CN113246172A - Parallel double-drive three-degree-of-freedom hydraulic joint - Google Patents
Parallel double-drive three-degree-of-freedom hydraulic joint Download PDFInfo
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- CN113246172A CN113246172A CN202110590860.5A CN202110590860A CN113246172A CN 113246172 A CN113246172 A CN 113246172A CN 202110590860 A CN202110590860 A CN 202110590860A CN 113246172 A CN113246172 A CN 113246172A
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- 238000007789 sealing Methods 0.000 claims description 26
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000009977 dual effect Effects 0.000 claims description 2
- 238000010030 laminating Methods 0.000 claims description 2
- 238000003825 pressing Methods 0.000 claims description 2
- 230000004044 response Effects 0.000 abstract description 5
- 238000012545 processing Methods 0.000 abstract description 3
- 210000001503 joint Anatomy 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
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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
- B25J17/0283—Three-dimensional joints
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
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Abstract
The invention provides a parallel double-drive three-degree-of-freedom hydraulic joint which comprises a parallel double-swing hydraulic cylinder for driving the joint and a hydraulic corner self-servo valve for controlling the rotation degree of freedom, wherein the parallel double-swing hydraulic cylinder comprises a left end cover, a right end external connection cover, a cylinder body, two groups of valve sleeves, a valve core, a valve body, a fixed stop block and blades, wherein the two groups of valve sleeves, the valve core, the valve body, the fixed stop block and the blades are positioned in the cylinder body, the two motors are positioned outside the cylinder body, the cylinder body of the parallel double-swing hydraulic cylinder is rectangular in appearance, two cylindrical cavities are arranged inside the parallel double-swing hydraulic cylinder for placing the double-swing hydraulic cylinder, the two hydraulic cylinders are symmetrically arranged in parallel, and oil ways in the cylinder body are symmetrically distributed by a central plane. The invention has the advantages of simple structure, easy processing, balanced stress of the valve core, large output torque, good dynamic characteristic, linear flow gain, high response speed, high control precision, high reliability and more flexibility.
Description
Technical Field
The invention belongs to the technical field of hydraulic robot joints, and particularly relates to a parallel dual-drive three-degree-of-freedom hydraulic joint.
Background
The hydraulic drive has the advantages of stable transmission, large torque/inertia ratio, simple structure, large load rigidity, high response speed, high precision, easy realization of overload protection and the like.
At present, domestic hydraulic joints mainly adopt telescopic piston cylinder type and swing cylinder type hydraulic joints controlled by an external servo valve. The national defense science and technology university researches a novel anthropomorphic arm joint driven by a hydraulic telescopic piston cylinder, and the joint has good performance and high rigidity; the hydraulic joint of the forest cone collecting robot researched by northeast forestry university is a telescopic piston cylinder type and a swing hydraulic cylinder type hydraulic joint controlled by an external servo valve; the master-slave robot hydraulic joint researched by Jilin university is a hydraulic joint with a swinging hydraulic cylinder controlled by an external servo valve, and is a flexible hydraulic finger joint of a hydraulic artificial muscle; the parallel elastic leg joint is driven by a translation hydraulic cylinder in the research of Shanghai university of transportation, and has strong load bearing capacity and large joint structure size.
In conclusion, in the prior art, hydraulic joints have various control and structural forms, basically need to be controlled by an external servo valve, are overlarge and have complex structures, and particularly, the valve core and the valve sleeve are internally provided with more complex inner oil ducts, so that the machining precision is difficult to ensure, and the problems of insufficient output torque and the like exist; the invention provides a parallel double-drive three-freedom-degree hydraulic joint, which is driven by a parallel double-swing hydraulic cylinder mechanism and consists of a planetary gear mechanism, a connecting piece, a hydraulic corner self-servo valve and the like.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the multi-degree-of-freedom hydraulic robot joint which has the advantages of simple structure, easiness in processing, balanced valve core stress, large output torque, good dynamic characteristic, linear flow gain, high response speed, high control precision, high reliability and more flexibility.
