CN108161984B - Hydraulic joint module of robot - Google Patents
Hydraulic joint module of robot Download PDFInfo
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- CN108161984B CN108161984B CN201810147594.7A CN201810147594A CN108161984B CN 108161984 B CN108161984 B CN 108161984B CN 201810147594 A CN201810147594 A CN 201810147594A CN 108161984 B CN108161984 B CN 108161984B
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- central shaft
- oil inlet
- cylinder sleeve
- connecting plate
- hydraulic
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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
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
- F03C2/00—Rotary-piston engines
- F03C2/30—Rotary-piston engines having the characteristics covered by two or more of groups F03C2/02, F03C2/08, F03C2/22, F03C2/24 or having the characteristics covered by one of these groups together with some other type of movement between co-operating members
- F03C2/304—Rotary-piston engines having the characteristics covered by two or more of groups F03C2/02, F03C2/08, F03C2/22, F03C2/24 or having the characteristics covered by one of these groups together with some other type of movement between co-operating members having both the movements defined in sub-group F03C2/08 or F03C2/22 and relative reciprocation between members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C11/00—Combinations of two or more machines or pumps, each being of rotary-piston or oscillating-piston type; Pumping installations
- F04C11/008—Enclosed motor pump units
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C9/00—Oscillating-piston machines or pumps
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Hydraulic Motors (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The patent discloses a robot hydraulic joint module, which comprises an electrohydraulic integrated spherical pump power system, a hydraulic motor (41) and a control system, wherein a base (21) is arranged on a shell (1); the electrohydraulic integrated spherical pump power system consists of a spherical pump (40) with a positive and negative rotation function, a motor stator (3) and a motor rotor (4), wherein the spherical pump (40) is fixedly connected with the motor rotor (4), the spherical pump (40) is arranged on one side of a connecting plate, a hydraulic motor (41) is arranged on the other side of the connecting plate (7), a cylinder sleeve end cover (14) is connected to a cylinder sleeve (13), and a connecting ring is arranged on the cylinder sleeve end cover (14); the controller (27) is electrically connected with the motor, the sensor and the brake system and is used for receiving the sensor signal, controlling the operation of the motor, starting and stopping the brake system and the like. The advantage of this patent is that simple structure, moment of torsion are big, power mass is than big, and motion flexibility is good, can the modularization use.
Description
Technical Field
The invention relates to a robot hydraulic joint, in particular to a universal robot hydraulic joint module, and belongs to the technical field of robots.
Background
The grabbing and lifting parts of the robot comprise hands, arms and robot joints, and the robot joints serve as important parts of the robot and play a very important role in indexes such as the size, weight, action flexibility and grabbing and lifting strength of the robot. At present, the driving mode of the robot joint comprises motor speed reducer driving, pneumatic artificial muscle driving and hydraulic driving. The pneumatic artificial muscle drive has the characteristics of light weight, low price, easy maintenance and the like, but has low control precision and limited application; the motor reducer has the advantages of low cost, simple control, small volume and the like, but has the biggest problems of low power-mass ratio, too high rigidity, lack of flexibility, easy damage in the movement process and the like; in contrast, the biggest advantage of hydraulic drive is that the power quality ratio is high, and the motion flexibility is good, so in recent years, the hydraulic drive joint is increasingly applied to the robot, and the hydraulic drive robot has become an important direction and trend of robot research.
However, the existing hydraulic driving robot joints are all centralized hydraulic distribution systems, a high-power and high-flow hydraulic pump is used as a central hydraulic source, and various valves and control systems are configured to distribute pressure to all positions needing to act, so that the problems are that the power system is heavy in structure and high in power consumption, and the volume of the system is large and the energy consumption loss is large due to the fact that the number of parts added by the valves is large.
The spherical pump is a variable capacity mechanism with a brand new structure, can realize high pressure with smaller volume, has many advantages when used for a robot power system, and can reduce the volume, weight and energy consumption of the robot power system.
Disclosure of Invention
The invention aims to design a robot hydraulic joint module, which adopts a spherical pump and a hydraulic motor (capable of rotating at any angle, continuously running and rotating forward and backward) to form a standard joint module so as to improve the power-mass ratio of a hydraulic joint, improve the response speed and flexibility of the joint, reduce energy consumption and reduce weight and volume, and can be used in a modularized manner in the production of robots.
The technical scheme of the invention is that the robot hydraulic joint module is characterized in that: including setting up integrative spherical pump driving system of electricity liquid, hydraulic motor and the control system in the shell, be provided with the base on the shell, wherein:
the electrohydraulic integrated spherical pump power system is composed of a spherical pump with a forward and reverse rotation function, a motor stator and a motor rotor, wherein the rotor connector is of a cylindrical structure with an opening at one end, the spherical pump is arranged in a cylindrical inner cavity of the rotor connector, the outer cylindrical surface of the rotor connector is fixedly connected with the inner cylindrical surface of the motor rotor, and the motor stator and the connecting plate are fixed on the inner cylindrical surface of the cylindrical inner cavity of the shell; a cylindrical cavity matched with a cylindrical boss at the top end of the cylinder cover is inwards recessed in the center of one side of the connecting plate, and a central shaft is outwards extended from the center of the other side of the connecting plate; a hydraulic oil way is arranged in the central shaft and the cylinder cover; the flange end face at the top end of the spherical pump shell is jointed with the end face at one side of the connecting plate and is fixed on the end face at the side of the connecting plate through screws, after a cylindrical boss extending out of the pump shell from the top end of the cylinder cover is inserted into a cylindrical cavity on the connecting plate, the end face of the cylindrical boss at the top end of the cylinder cover is tightly jointed with the bottom face of the cylindrical cavity recessed in the connecting plate, two oil inlet and outlet holes on the cylinder cover are respectively communicated with two oil inlet and outlet holes in the central shaft of the connecting plate, and two overflow channels on the cylinder cover are respectively communicated with two overflow channels on the connecting plate; the bottom end of the rotor connecting body protrudes inwards to form a driving shaft to be connected with a turntable of the spherical pump, a C bearing is arranged between the inner cylindrical surface of the rotor connecting body and the outer cylindrical surface of a pump shell of the spherical pump, the bottom end of the rotor connecting body protrudes outwards to form a supporting shaft, a D bearing and a bearing gland are connected to the supporting shaft, the bearing gland is fixed on the shell, and the rotor connecting body takes the C bearing and the D bearing as rotary supports; an electric appliance end cover is arranged on the outer side end surface of the bearing gland, the elastic oil reservoir is arranged in a closed cavity formed by the bearing gland and the electric appliance end cover, and the elastic oil reservoir is communicated with the cavity between the motor stator and the pump shell;
