CN218313611U - Hydraulic driver for mechanical arm joint - Google Patents

Abstract

The utility model relates to a mechanical arm joint hydraulic driver, belonging to the field of robot equipment, comprising a main body frame, wherein the upper surface of the main body frame is provided with a rotary drum, and the upper surface of the rotary drum is hinged with a first support arm; the beneficial effects of the utility model are that work through the hydraulic pump, make the hydraulic pump pass through left glib talker and pour into hydraulic oil to first pneumatic cylinder left side, promote the piston rod right side protrusion, thereby make first support arm carry out anticlockwise rotation, and on the same hand, through the extension of the flexible end of second pneumatic cylinder, make the second support arm carry out anticlockwise rotation, can control the flow in hydraulic oil gets into first pneumatic cylinder through the proportional valve, when arm operation end is close to the specified place, the proportional valve reduces the flow, make the hydro-cylinder stop gradually, the removal speed of the piston rod that slows down, thereby reduce the rigidity of the flexible end of pneumatic cylinder, the arm is at the pivoted compliance degree has been improved, the vibration of arm operation end has been prevented, the machining precision of arm operation end has been guaranteed.

Description

Hydraulic driver for mechanical arm joint

Technical Field

The utility model relates to a robot equipment field specifically says a mechanical arm joint hydraulic drive ware.

Background

With the rise of the next generation of industrial revolution and the requirement of the transformation of the manufacturing industry in China, the technical requirements on the robot are not limited to the traditional elements of high speed, high precision and the like. In the future social life, the relationship between people and robots becomes more compact, especially in the fields of service robots, medical robots and the like which need human-computer cooperation, so that good human-computer interaction performance becomes one of the key research directions in the robot field.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a mechanical arm joint hydraulic drive ware to solve the problem that proposes among the above-mentioned background art.

The technical scheme of the utility model is that: including main body frame, main body frame upper surface is provided with the rotary drum, and the rotary drum upper surface articulates there is first support arm, fixed surface is connected with the lifting piece on the rotary drum, and lifting piece upper surface is provided with first pneumatic cylinder, first pneumatic cylinder upper surface intercommunication has the glib talker, and the glib talker along the vertical central line of first pneumatic cylinder is the symmetric distribution, fixed surface is connected with the hydraulic pump on the first pneumatic cylinder, and hydraulic pump left side outer wall intercommunication has oil pipe, glib talker upper end outer wall intercommunication has the proportional valve, and the proportional valve with oil pipe is linked together, first pneumatic cylinder right side outer wall sliding connection has the piston rod, the piston rod right-hand member articulates there is first equipment piece, and the first slider of first equipment piece outer wall fixedly connected with, first slider assorted first spout has been seted up to first support arm outer wall, first support arm upper end outer wall articulates there is the second support arm, and first support arm upper end outer wall fixedly connected with the second pneumatic cylinder, the flexible end of second hydraulic cylinder articulates there is the second equipment piece, and second equipment piece outer wall fixedly connected with the second slider, the second support arm outer wall has seted up with second slider assorted second spout.

Furthermore, the inside fixedly connected with motor of main body frame, and motor output and rotary drum fixed connection.

Further, the lower surface of the first hydraulic cylinder is fixedly connected with a base, and the upper surface of the base is provided with an assembling hole.

Furthermore, the lower surface of the main body frame is fixedly connected with a roller.

Furthermore, the outer wall of the right side of the first hydraulic cylinder is glued with a dust blocking pad, and the inner wall of the dust blocking pad is attached to the outer wall of the piston rod.

The utility model discloses an improve and provide a mechanical arm joint hydraulic drive here, compare with prior art, have following improvement and advantage:

one is as follows: the utility model discloses a hydraulic pump work, make the hydraulic pump pass through left glib talker and pour into hydraulic oil to first pneumatic cylinder left side, promote the piston rod right side protrusion, thereby make first support arm carry out anticlockwise rotation, the same reason, through the extension of the flexible end of second pneumatic cylinder, make the second support arm carry out anticlockwise rotation, can control the flow in hydraulic oil gets into first pneumatic cylinder through the proportional valve, when arm operation end is close to the appointed place, the proportional valve reduces the flow, make the hydro-cylinder stop gradually, the translation rate of the piston rod that slows down, thereby reduce the rigidity of the flexible end of pneumatic cylinder, the arm is at pivoted compliance has been improved, the vibration of arm operation end has been prevented, the machining precision of arm operation end has been guaranteed.

