CN109849048A - A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot - Google Patents
A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot Download PDFInfo
- Publication number
- CN109849048A CN109849048A CN201910029483.0A CN201910029483A CN109849048A CN 109849048 A CN109849048 A CN 109849048A CN 201910029483 A CN201910029483 A CN 201910029483A CN 109849048 A CN109849048 A CN 109849048A
- Authority
- CN
- China
- Prior art keywords
- rear end
- servo
- cylinder component
- ball
- arms body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 11
- 230000000694 effects Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
Landscapes
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of double freedom hydraulic machinery shoulder joints coupled using flexural pivot, including rear end ball hinge, right servo-cylinder component, rear end arms body, left servo-cylinder component, connection cross axle, holder, front end ball hinge and preceding end arms body；Rear end ball hinge and rear end arms body are connected, rear end ball hinge connect to form ball pair by flexural pivot with right servo-cylinder component, end arms body and left servo-cylinder component form revolute pair afterwards, right servo-cylinder component connect to form ball pair by flexural pivot with front end ball hinge, and left servo-cylinder component and holder form revolute pair；Holder is fixed on the vertical axes bottom end of connection cross axle, and the trunnion axis and rear end arms body of connection cross axle form revolute pair, and vertical axes and preceding end arms body form revolute pair；The present invention uses two flexural pivots and cross axle structure, realizes that mechanical arm is rotated around the double freedom of two axis by two servo-cylinders of hydraulic-driven, flexible movement can be realized under the conditions of heavy duty work, has the advantages that energy density is big.
Description
Technical field
The present invention relates to hydraulic manipulator field more particularly to a kind of double freedom hydraulic manipulators coupled using flexural pivot
Joint.
Background technique
Mechanical arm is that most widely used mechanical device is obtained in current robot field, for substituting automobile manufacture, electricity
Manual operation in the industries such as sub electrical greatly reduces human cost, improves production efficiency, and effectively improves production
Quality.Traditional mechanical arm design applications for considering single forms more, it is general only to complete specific task, specific joint and from
It is poor by the changing capability spent, and the mode of motor acceleration and deceleration machine is mostly used, bearing capacity is relatively small, hence it is imperative that
Develop a kind of mechanical arm with larger bearing capacity of novel driving method.
It addresses that need, the present invention has carried out the design of fro hydraulic driving machinery shoulder joint, because hydraulic drive has
The outstanding advantages that power is big, light-weight, inertia is small and output rigidity is big, meanwhile, hydraulic system can pass through the pressure of raising system
Power improves output power, and power is again than with huge advantage, especially with the mechanical arm of larger bearing capacity.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to which it is hydraulic to provide a kind of double freedom using flexural pivot connection
Joint of mechanical arm can be realized around two simultaneously using two flexural pivots and a cross axle structure by fro hydraulic driving machinery arm front end
The double freedom of axis rotates, and flexible movement can be realized under the operating condition of heavy duty, has power again than big, flexible movements and steady
Fixed advantage.
The purpose of the present invention is achieved through the following technical solutions: a kind of double freedom using flexural pivot connection is hydraulic
Joint of mechanical arm, including rear end ball hinge, right servo-cylinder component, rear end arms body, left servo-cylinder component, connection cross
Axis, holder, front end ball hinge and preceding end arms body；
The rear end ball hinge and rear end arms body are connected, and rear end ball hinge connect shape by flexural pivot with right servo-cylinder component
Balling-up pair, rear end arms body and left servo-cylinder component form revolute pair, and right servo-cylinder component and front end ball hinge pass through flexural pivot
Connection forms ball pair, and left servo-cylinder component and holder form revolute pair；The holder is fixed on the vertical of connection cross axle
Axis bottom end, the trunnion axis and rear end arms body of connection cross axle form revolute pair, the vertical axes and preceding end arms of connection cross axle
Body forms revolute pair, and front end ball hinge and preceding end arms body are connected；
When the right piston bar of right servo-cylinder component elongates or shortens, preceding end arms body turns around the vertical axes of connection cross axle
It is dynamic, to realize that joint is movable to the left or to the right；
When the left piston bar of left servo-cylinder component elongates or shortens, preceding end arms body turns around the trunnion axis of connection cross axle
It is dynamic, to realize that joint is movable upward or downward；
Right piston bar and left piston bar are run simultaneously, to realize activity of the joint on space angle.
Further, the right servo-cylinder component includes rear end pin ball, right oil cylinder, right piston bar and front end pin ball, institute
It states rear end pin ball and right oil cylinder is connected, and form ball pair with rear end ball hinge, the front end pin ball and right piston bar are connected, and with
Front end ball hinge forms ball pair.
Further, the left servo-cylinder component include rear ring, left oil cylinder, left piston bar and front ring, it is described after ring with
Left oil cylinder is connected, and forms revolute pair with rear end arms body, and the front ring and left piston bar are connected, and form revolute pair with holder.