the hydraulic motor is arranged on one side of the connecting plate, which extends out of the central shaft, and comprises a cylinder sleeve, an elliptical wheel, a blade and a spring, wherein the elliptical wheel is fixed on the central shaft, the cylinder sleeve surrounds the central shaft and rotates around the elliptical wheel, a plurality of blade grooves are formed in the inner cylindrical surface of the cylinder sleeve, the root of each blade groove is provided with the spring, one end of each blade is pressed and held on the spring, the other end of each blade is attached to the outer arc surface of the elliptical wheel, when the blade rotates along with the cylinder sleeve around the elliptical wheel, the blade compresses the spring and slides in the blade grooves, a cylinder sleeve end cover is connected to the annular end surface of one side of the cylinder sleeve, which is connected with the blade, two groups of closed working cavities of the hydraulic motor are formed by the cylinder sleeve end cover, the cylinder sleeve, the elliptical wheel and the blade combination, and the two groups of closed working cavities are respectively communicated with two oil inlet holes in the central shaft; an A bearing is arranged between the cylindrical surface of the root step of the central shaft and the cylinder sleeve, and a B bearing is arranged between the cylindrical surface of the end step of the central shaft and the end cover of the cylinder sleeve; a connecting ring is arranged on the cylinder sleeve end cover and is connected with a base of a robot hand, an arm or other hydraulic joints;
the control system comprises a controller, a sensor and a brake system; the brake system and the sensor are arranged between the cylinder sleeve of the hydraulic motor and the side surface of the connecting plate, the brake system is used for controlling the braking of the hydraulic motor, and the sensor is used for sensing information such as the rotation angle, the rotation speed and the like of the cylinder sleeve; the controller is arranged in a cavity formed by the bearing gland and the electric appliance end cover, is electrically connected with the motor, the sensor and the brake system and is used for receiving the sensor signals, controlling the operation of the motor, starting and stopping the brake system and the like;
further, the central shaft is a stepped shaft with diameters which are sequentially reduced and extend from the center of the end face of the connecting plate, two oil inlet and outlet holes and two overflow channels are arranged in the central shaft, and one end openings of the two oil inlet and outlet holes and the two overflow channels on the central shaft are positioned on the bottom end face of the cylindrical cavity of the connecting plate; the other ends of the two oil inlet and outlet holes are respectively communicated with oil inlet and outlet ports arranged on the central shaft and the outer cylindrical surface where the two groups of working cavities of the hydraulic motor are located; the two overflow channels in the central shaft are blind holes, the blind end of one overflow channel is communicated with one oil inlet and outlet hole in the central shaft, the blind end of the other overflow channel is communicated with the other oil inlet and outlet hole in the central shaft, a one-way valve is arranged at the opening part of each overflow channel in the central shaft, and hydraulic oil can enter the oil inlet and outlet hole in the central shaft from the opening part of the overflow channel on the connecting plate through the one-way valve; two overflow holes are formed in the cylindrical surface of the cylindrical boss protruding from the top of the cylinder cover, two overflow grooves are correspondingly formed in the joint surface of the connecting plate and the pump shell, one end of each overflow hole in the cylinder cover is communicated with an overflow channel in the cylinder cover, and the other end of each overflow hole is communicated with each overflow groove; one end of each overflow groove is communicated with the overflow hole, and the other end of each overflow groove is communicated with a cavity between the pump shell and the motor stator;
further, the two groups of closed working cavities are respectively communicated with two groups of oil inlet and outlet ports arranged on the outer arc surface of the elliptical wheel, and the two groups of oil inlet and outlet ports on the outer arc surface of the elliptical wheel are respectively communicated with the corresponding two groups of oil inlet and outlet ports on the cylindrical surface of the central shaft;
further, two groups of oil inlet and outlet ports are arranged, one group of oil inlet and outlet ports radially penetrates through the central shaft and the elliptical wheel, and two ends of the oil inlet and outlet ports are opened on the outer arc surface of the elliptical wheel, are symmetrical with the center of the elliptical wheel and are communicated with one oil inlet and outlet hole in the central shaft; the other group of oil inlet and outlet ports radially penetrate through the central shaft and the elliptical wheel, and two ends of the oil inlet and outlet ports are opened on the outer arc surface of the elliptical wheel, are symmetrical with the center of the elliptical wheel and are communicated with the other oil inlet and outlet hole in the central shaft; the two groups of oil inlet and outlet ports are staggered along the axial direction of the central shaft, and a sealing ring is arranged between the two groups of oil inlet and outlet ports on the cylindrical surface of the central shaft connected with the elliptical wheel;
further, the four closed working chambers of the hydraulic motor are symmetrically distributed on two sides of the elliptical long axis by taking the center of the ellipse of the elliptical wheel, and the two closed working chambers on each side of the elliptical long axis are respectively communicated with two oil inlet and outlet holes in the central shaft;
further, the brake system comprises an annular brake disc, an annular electromagnet and an annular armature, the brake disc is arranged on the stepped cylindrical surface of the root of the central shaft and connected to the side surface of the connecting plate through screws, the electromagnet is arranged and fixed in an annular groove on the end surface of the brake disc, the armature is pressed on the end surface of the cylinder sleeve opposite to the brake disc through a pressure spring, a pin and a bolt, and the armature rotates along with the cylinder sleeve;
further, a sensor is arranged in an annular cavity between the outer circumference of a brake disc of the brake system and the inner circumference of the shell, the sensor comprises a card reader and a magnetic ring, the card reader is fixed in the annular cavity between the brake disc and the shell, and a gap is reserved between the card reader and the annular magnetic ring fixed on the side face of the outer circumference of the cylinder sleeve.
The invention has the advantages that:
1. the hydraulic joint has large power-mass ratio, large torque and good joint flexibility, and the joint module can be used in a modularized manner as a standard component, so that the hydraulic joint is suitable for various robots;
2. because the spherical pump has the characteristics of small volume and small vibration and has the characteristic of forward and reverse rotation, the cylinder sleeve of the hydraulic motor is driven, the hydraulic system of the robot adopts a distributed hydraulic source scheme, a complicated high-pressure oil pipe and an electromagnetic hydraulic reversing valve are omitted, the weight, the volume and the power consumption of the system can be greatly reduced, and the control system is greatly simplified;
3. the one-way valve is arranged in the overflow channel, and a hydraulic loop is formed by the elastic oil reservoir and the whole hydraulic system, so that the overflow oil pool of the spherical pump is always low in pressure, and hydraulic oil in the overflow oil pool can circularly flow; at the same time, the elastic oil reservoir ensures the volume adjustment of the hydraulic oil of the closed system caused by temperature change.
