CN2711434Y - Joint angle fixed reciprocative rotation driven annular cylinder - Google Patents
Joint angle fixed reciprocative rotation driven annular cylinder Download PDFInfo
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- CN2711434Y CN2711434Y CN 200420007333 CN200420007333U CN2711434Y CN 2711434 Y CN2711434 Y CN 2711434Y CN 200420007333 CN200420007333 CN 200420007333 CN 200420007333 U CN200420007333 U CN 200420007333U CN 2711434 Y CN2711434 Y CN 2711434Y
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- 238000007789 sealing Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 210000000245 forearm Anatomy 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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Abstract
The utility model relates to a joint angle fixed reciprocating rotation driven annular cylinder, belonging to the field of mechanical manufacture and automation. The utility model is characterized in that an arc main cylinder body is connected with an arc front cylinder cap for forming the slide way of the arc cylinder body taking the axial line of a center output axle as the center of a circle; an arc piston can be slid in the square slide way of the cylinder body, and a loop type piston connecting rod is connected with the arc piston to form a round piston connecting rod which is concentric with the slide way of the cylinder body; the center of the loop type piston connecting rod is provided with an axle having a key bed, and connected with an external output axle via a connecting key to output torque moment directly. The joint angle fixed reciprocating rotation driven annular cylinder can be assembled at a joint positions requiring reciprocating rotation, and outputs rotation torque moment directly to drive the fixing angle of an element to rotate in reciprocation; the joint angle fixed reciprocating rotation driven annular cylinder has the characteristics of small volume, low cost, simple connection, etc.
Description
Technical field
A kind of joint is decided the angle reciprocating rotating and is driven cylinder, belongs to the Mechanical Manufacturing and Automation field, is mainly used in the mechanical systems such as articulated robot, electronic chip positioning means and production line for automatically assembling.
Background technique
Complicated many rotatingshafts movable machineries such as each robotlike of machine building industry, wrapping machine, automatic loading/unloading and automatic assembling mechanism have been widely used in the various piece of automatic production line at present, become the key link that realizes mechanical automation, in the joint part design of these complicated multi-joint mechanical mechanisms, mainly adopt the linear reciprocating cylinder to drive eccentric wheel and realize the joint rotation motion.The linear reciprocation rotary cylinder as shown in Figure 3,8 is air inlet/outlet among the figure, 19 is front cover, 20 is cylinder block, 21 is piston ring, 22 is rear end cover, and 23 is piston rod, and its working principle is for to move by the axial direction linear reciprocation of the pressure difference piston rod 23 between the air inlet/outlet 8 along cylinder block 20; Characteristics such as this driving mode has simple in structure, and cost is cheap relatively, but when the driving rotational joint, also need to adopt eccentric center principle, straight line motion is converted to rotation motion.There are several problems in this joint driving mode: first structure is difficult to realize exquisitenessization, and straight line cylinder will have fulcrum and the eccentric point that promotes, and promotes the joint revolution and also need the incision angle that keeps certain, causes structure huge; It two is that this class driving structure angle of revolution is limited, and is easy to generate the problem at dead point, joint.
Summary of the invention
The purpose of this utility model is to overcome above-mentioned technological deficiency, has proposed a kind ofly can directly export flywheel moment, and driver part is decided the angle and back and forth decide angle reciprocating rotating driving circular cylinder in the joint of rotation.
Structure and running principle that the angle reciprocating rotating drives circular cylinder are decided in the joint that the utility model proposes can be referring to accompanying drawing 1, Fig. 2 and Fig. 3, it is by the camber Master cylinder body 4 that is the arc form in the center of circle with the set point that angle reciprocating rotating driving cylinder is decided in joint of the present utility model, and concentric camber piston 2 that matches with camber Master cylinder body 4 slideways 17 and ring-like piston rod 7 constitute.Concrete structure is: cylinder body is two parts up and down to dig by slideway and the plane vertical with rotor shaft direction, be respectively camber Master cylinder body 4 and camber front end housing 10, both link together by cylinder body clamping bolt 9 by shown in Figure 2, and forming with center output shaft 13 axis is the arcuation cylinder block slideway 17 in the center of circle; On the junction plane between camber Master cylinder body 4 and the camber front end housing 10, be provided with cylinder body sealing gasket 11, and adopted folding structure to keep the tightness of cylinder body, see accompanying drawing 3.Camber piston 2 can slide in cylinder block square slideway 17, ring-like piston rod 7 and camber piston 2 connect by piston attachment bolt 16 and constitute the round piston rod concentric with cylinder block slideway 17, the center of ring-like piston rod 7 is provided with the axle 15 of a band keyway, be connected with outside output shaft 13 by connecting key 14, thereby directly export torque; Also be provided with left side cylinder cap 5 and right side cylinder cap 18 at the two ends of camber Master cylinder body 4, link together by side cylinder cap clamping bolt 12 and Master cylinder body 4, the place is provided with side cylinder cap sealing gasket 6 at the connection junction plane, with the tightness that keeps cylinder body and side cylinder cap to connect; Each side cylinder cap center all offers a center hole, and the center hole that makes ring-like piston rod 7 can pass the side cylinder cap outwards transmits the power that the cylinder body inner carrier produces.Respectively establish an air inlet/outlet 8 at the two ends of camber Master cylinder body 4, be used for the input and output pressurized gas, under the effect of two air inlet/outlet gas pressure difference, can make camber piston 2 in camber Master cylinder body 4 along 17 to-and-fro motion of cylinder block slideway.Side in camber cylinder block 4 is evenly distributed with two plates 1 along the circular arc direction, is used for installing and fixing cylinder block 4.
