CN2677102Y - Digital controlled motion limbs joint of robot - Google Patents
Digital controlled motion limbs joint of robot Download PDFInfo
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- CN2677102Y CN2677102Y CN 03261338 CN03261338U CN2677102Y CN 2677102 Y CN2677102 Y CN 2677102Y CN 03261338 CN03261338 CN 03261338 CN 03261338 U CN03261338 U CN 03261338U CN 2677102 Y CN2677102 Y CN 2677102Y
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Abstract
The utility model discloses a digital controlled motion limbs joint of a robot, belonging to the robot automation category, used for the non-industrial robot. The technique aims at routine work robots, amusement robots, biomimetic robots and toy robots with low accuracy requirements; the electric motor and drive gear structures of the robots are not adaptive to the requirements of robots for speed and elastic force. The utility model has the motion guiding function as a structure for power take-off (generation), and bears the work done by pressure liquid with a structure of mechanical, in a simple structure. Wherein, the electric motor only has the function of controlling the liquid power and direction, but stays out of the power output, making the motion structure control simple and convenient. The technique is directly the liquid power but not the driving structure; the moving position is lubricated by liquid, thus having long service time. Only one power source is enough, so the utility model has the advantages of simple controlling on speed and power, high efficiency, low cost, elastic power capable of buffering external force, buffering limb inertia and absorbing vibration, and biomimetic power. The technique is more suitable for fuzzy logic control, as a reasonable motion structure.
Description
Affiliated technical field:
Robot numerical control campaign limbs joint belongs to non-industrial special purpose robot's locomotory appendage body structure.
Background technology:
To the not high non-technical robot motion structure of required precision all with control motor and gear transmission structure or cylinder etc. as power source, finish motion, this pattern is not suitable for as the routine work robot, amusement robot, bio-robot, toy robot and specific use robot are to the requirement of speed, elasticity strength, frame for movement simple and durable, and incompatibility Mo Huluo collects control.
Summary of the invention:
At non-industrial robot to speed, elasticity strength, reduce the transmission device, the requirement that life-span is long, the purpose of this utility model provides a kind of robot numerical control campaign limbs joint, this structure is to have motion guide and two kinds of functions of carrying power concurrently, this structure is that direct hydrodynamic does not have drive mechanism, moving component is hydrodynamic lubrication, life-span is long, use a power source, speed and vigor control is simple, the efficient height, cost is low, and has the external force buffering, the self inertia buffering, absorb the elastic dynamic of vibration, have bionical dynamic characteristic, be more suitable for Mo Huluo and collect control.The technical solution of the utility model is as output of robot motion's power and motion control position with the motion limbs joint; To supply with the continuous pressure fluid in locomotory appendage body joint as the transport of kinetic energy mode; Change the variablees such as movement velocity, direction of controlled motion limbs with the relative angle of control panel, conductive pads etc.; With information (signal of telecommunication) such as the angle that detects the motion limbs joint, speed as feeding back the signal of telecommunication to system feedback; Realize the motion and the control of the motion limbs of robot by above technical scheme.For the convenient concrete technical scheme of setting forth, set forth technical characterictic from following six aspects.(1) spheroid bimoment structure; (2) spheroid list moment structure; (3) cylinder bimoment structure; (4) cylinder list moment structure; (5) simple joint is combined into the composite joint pattern; (6) the controlled motion structure of motion limbs joint, power structure for conveying, feedback motion state structure.
(1) spheroid bimoment structure motion limbs joint, center rotor (1), rotor bearing (2), interior motion limbs (9), rotor (6), pressure chamber (16), interior support (5), outer support (3), insulation (7), spacer body (63), annular conduction pipe (11), conducting orifice (64), movable body (8), variable volume chamber (18,19), directed cavity (D
1), conveyor chamber (17), miscellaneous function body (53), interior conductive pads structures such as (28) constitute the joint body structure; Outer support rear portion (25) constitutes joint cavity (26).Interior support, outer support, movable body, directed cavity, conveyor chamber, rotor, miscellaneous function body have sphere structure; Interior support, movable body, auxiliary energy body are in contact with one another sealing, intersect coincide, and can relative motion, rotation, form conveyor chamber, directed cavity.Center rotor, rotor bearing have column structure.The column structure at interior support rear portion (27) coincide mutually with outer support rear portion (25) column structure, interior support can rotate, interior support rear portion closely contacts by syndeton (29) mutually with interior conductive pads, syndeton and interior conductive pads, outer support rear portion fixes into a single integrated structure, the conveyor chamber that forms between interior support and the outer support communicates with variable volume chamber (18) by some conducting orifices (64) on the interior support, communicate with conduction pipe (23), spacer body (63) is fixed with interior support, separating conveyor chamber and movable body is two isolated mutually conveyor chambers, spacer body contacts with movable body, has sealing function.Pressure chamber communicates with transfusing chamber (20), and the annular conducting tube seat (65) of rotor and rotor closely contacts with interior support inwall and annular conduction pipe and coincide, seals.Insulation, rotor bearing, center rotor, interior motion limbs (the motion limbs between movable body and the interior support), movable body constitute sealed volume " variable volume chamber (19) ", and variable volume chamber leads the shape conduction pipe by annular and conduction pipe (22) links; Interior support, rotor, insulation, center rotor, rotor bearing, interior motion limbs constitute sealed volume " variable volume chamber (18) ", and variable volume chamber communicates with control panel (32) conduction pipe by conduction pipe (23).Interior support rear portion is provided with some sensing elements, and the position is corresponding with face sensor (49) position in the outer support.Rotor bearing plays guiding, bearing effect to center rotor, and making center rotor, rotor and motion limbs is central motion with X (center rotor is axial), and center rotor and roller bearing have column structure.Movable body, interior support, interior motion limbs, center rotor, rotor, rotor bearing can be made Y (the transfusing chamber center lines of interior motion limbs) and rotatablely move.Be provided with and closely contact with miscellaneous function body (53), coincide, the sphere structure miscellaneous function body that fixes with outer support rear portion (25), sensing element groove structure (69) is set on this structure, induction pillar construction (68) is set on miscellaneous function body (53), be provided with and press assembling structure (84), miscellaneous function body (53) forms the bearing relation with outer motion limbs (10), and the motion limbs are rotated motion for axle in addition.Annular conduction pipe middle part is provided with encapsulant makes two parts annular conduction pipe isolated mutually, and makes transfusing chamber pass through the middle part encapsulant.In the middle of the motion limbs, center rotor, interior support rear portion conductive pads (28,30) be provided with transfusing chamber (20) structure, transfusing chamber communicates with pressure chamber (16).Interior support rear portion and interior conductive pads, annular driving fit structure (K) are coincide mutually, sealing, and can relative rotary motion, and the conduction trough of interior conductive pads (71) and conduction pipe (22) are protected UNICOM when relative rotation.