The technical scheme adopted for solving the problems in the prior art is as follows:
the utility model provides a three degree of freedom hydraulic pressure joints of parallel dual drive, includes the hydraulic pressure corner self-servo valve of the two swing hydraulic cylinders of parallel of this joint of drive and control gyration degree of freedom which characterized in that: the parallel double-swing hydraulic cylinder comprises a left end cover 3, a right end cover 9, a right end external connection cover 12, a cylinder body 4, two groups of valve sleeves 6, a valve core 7, a valve body 5, a fixed stop block 21 and blades 8 which are positioned in the cylinder body, and two motors 11 which are positioned outside the cylinder body, wherein the cylinder body 4 of the parallel double-swing hydraulic cylinder is rectangular in appearance, two cylindrical cavities are arranged in the cylinder body to place the double-swing hydraulic cylinder, the two hydraulic cylinders are symmetrically arranged in parallel, oil passages in the cylinder body are symmetrically distributed according to a central plane, two rectangular holes which are symmetrically arranged in parallel are formed above the cylinder body to install the fixed stop block 21, and the fixed stop block 21 is in movable fit with the valve body 5; the outer walls of the two valve body cylindrical cavities 32 are respectively fixedly provided with a blade 8, the two blades are symmetrically arranged on a central plane, and the blades 8 are movably matched with the cylinder body 4; the fixed stop blocks 21 and the blades 8 are arranged in a staggered manner;
the connecting cover 12 is arranged at the right end of the cylinder body 4, the two valve bodies 5 are respectively arranged in the two cylinder body cylindrical cavities 27, the left end cover 3 is arranged at the left end of the cylinder body 4, the output shaft of the valve body 5 extends out of the left end cover 3, and the conical gear 18 is arranged at the end part of the output shaft of the valve body 5 through the connecting key 17; a supporting structure vertical to the end cover surface is arranged on the left end cover 3 of the sealed cylinder body 4 to support the joint gear shaft 2; bevel gears are symmetrically arranged at two ends of the gear shaft 2 and are respectively meshed with the bevel gears 18 on the two valve body output shafts, a planetary gear train 19 is arranged in the middle of the gear shaft 2, the planetary gear train 19 consists of three bevel gears which comprise two bevel gears which are sleeved on the gear shaft 2 and arranged in parallel and a middle bevel gear which is vertical to the two bevel gears arranged in parallel, the axes of the three bevel gears are mutually vertical and are sequentially meshed, the two parallel bevel gears on the planetary gear train 19 are respectively and fixedly connected with the bevel gears at two ends of the gear shaft 2 to form a whole to rotate together, the bevel gear in the middle of the planetary gear train 19 is fixedly arranged on the gear shaft 2 with a connecting bolt 22, the bolt head of the connecting bolt 22 is arranged outside the shell of the connecting piece 20, and the screw rod of the connecting bolt 22 sequentially penetrates through the shell of the connecting piece 20, the middle axis bevel gear of the planetary gear train 19, the central shaft of the gear shaft 2, the bevel gear shaft 18, The other side of the connecting piece 20 is fixed by a nut, and the connecting bolt 22 is fixed with the middle bevel gear of the planetary gear system 19 and can rotate together; when the bevel gears 18 on the two valve body output shafts rotate in the same direction and at the same speed, the bevel gears at the two ends of the gear shaft 2 and the two parallel bevel gears of the planetary gear system 19 are driven to rotate in the same speed and in the opposite direction, the two parallel bevel gears rotate in the same speed and in the opposite direction to apply a rotating force to the middle bevel gear of the planetary gear system 19, and the middle bevel gear drives the connecting bolt 22 and the connecting piece 20 to rotate together, so that the joint is driven to swing; when the bevel gears 18 on the two valve body output shafts rotate reversely at the same speed, the bevel gears at the two ends of the gear shaft 2 and the two parallel bevel gears of the planetary gear train 19 are driven to rotate at the same speed and in the same direction, the two parallel bevel gears rotate at the same speed and in the same direction to apply an offset force to the middle bevel gear of the planetary gear train 19, and the offset force is transmitted to the connecting bolt, so that the connecting bolt 22 drives the gear shaft 2 to rotate, and further the joint pitching motion is realized;
the valve sleeve 6 is concentrically arranged in the cylindrical cavity 32 of the valve body, the left end surface of the valve sleeve 6 and the left end surface of the valve body 5 are fixed together through a cylindrical pin, the left end of the valve core 7 is concentrically arranged in the cylinder body 4 and is supported by a bearing, the right end of the valve core 7 passes through the valve sleeve 6 and is concentrically arranged in the cylindrical cavity 32 of the valve body, the motor 11 is fixed on the connecting cover 12, and the output shaft of the motor 11 is connected with the key groove 52 in the valve core at the right end of the valve core 7 through a key;
the right end cover 9 is provided with two groups of connecting cover low-pressure oil channels 23 and connecting cover high-pressure oil channels 24, the outlet of the connecting cover low-pressure oil channel 23 is a low-pressure oil outlet T, and the inlet of the connecting cover high-pressure oil channel 24 is a high-pressure oil inlet P; a first low-pressure oil channel 25 is arranged on the position, corresponding to the low-pressure oil channel 23 of the connecting cover, of the obliquely upper part of the cylinder body 4 along the axial direction, a second low-pressure oil channel 26 is arranged along the axial direction, the first low-pressure oil channel 25 is communicated with the second low-pressure oil channel 26, and the second low-pressure oil channel 25 is communicated with the low-pressure oil channel 23 of the connecting cover; a cylinder body high-pressure oil channel 28 is arranged at the position, corresponding to the connecting cover low-pressure oil channel 23, right below the cylinder body 4 along the axial direction, and the cylinder body high-pressure oil channel 28 is communicated with the connecting cover high-pressure oil channel 24;