Drawings
Fig. 1: the structural cross section of the robot hydraulic joint module embodiment is shown in the specification;
fig. 2: the invention relates to a structural outline drawing of an embodiment of a hydraulic joint module of a robot;
fig. 3: a right side view of the structure shown in fig. 1 with the cylinder liner end cap removed;
fig. 4: an enlarged schematic view of the spherical pump structure (as seen from the head end);
fig. 5: FIG. 4 is a cross-sectional view A-A;
fig. 6: FIG. 4 is a sectional view B-B;
fig. 7: a front view of the rotor connection body;
fig. 8: a rotor connector top view;
fig. 9: a front view of the connecting plate;
fig. 10: a left view of the connecting plate;
fig. 11: a top view of the connecting plate;
fig. 12: a front view of the pump housing;
fig. 13: a right side view of the pump housing;
fig. 14: a left side view of the pump housing;
fig. 15: a front view of the cylinder sleeve;
fig. 16: right side view of cylinder sleeve;
fig. 17: left view of the cylinder sleeve;
fig. 18: an elliptic wheel front view;
fig. 19: left view of oval wheel;
fig. 20: elliptical wheel top view;
fig. 21: a brake disc structure schematic diagram;
fig. 22: a turntable structure schematic diagram;
fig. 23: a piston structure schematic diagram;
fig. 24: a blade structure schematic diagram;
fig. 25: a front view of a cylinder cover structure;
fig. 26: a bottom view of the cylinder cover structure;
fig. 27: a top view of the cylinder cover structure;
fig. 28: the hydraulic schematic diagram of the hydraulic joint is shown in the patent;
in the figure: 1-a housing; 2-rotor connection; 3-a motor stator; 4-a motor rotor; a 5-C bearing; 6-pump shell; 7-connecting plates; 8-a brake disc; 9-an electromagnet; 10-a card reader; 11-magnetic ring; 12- iron; 13-cylinder sleeve; 14-cylinder sleeve end covers; 15-A bearings; 16-an oil inlet and outlet hole; 17-elliptical wheels; an 18-B bearing; 19-leaves; 20-springs; 21-a base; 22-cylinder cover; 23-a piston; 24-pin shafts; 25-a turntable; 26-a cylinder; 27-a controller; 28-an electrical end cap; 29-D bearings; 30-bearing gland; 31-an elastic oil reservoir; 32-an oil inlet and outlet channel; 33-pump working chamber; 34-central axis; 35-overflow channel; 36-an overflow launder; 37-slipper; 38-a chute; 39-a one-way valve; 40-ball pump; 41-a hydraulic motor; 42-driving shaft; 43-support shaft; 44-overflow aperture; 45-an oil inlet and outlet port; 46-blade grooves.
Detailed Description
As shown in fig. 1 to 2, the hydraulic joint module of the robot according to the present invention comprises an electrohydraulic integrated spherical pump power system, a hydraulic motor 41 and a control system which are arranged in a housing 1, wherein the housing 1 is in a cylindrical structure, a base 21 is arranged on the outer cylindrical surface of the housing 1, a connecting ring is arranged on the base 21, and each hydraulic joint module is mounted on a fixed object or a connecting ring of a cylinder sleeve end cover 14 of other hydraulic joint modules through the connecting ring on the base 21; an electric end cover 28 is fixedly arranged at one end part of the shell 1, a cylinder sleeve end cover 14 of the hydraulic motor 41 is arranged at the other end part of the shell, the cylinder sleeve end cover 14 is fixedly connected to the cylinder sleeve 13 through screws, the cylinder sleeve end cover 14 rotates along with the cylinder sleeve 13 of the hydraulic motor 41, a connecting ring is arranged on the cylinder sleeve end cover 14, and the hydraulic joint module is connected with the base 1 of the robot hand, arm or other hydraulic joint module through the connecting ring on the cylinder sleeve end cover 14.
The electrohydraulic integrated spherical pump power system is composed of a spherical pump 40 with a forward and reverse rotation function, a rotor connector 2, a motor stator 3 and a motor rotor 4, wherein the rotor connector 2 is of a cylindrical structure with an opening at one end, as shown in fig. 7 and 8, the spherical pump 40 is arranged in a cylindrical cavity of the rotor connector 2, a C bearing 5 is arranged between the cylindrical inner cylindrical surface of the rotor connector 2 and the outer cylindrical surface of a pump shell 6 of the spherical pump 40, the C bearing 5 is a needle bearing, the outer cylindrical surface of the rotor connector 2 and the inner cylindrical surface of the motor rotor 4 are fixedly connected in a tight fit manner in a hot pressing manner, when the motor rotor 4 is heated to increase the inner diameter of the motor rotor 4 or the rotor connector 2 is frozen to shrink the outer diameter of the rotor connector 2, and after the motor rotor 4 is assembled to room temperature, the motor rotor 4 is firmly hooped on the rotor connector 2; the motor stator 3 is fixed on the inner cylindrical surface of the shell 1; the bottom end of the rotor connecting body 2 extends outwards to form a supporting shaft 43, a D bearing 29 is connected to the journal of the supporting shaft 43, and the D bearing 29 is a rolling bearing; the bearing cover 30 is connected to the end face of the shell 1 through a screw, a bearing seat matched with the D bearing 29 is arranged in the center of the bearing cover 30, and the bearing cover 30 is pressed on the outer ring of the D bearing 29; the rotor connecting body 2 takes a D bearing 29 between the bearing gland 30 and the supporting shaft 43 and a C bearing 5 between the pump shell 6 and the rotor connecting body 2 as rotary supports; the connecting plate 7 is fixed on the inner cylindrical surface of the shell 1; as shown in fig. 25, 27, openings of the two oil inlet and outlet holes 16 and openings of the two overflow passages 35 of the spherical pump 40 are provided on the end face of a cylindrical boss protruding from the top end of the cylinder head 22; as shown in fig. 9 to 11, the connecting plate 7 is recessed inwards towards the center of one side end face of the spherical pump 40 to form a cylindrical cavity matched with the cylindrical boss at the top end of the cylinder cover 22, a central shaft 34 is extended outwards from the center of the other side end face of the connecting plate 7, the central shaft 34 is a concentric multi-step shaft with successively smaller diameters protruding from the center of the end face of the connecting plate 7, as shown in fig. 1, each step is sequentially used for installing the brake disc 8, the a bearing 15, the elliptic wheel 17 and the B bearing 18 from the root part, two oil inlet and outlet holes 16 and two overflow channels 35 are also arranged in the central shaft 34 of the connecting plate 7, and one end openings of the two oil inlet and outlet holes 16 and the two overflow channels 35 on the connecting plate 7 are positioned on the bottom end face of the cylindrical cavity and correspond to the two oil inlet and outlet holes 16 and the two overflow channels 35 on the end face of the cylindrical boss protruding at the top end of the cylinder cover 22; the other ends of the two oil inlet and outlet holes 16 on the connecting plate 7 are communicated with two groups of oil inlet and outlet ports 45 arranged on the outer cylindrical surface of the step where the elliptic wheel 17 is connected on the central shaft 34; the two groups of oil inlet and outlet ports 45 are arranged, one group of oil inlet and outlet ports 45 radially penetrates through the central shaft 34 and the elliptical wheel 17, and two ends of the oil inlet and outlet ports 45 are opened on the outer arc surface of the elliptical wheel 17 and symmetrical with the center of the elliptical wheel 17 and are communicated with one oil inlet and outlet hole 16 in the central shaft 34; the other group of oil inlet and outlet ports 45 radially penetrate through the central shaft 34 and the elliptical wheel 17, and two ends of the oil inlet and outlet ports are opened on the outer arc surface of the elliptical wheel 17, are symmetrical with the center of the elliptical wheel 17 and are communicated with the other oil inlet and outlet hole 16 in the central shaft 34; the two groups of oil inlet and outlet ports 45 are staggered along the axial direction of the central shaft 34, and a sealing ring is arranged between the two groups of oil inlet and outlet ports 45 on the cylindrical surface of the central shaft 34 connected with the elliptical wheel 17; as shown in fig. 18 to 20, two sets of oil intake and exhaust ports 45 on the center shaft 34 extend to the outer arc surface of the elliptical wheel 17, and each set of oil intake and exhaust ports 45 on the outer arc surface of the elliptical wheel 17 coincides with the axis of the corresponding oil intake and exhaust port 45 on the center shaft 34.
