CN104354165B - The integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom - Google Patents
The integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom Download PDFInfo
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- CN104354165B CN104354165B CN201410482337.0A CN201410482337A CN104354165B CN 104354165 B CN104354165 B CN 104354165B CN 201410482337 A CN201410482337 A CN 201410482337A CN 104354165 B CN104354165 B CN 104354165B
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Abstract
The invention discloses a kind of integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom, joint comprises shell body, inner housing, joint output precision, drives assembly and automatic control system, drive assembly to comprise to do straight line for driving joint output precision or/and rotary motion driven unit I and do the driven unit II of elevating movement for driving joint output precision; Joint output can do rotate, move, pitching three kinds motion, and each motion has hydraulic-driven, motor drives two kinds of type of drive, arrange motor to drive or hydraulic-driven drives a kind of motion respectively, and in conjunction with the electrical control of automatic control system, suitable type of drive can be selected according to different working environments, integrate heavy load, high accuracy and the performance such as high-power, the integrated articulation structure of mechanical-electrical-hydraulic integration Three Degree Of Freedom is compact simultaneously, there is three degree of freedom, keeping away barrier, overcoming the abilities such as singularity of manipulator can be increased.
Description
Technical field
The present invention relates to manipulator field, particularly a kind of integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom.
Background technology
Integrated joint is a new trend of manipulator technical development, is design and a kind of modernization method setting up manipulator operating system.Along with to the heavy duty of manipulator and accurate performance requirement more and more higher, kind and the complexity of manipulator increase day by day, the research in integrated joint is improve to versatility, reusability, the reliability of robot manipulator structure, be conducive to the modularization of manipulator operating system design, standardization, there is higher use value also application prospect.
Type of drive and the motion mode of existing machinery swivel of hand are more single, hydraulically powered joint has the ability of heavy load, but high accuracy can not be ensured, motor-driven joint has very high precision, but lose the ability of heavy load, therefore different occasions needs to design different manipulators, reduce the versatility of manipulator, increase design efforts would, manipulator joint generally only has one degree of freedom simultaneously, if need to increase the free degree, then need to increase arm to realize, this does not tightly increase energy consumption, also reduce precision, do not reach desirable requirement.
Therefore need to design a kind of integrated joint, suitable type of drive can be selected according to different working environments, integrate heavy load, high precision performance, simultaneously compact conformation, there is multiple free degree, keeping away barrier, overcoming the abilities such as singularity of manipulator can be increased.
Summary of the invention
In view of this, the invention provides a kind of integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom, suitable type of drive can be selected according to different working environments, integrate heavy load, high precision performance, compact conformation simultaneously, there is multiple free degree, keeping away barrier, overcoming the abilities such as singularity of manipulator can be increased.
The integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom of the present invention, joint comprises shell body, inner housing, joint output precision, drives assembly and automatic control system, drive assembly to comprise to do straight line for driving joint output precision or/and rotary motion driven unit I and do the driven unit II of elevating movement for driving joint output precision;
Driven unit I comprises inner screw sheath, overlap the thread bush gripping mechanism of rotary stopper for internal threads and be connected the driver output axle coordinated with joint output precision, and hydraulic-driven part and the motorized motions part of driver output axle can be driven respectively, hydraulic-driven part and described thread bush gripping mechanism are all fixedly installed in shell body, inner screw sheath is arranged in shell body, electric driving part divides and is arranged in inner housing, driver output axle passes inner housing and shell body successively, driver output axle is fixedly connected with inner housing and can coordinate with shell body around the mode of own axis,
Hydraulic-driven part is rotating hydraulic cylinder, the moving plate axle axle head of rotating hydraulic cylinder is provided with the thread segment I coordinated with inner screw sheath threaded one end, electric driving part divides and comprises electric rotating machine and gear driving pair I, the driven gear of gear driving pair I coordinates transmission with described driver output axle, and driver output axle the inner is provided with the thread segment II with inner screw sheath threaded engagement; Driven unit I also comprises for the moving plate axle of rotating hydraulic cylinder and inner screw sheath fixedly being prevented the screw thread pair gripping mechanism I of both relative motions and the screw thread pair gripping mechanism II of relative motions both being used for driver output axle and inner screw sheath fixedly to prevent;
Driven unit II comprises drive link and can drive linear hydraulic cylinder, the linear electric motors of drive link respectively, linear hydraulic cylinder and described linear electric motors are fixed in inner housing inside, the piston rod of linear hydraulic cylinder is connected with the moving plate secure fit of linear electric motors, the piston rod activity of drive link inner end and linear hydraulic cylinder is connected, and outer end and joint output precision activity are connected;
Rotating hydraulic cylinder, electric rotating machine, linear hydraulic cylinder, linear electric motors, thread bush gripping mechanism, screw thread pair gripping mechanism I and screw thread pair gripping mechanism II are all worked by automatic controlling system.
Further, screw thread pair gripping mechanism I is identical with screw thread pair gripping mechanism II structure, include telescopic hydraulic cylinder I and clamping assembly, clamping assembly comprises two drive rods and two claws, each claw includes link rod part and claw portion, each claw portion is hinged with corresponding drive rod, the mounting blocks that each drive rod upper end is all fixedly installed on one on telescopic hydraulic cylinder I piston rod is hinged, the cylinder body of telescopic hydraulic cylinder I is fixedly installed on the axial end side of inner screw sheath, the link rod part of each claw and the junction in claw portion are hinged with the hinged seat being fixedly installed on inner screw sheath axial end side.
Further, thread bush gripping mechanism is telescopic hydraulic cylinder II, the cylinder body of telescopic hydraulic cylinder II is fixedly installed on inside shell body, and inner screw sheath arranged outside has the piston rod for telescopic hydraulic cylinder II to insert internal threads cover rotary stopper and can the axial slide of relative sliding vertically.
Further, the paw seat mount pad that joint output precision comprises joint bearing pin and is fixedly connected with joint bearing pin, joint bearing pin arranges through driver output shaft end and is connected with the activity of driver output axle, joint bearing pin is installed with the ear seat for being connected with drive link.
Further, drive link comprises the first connecting rod and second connecting rod that are hinged, and the piston rod end of first connecting rod and linear hydraulic cylinder is hinged, and second connecting rod is connected by link connector pin axle and the activity of ear seat.
Further, automatic control system comprises:
Position sensor, is arranged at joint output precision, for detecting the position of joint output precision;
Angular transducer, is arranged at joint output precision, for detecting pitching and the anglec of rotation of joint output precision;
Torque sensor, is arranged at joint output precision, for detecting the moment that wrist joint exports;
Central controller, receives and the information of each sensor feedback of integrated treatment, and implements coordinated signals to the control system of each motor and each hydraulic cylinder signal of giving an order.
Further, shell body is hollow type rectangular structure, and shell body is about the moving plate axial symmetry of rotating hydraulic cylinder, and shell body left side is provided with the screwed hole I that joint can be integrated into and need in affixed frame for movement.
Further, inner housing is hollow type rectangular structure, and inner housing is about driver output axial symmetry, and linear hydraulic cylinder affixed in inner housing and linear electric motors are positioned at same straight line, straight line is positioned at drive link place plane, the joint bearing pin of plane orthogonal on the output precision of joint.
Further, the spring being coated at piston rod is provided with in the cylinder body of linear hydraulic cylinder.
Beneficial effect of the present invention: the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom of the present invention, joint output can do and rotate, mobile, pitching three kinds motion, and each motion has hydraulic-driven, motor drives two kinds of type of drive, arrange motor to drive or hydraulic-driven drives a kind of motion respectively, and in conjunction with the electrical control of automatic control system, suitable type of drive can be selected according to different working environments, collection heavy load, high accuracy and the performance such as high-power are, the integrated articulation structure of mechanical-electrical-hydraulic integration Three Degree Of Freedom is compact simultaneously, there is three degree of freedom, what can increase manipulator keeps away barrier, overcome the abilities such as singularity, simultaneously, along with to the heavy duty of manipulator and accurate performance requirement more and more higher, kind and the complexity of manipulator increase day by day, the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom of the present invention improves the versatility of robot manipulator structure, reusability, reliability, the need of work of various different operating environment can be met, be particularly suitable for mechanical wrist joint, the multi-freedom joints such as shoulder joint, in the design process for different work system, only need to be integrated in the frame for movement of needs driving, be conducive to modularization and the standardization of the design of various operating system, there is higher use value and application prospect.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom of the present invention overall structure schematic diagram;
Fig. 2 is the screw thread pair gripping mechanism structural representation in the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom of the present invention;
Fig. 3 is Fig. 2 side view;
Fig. 4 is the drive linkage arrangement schematic diagram in the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom of the present invention;
Fig. 5 is the joint output precision structural representation in the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom of the present invention.
Detailed description of the invention
As shown in the figure: the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom of the present embodiment, joint comprises shell body 1, inner housing 2, joint output precision, drives assembly and automatic control system, drive assembly to comprise to do straight line for driving joint output precision or/and rotary motion driven unit I and do the driven unit II of elevating movement for driving joint output precision;
Driven unit I comprises inner screw sheath 3, overlap the thread bush gripping mechanism 4 of 3 rotary stoppers for internal threads and be connected the driver output axle 5 coordinated with joint output precision, and hydraulic-driven part and the motorized motions part of driver output axle 5 can be driven respectively, hydraulic-driven part and described thread bush gripping mechanism 4 are all fixedly installed in shell body 1, inner screw sheath 3 is arranged in shell body 1, electric driving part divides and is arranged in inner housing 2, driver output axle 5 passes inner housing 2 and shell body 1 successively, driver output axle 5 is fixedly connected with inner housing 2 and can coordinate with shell body 1 around the mode of own axis,
Hydraulic-driven part is rotating hydraulic cylinder 6, moving plate axle 7 axle head of rotating hydraulic cylinder 6 is provided with the thread segment I coordinated with inner screw sheath 3 threaded one end, electric driving part divides and comprises electric rotating machine 8 and gear driving pair I, the driven gear 9 of gear driving pair I and described driver output axle 5 are connected by key 13 and coordinate, the driving gear 10 of gear driving pair I is also connected by key 14 with driving gear shaft 11 and coordinates, driving gear shaft 11 is connected by shaft coupling 12 with the motor shaft of electric rotating machine 8, and driver output axle 5 the inner is provided with the thread segment II with inner screw sheath 3 threaded engagement; Driven unit I also comprises for the moving plate axle 7 of rotating hydraulic cylinder 6 and inner screw sheath 3 fixedly being prevented the screw thread pair gripping mechanism I 15 of both relative motions and being used for driver output axle 5 and inner screw sheath 3 fixedly to prevent the screw thread pair gripping mechanism II 16 of both relative motions;
Driven unit II comprises drive link and can drive the linear hydraulic cylinder 17 of drive link respectively, linear electric motors 18, it is inner that linear hydraulic cylinder 17 and described linear electric motors 18 are fixed in inner housing 2, the piston rod 19 of linear hydraulic cylinder 17 is connected with moving plate 20 secure fit of linear electric motors 18, the piston rod 19 of linear hydraulic cylinder 17 is connected by bolt or other existing connected mode with the moving plate 20 of linear electric motors 18, piston rod 19 activity of drive link inner end and linear hydraulic cylinder 17 is connected, outer end and joint output precision activity are connected, the piston rod that linear hydraulic cylinder 17 and linear electric motors 18 all can control linear hydraulic cylinder 17 moves left and right,
Rotating hydraulic cylinder 6, electric rotating machine 8, linear hydraulic cylinder 17, linear electric motors 18, thread bush gripping mechanism 4, screw thread pair gripping mechanism I 15 and screw thread pair gripping mechanism II 16 are all worked by automatic controlling system.
The present invention in use, joint output precision has the rectilinear motion at driver output axle 5 axis direction, around the motion of the rotary motion of driver output axle 5 axis and the elevating movement three degree of freedom centered by driver output axle 5 axis, user can select hydraulic-driven or motor driving to carry out driving work to joint output precision as the case may be, and, whether user by controlling the work of screw thread pair gripping mechanism I 15 and screw thread pair gripping mechanism II 16, reach the object choosing hydraulic driving mode or motor drive mode, when choosing hydraulic driving mode, can be simultaneously stuck by two screw thread pair gripping mechanisms, make inner screw sheath 3, driver output axle 5 is all in company with the logical rotation of moving plate axle 7 one of rotating hydraulic cylinder 6, export the rotary motion of joint output precision, or, by stuck for screw thread pair gripping mechanism II 16, screw thread pair gripping mechanism I 15 is not stuck, and, thread bush gripping mechanism 4 works, prevent inner screw sheath 3 from rotating, driver output axle 5 does rectilinear motion in company with inner screw sheath 3 on the thread segment of the moving plate axle 7 of rotating hydraulic cylinder 6, export the tandem motion of joint output precision, move wherein simultaneously a kind of with above-mentioned two kinds, work by automatic controlling system linear hydraulic cylinder 17, drive link band movable joint output precision is driven to do elevating movement, elected when getting motor drive mode, can by stuck for screw thread pair gripping mechanism I 15, screw thread pair gripping mechanism II 16 is not stuck, and thread bush gripping mechanism 4 works, prevent inner screw sheath 3 from rotating, driver output axle 5 does and rotates and rectilinear motion under the effect of electric rotating machine 8 and gear pair, works by automatic controlling system linear electric motors 18 simultaneously, drives drive link band movable joint output precision to do elevating movement, in addition, no matter which kind of duty, when driver output axle 5 rotate or rectilinear motion work time, due to inner housing 2 and driver output axle 5 secure fit, then inner housing 2 together moves in company with driver output axle 5,
As the case may be, select to adopt motor to drive and drive a kind of moving with hydraulic-driven, in conjunction with electrical control, suitable type of drive can be selected according to different working environments, collection heavy load, high precision performance, the integrated articulation structure of mechanical-electrical-hydraulic integration Three Degree Of Freedom is compact simultaneously, there is multiple free degree, what can increase manipulator keeps away barrier, overcome the abilities such as singularity, simultaneously, along with to the heavy duty of manipulator and accurate performance requirement more and more higher, kind and the complexity of manipulator increase day by day, the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom improves the versatility of robot manipulator structure, reusability, reliability, be conducive to the modularization of manipulator operating system design, standardization, there is higher use value and application prospect,
In the present embodiment, screw thread pair gripping mechanism I 15 is identical with screw thread pair gripping mechanism II 16 structure, include telescopic hydraulic cylinder I 21 and clamping assembly, clamping assembly comprises two drive rods (being drive rod 22 and drive rod 22a in figure) and two claws (being claw 23 and claw 23a in figure), each claw includes link rod part 24 and claw portion 25, each claw portion is hinged with corresponding drive rod, the mounting blocks 26 that each drive rod upper end is all fixedly installed on one on telescopic hydraulic cylinder I 21 piston rod is hinged, the cylinder body of telescopic hydraulic cylinder I 21 is fixedly installed on the axial end side of inner screw sheath 3, the link rod part of each claw and the junction in claw portion are hinged with the hinged seat 27 being fixedly installed on inner screw sheath 3 axial end side, wherein, inner screw sheath 3 both ends arrange screw thread pair gripping mechanism I 15 and screw thread pair gripping mechanism II 16 respectively, two claws of screw thread pair gripping mechanism I 15 be separately positioned on rotating hydraulic cylinder 6 moving plate axle 7 both sides and can operationally to moving plate axle 7 one-tenth clamped conditions, two claws of screw thread pair gripping mechanism II 16 are arranged on driver output axle 5 both sides and can operationally to driver output axle 5 one-tenth clamped conditions, because the telescopic hydraulic cylinder I 21 of each screw thread pair gripping mechanism is all fixed with inner screw sheath 3, when when clamping, inner screw sheath 3 and moving plate axle 7 are or/and driver output axle 5 is without relative motion, this screw thread pair gripping mechanism structure is simple, realize operation to be all easier to, inner screw sheath 3 is controlled flexibly with moving plate axle 7 or/and the relative status of driver output axle 5 by electrical control.
In the present embodiment, thread bush gripping mechanism 4 is telescopic hydraulic cylinder II, the cylinder body of telescopic hydraulic cylinder II is fixedly installed on inside shell body 1, and inner screw sheath 3 arranged outside has the piston rod for telescopic hydraulic cylinder II to insert internal threads to overlap 3 rotary stoppers and can the axial slide of relative sliding vertically; Axial slide can slide to axial when the piston rod of telescopic hydraulic cylinder II stretches out and is inserted in groove, and implementation is simple, can rotary motion that easier internal threads overlaps 324 limit.
In the present embodiment, the paw seat mount pad 29 that joint output precision comprises joint bearing pin 28 and is fixedly connected with joint bearing pin 28, joint bearing pin 28 arranges through driver output axle 5 end and is connected with driver output axle 5 activity, joint bearing pin 28 is installed with the ear seat 30 for being connected with drive link; Joint bearing pin 28 arranges through driver output axle 5 end and is connected with driver output axle 5 activity and joint bearing pin 28 can be made under the driving of linear hydraulic cylinder 17 or linear electric motors 18 to do elevating movement, wherein activity is herein connected the mode that can be and arrange rotating shaft in the front end of driver output axle 5, joint bearing pin 28 and rotating shaft secure fit, in addition, paw seat mount pad 29 is provided with screwed hole, integrated joint can be integrated in the required frame for movement (the paw seat 36 as paw) driven.
In the present embodiment, drive link comprises the first connecting rod 31 and second connecting rod 32 that are hinged, and first connecting rod 31 is hinged with the piston rod end of linear hydraulic cylinder 17, and second connecting rod 32 is connected by link connector pin axle 33 and ear seat 30 activity; First connecting rod 31 is hinged with second connecting rod 32, and second connecting rod 32 is flexibly connected with ear seat 30 is hinged, and syndeton is simple, and type of drive easily realizes.
In the present embodiment, automatic control system comprises:
Position sensor, is arranged at joint output precision, for detecting the position of joint output precision;
Angular transducer, is arranged at joint output precision, for detecting pitching and the anglec of rotation of joint output precision;
Torque sensor, is arranged at joint output precision, for detecting the moment that wrist joint exports;
Central controller, receives and the information of each sensor feedback of integrated treatment, and implements coordinated signals to the control system of each motor and each hydraulic cylinder signal of giving an order.
The present invention is equipped with sensor in use and the position of technology machine control technology to joint output precision is accurately located, the precision of the joint output precision course of work can be ensured, and can the installation site of accurate positioning workpieces, by control system feedback information, ensure the precision of manipulator location and installation workpiece fabrication.
In the present embodiment, shell body 1 is hollow type rectangular structure, and shell body 1 is symmetrical about the moving plate axle 7 of rotating hydraulic cylinder 6, and shell body 1 left side is provided with the screwed hole I 34 that joint can be integrated into and need in affixed frame for movement.
In the present embodiment, inner housing 2 is hollow type rectangular structure, and inner housing 2 is symmetrical about driver output axle 5, and linear hydraulic cylinder 17 affixed in inner housing 2 is positioned at same straight line with linear electric motors 18, straight line is positioned at drive link place plane, the joint bearing pin 28 of plane orthogonal on the output precision of joint.
In the present embodiment, in telescopic hydraulic cylinder I 21 cylinder body and in the cylinder body of linear hydraulic cylinder 17, be provided with the spring 35 being coated at piston rod; Return after piston rod work can be made.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (9)
1. the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom, it is characterized in that: described joint comprises shell body, inner housing, joint output precision, drives assembly and automatic control system, described driving assembly comprises and does the driven unit I of straight line and rotary motion for driving joint output precision and do the driven unit II of elevating movement for driving joint output precision;
Described driven unit I comprises inner screw sheath, overlap the thread bush gripping mechanism of rotary stopper for internal threads and be connected the driver output axle coordinated with joint output precision, and hydraulic-driven part and the motorized motions part of driver output axle can be driven respectively, described hydraulic-driven part and described thread bush gripping mechanism are all fixedly installed in shell body, described inner screw sheath is arranged in shell body, described electric driving part divides and is arranged in inner housing, described driver output axle passes inner housing and shell body successively, driver output axle is fixedly connected with inner housing and can coordinate with shell body around the mode of own axis,
Described hydraulic-driven part is rotating hydraulic cylinder, the moving plate axle axle head of described rotating hydraulic cylinder is provided with the thread segment I coordinated with inner screw sheath threaded one end, described electric driving part divides and comprises electric rotating machine and gear driving pair I, the driven gear of described gear driving pair I coordinates transmission with described driver output axle, and described driver output axle the inner is provided with the thread segment II with inner screw sheath threaded engagement; Described driven unit I also comprises for the moving plate axle of rotating hydraulic cylinder and inner screw sheath fixedly being prevented the screw thread pair gripping mechanism I of both relative motions and the screw thread pair gripping mechanism II of relative motions both being used for driver output axle and inner screw sheath fixedly to prevent;
Described driven unit II comprises drive link and can drive linear hydraulic cylinder, the linear electric motors of drive link respectively, described linear hydraulic cylinder and described linear electric motors are fixed in inner housing inside, the piston rod of described linear hydraulic cylinder is connected with the moving plate secure fit of linear electric motors, the piston rod activity of described drive link inner end and linear hydraulic cylinder is connected, and outer end and joint output precision activity are connected;
Described rotating hydraulic cylinder, described electric rotating machine, described linear hydraulic cylinder, described linear electric motors, described thread bush gripping mechanism, described screw thread pair gripping mechanism I and described screw thread pair gripping mechanism II are all worked by described automatic controlling system.
2. the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom according to claim 1, it is characterized in that: described screw thread pair gripping mechanism I is identical with described screw thread pair gripping mechanism II structure, include telescopic hydraulic cylinder I and clamping assembly, described clamping assembly comprises two drive rods and two claws, claw described in each includes link rod part and claw portion, each claw portion is hinged with corresponding drive rod, the mounting blocks that each drive rod upper end is all fixedly installed on one on telescopic hydraulic cylinder I piston rod is hinged, the cylinder body of telescopic hydraulic cylinder I is fixedly installed on the axial end side of inner screw sheath, the link rod part of each claw and the junction in claw portion are hinged with the hinged seat being fixedly installed on inner screw sheath axial end side.
3. the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom according to claim 2, it is characterized in that: described thread bush gripping mechanism is telescopic hydraulic cylinder II, the cylinder body of described telescopic hydraulic cylinder II is fixedly installed on inside shell body, and described inner screw sheath arranged outside has the piston rod for telescopic hydraulic cylinder II to insert internal threads cover rotary stopper and can the axial slide of relative sliding vertically.
4. the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom according to claim 3, it is characterized in that: the paw seat mount pad that described joint output precision comprises joint bearing pin and is fixedly connected with described joint bearing pin, described joint bearing pin arranges through described driver output shaft end and is connected with the activity of driver output axle, described joint bearing pin is installed with the ear seat for being connected with drive link.
5. the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom according to claim 4, it is characterized in that: described drive link comprises the first connecting rod and second connecting rod that are hinged, the piston rod end of described first connecting rod and described linear hydraulic cylinder is hinged, and described second connecting rod is connected by link connector pin axle and the activity of described ear seat.
6. the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom according to claim 5, is characterized in that: described automatic control system comprises:
Position sensor, is arranged at joint output precision, for detecting the position of joint output precision;
Angular transducer, is arranged at joint output precision, for detecting pitching and the anglec of rotation of joint output precision;
Torque sensor, is arranged at joint output precision, for detecting the moment that wrist joint exports;
Central controller, receives and the information of each sensor feedback of integrated treatment, and implements coordinated signals to the control system of each motor and each hydraulic cylinder signal of giving an order.
7. the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom according to claim 6, it is characterized in that: described shell body is hollow type rectangular structure, shell body is about the moving plate axial symmetry of rotating hydraulic cylinder, and shell body left side is provided with the screwed hole I that joint can be integrated into and need in affixed frame for movement.
8. the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom according to claim 7, it is characterized in that: described inner housing is hollow type rectangular structure, inner housing is about driver output axial symmetry, linear hydraulic cylinder affixed in inner housing and linear electric motors are positioned at same straight line, described straight line is positioned at drive link place plane, the joint bearing pin of described plane orthogonal on the output precision of joint.
9. the integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom according to claim 8, is characterized in that: be provided with the spring being coated at piston rod in the cylinder body of described linear hydraulic cylinder.
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| CN106847044B (en) * | 2017-01-18 | 2023-08-11 | 重庆交通大学 | Teaching aid for coaxial reciprocating motion mechanism and demonstration method thereof |
| CN108032329B (en) * | 2017-12-20 | 2023-08-15 | 重庆交通大学 | Composite mechanical joint |
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| CN104354165A (en) | 2015-02-18 |
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