the inlet of the first low-pressure oil channel 25 is communicated with a low-pressure oil ring groove 37 of the valve body 5, the low-pressure oil ring groove of the valve body 5 is communicated with the cylindrical cavity 32 of the valve body through a second radial low-pressure oil hole 34 on the low-pressure oil ring groove, the second radial low-pressure oil hole 34 is communicated with a valve sleeve right T-shaped port 45, the valve sleeve right T-shaped port 45 is communicated with a rectangular groove on a second annular boss 47 of the valve core 7, the rectangular groove on the second annular boss 47 of the valve core 7 is communicated with a valve sleeve right B-shaped port 44, and the valve sleeve right B-shaped port 44 is communicated with a corresponding blade right cavity 54 through a first rectangular valve port 35 of the valve body 5;
the inlet of the second low-pressure oil channel 26 is directly communicated with the valve sleeve left T-shaped port 38 through the first radial low-pressure oil hole 33 of the valve body 5, the valve sleeve left T-shaped port 38 is communicated with the rectangular groove on the fifth annular boss 50 of the valve core 7, the rectangular groove on the fifth annular boss 50 of the valve core 7 is communicated with the valve sleeve left A-shaped port 39, and the valve sleeve left A-shaped port 39 is communicated with the corresponding blade left cavity 53 through the second rectangular valve port 36 of the valve body 5;
the outlet of the cylinder high-pressure oil channel 28 is communicated with the high-pressure oil ring groove 29 of the valve body 5, the high-pressure oil ring groove 29 of the valve body 5 is communicated with the internal high-pressure oil channel 31 through the high-pressure radial oil hole 30, the internal high-pressure oil channel 31 is respectively communicated with the valve sleeve left P port 41 and the valve sleeve right P port 42, the valve sleeve left P port 41 is communicated with the rectangular groove on the fourth annular boss 49 of the valve core 7, the rectangular groove on the fourth annular boss 49 of the valve core 7 is communicated with the valve sleeve right A port 40, and the valve sleeve right A port 40 is communicated with the corresponding blade left cavity 53 through the second rectangular valve port 36 of the valve body 5;
the valve sleeve right P port 42 is communicated with a rectangular groove on a third annular boss 48 of the valve core 7, the rectangular groove on the third annular boss 48 of the valve core 7 is communicated with the valve sleeve left B port 43, and the valve sleeve left B port 43 is communicated with a corresponding blade right cavity 54 through the first rectangular valve port 35 of the valve body 5.
The valve body 5 consists of an output shaft, a cylindrical boss and a hollow cylinder from left to right in sequence; two valve body sealing grooves are arranged on the output shaft close to the cylindrical boss, an oil path outlet is formed in the end face of the output shaft, and a low-pressure oil inlet and a high-pressure oil outlet are communicated with the corresponding inner high-pressure oil channel 31 and the second radial low-pressure oil hole 34; a Z-shaped mounting groove is arranged between the first rectangular valve port 35 and the second rectangular valve port 36 of the valve body 5, three threaded holes are respectively arranged at two sides in the mounting groove, and the blade 8 is fixedly mounted on the valve body 5 through threaded connection;
the outer diameter of the cylindrical boss is the same as the nominal size of the inner diameter of the cylindrical cavity 27 of the cylinder body, three valve body sealing grooves are formed in the cylindrical surface of the cylindrical boss, a high-pressure oil annular groove 29 is formed between the valve body sealing groove B14 and the valve body sealing groove C15, a high-pressure radial oil pressing hole 30 is formed in the high-pressure oil annular groove 29, a low-pressure oil annular groove 37 is formed between the valve body sealing groove A13 and the valve body sealing groove B14, a second radial low-pressure oil hole 34 is formed in the low-pressure oil annular groove, and the two corresponding element lines of the second radial low-pressure oil hole 34 and the high-pressure.
A key groove 52 connected with an output shaft of the motor 11 is coaxially arranged at the right end of the valve core 7; the valve core 7 is provided with a first annular boss 46, a second annular boss 47, a third annular boss 48, a fourth annular boss 49 and a fifth annular boss 50 from left to right, the left sides of the second annular boss 47, the third annular boss 48, the fourth annular boss 49 and the fifth annular boss 50 are respectively provided with two rectangular grooves with the same size, the two rectangular grooves are distributed in 180 degrees, and each two rectangular grooves are positioned on the same circumferential line; the two rectangular groove center lines of the second annular boss 47 and the two rectangular groove center lines of the fourth annular boss 49 are respectively positioned on two element lines in axial symmetry, the two rectangular groove center lines of the third annular boss 48 and the two rectangular groove center lines of the fifth annular boss 50 are respectively positioned on the other two element lines in axial symmetry, and the difference of each element line is 90 degrees; the spool 7 is provided inside with a spool internal oil passage 51.