As shown in fig. 12 to 14, the pump housing 6 of the spherical pump 40 is a cylindrical structure with a flange at the top end, a positioning step through which a cylindrical boss at the top end of the cylinder cover 22 passes is arranged in the flange of the pump housing 6, the cylindrical boss at the top end of the cylinder cover 22 protrudes from a flange hole at the top end of the pump housing 6, the flange end face at the top end of the pump housing 6 is attached to a side end face of the connecting plate 7 facing the spherical pump 40 and is fixed on the side end face of the connecting plate 7 through screws, after the cylindrical boss at the top end of the cylinder cover 22 protrudes from the pump housing 6 is inserted into a cylindrical cavity on the connecting plate 7, the cylindrical boss end face at the top end of the cylinder cover 22 is tightly attached to the bottom face of the cylindrical cavity in which the connecting plate 7 is recessed, two oil inlet holes 16 on the cylinder cover 22 are respectively communicated with two oil inlet holes 16 on the connecting plate 7, and two overflow channels 35 on the cylinder cover 22 are respectively communicated with two overflow channels 35 on the connecting plate 7; the two overflow channels 35 on the connecting plate 7 are blind holes, the blind end of one overflow channel 35 is communicated with one oil inlet and outlet hole 16 on the connecting plate 7, the blind end of the other overflow channel 35 is communicated with the other oil inlet and outlet hole 16 on the connecting plate 7, the opening of each overflow channel 35 on the connecting plate 7 is provided with internal threads, a one-way valve 39 is connected with the opening of the overflow channel 35 through threads, and hydraulic oil can enter the oil inlet and outlet hole 16 on the connecting plate 7 from the opening of the overflow channel 35 on the connecting plate 7 through the one-way valve 39; two overflow holes 44 are formed in the cylindrical surface of the cylindrical boss protruding from the top of the cylinder cover 22, two overflow grooves 36 are correspondingly formed in the joint surface of the connecting plate 7 and the pump shell 6, one end of each overflow hole 44 in the cylinder cover 22 is communicated with the overflow channel 35 in the cylinder cover 22, and the other end of each overflow hole 44 in the cylinder cover 22 is communicated with the overflow groove 36; one end of each overflow groove 36 is communicated with the overflow hole 44, and the other end is communicated with a cavity between the pump shell 6 and the motor stator 3.
The bearing cover 30, the housing 1 and the connecting plate 7 enclose the ball pump 40 in a sealing unit, and the gap between the motor stator 3 and the pump housing 6 serves as an oil collecting chamber of the ball pump 40, in which hydraulic oil leaking during operation of the ball pump 40 is collected. An electric end cover 28 is arranged on the outer side end surface of the bearing gland 30, a containing cavity is formed between the electric end cover 28 and the bearing gland 30, an elastic oil reservoir 31 is arranged in a closed containing cavity formed by the bearing gland 30 and the electric end cover 28, the elastic oil reservoir 31 is a section of elastic latex tube, one end of the latex tube is connected to the end surface of the bearing gland 30 through a threaded pipe joint, the other end of the latex tube is closed, and the elastic oil reservoir 31 is communicated with an oil collecting cavity of the spherical pump 40 (namely communicated with the containing cavity between the motor stator 3 and the spherical pump 40).