(2) spheroid list moment structure motion limbs joint, center rotor (1), rotor bearing (2), interior movable body (4), outer movable body (8), support (3), pedestal (12), miscellaneous function body (52,53), variable volume chamber (19), pressure chamber (16), directed cavity (D
1, D
2, D
3), transfusing chamber (20), interior motion limbs (9) constitute the agent structure of motion limbs joint; Support rear portion (25) constitutes joint cavity (26).Center rotor, rotor bearing, interior movable body, outer movable body, support, miscellaneous function body, variable volume chamber, directed cavity have sphere structure; Movable body (4,8) closely contacts, intersects mutually with support, miscellaneous function body (52) and coincide, seals, and the energy relative motion, forms directed cavity; Center rotor, interior movable body, outer movable body, interior motion limbs (part between center rotor and the outer movable body) fix, and are axle center (X) motion with the center rotor; Interior movable body, outer movable body, center rotor, rotor bearing, interior motion limbs rotatablely move with Y (the transfusing chamber center lines of motion limbs).Rotor bearing rear cylinder structure (56) closely contacts with base posts body structure (57) coincide, rotor bearing can rotatablely move as Y, the anglec of rotation that sensor (45) position on some sensing elements (50) and the pedestal is set on it is corresponding, rotor bearing is a sphere structure, also can constitute (Fig. 9 a, b), the bearing arrangement (h of interior movable body and rotor bearing by having the part sphere structure
3) the interior movable body of contact position makes axle construction and bearing arrangement (h
3) corresponding, identical, axle construction and interior movable body are integral, and have the rotor bearing sidewall (h of part sphere structure
5) center (center rotor X pivot) make axle construction (62) and bearing arrangement (h
3) identical, corresponding; Bearing arrangement and axle construction (62) have the bearing effect of interior movable body X motion and the effect of two variable volume chambers of sealing; Rotor bearing ramp structure (h
2) satisfy in the requirement of motion limbs and interior movable body range of movement; Rotor bearing increase gasket construction (24) gasket construction and rotor bearing sidewall with part sphere structure are fixed into one, together rotate, gasket construction closely contacts, sealing base sphere structure (58) and the column structure (59) that is positioned at the gasket construction place for interior movable body provide contact, sealing plane (or concave surface) thereupon.Interior movable body central structure and interior motion limbs are fixed, and separate two volumes of two variable volume chambers for sealing, and sphere structure behind the interior movable body (61) closely contacts, seals with support; Interior movable body column structure (60) closely contacts, seals with the base plane structure when interior movable body axially-movable, and column structure (59) closely contacts, seals with gasket construction (24) plane (or concave surface).In the middle of center rotor, the motion limbs, rotor bearing, pedestal be provided with transfusing chamber (20) structure, transfusing chamber communicates with pressure chamber, center rotor sphere structure (and side) closely contacts with rotor bearing spheroid inner surface and coincide, seals, form sealed volume " pressure chamber ", center rotor and rotor bearing can be column structures, and rotor bearing plays guiding, bearing effect to center rotor.Pedestal is provided with convex shoulder structure (13) and is used for fixing the control motor reel, conduction pipe (21) is set is on good terms with variable volume chamber, and sphere structure (58) matches with the rotor bearing sphere structure.Miscellaneous function body (52) fixes with support, and induction pillar construction (68) is set on it, and miscellaneous function body (53) is provided with sensing element groove structure (69), mounting structure (84) is set.Miscellaneous function body (53) constitutes the bearing relation with the motion limbs, and the motion limbs are rotated motion for axle in addition.
(3) cylinder bimoment structure motion limbs joint is characterized in that: center rotor (1), rotor bearing (2), interior support (5), interior fortune limbs (9), annular conduction pipe (11), rotor (6), insulation (7), lateral body structure (51), conducting orifice, movable body (8), outer support (3), transfusing chamber (20), variable volume chamber (18,19), pressure chamber (16), conveyor chamber (17), directed cavity (D
1), interior conductive pads (28), miscellaneous function body (53) etc. constitute the joint body structure; Outer support rear structure (25) constitutes joint cavity (26).Center rotor, rotor, rotor bearing, interior support, movable body, outer support, miscellaneous function body have column structure; Interior movable body, interior support, outer support closely contact, sealing, intersection mutually coincide; Rotor closely contacts, seals with interior support inwall, annular conduction pipe.Interior support rear portion (27) is into a single integrated structure with interior conductive pads (28), and fixes, is sealed to one with outer support rear structure (25).Some conducting orifices are set on the interior support, conveyor chamber is communicated with variable volume chamber (18); Interior support, outer support and lateral body structure fix into a single integrated structure.Motion limbs, center rotor, rotor, interior support rear portion are provided with transfusing chamber (20) structure, and transfusing chamber and pressure chamber are on good terms, and movable body, interior motion limbs, miscellaneous function body closely contact, seal with the lateral body structure.Annular conduction pipe middle part is provided with encapsulant, and makes transfusing chamber pass through the middle part encapsulant, and annular conduction pipe and interior support fix.
(4) cylinder list moment structure motion limbs joint is characterized in that: center rotor (1), rotor bearing (2), support (3), movable body (8), interior motion limbs (9), pedestal (12), variable volume chamber (19), pressure chamber (16), directed cavity (D
1, D
2), transfusing chamber (20), lateral body structure (51), miscellaneous function body (52,53) etc. constitute the joint body structure; Support rear structure (25,27) constitutes joint cavity.Center rotor, rotor bearing, support, movable body, miscellaneous function body, directed cavity have column structure; The closely contact mutually of support, movable body, miscellaneous function body, sealing, justice fork coincide, and lateral body structure and support, rotor bearing are fixed into one, and closely contact, seal with interior motion limbs, movable body, miscellaneous function body, and can relative motion.Rotor bearing has guiding, bearing effect to center rotor.Pedestal and rotor bearing rear portion are fixed, and rotor bearing, pedestal, support can be made into integrative-structure (Figure 21).Pedestal is provided with convex shoulder structure (13), conduction pipe structure (21).Motion limbs, center rotor, pedestal are provided with transfusing chamber structure (20), and center rotor closely contacts with rotor bearing, seals, coincideing forms sealed volume " pressure chamber (16) ".Monarthric outer support, support, lateral body structure are the relative two parts that move in joint with motion limbs (10), can be connected and fixed with other structure with multi-form.
(5) simple joint is combined into the form of composite joint, it is characterized in that: the joint of spheroid list moment structure, spheroid bimoment structure, cylinder list moment structure, cylinder bimoment structure can be synthesized a composite joint pattern mutually; Two monarthric joint cavity are docked a shared joint cavity and are constituted a joint cavity structure, a shared control motor.The joint motions direction of sphere structure, scope are three dimensions, and the joint motions direction of column structure, scope are two dimensional surfaces.Corresponding, the UNICOM of conduction pipe of a pair of connection power pipeline of two control panels; Corresponding, the UNICOM of conduction pipe in a pair of connection loop; Corresponding, the UNICOM of conduction pipe with the transfusing chamber connection; UNICOM's pipeline uses the mode that is fixedly connected.Two control panels are by syndeton (L
2, 41) with control motor (m
1) be connected and fixed.