The valve sleeve 6 consists of six annular bosses and five grooves, and the annular bosses and the grooves are alternately arranged; two rectangular ports are respectively arranged on the left groove and the right groove, the two rectangular ports are arranged in an angle of 180 degrees, the two rectangular ports on the left groove are valve sleeve left T ports 38, and the two rectangular ports on the right groove are valve sleeve right T ports 45; the left side and the right side of the three grooves in the middle of the valve sleeve 6 are respectively provided with a group of rectangular openings, and each group of rectangular openings consists of two rectangular openings which are arranged at an angle of 180 degrees; the sizes of the rectangular openings on the five grooves are the same, the central lines of the rectangular openings on the five grooves are all located on the same corresponding element line, and the sizes of the rectangular openings on the five grooves are the same as the sizes of the rectangular grooves of the four bosses of the valve core 7;
the left side surface of each group of rectangular openings on the left side of the middle three grooves and the right side surface of the adjacent annular boss are the same plane, and the right side surface of each group of rectangular openings on the right side of the middle three grooves and the left side surface of the adjacent annular boss are the same plane; six groups of rectangular ports in the middle of the valve sleeve 6 are a valve sleeve left A port 39, a valve sleeve right A port 40, a valve sleeve left P port 41, a valve sleeve right P port 42, a valve sleeve left B port 43 and a valve sleeve right B port 44 from left to right in sequence, four annular bosses in the middle of the valve sleeve 6 correspond to four annular grooves between bosses on the valve core 7, the valve sleeve and the valve core are matched with a control oil way, and flow distribution is carried out on the surface of the valve core.
Fixed dog 21 is the strip, fixed dog is "T" shape, and the upper and lower surface is the horizontal plane, and lower surface and the laminating of rectangle cylinder body surface level, and the length of fixed dog is the difference of the length of the cylindrical cavity 27 of cylinder body and the length of the cylinder boss of valve body, and the height of fixed dog is the distance of rectangle cylinder body surface apart from the hollow cylinder surface of valve body, and the lower cambered surface center department of fixed dog is equipped with the strip seal groove along the axis direction, and the strip seal groove equals with the length of fixed dog, and the dog sealing strip has been inlayed to the strip seal groove.
The blade 8 is strip-shaped, the length of the blade 8 is the difference between the length of the cylindrical cavity 27 of the cylinder body and the length of the cylindrical boss of the valve body 5, the base of the blade 8 is matched with the Z-shaped mounting groove on the valve body 5, and is provided with a corresponding threaded hole which is connected and mounted on the valve body 5 through threads; the center of the lower cambered surface of the blade 8 is provided with a strip-shaped sealing groove along the axis direction, the length of the strip-shaped sealing groove is equal to that of the blade 8, and a blade sealing strip is embedded in the strip-shaped sealing groove.
The working principle of the hydraulic corner self-servo valve 1 is similar to that of a single side of the parallel double-swing hydraulic cylinder, and the hydraulic corner self-servo valve is identical to that of the single side of the parallel double-swing hydraulic cylinder in internal structure, and is not described herein again.
The invention has the following advantages:
1) the cylinder body of the parallel double-swing hydraulic cylinder driving mechanism is rectangular in shape, and two rectangular holes which are parallel and symmetrical are formed in the upper part of the cylinder body so as to install fixed stop blocks; because the cylinder body is rectangular in shape, and the fixed stop block and the external binding surface of the cylinder body are planes, the cylinder body is simple in structure, easy to process and easy to guarantee the processing precision.
2) The cylinder body is internally provided with two cylindrical cavities for placing the double-swing cylinders, the two cylindrical cavities are arranged in parallel and symmetrically, the cross section of the cylinder body is in an 8 shape, and oil passages in the cylinder body are symmetrically distributed on a central plane, so the double-swing cylinder has the characteristics of good dynamic characteristic, large output torque and balanced stress of the valve core.
3) The hydraulic joint is driven by the double-swing hydraulic cylinder and is based on a high-flow hydraulic corner self-servo mechanism with a floating position, so that the hydraulic joint has good dynamic characteristics, and the hydraulic joint has the characteristics of stable performance, high response speed and large output torque.
4) In the process of the parallel double-swing hydraulic cylinder, the left cylinder and the right cylinder coexist in four working cavities, two working cavities are always simultaneously high-pressure or two working cavities are simultaneously low-pressure, and the pressure control of the left working cavity and the pressure control of the right working cavity of each cylinder are opposite, so that a pair of moment-couple is formed, and the output moment is large. Therefore, the invention has the characteristics of balanced stress of the valve core, large output torque, good dynamic characteristic, linear flow gain and high response speed.