Beneficial outcomes of the invention are: double freedom hydraulic machinery shoulder joint of the present invention is connected using two flexural pivots and cross axle
Structure can adjust two piston pole lengths according to different requirements, realize movement of the mechanical arm under space angle, meet different
Application, realize the flexible motion of mechanical arm；It will mechanically and hydraulically be integrated in one, and have the characteristics that energy density will be big.
Detailed description of the invention
Fig. 1 is complete mechanical shoulder joint figure；
Fig. 2 is right servo-cylinder component drawings；
Fig. 3 is left servo-cylinder component drawings；
Fig. 4 is clip seat structure figure；
Fig. 5 is connection cross axle structure figure；
Fig. 6 is preceding end arms body structure chart.
Specific embodiment
Present invention is further described in detail in the following with reference to the drawings and specific embodiments.
A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot provided by the invention, utilizes two flexural pivots and one
Cross axle structure can realize double freedom rotation under the operating condition of heavy duty；As shown in Figure 1, the joint includes rear end flexural pivot
It is seat 3.1, right servo-cylinder component 1, rear end arms body 3.2, left servo-cylinder component 2, connection cross axle 3.3, holder 3.4, preceding
Hold ball hinge 3.5 and preceding end arms body 3.6；
The rear end ball hinge 3.1 is connected with rear end arms body 3.2, and rear end ball hinge 3.1 passes through with right servo-cylinder component 1
Flexural pivot connects to form ball pair, and rear end arms body 3.2 forms revolute pair, right servo-cylinder component 1 and front end with left servo-cylinder component 2
Ball hinge 3.5 connects to form ball pair by flexural pivot, and left servo-cylinder component 2 forms revolute pair with holder 3.4；The knot of holder 3.4
Structure is as shown in Figure 4；
The holder 3.4 is fixed on the vertical axes bottom end of connection cross axle 3.3, the connection trunnion axis of cross axle 3.3
Revolute pair is formed with rear end arms body 3.2, the vertical axes of connection cross axle 3.3 and preceding end arms body 3.6 form revolute pair, front end ball
Free bearing 3.5 and preceding end arms body 3.6 are connected；The structure of connection cross axle 3.3 is as shown in Figure 5；The structure of preceding end arms body 3.6 is as schemed
Shown in 6；
As shown in Fig. 2, the right servo-cylinder component 1 includes that ball 1.1, right oil cylinder 1.2,1.3 and of right piston bar are sold in rear end
Ball 1.4 is sold in front end, and the rear end pin ball 1.1 and right oil cylinder 1.2 are connected, and form ball pair, the front end with rear end ball hinge 3.1
It sells ball 1.4 and right piston bar 1.3 is connected, and form ball pair with front end ball hinge 3.5.
As shown in figure 3, the left servo-cylinder component 2 includes rear ring 2.1, left oil cylinder 2.2, left piston bar 2.3 and front ring
2.4, the rear ring 2.1 is connected with left oil cylinder 2.2, and forms revolute pair, the front ring 2.4 and left piston with rear end arms body 3.2
Bar 2.3 is connected, and forms revolute pair with holder 3.4.
The control system of hydraulic manipulator is connected with right servo-cylinder component 1, left servo-cylinder component 2, the control right side is watched
Take cylinder component 1, the piston rod of left servo-cylinder component 2 elongates or shortens；
When the right piston bar 1.3 of right servo-cylinder component 1 elongates or shortens, preceding end arms body 3.6 is around connection cross axle 3.3
Vertical axes rotation, to realize that joint is movable to the left or to the right；
When the left piston bar 2.3 of left servo-cylinder component 2 elongates or shortens, preceding end arms body 3.6 is around connection cross axle 3.3
Trunnion axis rotation, to realize that joint is movable upward or downward；
Right piston bar 1.3 and left piston bar 2.3 are run simultaneously, to realize activity of the joint on space angle.
The course of work of the invention is as follows:
(1) joint is installed to hydraulic manipulator；
(2) it is connected with the dynamical system of hydraulic manipulator and control system；
(3) after debugging is good, the test of hydraulic machinery shoulder joint is carried out；
(4) when the right piston bar 1.3 that control system controls right servo-cylinder component 1 elongates or shortens, preceding end arms body 3.6 around
The vertical axes of connection cross axle 3.3 rotate, to realize that joint is movable to the left or to the right；
(5) when the left piston bar 2.3 that control system controls left servo-cylinder component 2 elongates or shortens, preceding end arms body 3.6 around
The trunnion axis of connection cross axle 3.3 rotates, to realize that joint is movable upward or downward；
(6) right piston bar 1.3 and left piston bar 2.3 are run simultaneously, to realize activity of the joint on space angle.