As shown in fig. 1, 3, 4, 15 to 17 and 24, a hydraulic motor 41 is arranged on one side of a connecting plate 7 extending out of a central shaft 34, the hydraulic motor 41 comprises a cylinder sleeve 13, an elliptical wheel 17, blades 19, a spring 20 and the central shaft 34, the hydraulic motor 41 takes the central shaft 34 extending out of the connecting plate 7 as a fixed shaft, one side of the cylinder sleeve 13 is a cylindrical cavity for installing the blades 19, an annular groove for installing an annular armature 12 and an annular space for installing the annular magnetic ring 11 are arranged on the end surface of the other side, a central hole of the cylinder sleeve 13 is movably connected on the central shaft 34 of the connecting plate 7, and a dynamic sealing ring is arranged at the matching part of the central shaft 34 and the central hole of the cylinder sleeve 13; the elliptical wheel 17 is tightly connected to the step cylindrical surface of the central shaft 34 through a central round hole and is fixed to the step end surface of the central shaft 34 through a screw, the cylinder sleeve 13 surrounds the central shaft 34 and rotates around the elliptical wheel 17, 8 blade grooves 46 are uniformly distributed on the inner cylindrical surface of the cylinder sleeve 13, a spring 20 is arranged at the root of each blade groove 46, one end of each 8 blade 19 is pressed on the spring 20, the other end is attached to the cambered surface of the elliptical wheel 17, when the blades 19 rotate around the elliptical wheel 17 along with the cylinder sleeve 13, the blades 19 compress the spring 20 and slide in the blade grooves 46, a cylinder sleeve end cover 14 is fixedly connected to the annular end surface of one side of the cylinder sleeve 13 connected with the blades 19 through the screw, the inner end surface of the cylinder sleeve end cover 14, the inner cylindrical surface of the cylinder sleeve 13, the circular ring surface of the circular bottom end of the elliptical wheel 17 and the two side surfaces of the blade 19 are combined to form 8 closed cavities of the hydraulic motor 41, and because the oil inlet ports 45 on the elliptical wheel 17 are in two groups and are axially staggered, the two ports 45 of each group of the inlet ports 45 are symmetrically distributed at the center of the elliptical wheel 17, the 8 blades are in the circular arc surface of the elliptical wheel 17, the four long shafts of the 8 groups of the four inlet ports are connected with the four closed cavities of the four closed cavities 16 in turn, and one side of the four groups of the four inlet ports of the four cavities are connected with the four closed cavities 16 are formed in the four closed cavities in the four cavities in the direction of the elliptical cavities are sequentially; the four closed cavities are sequentially communicated with the two latter cavities in the circumferential direction and communicated with the other oil inlet and outlet holes 16 through the other group of oil inlet and outlet ports 45, so that a second group of closed working cavities of the hydraulic motor 41 is formed; two groups of closed working cavities, namely a third group of closed working cavities and a fourth group of closed working cavities, are also formed by the four closed spaces correspondingly positioned on the other side of the long axis of the elliptical wheel 17; the third group of closed working cavities and the first group of closed working cavities are symmetrical by taking the center of an ellipse as a symmetry; the fourth group of closed working cavities and the second group of closed working cavities are symmetrical by taking the center of an ellipse as a symmetry; the four groups of closed working cavities are respectively communicated with two groups of oil inlet and outlet ports 45 arranged on the outer arc surface of the elliptical wheel 17, and the two groups of oil inlet and outlet ports 45 on the outer arc surface of the elliptical wheel 17 are respectively communicated with two corresponding groups of oil inlet and outlet ports 45 on the cylindrical surface of the central shaft 34, so that the four groups of closed working cavities are respectively communicated with two oil inlet and outlet holes 16 in the central shaft 34.
An A bearing 15 is arranged between the root step cylindrical surface of the central shaft 34 and the cylinder sleeve 13, and a B bearing 18 is arranged between the end step cylindrical surface of the central shaft 34 of the connecting plate 7 and the cylinder sleeve end cover 14; the cylinder sleeve 13 forms a rotary support through a B bearing 18 between the cylinder sleeve end cover 14 and the central shaft 34 and an A bearing 15 between the cylinder sleeve 13 and the central shaft 34; the cylinder sleeve 13 and the cylinder sleeve end cover 14 rotate forwards and reversely or swing around the axis of the central shaft 34, and the volumes of the two working cavities are unchanged and alternate along with the movement of the cylinder sleeve 13; when the spherical pump 40 rotates positively, high-pressure hydraulic oil enters two groups of working cavities positioned on two sides of the long shaft of the hydraulic motor 41 through one oil inlet and outlet hole 16 to push the blades to rotate, and at the moment, the other two groups of working cavities are communicated with the other oil inlet and outlet hole 16 and have lower pressure, so that the cylinder sleeve end cover 14 rotates positively relative to the connecting plate 7 along with the cylinder sleeve 13; when the ball pump 40 rotates reversely, high-pressure hydraulic oil enters the other two closed working chambers of the hydraulic motor 41, which are positioned at two sides of the elliptic long axis, through the other oil inlet and outlet hole 16 to push the blades to rotate, and at the moment, the original two working chambers at high pressure are communicated with the other oil inlet and outlet hole 16 at low pressure and the pressure is lowered, so that the cylinder sleeve 13 and the cylinder sleeve end cover 14 of the hydraulic motor 41 rotate reversely relative to the connecting plate 7; a connecting ring is arranged on the cylinder sleeve end cover 14, and the hydraulic joint is connected with a base 21 of the robot hand or arm or other hydraulic joints through the connecting ring arranged on the cylinder sleeve 13; a screw through hole is formed in the center of the end face of the cylinder sleeve end cover 14, a screw threaded hole is formed in the center of the end face of the cylindrical boss at the outermost end of the central shaft 34 of the connecting plate 7, a limit screw penetrates through the screw through hole on the cylinder sleeve end cover 14 and then is connected to the end thread of the central shaft 34, the inner end face of the large end part of the limit screw is located on the outer side of the end face of the cylinder sleeve end cover 14, the cylinder sleeve end cover 14 and the cylinder sleeve 13 are prevented from being separated from the connecting plate 7 along the axial direction through the inner end face of the head of the limit screw, the cylinder sleeve end cover 14 can rotate around the limit screw, and dynamic sealing is arranged between the cylinder sleeve end cover 14 and the limit screw.
The control system comprises a controller 27, sensors and a brake system; the brake system is arranged between the cylinder sleeve 13 and the end face of the connecting plate 7, as shown in fig. 1 and 21, the brake system comprises an annular brake disc 8, an annular electromagnet 9 and an annular armature 12, the brake disc 8 is arranged on the outer circumference of a step at the root of a central shaft 34 of the connecting plate 7, the brake disc 8 is connected to one side end face of the connecting plate 7 through a screw, the electromagnet 9 is arranged and fixed in an annular groove on the end face of the brake disc 8, the armature 12 is pressed on the end face, opposite to the brake disc 8, of the cylinder sleeve 13 through a pressure spring, a pin and a bolt, the armature 12 rotates along with the cylinder sleeve 13, and when the electromagnet 9 of the brake system is powered on, the attraction force generated by the electromagnet 9 overcomes the pressure of the pressure spring on the armature 12, so that the armature 12 is connected and sucked with the brake disc 8, and the rotation is stopped; when the cylinder sleeve 13 needs to rotate, the electromagnet 9 is powered off and is separated from the armature 12 under the action of the pressure spring (the pressure spring rebounds), and the armature 12 acts along with the cylinder sleeve 13; a sensor is arranged in an annular cavity between the outer circumference of the brake disc 8 and the inner circumference of the shell 1, the sensor comprises a card reader 10 and a magnetic ring 11, the card reader 10 is fixed in the annular cavity between the brake disc 8 and the shell 1 and is opposite to the annular magnetic ring 11 fixed on the outer circumferential side surface of the cylinder sleeve 13 with a gap, and the sensor is used for sensing information such as the rotation angle, the rotation speed and the like of the cylinder sleeve; a controller 27 is also arranged in a cavity formed by the bearing gland 30 and the electric appliance end cover 28, and the controller 27 is electrically connected with the motor, the sensor and the brake system and is used for receiving sensor signals, controlling the operation of the motor, starting and stopping the brake system and the like.