(6) control structure of motion limbs joint, power structure for conveying, motion state feedback arrangement.The control structure of spheroid bimoment structure, cylinder bimoment structure, it is characterized in that: the transfusing chamber of interior conductive pads (20), corresponding identical, the sealing of conduction pipe (22) with transfusing chamber, the conduction pipe (22) of conductive pads, and interfix, use encapsulant (31) sealing therebetween; Transfusing chamber, conduction pipe (22) pass through vertical duction pipeline (81) in conductive pads, the conversion outgoing position, conduction pipe is merged, make conductive pads end face (with the control panel contact-making surface) have a pair of corresponding conduction trough (71) structure and displacement transfusing chamber (80) structure, annular driving fit structure (k) is set simultaneously, control panel conduction trough (46,47) and conduction pipe (23,86) UNICOM, balanced line (83) are between conduction trough, and control panel, conductive pads annular driving fit structure are coincide mutually, sealing; The conductive pads conduction trough is positioned at the balanced line place, then do not communicate with the control panel conduction trough, control panel with the balanced line be benchmark clockwise or be rotated counterclockwise, control panel conduction trough (46 or 47) and conductive pads conduction trough are connected mutually, and that connects mutually passes through bore be directly proportional with the anglec of rotation (even the throughput of liquid, speed be directly proportional with angle); The conduction trough (71) that the transfusing chamber of control panel (80) links keeps mutual link relation with conductive pads transfusing chamber (80).Two pairs of conduction pipes (46,47) of control panel, a butt joint power pipeline, a pair ofly take back the road, the conduction pipe of connect transfusing chamber (80), control panel conduction trough (71) connects power pipeline, the pressure fluid of this transfusing chamber is the power transfer pipeline.
The control structure of spheroid list moment structure, cylinder list moment structure is characterized in that: conductive pads (30) conduction pipe and pedestal conduction pipe join, and conductive pads transfusing chamber (44) is corresponding with the pedestal transfusing chamber, UNICOM; Conductive pads and support (25) fix, and encapsulant (31) is set therebetween, and conductive pads annular driving fit structure and control panel driving fit structure (k) match, seal.Conductive pads end face (with the control panel contact-making surface) has a pair of corresponding conduction trough structure (45), and with conduction pipe (34) UNICOM.Control panel conduction trough (46,47) and conduction pipe UNICOM, balanced line (83) is positioned between the conduction trough (46,47), the conductive pads conduction trough is positioned at the balanced line place, then the conductive pads conduction trough does not link with the control panel conduction trough, control panel with the balanced line be benchmark clockwise or be rotated counterclockwise, control panel conduction trough and conductive pads conduction trough are linked, that connects mutually passes through bore and rotates gyration or direct ratio, control panel transfusing chamber and conduction trough (48) UNICOM, and the link relation of maintenance and control panel transfusing chamber (44).The angle value of two control panels in the composite joint (fixing with the control motor) rotation is identical, and the conduction trough of two control panels is identical, consistent with the bore (by amount, the speed of liquid) that the conduction trough of conductive pads separately links.Control motor (m
1, m
2) anglec of rotation, angular speed and motion limbs space state (position, speed etc.) have corresponding relation, and produce the motion state feedback signal of telecommunication by feedback arrangement and give system.
The power structure for conveying of composite joint, it is characterized in that: pressure fluid is entered the motion limbs by power pipeline transfusing chamber (66) enters the pipeline (66) of joint cavity by conductive pads, control panel, power pipeline is divided into two-way, one the tunnel enters the transfusing chamber and the motion limbs transfusing chamber of another control panel, conductive pads, discharge pressure liquid causes another joint, by the transfusing chamber (66) of motion limbs, the function of transfusing chamber is to joint and next joint discharge pressure liquid (power liquid).Another road (42) connects (connecting and the joining conduction pipe of power pipeline) provides pressure fluid with the conduction pipe of two control panels for control panel (and variable volume chamber).Conduction pipe loop (67) UNICOM in a pair of connection loop of two control panels.The control panel structure of bimoment structure is identical with the control panel structure of single moment structure.
Monarthric power structure for conveying, it is characterized in that: pressure fluid is divided into two-way after entering joint cavity (66) by power pipeline (or transfusing chamber of last joint motions limbs), one the tunnel enters the conduction pipe of control panel (with transfusing chamber UNICOM), the transfusing chamber (66) that enters the motion limbs is to next joint discharge pressure liquid (power liquid), the a pair of conduction pipe of another road direction control panel (with power pipeline UNICOM) provides pressure fluid, and another of control panel is to conducting pipeline and loop (54) UNICOM.
Power liquid (pressure fluid) enters variable volume chamber by control panel control, internally motion limbs work done, and the volume of change variable volume chamber, the liquid of the variable volume chamber that volume reduces enters the loop by conductive pads, control panel, finishes the power output of motion limbs.
Motion limbs joint power delivery cycle mechanism (Figure 40), the pressure fluid of motion limbs joint is provided by hydraulic press (m), through the compensator (86) on the power pipeline, filter (95), check valve (91), pressure sensor (89) to the joint [composite joint or continuous two with upper joint (90)] defeated kinetic energy (pressure), the pressure fluid that the joint variable volume chamber comes out is through constant voltage jar (87), pressure sensor, the pot for storing up liquid in loop.Pressure balancing tank keeps the liquid in the loop that one more constant low pressure is arranged.Power liquid is finished to the loop and is circulated through transfusing chamber, joint variable volume chamber by power pipeline.Interior motion limbs be under pressure liquid force size and movement velocity and pressure fluid pressure size, control panel and conductive pads conduction trough UNICOM caliber size, the proportional relation of caliber size pace of change, system can preestablish controlled motion limb motion state parameter according to this ratio.
The feedback arrangement of motion state, detection architecture in the joint, it is characterized in that: the sphere structure joint is corresponding with sensing station with the sensing element at interior support rear portion (27) in rotor bearing rear portion (56), when rotor bearing and the rotation of interior support, sensing element order inductive pick-up on it, sensor produces the feedback signal of telecommunication, sensing station is corresponding with the anglec of rotation, sensing element in the miscellaneous function body induction column is responded to sensing element in proper order, sensor produces the feedback signal of telecommunication, and the position of sensor is corresponding with miscellaneous function body (motion limbs) movement angle; Can obtain the movement angle value according to the correspondence position system.Control motor (m
2) in have rotation angle measurement device (as encoder etc.) to produce the feedback signal of telecommunication, control motor (m
1) in the rotation angle measurement device is arranged, FEEDBACK CONTROL disc spins angle value, control motor (m
1, m
2) all are fixed forms.Detection architecture outside the joint is characterized in that: motion limbs and miscellaneous function (53) produce relative motion with miscellaneous function body (52) or supporting structure rear portion (25).The two-part structure of relative motion installs and measures the detection signal output (parts, element) and the signal of device or detecting element respectively and accepts, and detects feedback fraction (parts, element).