And the second step is as follows: the utility model discloses a drive of motor output end makes the rotary drum rotate to improve the operating range of arm.

Drawings

The invention is further explained below with reference to the figures and examples:

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

fig. 2 is a schematic cross-sectional structural view of the first hydraulic cylinder of the present invention;

FIG. 3 is a schematic top view of the drum of the present invention;

fig. 4 is a schematic diagram of a three-dimensional structure of the first equipment block of the present invention.

Description of the reference numerals: 1. a main body frame; 2. a motor; 3. a rotating drum; 4. a roller; 5. lifting the block; 6. a first hydraulic cylinder; 7. a piston rod; 8. a nozzle tip; 9. an oil pipe; 10. a hydraulic pump; 11. a proportional valve; 12. a base; 13. a dust blocking pad; 14. a first support arm; 15. a first device block; 16. a second hydraulic cylinder; 17. a second support arm; 18. a second device block.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings 1 to 4, which clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

The utility model provides a mechanical arm joint hydraulic driver here through the improvement, as shown in fig. 1-4, including main body frame 1, main body frame 1 upper surface is provided with rotary drum 3, and rotary drum 3 upper surface articulates there is first support arm 14, rotary drum 3 upper surface fixedly connected with lifting piece 5, and lifting piece 5 upper surface is provided with first pneumatic cylinder 6, first pneumatic cylinder 6 upper surface intercommunication has glib talker 8, and glib talker 8 is the symmetric distribution along first pneumatic cylinder 6 vertical center line, first pneumatic cylinder 6 upper surface fixedly connected with hydraulic pump 10, and hydraulic pump 10 left side outer wall intercommunication has oil pipe 9, glib 8 upper end outer wall intercommunication has proportional valve 11, and proportional valve 11 is linked together with oil pipe 9, first pneumatic cylinder 6 right side outer wall sliding connection has piston rod 7, piston rod 7 right-hand member articulates there is first equipment piece 15, and first equipment piece 15 outer wall fixedly connected with first slider, first support arm 14 outer wall has seted up the first spout that matches with first slider, first support arm 14 upper end outer wall articulates there is second support arm 17, and first support arm 14 upper end outer wall fixedly connected with second hydraulic cylinder 16, second equipment piece outer wall articulates there is second slider 18, and second slider is equipped with second slider that matches second slider that the second slider that connects with the second slider that the telescopic chute that connects with the telescopic chute that is connected with the second equipment piece that is connected with the first equipment piece that is connected with the outer wall; work through hydraulic pump 10, make hydraulic pump 10 pass through left glib talker 8 and pour into hydraulic oil to first pneumatic cylinder 6 left side into, promote piston rod 7 and bulge right, thereby make first support arm 14 carry out anticlockwise rotation, and the same reason, through the extension of the flexible end of second pneumatic cylinder 16, make second support arm 17 carry out anticlockwise rotation, can control the flow that hydraulic oil got into in first pneumatic cylinder 6 through proportional valve 11, when the arm operation end was close to the assigned place, proportional valve 11 reduces the flow, make the hydro-cylinder stop gradually, the moving speed of piston rod 7 slows down, thereby reduce the rigidity of the flexible end of pneumatic cylinder, the mechanical arm is at the pivoted compliance degree has been improved, the vibration of mechanical arm operation end has been prevented, the machining precision of mechanical arm operation end has been guaranteed.

A motor 2 is fixedly connected inside a specific main body frame 1, and the output end of the motor 2 is fixedly connected with a rotary drum 3; through the drive of 2 output ends of the motor, the rotary drum 3 rotates, and therefore the operation range of the mechanical arm is enlarged.

Specifically, the lower surface of the first hydraulic cylinder 6 is fixedly connected with a base 12, and the upper surface of the base 12 is provided with an assembly hole; the bolts pass through the assembly holes and are in threaded connection with the surface of the object, so that the first hydraulic cylinder 6 is convenient to fix.

The lower surface of the main body frame 1 is fixedly connected with a roller 4; the transfer of the main body frame 1 is facilitated by the rollers 4.