As shown in fig. 5 to 8, the spherical pump 40 is composed of a cylinder body 26, a cylinder cover 22, a pump shell 6, a piston 23, a turntable 25, a pin shaft 24 and a rotor connecting body 2, wherein the cylinder body 26 and the cylinder cover 22 are provided with a hemispherical inner surface and a cylindrical outer surface, the cylinder body 26 and the cylinder cover 22 are fixedly connected to form a spherical inner cavity of the spherical pump 40, the pump shell 6 is cylindrical with a flange at the top end, the cylinder body 26 and the outer cylindrical surface of the cylinder cover 22 of the spherical pump 40 are fixedly connected with the inner cylindrical surface of the pump shell 6 in a hot-filling manner, a positioning step through which a cylindrical boss at the top end of the cylinder cover 22 passes is arranged in the flange of the pump shell 6, and a cylindrical boss protruding from the top end of the cylinder cover 22 extends out of a flange hole at the top end of the pump shell 6; as shown in fig. 23, the piston 23 has a spherical top surface, a piston shaft extending from the center of the spherical top surface, two side surfaces forming a certain angle, and piston pin bosses formed at the lower parts of the two side surfaces of the piston 23, wherein the piston pin bosses have a semi-cylindrical structure, a groove is formed in the middle of the semi-cylindrical structure, and a through piston pin hole is formed in the axial direction of the piston pin bosses; as shown in fig. 25 to 27, the cylinder cover 22 is provided with a piston shaft hole, the shaft diameter of the piston shaft is matched with the piston shaft hole, the piston shaft is inserted into the piston shaft hole to form a running fit, the piston 23 can freely rotate in the spherical cavity around the axis of the piston shaft, and the spherical top surface of the piston has the same sphere center with the spherical cavity and forms a sealing running fit; two oil inlet and outlet channels 32 are arranged on the inner spherical surface of the cylinder cover 22, two overflow holes 44 are arranged on the cylindrical surface of the cylindrical boss protruding from the top of the cylinder cover 22, two overflow channels 35 and two oil inlet and outlet holes 16 are arranged on the end surface of the cylindrical boss protruding from the top of the cylinder cover 22, one end of each overflow hole 44 on the cylinder cover 22 is communicated with the overflow channel 35 on the cylinder cover 22, and each oil inlet and outlet channel 32 is communicated with the corresponding oil inlet and outlet hole 16 outside the communicated cylinder; one end of each oil inlet and outlet hole 16 on the cylinder cover 22 is communicated with one oil inlet and outlet channel 32 on the inner spherical surface of the cylinder cover 22, and the other end of each oil inlet and outlet hole 16 is arranged on the end surface of a cylindrical boss protruding from the top end of the cylinder cover 22 and communicated with the oil inlet and outlet hole 16 on the connecting plate 7. The oil intake and discharge control is achieved by the rotation of the piston 23 and the cooperation of the spherical surface of the piston 23 with the hemispherical inner surface of the cylinder head 22 as basic movement elements of the oil intake and discharge passage 32 communicating with or closing the two pump working chambers 33.
As shown in fig. 22, the turntable 25 has a turntable shaft, a turntable spherical surface, and a turntable pin socket, and a shoe 37 is provided at an end of the turntable shaft; the spherical cavity formed by the cylinder body 26 and the cylinder cover 22 has the same sphere center as the sphere of the turntable, and the sphere of the turntable is tightly clung to the spherical cavity to form a sealed movable fit; the two ends of the turntable pin boss of the turntable 25 are semi-cylindrical grooves, and the middle part is a convex semi-cylinder; the semi-cylinder has a through turntable pin hole in the axial direction. A turntable shaft passing hole is provided on the cylinder 26; the rotor connecting body 2 is of a cylindrical structure with one end open, the cylinder body 26, the cylinder cover 22 and the pump shell 6 are arranged in a cylindrical inner cavity of the rotor connecting body 2, the bottom end of the rotor connecting body 2 protrudes into the cylinder to form a driving shaft 42, a sliding groove 38 matched with a sliding shoe 37 on a rotary disc shaft is arranged on the end face of the driving shaft 42, the driving shaft 42 stretches into the cylinder body 26 of the spherical pump 40 to be connected with the rotary disc shaft of the spherical pump 40 so as to push the rotary disc shaft to rotate, and meanwhile the sliding shoe 37 of the rotary disc shaft slides back and forth in the sliding groove 38 on the end face of the rotor connecting body 2; a C bearing 5 is arranged between the inner cylindrical surface of the rotor connecting body 2 and the outer circumference of the pump shell 6, and the bottom end of the rotor connecting body 2 extends outwards to form a supporting shaft 43; the axes of the piston shaft, the turntable shaft and the driving shaft 42 of the rotor connecting body 2 pass through the sphere center of the spherical cavity formed by the cylinder body 26 and the cylinder cover 22, and the axes of the piston shaft and the turntable shaft form the same included angle alpha with the axis of the driving shaft 42; the pin shaft 24 is inserted into the piston pin hole of the piston 23 and the turntable pin hole of the turntable 25 to form a cylindrical hinge, the piston 23 and the turntable 25 are in sealed movable connection through the cylindrical hinge, and the spherical inner cavity is divided into two pump working cavities 33 with alternating volumes. When the rotor connector 2 rotates, the turntable 25 is driven, and the turntable 25 drives the piston 23 to move; the movement of the piston 23 is the only rotation around the axis of the piston shaft, and the turntable 25 rotates around the axis of the turntable and simultaneously, the sliding shoes 37 on the turntable shaft slide back and forth in the sliding grooves 38 on the end face of the driving shaft 42 on the rotor connecting body 2; the above spatial mechanism movements are all rotational movements, so there is no high vibration moving part, and the result of the spatial movements is: the piston 23 and the rotary disk 25 have a periodic relative oscillation.
The hydraulic oil leaked from the matching parts of the cylinder 26, the turntable 25, the piston 23 and the rotor connector 2 is collected into an oil collecting cavity formed in the space between the pump shell 6 and the motor stator 3, if the leaked oil is not discharged, the high pressure is inevitably generated in the oil collecting cavity due to the continuous increase of the leaked oil, the oil collecting cavity is communicated with the elastic oil reservoir 31 and the overflow channel 35 and communicated with a main circulation oil way through the check valve 39, and when the pressure of the hydraulic oil in the oil collecting cavity and the elastic oil reservoir 31 is higher than the set conducting pressure of the check valve 39, the high pressure oil in the oil collecting cavity and the elastic oil reservoir 31 is led into a hydraulic main circuit, so that the pressure of the oil in the oil collecting cavity is reduced, the oil is supplemented to the main circulation oil way, and the total volume change of the oil circulation system due to the temperature change is also adjusted. As shown in fig. 28, which shows a hydraulic schematic diagram of the present invention, the ball pump 40 rotates in the forward direction, high pressure oil is discharged from one oil inlet and outlet hole 16 on the ball pump 40 into two sets of working chambers on both sides of the long axis of the elliptical wheel 17 of the hydraulic motor 41, hydraulic oil in the other two sets of working chambers of the hydraulic motor 41 is pressed out and then flows back to the ball pump 40 through the other oil inlet and outlet hole 16, and is sucked into one working chamber of the ball pump 40, and the cylinder liner 13 rotates or swings; the spherical pump 40 rotates reversely, the oil way is reversed, and the cylinder sleeve 13 rotates reversely or swings reversely; the ball pump 40 rotates in forward and reverse directions to form two main oil circuit cycles with opposite oil flow directions.