This beneficial effect of the invention: the motion limbs joint promptly has guide effect and has the power output function again, and transmission is drive mechanisms such as liquid transmission, gearless, has the advantage of liquid transmission; Power is concentrated by a central place (hydraulic pump) and is supplied with, and power source is stable unites; So make power transmission and output reach the simplest and the most direct, the most effective, the control motor is the control function, does not participate in power output, and the control to the motion limbs is transformed into controlling the control of the motor anglec of rotation, angular speed.And it is corresponding one by one with the basement motion state of these motion limbs.This pattern control mode helps numerical control.The power liquid in joint is a highly pressurised liquid, carries by the transfusing chamber of motion limbs inside, and safety does not have dangerous, even the destroyed power that also can not influence at once in loop transmits.The circulating fluid amount of flow is less, makes hydraulic pump have low power characteristics.This movable joint meets the program of calculating empty position with rectangular coordinate system, and also meeting with angle is the polar coordinate system locus calculation procedure (software) of main account form.
Description of drawings:
Fig. 1 is Y (along the moving limbs transfusing chamber center) cutaway view in cylinder list moment structure joint, is the synthetic composite joint patterns of two cylinder list moment structural group.Control motor (m
1) axle fixes with the salient angle (13) of pedestal (12), joint cavity (26) is provided with opening (k
2) being used to enter power pipeline, loop, motor line etc., center rotor (1) is an integrative-structure with interior motion limbs (9), coincideing with rotor bearing (2) constitutes pressure chamber (16); Support (3), movable body (8), miscellaneous function body (53,52), rotor bearing etc. have column structure, the motion limbs structure (98) that can fix.This figure does not comprise control structure.Directed cavity (D
1) duct (k
1) and loop (54) UNICOM, make D
1Liquid in the chamber enters the loop.
Fig. 2 is the Y cutaway view in cylinder list moment structure joint, analyses and observe angle and becomes vertical angle with Fig. 1, and lateral body structure (51) is fixed, sealed with Body of pillar, rotor bearing.
Fig. 3 is that a kind of version, the structure (27) of joint cavity can be divided into two parts, helps installing control structure, L
1Be that articular cavity adventitia cover has dustproof, protective effect.
Fig. 4 is Y (along the moving limbs transfusing chamber center line) cutaway view in spheroid list moment structure joint, be the synthetic composite joints of two spheroid list moment structure joint set, interior movable body (4), support (3), outer movable body (8), rotor bearing (2), center rotor (1), miscellaneous function body (52,53) have sphere structure, intersect mutually and coincide, center rotor and outside motion limbs (9) between the movable body be interior motion limbs, part is outer motion limbs (10) in addition.Support and outer movable body contact-making surface (support or outside on the movable body) make groove structure, make infiltration directed cavity (D
1) liquid when volume diminishes by groove to directed cavity (D
2) flow, through duct (K
1) entry loop.
Fig. 5 is Y portion view, portion's angle and Fig. 4 vertical angle in spheroid list moment structure joint.Interior movable body (4) is fixed into one with interior motion limbs (9), center rotor, and dividing variable volume chamber is two isolated mutually volumes.Center rotor is to have part sphere structure pattern.
Fig. 6 is the Y cutaway view in spheroid bimoment structure and cylinder bimoment structure joint, and the interior support rear portion (27) in column structure joint is an integrative-structure with interior conductive pads (28).Conductive pads (30), control panel (32) are control structures.Annular conduction pipe (11) is fixed into integrative-structure with interior support (5) inwall.Highly elastic material (96) has the control panel of making and compresses conductive pads, makes it the closely function of contact, and ball body (97) makes control panel and compressing structure keep the rolling friction relation.Be connected and fixed structure (L
2) be connected and fixed and control motor and controlled parts.Interior support, outer support (3), movable body (8), miscellaneous function body (53) intersect coincide, sealing, variable volume chamber (18,19) respectively with conduction pipe (22,23) UNICOM, induction column and mounting structure are set on the miscellaneous function body (53).Figure D-D is the cutaway view in spheroid bimoment structure joint.
Fig. 7 is the interior conductive pads structure chart in spheroid bimoment structure joint, it is consistent with Fig. 6 cutaway view that the position is looked by f-f portion, " k " is annular driving fit structure, two parts of relative motion kept in touch, coincide, seals, and conduction pipe (22) was in UNICOM's state when conduction trough (71) kept relative motion.
Fig. 8 is the rotor bearing topology view of spheroid list moment structure, and " a " has sphere structure; " b " has the rotor bearing of part sphere structure.h
4Be the volume that coincide, seals close formation pressure chamber with center rotor, rotor bearing rear cylinder structure (56) is provided with sensing element (50), with pedestal contact position (around the transfusing chamber 20) and pedestal the annular driving fit structure of coincideing mutually is being set.
Fig. 9 is a movable body (4) and the structural relation figure with rotor bearing of part sphere structure in the spheroid list moment structure joint.Sphere structure behind the interior movable body (61) coincide with support (3), sealing, column structure (60) contacts, seals with pedestal (12), and movable body cylinder cylinder and pedestal when moving with X (center rotor is axial) kept in touch sealing in column structure met; Gasket construction (24) and rotor bearing sidewall (h
5) fixing, for column structure (59) provides sealing plane (or recessed cylinder), column structure (59,60) is connected mutually, is structure as a whole.
Figure 10 is control panel (with the conductive pads contact-making surface) structure chart in single moment structure joint.Motor (m
1) fixed structure (41), the conduction pipe of conduction trough 46 (or 47) connects the power pipeline power pipeline of transfusing chamber UNICOM (or connect), the conduction pipe (38) of conduction trough 47 (or 46) takes back the road, the conduction pipe of conduction trough (48) connects the power pipeline power pipeline of transfusing chamber UNICOM (or connect), balanced line (83) is that control panel turns clockwise or is rotated counterclockwise the conduction trough (46 or 47) that makes power pipeline UNICOM and conduction trough (45) UNICOM, or make the conduction trough (47 or 46) of loop UNICOM and the centre position of conduction trough (45) UNICOM, conduction trough (45) be positioned at this position be the control panel conduction trough not with conduction trough (45) UNICOM.
Figure 11 " a " is the conductive pads and the control panel contact-making surface structure chart in the short structure of single power joint, analyses and observe bis and indicates and analyse and observe position and view direction mutually." b " is conductive pads transfusing chamber (44) and the corresponding structure chart of pedestal transfusing chamber (20), and dotted line is represented two transfusing chamber correspondences and connecting pipeline position.Conductive pads and support (25) fix and pedestal between seal with encapsulant (31).Conduction pipe (34,21) links, conduction trough (45) and conduction pipe (21) UNICOM, and sensor (49) is corresponding with sensing element.