Specifically, the outer wall of the right side of the first hydraulic cylinder 6 is glued with an ash blocking pad 13, and the inner wall of the ash blocking pad 13 is attached to the outer wall of the piston rod 7; through keeping off grey pad 13, reduced inside piston rod 7 outer wall dust got into first pneumatic cylinder 6, guaranteed the purity of the inside hydraulic oil of first pneumatic cylinder 6, reduced the wear between first pneumatic cylinder 6 and the piston rod 7.

The working principle is as follows: firstly, the hydraulic pump 10 works, the hydraulic pump 10 injects hydraulic oil to the left side of the first hydraulic cylinder 6 through the left oil nozzle 8, the piston rod 7 is pushed to protrude rightwards, so that the first support arm 14 rotates anticlockwise, and similarly, the second support arm 17 rotates anticlockwise through extension of the telescopic end of the second hydraulic cylinder 16, the flow rate of the hydraulic oil entering the first hydraulic cylinder 6 can be controlled through the proportional valve 11, when the operation end of the mechanical arm is close to a specified place, the flow rate is reduced through the proportional valve 11, the oil cylinder is gradually stopped, the moving speed of the piston rod 7 is reduced, the rigidity of the telescopic end of the hydraulic cylinder is reduced, the flexibility of the mechanical arm in rotation is improved, the vibration of the operation end of the mechanical arm is prevented, the processing precision of the operation end of the mechanical arm is ensured, then the rotary drum 3 rotates through the driving of the output end of the motor 2, the operation range of the mechanical arm is improved, then a bolt penetrates through an assembly hole and is in threaded connection with the surface of an object, the fixing of the first hydraulic cylinder 6 is facilitated, the roller 4, the transfer of the main body frame 1 is facilitated, finally, the dust on the outer wall of the piston rod 7 of the first hydraulic cylinder is reduced, and the damage between the first hydraulic cylinder 6 is reduced.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (5)

1. A mechanical arm joint hydraulic driver is characterized in that: comprises a main body framework (1), the upper surface of the main body framework (1) is provided with a rotary drum (3), the upper surface of the rotary drum (3) is hinged with a first support arm (14), the upper surface of the rotary drum (3) is fixedly connected with lifting blocks (5), the upper surface of the lifting blocks (5) is provided with a first hydraulic cylinder (6), the upper surface of the first hydraulic cylinder (6) is communicated with an oil nozzle (8), the oil nozzle (8) is symmetrically distributed along the vertical central line of the first hydraulic cylinder (6), the upper surface of the first hydraulic cylinder (6) is fixedly connected with a hydraulic pump (10), the left side outer wall of the hydraulic pump (10) is communicated with an oil pipe (9), the upper end outer wall of the oil nozzle (8) is communicated with a proportional valve (11), the proportional valve (11) is communicated with the oil pipe (9), the right side outer wall of the first hydraulic cylinder (6) is slidably connected with a piston rod (7), the right end of the piston rod (7) is hinged with a first equipment block (15), the outer wall of the first equipment block (15) is fixedly connected with a first slider, the outer wall of the first support arm (14) is provided with a first slider, the second support arm (14) is hinged with a second support arm (14), and the upper end of the second hydraulic cylinder (14) is hinged with a second support arm (16), and the outer wall of the second equipment block (18) is fixedly connected with a second sliding block, and the outer wall of the second support arm (17) is provided with a second sliding groove matched with the second sliding block.

2. The hydraulic actuator for a joint of a robot arm according to claim 1, wherein: the inside fixedly connected with motor (2) of main body frame (1), and motor (2) output and rotary drum (3) fixed connection.

3. The hydraulic actuator for a joint of a robot arm according to claim 1, wherein: fixed surface is connected with base (12) under first pneumatic cylinder (6), and the pilot hole has been seted up to base (12) upper surface.

4. The hydraulic actuator for a joint of a robot arm according to claim 1, wherein: the lower surface of the main body frame (1) is fixedly connected with a roller (4).

5. The mechanical arm joint hydraulic driver according to claim 1, wherein: first pneumatic cylinder (6) right side outer wall is glued and is had ash blocking pad (13), and ash blocking pad (13) inner wall and piston rod (7) outer wall laminating mutually.

Images