5) The planetary gear transmission device is arranged in the hydraulic joint, the output shaft of the parallel double-swing hydraulic cylinder drives the planetary gear train to realize the pitching and swinging freedom degrees of the joint, and the planetary gear transmission has the characteristics of small volume, high bearing capacity, stable work, high output power and the like, so the planetary gear transmission device has the characteristics of simple structure, good power performance and high output torque.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the cross-sectional structure A-A in FIG. 1;
FIG. 3 is a schematic structural view of the right end cap 9 in FIG. 1;
FIG. 4 is a schematic structural view of the cylinder block 4 of FIG. 2;
fig. 5 is a schematic sectional structure view of the valve body 5 in fig. 2;
fig. 6 is a schematic structural view of the valve body 5;
FIG. 7 is a schematic view of the cross-sectional structure B-B of FIG. 6;
FIG. 8 is a schematic view of the cross-sectional structure C-C of FIG. 6;
fig. 9 is a schematic structural view of valve housing 6 of fig. 1;
FIG. 10 is a schematic view of the cross-sectional structure of FIG. 9 taken along line D-D;
FIG. 11 is a schematic structural view of the valve cartridge 7 of FIG. 1;
FIG. 12 is a schematic view of the cross-sectional structure E-E of FIG. 11;
FIG. 13 is a schematic view of a left cylinder port;
FIG. 14 is a schematic view of a left cylinder fitting position II;
FIG. 15 is a schematic view of a left cylinder fitting;
fig. 16 is a schematic view of the left cylinder fitting position four.
Wherein: 1-hydraulic corner self-servo valve, 2-gear shaft, 3-left end cover, 4-cylinder body, 5-valve body, 6-valve sleeve, 7-valve core, 8-blade, 9-right end cover, 10-rudder engine base, 11-motor, 12-connecting cover, 13-valve body sealing groove A, 14-valve body sealing groove B, 15-valve body sealing groove C, 16-deep groove ball bearing, 17-connecting key, 18-conical gear, 19-planetary gear train, 20-connecting piece, 21-fixed stop, 22-connecting bolt, 23-connecting cover low-pressure oil channel, 24-connecting cover high-pressure oil channel, 25-first low-pressure oil channel, 26-second low-pressure oil channel, 27-cylinder body cylindrical cavity and 28-cylinder body high-pressure oil channel, 29-a high-pressure oil ring groove, 30-a high-pressure radial oil hole, 31-an internal high-pressure oil passage, 32-a valve body cylindrical cavity, 33-a first radial low-pressure oil hole, 34-a second radial low-pressure oil hole, 35-a first rectangular valve port, 36-a second rectangular valve port, 37-a low-pressure oil ring groove, 38-a valve sleeve left T port, 39-a valve sleeve left a port, 40-a valve sleeve right a port, 41-a valve sleeve left P port, 42-a valve sleeve right P port, 43-a valve sleeve left B port, 44-a valve sleeve right B port, 45-a valve sleeve right T port, 46-a first annular boss, 47-a second annular boss, 48-a third annular boss, 49-a fourth annular boss, 50-a fifth annular boss, 51-a spool internal oil passage, 52-a keyway, 53-left chamber of the blade, 54-right chamber of the blade.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings, as shown in fig. 1, a parallel double-drive three-degree-of-freedom hydraulic joint comprises a parallel double-swing hydraulic cylinder for driving the joint and a hydraulic corner self-servo valve for controlling the rotation degree of freedom, wherein the parallel double-swing hydraulic cylinder comprises a connecting cover 12, a motor 11, a cylinder body 4, a valve sleeve 6, a valve core 7, a valve body 5, a fixed stop 11 and a blade 8;
as shown in fig. 1 and 2, the connecting cover 12 is installed at the right end of the cylinder 4, the valve body 5 is concentrically installed in the cylinder cylindrical cavity 27, the left end cover 3 is installed at the left end of the cylinder 4, the output shaft of the valve body 5 extends out of the left end cover 3, a bevel gear 18 is installed at the end part of the output shaft of the valve body 5, and is meshed with a gear on a gear shaft to jointly form a planetary gear train mechanism 19 so as to realize joint pitching and swinging actions.
As shown in fig. 9 and 10, the valve sleeve 6 is composed of six annular bosses and five grooves, the annular bosses and the grooves are alternately arranged, two rectangular ports are respectively formed on the two grooves at the left end and the right end of the valve sleeve, the two rectangular ports are arranged at 180 degrees, the two rectangular ports on the groove at the left end are valve sleeve left T-ports 38, and the two rectangular ports on the groove at the right end are valve sleeve right T-ports 45; the left and right sides of the three grooves in the middle of the valve sleeve 6 are respectively provided with a group of rectangular openings, and each group of rectangular openings consists of two rectangular openings which are mutually arranged at an angle of 180 degrees. The sizes of the rectangular openings on the five grooves are the same, the central lines of the rectangular openings on the five grooves are all located on the same corresponding pixel line, and the sizes of the rectangular openings on the five grooves are the same as the sizes of the rectangular grooves of the four bosses of the valve core.