Figure 12 is a control panel reverse side structure chart, and cutaway view M-M is that control panel docks identical, structure chart with conductive pads (30).Conduction pipe (38) and conduction trough UNICOM, syndeton (40) compresses control panel, fixes with support (25), pedestal.(36) be conductive pads conduction pipe structure.
Figure 13 is induction pillar construction (68), sensing element groove (69) structure, the mounting structure (84) of sphere structure joint miscellaneous function body, in the induction column sensing element (as sensors such as photodiode, corresponding photocells) is set.
Figure 14 is the cutaway view N-N of Figure 13, is induction pillar construction, sensing element groove structure, mounting structure key diagram.L
3Be that dustproof elastomer and miscellaneous function body (53) are fixing, the 68th, sensing element, the 70th, sensor, the 55th, the spherical structure of center rotor sphere structure.
Figure 15 is a kind of brake structure at mounting structure position, with Figure 16 cutaway view each other.Tooth bar (73) fixes to (53) with miscellaneous function, teeth on the gear (74) and the tooth engagement mutually of tooth bar teeth, coil 76 can produce the opposite electromagnetic field of direction and promote gear (74) with the tooth bar engagement or separate, gear (74) and gear (75) engagement, gear (75) and motion limbs (10) fixed gears (74) and tooth bar engagement, the miscellaneous function body can not axially rotate, and wheel and rack separates, and the miscellaneous function body can drive rotation by control motor (m2).Washer (77) limits the stroke of gear (74), and washer and gear (75) are fixing, and salty element (78) or the travel switch etc. of answering can be set on the washer.The tooth washer rotates to behind the certain angle corresponding with the position of sensor (fixing with motor) or restricted driving journey structure with gear (75).Make its rotation can not surmount this angle value.
Figure 16 is the f-f cutaway view on Figure 15
Figure 17 is the sensing element (78) of washer (77), is the function that the check and correction motor position is arranged.Sensing element is corresponding with the sensing station that motor is placed on a certain angle, and sensing element and sensor are to being the zero position of motor at once.
Figure 18 is pedestal inner surface (with the rotor bearing contact-making surface) structure chart in spheroid list moment structure joint.The 12nd, planar structure, the 58th, sphere (spheroid) structure, the 57th, the base posts body structure is corresponding with rotor bearing column structure (56) to coincide.
Figure 19 is the pedestal inner surface structure figure in cylinder list moment structure joint.It is consistent with Fig. 1 view angle to analyse and observe position f-f.
Figure 20 is the rotor bearing structure chart in cylinder list moment structure joint.
Figure 21 is cylinder list moment structure joint: rotor bearing and Body of pillar are the structure of one, are the Y cutaway views.
Figure 22 is a cylinder list moment structure joint miscellaneous function body front view.L
3Be dustproof elastic construction, the 68th, the induction column, the 69th, the sensor element groove, the 51st, the lateral body structure, the view position is the B-B of Fig. 1.
Figure 23 is the A-A cutaway view of Fig. 1.Body of pillar (3) miscellaneous function body (52), the fixing of rotor bearing and lateral body structure (51) can be chimeric fixing.
Figure 24 is the interior support structure top view in spheroid square structure joint.F-f view position and Fig. 1-cause, conducting orifice (64) communicates with variable volume chamber (18), and spacer body front end (L) contacts with movable body, sealing, spacer body is that sphere structure closely contacts, coincide, seals with outer Body of pillar (3), sensing element (50) embeds in the cylinder.
Figure 25 is the interior support structure rearview in spheroid bimoment structure joint.The picture group of analysing and observe position f-f is consistent with Fig. 6, g
1Be outer Body of pillar and interior support contact portion, this part is spheroid (spherical structure).
Figure 26 is rotor, center rotor (1) the motion limbs rearview in spheroid bimoment structure joint.Center rotor, rotor (6), motion limbs are structure as a whole, and annular conducting tube seat (65) matches, seals with annular conduction pipe (11); Interior motion limbs (9) closely contact with interior support inwall and coincide, seal (g
3Support inwall in being depicted as); Center rotor coincide, seals (g with anterior closely the contact with movable body (8) inwall of interior support
2Be depicted as the movable body inwall).
Figure 27 is rotor, the center rotor in spheroid bimoment structure joint, the top view of motion limbs.
Figure 28 is the view of syndeton (29), and the view of analysing and observe symbol is consistent with Fig. 6 view.
Figure 29 is the view of supporting in the spheroid bimoment structure joint, and the view position is the E-E of Fig. 6.Annular conduction pipe (11) is in insulation (7) upper shed.
Figure 30 is the front view of support in the spheroid bimoment structure joint, and f-f view position is consistent with Fig. 6 view.
Figure 31 is front (with the control panel contact-making surface) structure chart of bimoment structure joint conductive pads.Duct (72) is the position of the fixing interior conductive pads of screw, and screw (85) is conductive pads and outer Body of pillar (25) fixed position." K " is annular driving fit structure, the 71st, and conduction trough, transfusing chamber (80) periphery also can be provided with annular driving fit structure one.
Figure 32 is the reverse side structure chart of bimoment structure joint conductive pads.F-f view position is consistent with Fig. 6 view.Figure F-F, figure G-G are bimoment structure joint conductive pads cutaway views.Portion's apparent place is F-F, the G-G of Fig. 6, and F-F is that transfusing chamber (20) is put by vertical duction pipeline (81) transposition and caused 80.G-G is that conduction pipe (22) is by the structure chart of vertical duction pipeline (81) with conduction pipe (23) merging, UNICOM.Joint filling material (79) sealing orifice.
Figure 33 is control panel front (with the conductive pads contact-making surface) structure chart in bimoment structure joint.The structure of this control panel is identical with the control panel structure in single moment structure joint.Control panel is the conduction trough (46 or 47) and conductive pads conduction trough (71) UNICOM that benchmark is executed commentaries on classics and power pipeline UNICOM clockwise with balanced line (83); Be that benchmark is rotated counterclockwise and the conduction trough (47 or 46) and conductive pads conduction trough (71) UNICOM of loop UNICOM with the balanced line; With the balanced line is that the benchmark anglec of rotation is big, and conduction trough (46 or 47) is big with the bore that conductive pads conduction trough (71) is connected; When conductive pads conduction trough (71) is positioned at the balanced line position, the control panel conduction trough not with conductive pads conduction trough (71) UNICOM.Conduction pipe (23 or 82) connects power pipeline, and conduction pipe (82 or 23) takes back the road, control panel conduction trough (71) and transfusing chamber (80) UNICOM, and maintenance and conductive pads transfusing chamber (80) UNICOM.
Figure 34 is the interior support view in cylinder bimoment structure joint, and the view position is the E-E of Fig. 6.