Claims (7)
1. Robot hydraulic joint module, characterized by: including setting up integrative spherical pump driving system of electricity liquid, hydraulic motor (41) and control system in shell (1), be provided with base (21) on shell (1), wherein:
the electro-hydraulic integrated spherical pump power system is composed of a spherical pump (40) with a positive and negative rotation function, a motor stator (3) and a motor rotor (4), wherein the rotor connecting body (2) is of a cylindrical structure with an opening at one end, the spherical pump (40) is arranged in a cylindrical inner cavity of the rotor connecting body (2), the outer cylindrical surface of the rotor connecting body (2) is fixedly connected with the inner cylindrical surface of the motor rotor (4), and the motor stator (3) and the connecting plate (7) are fixed on the inner cylindrical surface of the cylindrical inner cavity of the shell (1); a cylindrical cavity matched with a cylindrical boss at the top end of the cylinder cover (22) is inwards recessed in the center of one side of the connecting plate (7), and a central shaft (34) is outwards extended from the center of the other side of the connecting plate (7); a hydraulic oil way is arranged in the central shaft (34) and the cylinder cover (22); the flange end face at the top end of a pump shell (6) of a spherical pump (40) is adhered to one side end face of a connecting plate (7) and is fixed on the side end face of the connecting plate (7) through screws, after a cylindrical boss extending out of the pump shell (6) from the top end of a cylinder cover (22) is inserted into a cylindrical cavity on the connecting plate (7), the end face of the cylindrical boss at the top end of the cylinder cover (22) is tightly adhered to the bottom face of the cylindrical cavity recessed in the connecting plate (7), two oil inlet holes (16) on the cylinder cover (22) are respectively communicated with two oil inlet holes (16) in a central shaft (34), and two overflow channels (35) on the cylinder cover (22) are respectively communicated with two overflow channels (35) on the connecting plate (7); a driving shaft (42) protrudes inwards from the bottom end of the rotor connecting body (2) and is connected with a turntable (25) of the spherical pump (40), a C bearing (5) is arranged between the inner cylindrical surface of the rotor connecting body (2) and the outer cylindrical surface of a pump shell (6) of the spherical pump (40), a supporting shaft (43) protrudes outwards from the bottom end of the rotor connecting body (2), a D bearing (29) and a bearing gland (30) are connected on the supporting shaft (43), the bearing gland (30) is fixed on the shell (1), and the rotor connecting body (2) takes the C bearing (5) and the D bearing (29) as rotary supports; an electric end cover (28) is arranged on the outer side end surface of the bearing gland (30), an elastic oil reservoir (31) is arranged in a closed cavity formed by the bearing gland (30) and the electric end cover (28), and the elastic oil reservoir (31) is communicated with a cavity between the motor stator (3) and the pump shell (6);
the hydraulic motor (41) is arranged on one side of the connecting plate (7) extending out of the central shaft (34), the hydraulic motor (41) comprises a cylinder sleeve (13), an elliptical wheel (17), a blade (19) and a spring (20), the elliptical wheel (17) is fixed on the central shaft (34), the cylinder sleeve (13) surrounds the central shaft (34) and rotates around the elliptical wheel (17), a plurality of blade grooves (46) are formed in the inner cylindrical surface of the cylinder sleeve (13), the spring (20) is arranged at the root of the blade groove (46), one end of the blade (19) is pressed on the spring (20), the other end of the blade (19) is attached to the outer arc surface of the elliptical wheel (17), when the blade (19) rotates along with the cylinder sleeve (13) around the elliptical wheel (17), the blade (19) compresses the spring (20) and slides in the blade grooves (46), the circular ring end face on one side of the cylinder sleeve (13) connected with the blade (19) is connected with the cylinder sleeve (14) through screws, the end cover (14), the cylinder sleeve (13), the elliptical wheel (17) and the blade (19) are combined to form two groups of working cavities of the hydraulic motor (41), and two groups of working cavities are respectively communicated with the two groups of working cavities (16) and two groups of working cavities are respectively sealed in the sealing cavities. An A bearing (15) is arranged between the root step cylindrical surface of the central shaft (34) and the cylinder sleeve (13), and a B bearing (18) is arranged between the end step cylindrical surface of the central shaft (34) and the cylinder sleeve end cover (14); a connecting ring is arranged on the cylinder sleeve end cover (14) and is connected with a base (21) of the hand part, the arm part or another hydraulic joint module of the robot;
the control system comprises a controller (27), a sensor and a brake system; the brake system and the sensor are arranged between the cylinder sleeve (13) of the hydraulic motor (41) and the side surface of the connecting plate (7), the brake system is used for controlling the braking of the hydraulic motor (41), and the sensor is used for sensing the information of the rotation angle and the rotation speed of the cylinder sleeve (13); the controller (27) is arranged in a cavity formed by the bearing gland (30) and the electric appliance end cover (28), and the controller (27) is electrically connected with the motor, the sensor and the brake system and is used for receiving the sensor signals, controlling the operation of the motor and starting and stopping of the brake system.
2. The robotic hydraulic joint module of claim 1, wherein: the central shaft (34) is a stepped shaft with diameters sequentially reduced, which extends from the center of the end face of the connecting plate (7), two oil inlet and outlet holes (16) and two overflow channels (35) are arranged in the central shaft (34), and one end openings of the two oil inlet and outlet holes (16) and the two overflow channels (35) on the central shaft (34) are positioned on the bottom end face of the cylindrical cavity of the connecting plate (7); the other ends of the two oil inlet and outlet holes (16) are respectively communicated with oil inlet and outlet ports (45) arranged on the outer cylindrical surfaces of the central shaft (34) and the two groups of closed working cavities of the hydraulic motor (41); two overflow channels (35) in the central shaft (34) are blind holes, the blind end of one overflow channel (35) is communicated with one oil inlet and outlet hole (16) in the central shaft (34), the blind end of the other overflow channel (35) is communicated with the other oil inlet and outlet hole (16) in the central shaft (34), a one-way valve (39) is arranged at the opening part of each overflow channel (35) in the central shaft (34), and hydraulic oil can enter the oil inlet and outlet hole (16) in the central shaft (34) from the opening part of the overflow channel (35) on the connecting plate (7) through the one-way valve (39); two overflow holes (44) are formed in the cylindrical surface of the cylindrical boss protruding from the top of the cylinder cover (22), two overflow grooves (36) are correspondingly formed in the joint surface of the connecting plate (7) and the pump shell (6), one end of each overflow hole (44) in the cylinder cover (22) is communicated with an overflow channel (35) in the cylinder cover (22), and the other end of each overflow hole is communicated with the overflow groove (36); one end of each overflow groove (36) is communicated with an overflow hole (44), and the other end is communicated with a cavity between the pump shell (6) and the motor stator (3).