As shown in fig. 13 to 16, each cylinder of the parallel double-swing hydraulic cylinder has four distribution positions along the axial direction, when the left valve core moves anticlockwise relative to the valve body from the position shown in fig. 13, the first distribution position and the second distribution position gradually act, when the left valve core moves clockwise relative to the valve body from the position shown in fig. 15, the third distribution position and the fourth distribution position gradually act, and fig. 13 to 16 are radial sectional views of the four distribution positions of the left swing cylinder obtained along different axial positions, wherein the valve core 7 and the valve body 5 are in a middle position, each valve port is closed, and the valve core 7 and the valve body 5 are in a closed position.
In fig. 13 to 14, when the left valve core rotates counterclockwise relative to the valve sleeve 6, high-pressure oil enters the rectangular groove on the fourth annular boss 49 of the valve core from the left P port 41 of the valve sleeve, then enters the right a port 40 of the valve sleeve, finally enters the left vane cavity 53 through the first rectangular valve port 35 of the valve body, pushes the vane to rotate counterclockwise, so that the valve body 5 follows the valve core 7 to move, and low-pressure oil in the right vane cavity 54 enters the right B port 44 of the valve sleeve through the second rectangular valve port 36 of the valve body, then enters the rectangular groove on the second annular boss 47 of the valve core, and finally enters the right T port 45 of the valve sleeve; the first flow distribution position and the second flow distribution position are guaranteed to be opened and closed at the same time. The right cylinder flow distribution position is the same as the left cylinder.
In fig. 15-16, when the left spool rotates clockwise relative to the valve sleeve, high-pressure oil enters the rectangular groove on the third annular boss 48 of the spool from the valve sleeve right P port 42, then enters the valve sleeve left B port 43, and finally enters the vane right cavity 54 through the second rectangular valve port 36 of the valve body, so as to push the vane to rotate clockwise, so that the valve body follows the spool, and low-pressure oil in the vane left cavity 53 enters the valve sleeve left a port 39 through the first rectangular valve port 35 of the valve body, then enters the rectangular groove on the fifth annular boss 50 of the spool, and finally enters the valve sleeve left T port 38; the third flow distribution position and the fourth flow distribution position ensure the same opening and closing. The right cylinder flow distribution position is the same as the left cylinder.
The left cylinder and the right cylinder of the double-swing hydraulic cylinder are matched to rotate, when the valve core 7 in the cylinder rotates anticlockwise relative to the valve sleeve 6, high-pressure oil in the cylinder pushes the blade to rotate anticlockwise, and the valve body 5 rotates anticlockwise along with the valve core 7; when the valve core 7 in the cylinder rotates clockwise relative to the valve sleeve 6, high-pressure oil in the cylinder pushes the blades to rotate clockwise, so that the valve body 5 rotates clockwise along with the valve core 7. When the left valve body and the right valve body rotate in the same direction and at the same speed, the joints are driven by the planetary gear train to do yawing motion; when the left valve body and the right valve body rotate reversely at the same speed, the joint performs pitching motion through the transmission of the planetary gear train; when the left valve body and the right valve body rotate irregularly, the joint does a composite motion combining swing and pitching.
The parallel double-swing hydraulic cylinder for driving the three-degree-of-freedom hydraulic robot joint mainly comprises a cylinder body, a valve sleeve, a valve core, a fixed stop block, blades and other components, wherein the valve sleeve and the valve core are matched to control an oil way, flow distribution is carried out on the surface of the valve core, and the valve core and the valve sleeve are free of complex internal oil ducts and have high flow capacity; the valve core and the valve sleeve are symmetrically distributed, the radial force of the valve core is balanced, and the dynamic characteristic is good; the left and right double-swing hydraulic cylinders move in a matched mode, and the steering rotating speed is controlled according to the action requirement, so that the joint movement coordination, the control accuracy and the power strength are ensured.