Figure 35 is the three-view diagram of the interior Body of pillar in cylinder bimoment structure joint, and this structure closely contacts, seals with lateral body structure (51).
Figure 36 is the cutaway view in cylinder bimoment structure joint, and analysing and observe the position is the D-D of Fig. 6.
Figure 37 is a simple joint power structure for conveying schematic diagram, and power pipeline (or the transfusing chamber in a last joint) enters joint cavity and is divided into two-way (66), is joint component shown in the dotted line.43 represent control panel conductive pads, variable volume chamber etc.The 35th, check valve makes by K
1The liquid one-way flow of coming out in (directed cavity) duct, a pair of conduction pipe UNICOM of loop (67,54) and control panel.
Figure 38 is a kind of structure of the interior movable body in spheroid list moment structure joint.Movable body (4) closely contacts with the sphere of rotor bearing dribbling body structure and Body of pillar (3), seals, coincide in this structure, interior movable body is made groove structure (33) contacting one side with the rotor bearing sphere, makes variable volume chamber (19) and conduction pipe (21) UNICOM by groove structure.
Figure 39 is a kind of structure chart of constant voltage jar.Piston (88) by spring, keep certain pressure, liquid flows in a direction indicated by the arrow, when working fluid during less than constant pressure piston cut off the output pipe of cylinder body (87), keep constant compression force constant.
Figure 40 is a motion limbs joint power delivery cycle structural scheme of mechanism.Hydraulic pump (m) produces pressure fluid (power liquid) by the compensator (86) on the process power pipeline, liquid device (95) check valve (91), pressure sensor (89), overvoltage pressure-relief valve (92), arrive joint cavity, the work done of the internal motion limbs of pressure fluid makes the motion limb motion.90 represent motion limbs joint (can be simple joint, composite joint, two or more joint).To the work done of joint motions limbs,,, enter and hold the liquid case through the loop (93) by the liquid of joint conduction pipe output by constant voltage jar (87) pressure sensor (89), holding the liquid case provides hydraulic pressure to hydraulic pump, so constitutes circulation transmitting power liquid mechanism.Pressure-relief valve is that to prevent that the motion limbs are subjected to reaction force (or resistance) excessive, when making the work done fluid pressure reach certain value, gets rid of the liquid of overvoltage part and goes into to hold liquid case (94).Compensator is the energy storage tank of a low capacity, and the pulsation of absorption liquid press pump provides constant high pressure liquid to power pipeline simultaneously.The electric pressure signal that the pressure sensor (89) of power pipeline, loop, constant voltage jar produces is the feedback signal of telecommunication, to the system feedback force value.The pressure control of hydraulic pump is to pass through The driving motor control.
Figure 41 is a composite joint power structure for conveying schematic diagram.Pressure fluid is carried to the joint by power pipeline (or motion limbs transfusing chamber), arrow is represented transmission direction, pressure fluid is by motion limbs transfusing chamber process conductive pads, control panel enters joint cavity, be divided into two-way, the one tunnel enters another control panel, conductive pads, motion limbs transfusion control to the next joint pressure fluid (66) of preaching; Another road and control panel conduction pipe (conduction pipe that links with power pipeline) connect (42) provides pressure fluid to control panel.Liquid by variable volume chamber output enters loop (54) by conductive pads, control panel, and check valve (35) makes by duct (K
1) the liquid folk prescription that comes out is to flowing.
Figure 42 is the interior movable body front view and the rearview in spheroid list moment structure joint.Back sphere structure (61) is identical with front radius, and the center of the center line that rotatablely moves with center rotor on the cylinder radius of column structure (60) (X axle center) is center of radius.The F-f view direction is consistent with Fig. 4 view.
Figure 43 is the annular conduction pipe cross section structure in spheroid bimoment structure joint.Annular conduction pipe and interior Body of pillar inner surface are fixed.
Figure 44 is a kind of " worker " shaped sections structure of the spacer body in spheroid bimoment structure joint.
Figure 45 " a, b " is that the spacer body front end (L) in spheroid bimoment structure joint contacts two kinds of formal specification figure with movable body.Spacer body front end relative motion body is the form of rotatablely moving, and the center line that the radius of front end column structure rotatablely moves with center rotor is a center of radius.
The specific embodiment:
Simple joint uses a control panel and conductive pads structure or flexible pipe form discharge pressure liquid to adapt to rotatablely moving of control panel to the power pipeline of control panel discharge pressure liquid.Use control panel and conductive pads version, power pipeline and loop structure form, two conduction pipes of power pipeline and loop and conductive pads link fixing, and the transfusing chamber and the power pipeline of conductive pads link.
Conductive pads and joint cavity fix, and control panel and conductive pads are coincide, and are connected and fixed, and the conductive pads of the mode that is connected and fixed and variable volume chamber UNICOM and the control panel mode that is connected and fixed is the same, the mutual UNICOM of corresponding pipeline on the pair of control dish; This version and composite joint are roughly the same.Sealing when the function of annular driving fit structure is the assurance relative rotary motion, identical, this structure can be according to the Position Design of conduction trough, conduction pipe.The degree of depth of conduction trough is coincide with control panel, conductive pads after the correspondence, and liquid can flow smoothly.The making material in joint, pedestal, interior Body of pillar, rotor bearing etc. can use ceramic material and advanced composite material (ACM).The sphere structure in sphere structure joint can adopt two parts hemisphere to be harmonious, and uses modern weldering by the technology welding, surface treatments such as polishing, gradually layer test assembling from inside to outside.
Detection architecture in the joint, be positioned at arrangement, the combination of the sensing element of rotor bearing, be positioned at arrangement, the combination of the sensor element of pedestal, outer Body of pillar, arrange, make up according to certain rule, order, when making sensing element rotatablely move angle with respect to sensor, different movement angles, sensing element has different correspondence positions, quantity with sensor, the sensor of diverse location, quantity produces the feedback signal of telecommunication, and this feedback signal of telecommunication is a relative rotary motion angle numerical value.Sensing element can be a magnet or the conductor with big (or less) resistance value etc.Sensor can be corresponding magneto-dependent sensor or electrode (electrode conduction when contacting with sensing element resistance, because the sensing element changes in resistance has influenced the variation of electric current, can obtain sensing element by the change system of measuring electric current and be in corresponding, position contacting mutually with electrode) to the resistance sensor sensitive etc.The fixed-site of sensor, sensing element (rotation) constitutes a series of different permutation and combination with sensor, form not homotactic transducing signal and constitute a series of coding, a pair of code-disc of its permutation and combination principle and encoder produces the principle of different light rays sequence signal by the rotation of code-disc under the light source irradiation identical.System can calculate the anglec of rotation of rotor bearing (motion limbs) or interior support (motion limbs) according to the signal of telecommunication of sensed sensor.Pressure fluid entered variable volume chamber by conduction pipe after control panel was connected conductive pads by conduction trough, single moment structure joint, after a variable volume chamber enters pressure fluid, effect lower volume at the pressure fluid body becomes big, and another variable volume chamber volume is diminished, formation is the moment in axle center with center, rotor, motion limbs (interior movable body) motion in promoting; Bimoment structure joint, two variable volume chambers enter that the effect lower volume at pressure fluid becomes big behind the pressure fluid, and make in addition that two variable volume chamber volumes diminish, and forming with the center rotor is two moments in axle center, motion limbs (and movable body) motion in promoting; The variable volume chamber that volume diminishes is outwards exported by the conduction pipe of conductive pads, control panel.The miscellaneous function body in spheroid bimoment structure joint should increase the miscellaneous function body (not expression among Fig. 6) of a sphere structure again.