Angle reciprocating rotating driving circular cylinder is decided in the joint of the above-mentioned proposition of the utility model can be assemblied in the joint part that robot, production line for automatically assembling etc. need reciprocal rotation, directly export flywheel moment, driver part is decided the angle and is back and forth rotated, it is little to have volume, cost is low, the connection characteristic of simple, reduce the structural complexity of automatic greatly, reduce the global design and the lead time of automatic assembly machine, improve the reliability of integral product.
Description of drawings
Angle reciprocating rotating circular cylinder front view is decided in the joint that Fig. 1 the utility model proposes
Among the figure 1, axle 16, piston attachment bolt 17, cylinder block square slideway 18, the right side cylinder cap of plate 2, camber piston 3, side cylinder cap seal ring 4, camber Master cylinder body 5, left side cylinder cap 6, side cylinder cap sealing gasket 7, ring-like piston rod 8, air inlet/outlet side 12, cylinder cap clamping bolt 13, outside output shaft 15, band keyway;
Fig. 2 decides in joint of the present utility model angle reciprocating rotating circular cylinder side view
Among the figure 10, camber front end housing 11, cylinder body sealing gasket 14, connecting key;
Fig. 3 decides in joint of the present utility model the camber Master cylinder body 4 of angle reciprocating rotating circular cylinder and the folding connecting structure enlarged view of camber front end housing 10;
The reciprocating linear type that Fig. 4 is traditional drives the cylinder schematic representation
Among the figure 8, air inlet/outlet 19, front cover 20, cylinder block 21, piston ring 22, rear end cover 23 piston rods;
Fig. 5 embodiment illustrates illustration
Be Olympic Games boxer comprehensive simulation training boxing robot arm action control principle figure.
Embodiment
According to the described structure of Fig. 1-Fig. 3, adopt conventional mechanical link and Sealing, press the design of known technology means and constitute.
The joint that the utility model proposes is decided the angle reciprocating rotating and is driven cylinder, has been applied on the arm into " Olympic Games boxer comprehensive simulation training boxing robot " of General Administration of Sport's development, and its general function principle is seen accompanying drawing 5.This left and right arm of boxing robot has six joints, be respectively the big arm swing in a left side, hypozygal and right big arm swing about the big arm in a left side, on the left forearm, revolute joint about the right big arm, about the right forearm, all adopt the joint that the utility model proposes to decide the angle reciprocating rotating and driven the cylinder realization, make the robot arm configuration small and exquisite, cheap, and perfection realizes the robot punch action, reached very desirable effect.The air pump pressure that adopts in practicality is 8mp, by the single channel multiple-way valve to each cylinder conveying gas power, and determine the reciprocating rotating action of each rotary cylinder by solenoid directional control valve, adopted the transformer of 220V in the system to 24V, provide electric power to air pump and programmable controller, and control the logical weak point of the solenoid directional control valve in each joint by the working procedure of programmable controller, thereby the working condition of each cylinder of control robot left and right sides arm realizes the requirement action of robot arm.The center radius of curvature of employed cylinder block square slideway 17 is for being 55.5mm in the system, and its cross section rectangular cross-section is of a size of 21 * 14mm;
The joint that the utility model proposes is decided the angle reciprocating rotating and is driven circular cylinder, also can amplify in proportion and dwindle, form the product of seriation, be applied to different sizes, the various joint links of deciding angle reciprocating rotating driving device that different capacity requires have wide applications.If in design, move if adopt traditional servo-system to drive the joint reciprocating rotating, the cost that each turning axle needs is approximately on average about 20,000 yuan, and adopting the angular convolution rotaring cylinder of deciding that the utility model proposes to drive, cost only needs about 1,000 yuan, dwindles product cost greatly.
The joint that use the utility model proposes is decided the angle reciprocating rotating and is driven cylinder, makes robot cheap, structure and transmission exquisiteness, and be convenient to the installation of Various types of data pick-up transducers, reached very desirable effect.