The protective scope of the present invention is not limited to the above-described embodiments, and it is apparent that various modifications and variations can be made to the present invention by those skilled in the art without departing from the scope and spirit of the present invention. It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (7)
1. The utility model provides a three degree of freedom hydraulic pressure joints of parallel dual drive, includes the hydraulic pressure corner self-servo valve of the two swing hydraulic cylinders of parallel of this joint of drive and control gyration degree of freedom which characterized in that: the parallel double-swing hydraulic cylinder comprises a left end cover (3), a right end cover (9), a right end external connecting cover (12), a cylinder body (4), two groups of valve sleeves (6), a valve core (7), a valve body (5), fixed check blocks (21) and blades (8) which are positioned in the cylinder body, two motors (11) which are positioned outside the cylinder body, the cylinder body (4) of the parallel double-swing hydraulic cylinder is rectangular in appearance, two cylindrical cavities are arranged in the cylinder body to place the double-swing hydraulic cylinder, the two hydraulic cylinders are symmetrically arranged in parallel, an oil circuit in the cylinder body is symmetrically distributed in a central plane, two rectangular holes which are symmetrically arranged in parallel are formed above the cylinder body to install the fixed check blocks (21), and the fixed check blocks (21) are in movable fit with the valve body (5); the outer walls of the two valve body cylindrical cavities (32) are respectively fixedly provided with a blade (8), the two blades are symmetrically arranged on a central plane, and the blades (8) are in movable fit with the cylinder body (4); the fixed stop blocks (21) and the blades (8) are arranged in a staggered manner;
the connecting cover (12) is arranged at the right end of the cylinder body (4), the two valve bodies (5) are respectively arranged in the two cylinder body cylindrical cavities (27), the left end cover (3) is arranged at the left end of the cylinder body (4), the output shaft of the valve body (5) extends out of the left end cover (3), and the bevel gear (18) is arranged at the end part of the output shaft of the valve body (5) through a connecting key (17); a supporting structure vertical to the end cover surface is arranged on the left end cover (3) of the sealing cylinder body (4) to support the joint gear shaft (2); bevel gears are symmetrically arranged at two ends of a gear shaft (2) and are respectively meshed with bevel gears (18) on two valve body output shafts, a planetary gear train (19) is arranged in the middle of the gear shaft (2), the planetary gear train (19) consists of three bevel gears which comprise two bevel gears which are sleeved on the gear shaft (2) and arranged in parallel and a middle bevel gear which is perpendicular to the two bevel gears arranged in parallel, the axes of the three bevel gears are mutually perpendicular and are sequentially meshed, the two parallel bevel gears on the planetary gear train (19) are respectively and fixedly connected with the bevel gears at two ends of the gear shaft (2) to form a whole to rotate together, the bevel gear in the middle of the planetary gear train (19) and a connecting bolt (22) are fixedly arranged on the gear shaft (2), the bolt head of the connecting bolt (22) is arranged outside a shell of the connecting piece (20), and the screw rod of the connecting bolt (22) sequentially penetrates through the shell of the connecting piece (20), The axle center of the middle bevel gear of the planetary gear train (19), the center of the gear shaft (2) and the shell on the other side of the connecting piece (20) are fixed through nuts, and the connecting bolt (22) is fixed with the middle bevel gear of the planetary gear train (19);
the valve sleeve (6) is concentrically arranged in the cylindrical cavity (32) of the valve body, the left end surface of the valve sleeve (6) is fixed with the left end surface of the valve body (5) through a cylindrical pin, the left end of the valve core (7) is concentrically arranged in the cylinder body (4) and is supported by a bearing, the right end of the valve core (7) penetrates through the valve sleeve (6) and is concentrically arranged in the cylindrical cavity (32) of the valve body, the motor (11) is fixed on the connecting cover (12), and the output shaft of the motor (11) is connected with the key groove (52) in the valve core at the right end of the valve core (7) through a key;
two groups of connecting cover low-pressure oil channels (23) and connecting cover high-pressure oil channels (24) are arranged on the right end cover (9), the outlet of the connecting cover low-pressure oil channel (23) is a low-pressure oil outlet T, and the inlet of the connecting cover high-pressure oil channel (24) is a high-pressure oil inlet P; a first low-pressure oil channel (25) is arranged on the position, corresponding to the low-pressure oil channel (23) of the connecting cover, of the obliquely upper part of the cylinder body (4) along the axial direction, a second low-pressure oil channel (26) is arranged along the axial direction, the first low-pressure oil channel (25) is communicated with the second low-pressure oil channel (26), and the second low-pressure oil channel (25) is communicated with the low-pressure oil channel (23) of the connecting cover; a cylinder body high-pressure oil channel (28) is arranged at the position, corresponding to the connecting cover low-pressure oil channel (23), right below the cylinder body (4) along the axial direction, and the cylinder body high-pressure oil channel (28) is communicated with the connecting cover high-pressure oil channel (24);
the inlet of the first low-pressure oil channel (25) is communicated with a low-pressure oil ring groove (37) of the valve body (5), the low-pressure oil ring groove of the valve body (5) is communicated with a cylindrical cavity (32) of the valve body through a second radial low-pressure oil hole (34) on the low-pressure oil ring groove, the second radial low-pressure oil hole (34) is communicated with a valve sleeve right T-shaped port (45), the valve sleeve right T-shaped port (45) is communicated with a rectangular groove on a second annular boss (47) of the valve core (7), the rectangular groove on the second annular boss (47) of the valve core (7) is communicated with a valve sleeve right B-shaped port (44), and the valve sleeve right B-shaped port (44) is communicated with a corresponding blade right cavity (54) through a first rectangular valve port (35) of the valve body (5);
an inlet of the second low-pressure oil channel (26) is directly communicated with a valve sleeve left T-shaped port (38) through a first radial low-pressure oil hole (33) of the valve body (5), the valve sleeve left T-shaped port (38) is communicated with a rectangular groove on a fifth annular boss (50) of the valve core (7), the rectangular groove on the fifth annular boss (50) of the valve core (7) is communicated with a valve sleeve left A-shaped port (39), and the valve sleeve left A-shaped port (39) is communicated with a corresponding blade left cavity (53) through a second rectangular valve port (36) of the valve body (5);
an outlet of a cylinder body high-pressure oil channel (28) is communicated with a high-pressure oil ring groove (29) of a valve body (5), the high-pressure oil ring groove (29) of the valve body (5) is communicated with an internal high-pressure oil channel (31) through a high-pressure radial oil hole (30), the internal high-pressure oil channel (31) is communicated with a valve sleeve left P port (41) and a valve sleeve right P port (42) respectively, the valve sleeve left P port (41) is communicated with a rectangular groove on a fourth annular boss (49) of a valve core (7), the rectangular groove on the fourth annular boss (49) of the valve core (7) is communicated with a valve sleeve right A port (40), and the valve sleeve right A port (40) is communicated with a corresponding blade left cavity (53) through a second rectangular valve port (36) of the valve body (5);
the valve sleeve right P port (42) is communicated with a rectangular groove on a third annular boss (48) of the valve core (7), the rectangular groove on the third annular boss (48) of the valve core (7) is communicated with a valve sleeve left B port (43), and the valve sleeve left B port (43) is communicated with a corresponding blade right cavity (54) through a first rectangular valve port (35) of the valve body (5).