It is finally noted that above description is a kind of specific application example of the invention, can according to need, if
Count a variety of mechanical arm front ends and revolute pair form, it is clear that other application example identical with general principles also should belong to this
The protection scope of invention.
Claims (3)
1. a kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot, it is characterised in that: including rear end ball hinge
(3.1), right servo-cylinder component (1), rear end arms body (3.2), left servo-cylinder component (2), connection cross axle (3.3), folder
Seat (3.4), front end ball hinge (3.5) and preceding end arms body (3.6)；
The rear end ball hinge (3.1) and rear end arms body (3.2) are connected, rear end ball hinge (3.1) and right servo-cylinder component (1)
It connects to form ball pair by flexural pivot, rear end arms body (3.2) and left servo-cylinder component (2) form revolute pair, right servo-cylinder group
Part (1) connect to form ball pair by flexural pivot with front end ball hinge (3.5), and left servo-cylinder component (2) and holder (3.4) form and turn
Dynamic pair；The holder (3.4) is fixed on the vertical axes bottom end of connection cross axle (3.3), the connection level of cross axle (3.3)
Axis and rear end arms body (3.2) form revolute pair, and the connection vertical axes of cross axle (3.3) and preceding end arms body (3.6), which are formed, to be rotated
Pair, front end ball hinge (3.5) and preceding end arms body (3.6) are connected；
When the right piston bar (1.3) of right servo-cylinder component (1) elongates or shortens, preceding end arms body (3.6) is around connection cross axle
(3.3) vertical axes rotation, to realize that joint is movable to the left or to the right；
When the left piston bar (2.3) of left servo-cylinder component (2) elongates or shortens, preceding end arms body (3.6) is around connection cross axle
(3.3) trunnion axis rotation, to realize that joint is movable upward or downward；
Right piston bar (1.3) and left piston bar (2.3) are run simultaneously, to realize activity of the joint on space angle.
2. a kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot according to claim 1, it is characterised in that:
The right servo-cylinder component (1) includes rear end pin ball (1.1), right oil cylinder (1.2), right piston bar (1.3) and front end pin ball
(1.4), rear end pin ball (1.1) and right oil cylinder (1.2) is connected, and forms ball pair, the front end with rear end ball hinge (3.1)
It sells ball (1.4) and right piston bar (1.3) to be connected, and forms ball pair with front end ball hinge (3.5).
3. a kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot according to claim 1, it is characterised in that:
The left servo-cylinder component (2) includes rear ring (2.1), left oil cylinder (2.2), left piston bar (2.3) and front ring (2.4), described
Ring (2.1) and left oil cylinder (2.2) are connected afterwards, and form revolute pair, the front ring (2.4) and left piston with rear end arms body (3.2)
Bar (2.3) is connected, and forms revolute pair with holder (3.4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910029483.0A CN109849048B (en) | 2019-01-13 | Double-freedom-degree hydraulic mechanical arm joint adopting spherical hinge connection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910029483.0A CN109849048B (en) | 2019-01-13 | Double-freedom-degree hydraulic mechanical arm joint adopting spherical hinge connection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109849048A true CN109849048A (en) | 2019-06-07 |
| CN109849048B CN109849048B (en) | 2024-07-16 |
Family
ID=
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872084A (en) * | 2022-06-30 | 2022-08-09 | 浙江大学 | Robot joint balancing unit |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87216690U (en) * | 1987-12-19 | 1988-12-14 | 机械委北京机械工业自动化研究所 | Manipulator wrist of robot |
| US5410944A (en) * | 1993-06-03 | 1995-05-02 | Cushman; William B. | Telescoping robot arm with spherical joints |
| CN1267581A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation |
| CN1267582A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Four-axial parallel machine tool structure with two-dimensional shift and two-dimensional rotation |
| CN102501246A (en) * | 2011-11-08 | 2012-06-20 | 北京邮电大学 | Three-drive extensible dexterous mechanical arm |
| CN102987771A (en) * | 2012-12-25 | 2013-03-27 | 大连理工计算机控制工程有限公司 | Three degree of freedom electric dynamic chair |
| CN107538464A (en) * | 2017-10-31 | 2018-01-05 | 李刚 | A kind of substation bus bar cylinder inwall clean robot driving arm assembly |
| CN108016585A (en) * | 2017-12-01 | 2018-05-11 | 东北石油大学 | A kind of grand micro-mechanical arm of underwater robot |
| CN108058158A (en) * | 2017-12-14 | 2018-05-22 | 天津理工大学 | Two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved |
| CN108527348A (en) * | 2018-04-04 | 2018-09-14 | 北京航空航天大学 | A kind of multi-joint mechanical arm |
| CN108818609A (en) * | 2018-06-30 | 2018-11-16 | 郑州大学 | Linear drives freedom degree parallel connection hip joint mechanism |
| CN209364656U (en) * | 2019-01-13 | 2019-09-10 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot |
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87216690U (en) * | 1987-12-19 | 1988-12-14 | 机械委北京机械工业自动化研究所 | Manipulator wrist of robot |
| US5410944A (en) * | 1993-06-03 | 1995-05-02 | Cushman; William B. | Telescoping robot arm with spherical joints |
| CN1267581A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation |
| CN1267582A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Four-axial parallel machine tool structure with two-dimensional shift and two-dimensional rotation |
| CN102501246A (en) * | 2011-11-08 | 2012-06-20 | 北京邮电大学 | Three-drive extensible dexterous mechanical arm |
| CN102987771A (en) * | 2012-12-25 | 2013-03-27 | 大连理工计算机控制工程有限公司 | Three degree of freedom electric dynamic chair |
| CN107538464A (en) * | 2017-10-31 | 2018-01-05 | 李刚 | A kind of substation bus bar cylinder inwall clean robot driving arm assembly |
| CN108016585A (en) * | 2017-12-01 | 2018-05-11 | 东北石油大学 | A kind of grand micro-mechanical arm of underwater robot |
| CN108058158A (en) * | 2017-12-14 | 2018-05-22 | 天津理工大学 | Two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved |
| CN108527348A (en) * | 2018-04-04 | 2018-09-14 | 北京航空航天大学 | A kind of multi-joint mechanical arm |
| CN108818609A (en) * | 2018-06-30 | 2018-11-16 | 郑州大学 | Linear drives freedom degree parallel connection hip joint mechanism |
| CN209364656U (en) * | 2019-01-13 | 2019-09-10 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872084A (en) * | 2022-06-30 | 2022-08-09 | 浙江大学 | Robot joint balancing unit |
| CN114872084B (en) * | 2022-06-30 | 2022-09-23 | 浙江大学 | Robot joint balancing unit |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103737578B (en) | A kind of space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot | |
| CN107471197A (en) | A kind of apery both arms multiple degrees of freedom industrial robot | |
| CN103722552B (en) | A kind of controllable multi-degree-of-freedom manipulator | |
| CN103722553B (en) | A kind of controlled welding robot of multiple freedom parallel mechanism formula | |
| CN204657779U (en) | A kind of six degree of freedom eight-bar linkage Shi Bianbao Automobile Welding robot | |
| CN110524513B (en) | Two-axis parallel overturning grabbing robot | |
| CN104999472A (en) | Series-parallel type five-freedom-degree bionic shoulder joint linked with shoulder blade | |
| CN104552248A (en) | Multi-degree-of-freedom controllable mechanism type moving welding robot | |
| CN104646881A (en) | Method for performing welding construction by use of multi-DOF (Degree Of Freedom) controllable rocking arm type connecting rod mechanism | |
| CN109849049A (en) | A kind of double freedom hydraulic machinery shoulder joint connected using crossed joint | |
| CN209364656U (en) | A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot | |
| CN209364655U (en) | A kind of double freedom hydraulic machinery shoulder joint with independent driving capability | |
| CN104476054B (en) | Utilize the method that six degree of freedom five bar movable type linkage carries out welding procedure | |
| CN109849048A (en) | A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot | |
| CN109664277B (en) | Full-direct-acting hydraulic cylinder driving mechanical arm | |
| CN209903207U (en) | Full-direct-acting hydraulic cylinder driving mechanical arm | |
| CN109648600A (en) | A kind of double freedom hydraulic machinery shoulder joint with independent driving capability | |
| CN109849050B (en) | Hydraulic mechanical arm double-freedom-degree joint based on double cross shaft matching | |
| CN106695766B (en) | Six-degree-of-freedom parallel device based on grabbing parallel mechanism | |
| CN212601929U (en) | Crank arm and gripper structure of all-carbon fiber robot | |
| CN109849048B (en) | Double-freedom-degree hydraulic mechanical arm joint adopting spherical hinge connection | |
| CN218639650U (en) | Six arms of full-automatic anchor robot that bore | |
| CN107020621A (en) | A kind of combination drive multiple degrees of freedom assembly manipulator | |
| CN106945025A (en) | A kind of combination drive multiple degrees of freedom assembly manipulator | |
| CN109848981B (en) | Actuating mechanism of four-degree-of-freedom telescopic mechanical arm driven by full hydraulic cylinder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Su Qi Inventor after: Zhang Fu Inventor after: Xu Bing Inventor after: Qian Jianyong Inventor after: Ma Yun Inventor after: Yue Yiming Inventor before: Xu Bing Inventor before: Zhang Fu Inventor before: Su Qi Inventor before: Qian Jianyong Inventor before: Ma Yun Inventor before: Yue Yiming |
|
| GR01 | Patent grant |