Claims (3)
1, a kind of robot numerical control campaign limbs joint, by having guide frame and hydraulic power structure constitutes, it is characterized in that: by center rotor, rotor, rotor bearing, interior movable body, outer movable body, interior support, outer support, interior motion limbs, movable body, support, pedestal, the annular conduction pipe, the lateral body structure, the miscellaneous function body, conductive pads, interior conductive pads, interior conductive pads, control panel, spacer body, insulation, pressure chamber, variable volume chamber, directed cavity, conduction pipe, conduction trough, conducting orifice, conveyor chamber, transfusing chamber, the joint cavity structure constitutes the motion limbs joint, comprises spheroid bimoment structure, spheroid list moment structure, cylinder bimoment structure, cylinder list moment structure; The interior support of spheroid bimoment structure, interior support, outer support, movable body, directed cavity, conveyor chamber, rotor, the miscellaneous function body has sphere structure, interior support, movable body, the auxiliary energy body is in contact with one another sealing, intersect and coincide, center rotor, rotor bearing has column structure, the column structure at interior support rear portion (27) coincide mutually with outer support rear portion (25) column structure, interior support rear portion closely contacts by syndeton (29) mutually with interior conductive pads, syndeton and interior conductive pads, outer support rear portion fixes into a single integrated structure, the conveyor chamber that forms between interior support and the outer support communicates with variable volume chamber (18) by some conducting orifices (64) on the interior support, communicate with conduction pipe (23), spacer body (63) is fixed with interior support, separating conveyor chamber and movable body is two isolated mutually conveyor chambers, spacer body contacts with movable body, has hermetically-sealed construction, pressure chamber communicates with transfusing chamber (20), the annular conducting tube seat (65) of rotor and rotor closely contacts with interior support inwall and annular conduction pipe and coincide, sealing, insulation, rotor bearing, center rotor, interior motion limbs, movable body constitutes sealed volume " variable volume chamber (19) ", and variable volume chamber leads the shape conduction pipe by annular and conduction pipe (22) links; Interior support, rotor, insulation, center rotor, rotor bearing, interior motion limbs constitute sealed volume " variable volume chamber (18) ", variable volume chamber communicates with control panel (32) conduction pipe by conduction pipe (23), interior support rear portion is provided with some sensing elements, the position is corresponding with face sensor (49) position in the outer support, rotor bearing plays guiding to center rotor, the bearing effect, center rotor and roller bearing have column structure, be provided with and closely contact with miscellaneous function body (53), coincide, the sphere structure miscellaneous function body that fixes with outer support rear portion (25), sensing element groove structure (69) is set on this structure, induction pillar construction (68) is set on miscellaneous function body (53), be provided with and press assembling structure (84), miscellaneous function body (53) forms the bearing relation with outer motion limbs (10), the motion limbs constitute the structure that rotatablely moves for axle in addition, annular conduction pipe middle part is provided with encapsulant makes two parts annular conduction pipe isolated mutually, and make transfusing chamber pass through the middle part encapsulant, in the middle of the motion limbs, center rotor, interior support rear portion conductive pads is provided with transfusing chamber (20) structure, transfusing chamber communicates with pressure chamber (16), interior support rear portion and interior conductive pads, annular driving fit structure (K) is coincide mutually, sealing, the center rotor of spheroid list moment structure, rotor bearing, center rotor, rotor bearing, interior movable body, outer movable body, support, the miscellaneous function body, variable volume chamber, directed cavity has sphere structure; Movable body closely contacts, intersects mutually with support, miscellaneous function body (52) and coincide, seals, and the energy relative motion, forms directed cavity; Center rotor, interior movable body, outer movable body, interior motion limbs fix, and are axle center (X) motion with the center rotor; Interior movable body, outer movable body, center rotor, rotor bearing, interior motion limbs rotatablely move with Y, rotor bearing rear cylinder structure (56) closely contacts with base posts body structure (57) coincide, rotor bearing can rotatablely move as Y, the anglec of rotation that sensor (45) position on some sensing elements (50) and the pedestal is set on it is corresponding, rotor bearing is a sphere structure, also bearing arrangement (the h of interior movable body and rotor bearing can be constituted by having the part sphere structure
3) the interior movable body of contact position do axle construction corresponding with bearing arrangement, coincide, axle construction and interior movable body are integral, and have the rotor bearing sidewall (h of part sphere structure
5) the center do axle construction (62) and bearing arrangement coincide, corresponding; The structure of the bearing arrangement of movable body X motion and two variable volume chambers of sealing in bearing arrangement and axle construction (62) constitute; Rotor bearing ramp structure (h
2) satisfied interior motion limbs and interior movable body range of movement; Rotor bearing increase gasket construction (24) gasket construction and rotor bearing sidewall with part sphere structure are fixed into one, together rotate thereupon, gasket construction closely contacts, sealing base sphere structure (58) and the column structure (59) that is positioned at the gasket construction place for interior movable body provide contact, sealing plane, interior movable body central structure and interior motion limbs are fixed, separate two volumes of two variable volume chambers for sealing, sphere structure behind the interior movable body (61) closely contacts, seals with support; Interior movable body column structure closely contacts, seals with the base plane structure when interior movable body axially-movable, and column structure (59) closely contacts, seals with gasket construction (24) plane.In the middle of center rotor, the motion limbs, rotor bearing, pedestal be provided with transfusing chamber (20) structure, transfusing chamber communicates with pressure chamber, the center rotor sphere structure closely contact with rotor bearing spheroid inner surface coincide, sealing, form sealed volume " pressure chamber "; The center rotor of cylinder bimoment structure, rotor, center rotor, rotor, rotor bearing, interior support, movable body, outer support, miscellaneous function body have column structure; Interior movable body, interior support, outer support closely contact, sealing, intersection mutually coincide; Rotor closely contacts, seals with interior support inwall, annular conduction pipe.Interior support rear portion (27) is into a single integrated structure with interior conductive pads (28), and fixes, is sealed to one with outer support rear structure (25), and some conducting orifices are set on the interior support, and conveyor chamber is communicated with variable volume chamber (18); Interior support, outer support and lateral body structure fix into a single integrated structure; Motion limbs, center rotor, rotor, interior support rear portion are provided with transfusing chamber (20) structure, and transfusing chamber communicates with pressure chamber, and movable body, interior motion limbs, miscellaneous function body closely contact, seal with the lateral body structure.Annular conduction pipe middle part is provided with encapsulant, and make transfusing chamber pass through the middle part encapsulant, annular conduction pipe and interior support fix, and center rotor, rotor bearing center rotor, rotor bearing, support, movable body, miscellaneous function body, the directed cavity of cylinder list moment structure have column structure; The closely contact mutually of support, movable body, miscellaneous function body, sealing, justice fork coincide, lateral body structure and support, rotor bearing are fixed into one, closely contact, seal with interior motion limbs, movable body, miscellaneous function body, rotor bearing and center rotor have guiding, bearing arrangement.Pedestal and rotor bearing rear portion are fixed, rotor bearing, pedestal, support can be made into integrative-structure, pedestal is provided with convex shoulder structure (13), conduction pipe structure (21), motion limbs, center rotor, pedestal are provided with transfusing chamber structure (20), and center rotor closely contacts with rotor bearing, seals, coincideing constitutes sealed volume " pressure chamber ".