3. The robotic hydraulic joint module of claim 1, wherein: the two groups of closed working cavities are respectively communicated with two groups of oil inlet and outlet ports (45) arranged on the outer arc surface of the elliptical wheel (17), and the two groups of oil inlet and outlet ports (45) on the outer arc surface of the elliptical wheel (17) are respectively communicated with the corresponding two groups of oil inlet and outlet ports (45) on the cylindrical surface of the central shaft (34).
4. The robotic hydraulic joint module of claim 1, wherein: the two groups of oil inlet and outlet ports (45) are arranged, one group of oil inlet and outlet ports (45) radially penetrates through the central shaft (34) and the elliptical wheel (17), and two ends of the oil inlet and outlet ports are opened on the outer arc surface of the elliptical wheel (17) and symmetrical with the center of the elliptical wheel (17) and are communicated with one oil inlet and outlet hole (16) in the central shaft (34); the other group of oil inlet and outlet ports (45) radially penetrate through the central shaft (34) and the elliptical wheel (17), and two ends of the oil inlet and outlet ports are opened on the outer arc surface of the elliptical wheel (17) and are symmetrical with the center of the elliptical wheel (17) and are communicated with the other oil inlet and outlet hole (16) in the central shaft (34); the two groups of oil inlet and outlet ports (45) are staggered along the axial direction of the central shaft (34), and a sealing ring is arranged between the openings of the two groups of oil inlet and outlet ports (45) on the step cylindrical surface of the central shaft (34) connected with the elliptical wheel (17).
5. The robotic hydraulic joint module of claim 1, wherein: the closed working chambers of the hydraulic motor (41) are four groups, the two groups of closed working chambers on each side of the elliptic long axis are respectively communicated with two oil inlet and outlet holes (16) in the central shaft (34) by taking the elliptic center of the elliptic wheel (17) as the symmetrical distribution on both sides of the elliptic long axis.
6. The robotic hydraulic joint module of claim 1, wherein: the braking system comprises an annular brake disc (8), an annular electromagnet (9) and an annular armature (12), wherein the brake disc (8) is arranged on a stepped cylindrical surface at the root of a central shaft (34), the annular brake disc is connected to the side surface of a connecting plate (7) through screws, the electromagnet (9) is installed and fixed in an annular groove on the end surface of the brake disc (8), the armature (12) is pressed and held on the end surface, opposite to the brake disc (8), of a cylinder sleeve (13) through a pressure spring, a pin and a bolt, and the armature (12) rotates along with the cylinder sleeve (13).
7. The robotic hydraulic joint module of claim 1, wherein: the sensor is arranged in an annular cavity between the outer circumference of a brake disc (8) and the inner circumference of a shell (1) of the brake system, the sensor comprises a card reader (10) and a magnetic ring (11), and the card reader (10) is fixed in the annular cavity between the brake disc (8) and the shell (1) and is opposite to the annular magnetic ring (11) fixed on the outer circumferential side surface of a cylinder sleeve (13) with a gap.
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| CN201810147594.7A CN108161984B (en) | 2018-02-12 | 2018-02-12 | Hydraulic joint module of robot |
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| CN201810147594.7A CN108161984B (en) | 2018-02-12 | 2018-02-12 | Hydraulic joint module of robot |
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| CN108161984A CN108161984A (en) | 2018-06-15 |
| CN108161984B true CN108161984B (en) | 2023-09-01 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109707622A (en) * | 2019-01-23 | 2019-05-03 | 西安正安环境技术有限公司 | Ball pump |
| CN110640773B (en) * | 2019-10-22 | 2024-06-28 | 深圳市球形动力科技有限公司 | Electrohydraulic driving robot smart hand |
| CN110701040B (en) * | 2019-11-01 | 2023-12-01 | 深圳市球形动力科技有限公司 | Static pressure support for spherical pump rotor |
| CN113263520B (en) * | 2021-06-24 | 2023-03-14 | 武汉科技大学 | Continuously-rotatable passive follow-up hydraulic robot rotary joint |
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| GB857922A (en) * | 1957-01-28 | 1961-01-04 | Bennett Weston | Improvements in hydraulic variable-speed transmissions |
| US5410944A (en) * | 1993-06-03 | 1995-05-02 | Cushman; William B. | Telescoping robot arm with spherical joints |
| CN105179388A (en) * | 2015-09-09 | 2015-12-23 | 西安正安环境技术有限公司 | Electro-hydraulic actuator of spherical pump for robot |
| CN207953917U (en) * | 2018-02-12 | 2018-10-12 | 西安正安环境技术有限公司 | Robot hydraulic knuckle module |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101694819B1 (en) * | 2015-03-31 | 2017-01-11 | (주)케이엔알시스템 | Integrated hydraulic rotary actuator |
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| GB857922A (en) * | 1957-01-28 | 1961-01-04 | Bennett Weston | Improvements in hydraulic variable-speed transmissions |
| US5410944A (en) * | 1993-06-03 | 1995-05-02 | Cushman; William B. | Telescoping robot arm with spherical joints |
| CN105179388A (en) * | 2015-09-09 | 2015-12-23 | 西安正安环境技术有限公司 | Electro-hydraulic actuator of spherical pump for robot |
| CN207953917U (en) * | 2018-02-12 | 2018-10-12 | 西安正安环境技术有限公司 | Robot hydraulic knuckle module |
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Effective date of registration: 20230807 Address after: A706, Block A, TCL Building, No. 6 Gaoxinyuan 1st Road, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province, 518000 Applicant after: Shenzhen Spherical Power Technology Co.,Ltd. Address before: No. 1604, building 1, Kaiyuan commercial and residential building, Beilin Industrial Park, Beilin District, Xi'an City, Shaanxi Province, 710043 Applicant before: XI'AN ZHENGAN ENVIRONMENTAL TECHNOLOGY Co.,Ltd. |
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