host computer stops the pressure oil supply, piston body 18 moves and stops, gear shaft 5 stops rotatoryly.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a light-duty double rack unilateral list business turn over hydraulic actuator of hydraulic fluid port formula robot joint, includes gear box body (3), lower bearing cap (13), end cover body (14) and rear end cap (21), its characterized in that: the gear box comprises a gear box body (3), a gear shaft (5) is inserted into the gear box body (3), a lower bearing cover (13) is installed at the bottom end of the gear box body (3), an angular contact bearing (12) is arranged on the lower bearing cover (13), the tail end of the gear shaft (5) is inserted into the angular contact bearing (12), an angle sensor (11) is arranged at the bottom end of the lower bearing cover (13), a sensor protective cover (10) is connected to the bottom end of the lower bearing cover (13) through an inner hexagon screw (8), an upper bearing cover (4) is connected to one side surface, deviating from the lower bearing cover (13), of the gear box body (3) through the inner hexagon screw (8), the angular contact bearing (12) is also arranged at the bottom end of the upper bearing cover (4), the gear shaft (5) is inserted into the angular contact bearing (12) of the upper bearing cover (4), a pull rod (2) is arranged at one side of the gear box body (3), pull rod (2) deviate from the one end of gear box body (3) and install nut (1), end cover body (14) are installed to the one end that pull rod (2) deviate from gear box body (3), rear end housing (21) are installed to one side that gear box body (3) deviate from pull rod (2), be equipped with fifth O type circle (20) between rear end housing (21) and gear box body (3), install hexagon socket head cap screw (22) on rear end housing (21), the inside both sides of gear box body (3) are equipped with rack axle bush (24), just holding screw (25) are installed to the both sides of gear box body (3).

2. The hydraulic driver of the light double rack single-side single oil inlet and outlet type robot joint as claimed in claim 1, wherein: and the contact surfaces of the upper bearing pressure cover (4) and the gear box body (3) and the gear shaft (5) are respectively provided with a second O-shaped ring (7) and a first O-shaped ring (6).

3. The hydraulic driver of the light double rack single-side single oil inlet and outlet type robot joint as claimed in claim 1, wherein: and the contact surfaces of the lower bearing cover (13) and the gear box body (3) and the sensor protective cover (10) are respectively provided with a second O-shaped ring (7) and a third O-shaped ring (9).

4. The hydraulic driver of the light double rack single-side single oil inlet and outlet type robot joint as claimed in claim 1, wherein: the pull rod (2) is composed of a piston body (18), a cylinder barrel (19) and a rack body (23), the rack body (23) is located inside the cylinder barrel (19), one end of the rack body (23) is fixedly connected with the piston body (18), a piston seal (16) and a support ring (17) are arranged between the piston body (18) and the cylinder barrel (19), and the rack body (23) is in meshing transmission with a gear shaft (5).

5. The hydraulic driver of the light double rack single-side single oil inlet and outlet type robot joint as claimed in claim 1, wherein: and a fourth O-shaped ring (15) is arranged between the end cover body (14) and the cylinder barrel (19).

6. The hydraulic driver of the light double rack single-side single oil inlet and outlet type robot joint as claimed in claim 4, wherein: and a sixth O-shaped ring (26) is arranged between the cylinder barrel (19) and the gear box body (3).