2, robot as claimed in claim 1 numerical control campaign limbs joint, it is characterized in that: the motion limbs joint of spheroid bimoment structure, spheroid list moment structure, cylinder bimoment structure, cylinder list moment structure constitutes the composite joint structure mutually.
3, robot as claimed in claim 1 numerical control campaign limbs joint, it is characterized in that: transfusing chamber, the conduction pipe (22) of the spheroid bimoment structure and the interior conductive pads of cylinder bimoment structure is corresponding to be coincide, seals, and interfix, use encapsulant (31) sealing therebetween; Transfusing chamber, conduction pipe pass through vertical duction pipeline (81) in conductive pads, the conversion outgoing position, conduction pipe is merged, make the conductive pads end face have a pair of corresponding conduction trough (71) structure and displacement transfusing chamber (80) structure, annular driving fit structure (k) is set simultaneously, control panel conduction trough and conduction pipe UNICOM, balanced line (83) is between conduction trough, and control panel, conductive pads annular driving fit structure are coincide mutually, hermetically-sealed construction; The conductive pads conduction trough is positioned at the balanced line place, then do not communicate with the control panel conduction trough, control panel with the balanced line be benchmark clockwise or be rotated counterclockwise, make control panel conduction trough and the mutual UNICOM of conductive pads conduction trough, the bore that passes through of UNICOM is directly proportional with the anglec of rotation mutually, the conduction trough (71) that the transfusing chamber of control panel (80) links keeps mutual link relation with conductive pads transfusing chamber (80), two pairs of conduction pipes of control panel, one butt joint power pipeline, the a pair of road that takes back, connect transfusing chamber (80), the conduction pipe of control panel conduction trough (71) connects power pipeline, the pressure fluid of this transfusing chamber is the power transfer pipeline, conductive pads (30) conduction pipe and the pedestal conduction pipe of spheroid list moment structure and cylinder list moment structure join, conductive pads transfusing chamber (44) is corresponding with the pedestal transfusing chamber, UNICOM; Conductive pads and support (25) fix, encapsulant (31) is set therebetween, conductive pads annular driving fit structure and control panel driving fit structure (k) match, sealing, the conductive pads end face has a pair of corresponding conduction trough structure (45), and with conduction pipe (34) UNICOM, control panel conduction trough and conduction pipe UNICOM, balanced line (83) is between conduction trough, the conductive pads conduction trough is positioned at the balanced line place, the conductive pads conduction trough does not link with the control panel conduction trough, control panel with the balanced line be benchmark clockwise or be rotated counterclockwise, control panel conduction trough and conductive pads conduction trough link, control panel transfusing chamber and conduction trough (48) UNICOM, and the UNICOM of maintenance and control panel transfusing chamber, the spheroid joint is corresponding with sensing station with the sensing element at interior support rear portion (27) at rotor rotor bearing rear portion (56), sensor produces the feedback signal of telecommunication, sensing element in the miscellaneous function body induction column is responded to sensing element in proper order, and sensor produces the feedback signal of telecommunication, control motor (m
2) in have the rotation angle measurement device to produce the feedback signal of telecommunication, control motor (m
1) in the rotation angle measurement device is arranged, FEEDBACK CONTROL disc spins angle value, the control motor all is fixed forms, motion limbs and miscellaneous function (53) and miscellaneous function body (52) or supporting structure rear portion (25) generation relative motion, the two-part structure of relative motion install and measure device or detecting element respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03261338 CN2677102Y (en) | 2003-05-18 | 2003-05-18 | Digital controlled motion limbs joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03261338 CN2677102Y (en) | 2003-05-18 | 2003-05-18 | Digital controlled motion limbs joint of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2677102Y true CN2677102Y (en) | 2005-02-09 |
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ID=34580422
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03261338 Expired - Fee Related CN2677102Y (en) | 2003-05-18 | 2003-05-18 | Digital controlled motion limbs joint of robot |
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| CN (1) | CN2677102Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354165A (en) * | 2014-09-19 | 2015-02-18 | 重庆交通大学 | Electromechanical-hydraulic integrated three degree-of-freedom integrated joint |
| CN108145743A (en) * | 2017-12-05 | 2018-06-12 | 常州大学 | A kind of dedicated double freedom flexibility knee joint of anthropomorphic robot |
| US10330148B2 (en) | 2014-02-26 | 2019-06-25 | Airbus Helicopters Deutschland GmbH | Bearing arrangement with a first bearing layer and a second bearing layer |
| CN110480668A (en) * | 2019-07-30 | 2019-11-22 | 东南大学 | A kind of bulb joint finger mechanism of flexible connection and hydraulic-driven |
-
2003
- 2003-05-18 CN CN 03261338 patent/CN2677102Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10330148B2 (en) | 2014-02-26 | 2019-06-25 | Airbus Helicopters Deutschland GmbH | Bearing arrangement with a first bearing layer and a second bearing layer |
| CN104354165A (en) * | 2014-09-19 | 2015-02-18 | 重庆交通大学 | Electromechanical-hydraulic integrated three degree-of-freedom integrated joint |
| CN104354165B (en) * | 2014-09-19 | 2016-04-13 | 重庆交通大学 | The integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom |
| CN108145743A (en) * | 2017-12-05 | 2018-06-12 | 常州大学 | A kind of dedicated double freedom flexibility knee joint of anthropomorphic robot |
| CN108145743B (en) * | 2017-12-05 | 2020-09-08 | 常州大学 | Dedicated two degree of freedom flexible knee joints of humanoid robot |
| CN110480668A (en) * | 2019-07-30 | 2019-11-22 | 东南大学 | A kind of bulb joint finger mechanism of flexible connection and hydraulic-driven |
| CN110480668B (en) * | 2019-07-30 | 2022-02-22 | 东南大学 | Flexible connection and hydraulic drive's bulb joint finger mechanism |
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