Claims (6)
1, angle reciprocating rotating driving circular cylinder is decided in the joint, include cylinder block, the piston rod that the power that the cylinder body inner carrier is produced outwards transmits, the cylinder cap that is provided with at the two ends of cylinder body, the air inlet/outlet that is used for the input and output pressurized gas that on cylinder body, is provided with, the invention is characterized in, be by the camber Master cylinder body (4) that is the arc form in the center of circle with the set point, and concentric camber piston (2) that matches with camber Master cylinder body (4) slideway (17) and ring-like piston rod (7) constitute; Concrete structure is: cylinder block is two parts up and down to dig by slideway and the plane vertical with rotor shaft direction, be respectively camber Master cylinder body (4) and camber front end housing (10), both link together by link, and the axis that forms with center output shaft (13) is the camber cylinder block slideway in the center of circle; Camber piston (2) can slide in the cylinder block slideway, ring-like piston rod (7) connects the formation ring-like piston rod concentric with the cylinder block slideway with camber piston (2) by link, the center of ring-like piston rod (7) is provided with the axle (15) of a band keyway, be connected with outside output shaft (13) by connecting key (14), thereby directly export torque; And adopt fastening piece that camber Master cylinder body (4) and the left side cylinder cap (5) and the right side cylinder cap (18) that are provided with at its two ends are linked together.
2, angle reciprocating rotating driving circular cylinder is decided in joint according to claim 1, it is characterized in that, on the junction plane between camber Master cylinder body (4) and the camber front end housing (10), adopted folding structure and be provided with the cylinder body sealing gasket (11) of channel rubber formula, linked together by cylinder body clamping bolt (9).
3, angle reciprocating rotating driving circular cylinder is decided in joint according to claim 1 and 2, it is characterized in that, left side cylinder cap (5) and right side cylinder cap (18) are provided with side cylinder cap sealing gasket (6) with the junction plane place that connects of Master cylinder body (4), and by clamping bolt (12) side cylinder cap (18) and Master cylinder body (4) are linked together; Each side cylinder cap center all offers a center hole, and the center hole that makes ring-like piston rod (7) can pass the side cylinder cap outwards transmits the power that the cylinder body inner carrier produces.
4, angle reciprocating rotating driving circular cylinder is decided in joint according to claim 3, it is characterized in that respectively being provided with an air inlet/outlet (8) that is used for the input and output pressurized gas at the two ends of camber Master cylinder body (4), under the effect of two air inlet/outlet gas pressure difference, can make camber piston (2) in camber Master cylinder body (4) along cylinder block slideway (17) to-and-fro motion.
5, angle reciprocating rotating driving circular cylinder is decided in joint according to claim 1, it is characterized in that, camber Master cylinder body (4) and camber front end housing (10) link together, and having formed with the axis of center output shaft (13) is the camber cylinder block square slideway (17) in the center of circle.
6, angle reciprocating rotating driving circular cylinder is decided in joint according to claim 1, it is characterized in that, is evenly distributed with two plates (1) that are used for installing and fixing cylinder block in the side of camber cylinder block (4) along the circular arc direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420007333 CN2711434Y (en) | 2004-03-19 | 2004-03-19 | Joint angle fixed reciprocative rotation driven annular cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420007333 CN2711434Y (en) | 2004-03-19 | 2004-03-19 | Joint angle fixed reciprocative rotation driven annular cylinder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2711434Y true CN2711434Y (en) | 2005-07-20 |
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ID=36192537
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420007333 Expired - Lifetime CN2711434Y (en) | 2004-03-19 | 2004-03-19 | Joint angle fixed reciprocative rotation driven annular cylinder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2711434Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1327140C (en) * | 2004-03-19 | 2007-07-18 | 北京工业大学 | Joint fixed lead reciprocating, rotary driving annular cylinder |
| CN101691867B (en) * | 2009-10-13 | 2011-06-22 | 上海理工大学 | Gas discharging structure of double-ring type rotary type compressor cylinder |
| CN106499679A (en) * | 2016-12-02 | 2017-03-15 | 合肥瑞硕科技有限公司 | A kind of revolute joint's driving means |
-
2004
- 2004-03-19 CN CN 200420007333 patent/CN2711434Y/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1327140C (en) * | 2004-03-19 | 2007-07-18 | 北京工业大学 | Joint fixed lead reciprocating, rotary driving annular cylinder |
| CN101691867B (en) * | 2009-10-13 | 2011-06-22 | 上海理工大学 | Gas discharging structure of double-ring type rotary type compressor cylinder |
| CN106499679A (en) * | 2016-12-02 | 2017-03-15 | 合肥瑞硕科技有限公司 | A kind of revolute joint's driving means |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20040319 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |