CN106493721A - Joint of robot Hydraulic servo drive mechanism - Google Patents
Joint of robot Hydraulic servo drive mechanism Download PDFInfo
- Publication number
- CN106493721A CN106493721A CN201611088992.3A CN201611088992A CN106493721A CN 106493721 A CN106493721 A CN 106493721A CN 201611088992 A CN201611088992 A CN 201611088992A CN 106493721 A CN106493721 A CN 106493721A
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- China
- Prior art keywords
- servo drive
- hydraulic servo
- robot
- joint
- rocking bar
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/20—Programme controls fluidic
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of joint of robot Hydraulic servo drive mechanism, including：Hydraulic servo drive unit, the fixing end of the Hydraulic servo drive unit are connected with the first fixed hinge；And quadric chain, the quadric chain includes first rocking bar and the second rocking bar of fixed frame and fixed frame connection, and the connecting rod being connected with first rocking bar and second rocking bar, wherein, the movable end of the Hydraulic servo drive unit is connected with first rocking bar, to swing by the flexible drive of the movable end first rocking bar, change the articulation angle being made up of the fixed frame with second rocking bar.
Description
Technical field
The present invention relates to robot research and engineering field, and in particular to a kind of joint of robot Hydraulic servo drive machine
Structure.
Background technology
Robot is the cross discipline for integrating the subjects such as control, machinery, electronics, material, with robot technology
Develop rapidly, higher index request is proposed to each part of system.Joint of robot type of drive is directly affected
To the overall performance of robot, the extensive concern of researcher is therefore suffered from.
The joint drive mode of robot mainly includes that Pneumatic artificial muscle, servomotor drive and Hydraulic servo drive.
Pneumatic artificial muscle has the advantages that low quality relatively light, price, easy maintenance and good compliance, but which controls essence
Degree is relatively low.The rapid dynamic response speed that servomotor drives, reliability are high, but power density is relatively low.Current actuation techniques
Under, if wanting to reach stronger load capacity, the volume of motor, quality are all larger, and this will cause robot very heavy.
Drive relative to Pneumatic artificial muscle and servomotor, Hydraulic servo drive has high power density, high rigidity, height
The remarkable advantage such as precision and high capacity.But the drive mechanism adopted by traditional hydraulic driving mode typically results in robot tool
There is less range of motion.
Specifically, as illustrated by figures 1 a-1 c, existing joint hydraulic servo-actuating device mainly includes following three kinds of shapes
Formula：As shown in Figure 1a, hydraulic drive unit 101a one end of the first drive mechanism be fixed hinge 105a, the other end for activity
Hinge 103a, is swung by the flexible drivening rod 104a of the take-off lever 102a of hydraulic drive unit 101a, so as to realize joint
Rotation；As shown in Figure 1 b, hydraulic drive unit 101b of second drive mechanism is fixed, and only take-off lever 102b can stretch
Contracting, is provided with chute guide rail 105b on connecting rod 104b, can make hinges 103b in chute guide rail when take-off lever 102b is flexible
Slide in 105b, and then drivening rod 104b swings；As illustrated in figure 1 c, the third drive mechanism is by second drive mechanism
Guide rail sliding chute be substituted for the connecting rod 106c that two ends have hinges 103c.It is not difficult to find out, the first drive mechanism will be obtained
Larger articulation angle, the range of movement of the take-off lever 102a of hydraulic drive unit 101a must be very big, and connecting rod
In swing process, hydraulic drive unit 101a will also carry out the rotation of larger angle to 104a；Second and the third driving
Although mechanism's hydraulic drive unit 101b, 101c is not rotated with connecting rod 104b, 104c, take-off lever 102b, 102c's
Range of movement directly limit the pendulum angle of connecting rod 104b, 104c, it is difficult to realize the larger articulation angle of robot.
Therefore, in order to improve the overall performance of robot, need to design one kind possess that dynamic characteristic is high, load capacity is big and
The relatively small joint drive mode of volume.
Content of the invention
Huge in order to solve less range of movement existing for above-mentioned traditional joint driving mechanism, poor dynamic and volume
Big the problems such as, the invention provides a kind of joint of robot Hydraulic servo drive mechanism, which passes through Hydraulic servo drive unit
Combined with special quadric chain, make use of the motion amplification principle of the quadric chain, can not only be realized that dynamic characteristic is high,
The range of movement of Hydraulic servo drive unit can also be reduced indirectly, so as to save structure space, joint of robot is more stepped up
Gather.Further, since hydraulic drive unit has sufficiently large power output, even if being caused due to the motion amplification of quadric chain
Joint drive power has declined, but still can meet the demand of joint of robot driving force and high capacity.
According to an aspect of the present invention, the joint of robot Hydraulic servo drive mechanism includes：
Hydraulic servo drive unit, the fixing end of the Hydraulic servo drive unit are connected with the first fixed hinge；And
Quadric chain, the quadric chain include fixed frame and the fixed frame connection the first rocking bar and
Second rocking bar, and the connecting rod being connected with first rocking bar and second rocking bar,
Wherein, the movable end of the Hydraulic servo drive unit is connected with first rocking bar, to pass through the movable end
Flexible drive first rocking bar swing, change the articulation angle being made up of the fixed frame with second rocking bar
Degree.
According to embodiment, the fixed frame include the second fixed hinge being arranged in the first position of robot and
It is arranged on the first position of robot and the 3rd fixed hinge of second position junction.
According to embodiment, first fixed hinge is arranged in the first position of robot.
According to embodiment, the movable end of the Hydraulic servo drive unit passes through the first hinges and described first
Rocking bar and the connecting rod connect, and the connecting rod is connected with second rocking bar by the second hinges.
According to embodiment, the shank that the first position is the thigh of robot and the second position is robot.
According to embodiment, the Hydraulic servo drive unit includes hydraulic efficiency servo-valve, for controlling the motion of hydraulic cylinder.
According to embodiment, the Hydraulic servo drive unit also includes the LVDT (Linear on the hydraulic cylinder
Variable Differential Transformer) linear displacement transducer, for detecting the motion of take-off lever, wherein institute
The core for stating LVDT sensors is connected with the take-off lever of the hydraulic cylinder by oscillating bearing.
Description of the drawings
Fig. 1 a-1c are the structural representation of existing joint of robot Hydraulic servo drive mechanism.
Fig. 2 is the structural representation of the joint of robot Hydraulic servo drive mechanism according to the embodiment of the present invention.
Fig. 3 is the anthropomorphic robot of the joint of robot Hydraulic servo drive mechanism for being provided with according to embodiments of the present invention
Knee joint structure schematic diagram.
Fig. 4 is the Hydraulic servo drive unit of the joint of robot Hydraulic servo drive mechanism according to the embodiment of the present invention
Structural representation.
Specific embodiment
According to embodiments of the present invention joint of robot Hydraulic servo drive mechanism is described in detail referring to the drawings.
Fig. 2 diagrammatically illustrates the structural representation of joint of robot Hydraulic servo drive mechanism according to embodiments of the present invention
Figure.As shown in Fig. 2 joint of robot Hydraulic servo drive mechanism includes：Hydraulic servo drive unit 201, its fixing end and the
One fixed hinge D connects；And quadric chain, the quadric chain includes that fixed frame 202 and fixed frame 202 connect
The first rocking bar 203 and the second rocking bar 204, and the connecting rod 205 being connected with the first and second rocking bars 203,204.
Further, as shown in Fig. 2 the movable end of Hydraulic servo drive unit 201 is connected with the first rocking bar 203, with logical
The first rocking bar of flexible drive 203 for crossing movable end swings, and changes the joint being made up of fixed frame 202 and the second rocking bar 204
Rotational angle θ.
Also, fixed frame 202 includes the second fixed hinge H and the 3rd fixed hinge G.Hydraulic servo drive unit
201 movable end is connected with the first rocking bar 203 and connecting rod 205 by the first hinges E, and connecting rod 205 is lived by second
Dynamic hinge F is connected with the second rocking bar 204.
Also, as shown in Fig. 2 the total length l of articulation angle, θ and Hydraulic servo drive unit 201EDBetween function
Relation can be obtained by below equation.
According to the present embodiment, angle ∠ GHD is definite value, meets ∠ GHD=161.6 °, and length meets lDH=223.3mm,
lHE=60mm, lHG=38mm, lGF=40mm, lEF=50mm, above-mentioned angle and bar length are exemplary, meet motion amplification
It is feasible with the setting value being actually needed：
∠ EHD=2 π-∠ GHD- ∠ GHF- ∠ FHE
As shown in Fig. 2 compared with prior art, it is an advantage of the current invention that：
By the quadric chain with motion amplification function is combined with Hydraulic servo drive unit, machine is increased
The articulation angle of people；And avoiding joint of robot is carrying out Hydraulic servo drive unit itself when larger angle is rotated
Larger angle swings, and so as to save structure space, makes joint of robot compacter.
Fig. 3 shows the apery machine of the joint of robot Hydraulic servo drive mechanism for being provided with according to embodiments of the present invention
The knee joint structure of people.
As shown in figure 3, the knee joint of anthropomorphic robot includes thigh 301, shank 302 and Hydraulic servo drive unit 303.
Thigh 301 is connected by fixed hinge G with shank 302, the fixing end of Hydraulic servo drive unit 303 be arranged on the machine National People's Congress
Fixed hinge D connections on leg 301, and the movable end of Hydraulic servo drive unit 303 passes through hinges E and connecting rod 304, connects
Bar 305 connects.Connecting rod 304 is connected except the hinges E with Hydraulic servo drive unit 303, its other end be arranged on little
Hinges F connections on leg 302.Connecting rod 305 is connected except the hinges E with Hydraulic servo drive unit 303, and which is another
End is connected with the fixed hinge H being arranged on thigh 301.
As shown in figure 3, hinge E, F, G and H constitute quadric chain, with by the activity of Hydraulic servo drive unit 303
The flexible drivening rod 305 at end swings, and changes the articulation angle, θ being made up of fixed frame GH and rocking bar GF, so as to reality
The knee joint of existing robot is rotated.
Fig. 4 shows the Hydraulic servo drive list of joint of robot Hydraulic servo drive mechanism according to embodiments of the present invention
The structure of unit.
As shown in figure 4, Hydraulic servo drive unit includes hydraulic cylinder 401, its fixing end by oscillating bearing 402 and is fixed
Hinge D connects, and its take-off lever 403 is connected with hinges E by oscillating bearing 404.
Hydraulic servo drive unit also includes hydraulic efficiency servo-valve 405, for controlling the motion of hydraulic cylinder 401.Also, hydraulic pressure
Servo drive unit also includes that LVDT (Linear Variable Differen tial Transformer) straight-line displacement is sensed
Device 406, for detecting the motion of take-off lever 403.Wherein, LVDT displacement transducers 406 are arranged on liquid by two fixed mounts 407
On cylinder pressure 401, and the core 408 of LVDT displacement transducers 406 is connected with the take-off lever 403 of hydraulic cylinder 401 by oscillating bearing 409
Connect.
Fig. 3 and 4 shows that joint of robot Hydraulic servo drive mechanism according to embodiments of the present invention is applied to apery machine
The kneed embodiment of device people；However, the invention is not restricted to this, for example, it is applied to the pass at other positions of anthropomorphic robot
Section, other bionic machines person joint and joint of mechanical arm are also feasible.
As described above, the invention provides a kind of joint of robot Hydraulic servo drive mechanism, which passes through hydraulic servo
Driver element with have motion amplification function quadric chain is combined, can not only realize joint of robot dynamic characteristic height,
The big advantage of load capacity, can also reduce indirectly the range of movement of Hydraulic servo drive unit, so as to save structure space, make
Joint of robot is compacter.
Obviously, above-described embodiment is only intended to clearly illustrate example of the present invention, and is not to the present invention
The restriction of embodiment.For those of ordinary skill in the field, which can also be made on the basis of the above description
The change or variation of its multi-form.There is no need to be exhaustive to all of embodiment.And these belong to this
Bright spirit extended obvious change or change still in protection scope of the present invention among.
Claims (7)
1. a kind of joint of robot Hydraulic servo drive mechanism, including：
Hydraulic servo drive unit, the fixing end of the Hydraulic servo drive unit are connected with the first fixed hinge；And
Quadric chain, the quadric chain include first rocking bar and second of fixed frame and fixed frame connection
Rocking bar, and the connecting rod being connected with first rocking bar and second rocking bar,
Wherein, the movable end of the Hydraulic servo drive unit is connected with first rocking bar, with stretching by the movable end
Contracting drives first rocking bar to swing, and changes the articulation angle being made up of the fixed frame with second rocking bar.
2. joint of robot Hydraulic servo drive mechanism as claimed in claim 1, wherein, the fixed frame includes being arranged on
The second fixed hinge in the first position of robot and it is arranged on first position and the second position junction of robot
3rd fixed hinge.
3. joint of robot Hydraulic servo drive mechanism as claimed in claim 1 or 2, wherein, first fixed hinge sets
Put in the first position of robot.
4. joint of robot Hydraulic servo drive mechanism as claimed in claim 3, wherein, the Hydraulic servo drive unit
The movable end is connected with first rocking bar and the connecting rod by the first hinges, and the connecting rod is lived by second
Dynamic hinge is connected with second rocking bar.
5. joint of robot Hydraulic servo drive mechanism as claimed in claim 3, wherein, the first position is robot
The shank of thigh and the second position for robot.
6. joint of robot Hydraulic servo drive mechanism as claimed in claim 1, wherein, the Hydraulic servo drive unit bag
Hydraulic efficiency servo-valve is included, for controlling the motion of hydraulic cylinder.
7. joint of robot Hydraulic servo drive mechanism as claimed in claim 6, wherein, the Hydraulic servo drive unit is also
Including the LVDT sensors on the hydraulic cylinder, for detecting the motion of take-off lever, wherein described LVDT sensors
Core is connected with the take-off lever of the hydraulic cylinder by oscillating bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611088992.3A CN106493721A (en) | 2016-11-30 | 2016-11-30 | Joint of robot Hydraulic servo drive mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611088992.3A CN106493721A (en) | 2016-11-30 | 2016-11-30 | Joint of robot Hydraulic servo drive mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106493721A true CN106493721A (en) | 2017-03-15 |
Family
ID=58329567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611088992.3A Pending CN106493721A (en) | 2016-11-30 | 2016-11-30 | Joint of robot Hydraulic servo drive mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN106493721A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107671847A (en) * | 2017-11-22 | 2018-02-09 | 航天科工智能机器人有限责任公司 | A kind of Three Degree Of Freedom pneumatic mechanical manipulator |
| CN107685787A (en) * | 2017-08-14 | 2018-02-13 | 江苏集萃智能制造技术研究所有限公司 | A kind of joint of robot linear drive system |
| CN108210244A (en) * | 2018-01-04 | 2018-06-29 | 中国人民解放军国防科技大学 | Bionic three-degree-of-freedom exoskeleton hip joint |
| CN108687755A (en) * | 2017-04-07 | 2018-10-23 | 范红兵 | A kind of industrial robot |
| CN111015726A (en) * | 2019-12-10 | 2020-04-17 | 长春工业大学 | But bionical machinery knee joint of auto-lock based on tension structure |
| CN114080303A (en) * | 2019-06-27 | 2022-02-22 | Kyb-Ys株式会社 | Modular robot |
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| CN104176145A (en) * | 2014-08-22 | 2014-12-03 | 西北工业大学 | Asymmetric wheel leg type all-directional moving chassis |
| CN104827485A (en) * | 2015-04-23 | 2015-08-12 | 广东工业大学 | Linear drive robot joint with bar linkage mechanism |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108687755A (en) * | 2017-04-07 | 2018-10-23 | 范红兵 | A kind of industrial robot |
| CN108687755B (en) * | 2017-04-07 | 2024-03-15 | 河南欧帕工业机器人有限公司 | Industrial robot |
| CN107685787A (en) * | 2017-08-14 | 2018-02-13 | 江苏集萃智能制造技术研究所有限公司 | A kind of joint of robot linear drive system |
| CN107671847A (en) * | 2017-11-22 | 2018-02-09 | 航天科工智能机器人有限责任公司 | A kind of Three Degree Of Freedom pneumatic mechanical manipulator |
| CN108210244A (en) * | 2018-01-04 | 2018-06-29 | 中国人民解放军国防科技大学 | Bionic three-degree-of-freedom exoskeleton hip joint |
| CN108210244B (en) * | 2018-01-04 | 2020-10-02 | 中国人民解放军国防科技大学 | Bionic three-degree-of-freedom exoskeleton hip joint |
| CN114080303A (en) * | 2019-06-27 | 2022-02-22 | Kyb-Ys株式会社 | Modular robot |
| CN111015726A (en) * | 2019-12-10 | 2020-04-17 | 长春工业大学 | But bionical machinery knee joint of auto-lock based on tension structure |
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Application publication date: 20170315 |
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