2. A parallel type dual-drive three-degree-of-freedom hydraulic joint according to claim 1, characterized in that: the valve body (5) consists of an output shaft, a cylindrical boss and a hollow cylinder from left to right in sequence; two valve body sealing grooves are arranged on the output shaft close to the cylindrical boss, an oil path outlet is formed in the end face of the output shaft, and a low-pressure oil inlet and a high-pressure oil outlet are communicated with the corresponding inner high-pressure oil channel (31) and the second radial low-pressure oil hole (34); a Z-shaped mounting groove is arranged between a first rectangular valve port (35) and a second rectangular valve port (36) of the valve body (5), three threaded holes are respectively arranged at two sides in the mounting groove, and the blade (8) is fixedly mounted on the valve body (5) through threaded connection;
the outer diameter of the cylindrical boss is the same as the nominal size of the inner diameter of a cylindrical cavity (27) of the cylinder body, three valve body sealing grooves are formed in the cylindrical surface of the cylindrical boss, a high-pressure oil annular groove (29) is formed between a valve body sealing groove B (14) and a valve body sealing groove C (15), a high-pressure radial oil pressing hole (30) is formed in the high-pressure oil annular groove (29), a low-pressure oil annular groove (37) is formed between a valve body sealing groove A (13) and the valve body sealing groove B (14), a second radial low-pressure oil hole (34) is formed in the low-pressure oil annular groove, and two corresponding element lines of the second radial low-pressure oil hole (34) and the high-pressure radial oil hole (30) on the valve body (5) are 90 degrees different.
3. A parallel type dual-drive three-degree-of-freedom hydraulic joint according to claim 1, characterized in that: a key groove (52) connected with an output shaft of the motor (11) is coaxially arranged at the right end of the valve core (7); the left sides of the second annular boss (47), the third annular boss (48), the fourth annular boss (49) and the fifth annular boss (50) are respectively provided with two rectangular grooves with the same size, the two rectangular grooves are distributed in 180 degrees, and each two rectangular grooves are positioned on the same circumferential line; two rectangular groove center lines of the second annular boss (47) and two rectangular groove center lines of the fourth annular boss (49) are respectively positioned on two element lines in axial symmetry, two rectangular groove center lines of the third annular boss (48) and two rectangular groove center lines of the fifth annular boss (50) are respectively positioned on the other two element lines in axial symmetry, and each element line is different by 90 degrees; the valve core (7) is internally provided with a valve core internal oil passage (51).
4. A parallel type dual-drive three-degree-of-freedom hydraulic joint according to claim 1, characterized in that: the valve sleeve (6) consists of six annular bosses and five grooves, and the annular bosses and the grooves are alternately arranged; two rectangular ports are respectively arranged on the left groove and the right groove, the two rectangular ports are arranged in an angle of 180 degrees, the two rectangular ports on the left groove are valve sleeve left T ports (38), and the two rectangular ports on the right groove are valve sleeve right T ports (45); the left side and the right side of the three grooves in the middle of the valve sleeve (6) are respectively provided with a group of rectangular openings, and each group of rectangular openings consists of two rectangular openings which are mutually arranged at an angle of 180 degrees; the sizes of the rectangular openings on the five grooves are the same, the central lines of the rectangular openings on the five grooves are all positioned on the same corresponding element line, and the sizes of the rectangular openings on the five grooves are the same as the sizes of the rectangular grooves of the four bosses of the valve core (7);
the left side surface of each group of rectangular openings on the left side of the middle three grooves and the right side surface of the adjacent annular boss are the same plane, and the right side surface of each group of rectangular openings on the right side of the middle three grooves and the left side surface of the adjacent annular boss are the same plane; six groups of rectangular ports in the middle of the valve sleeve (6) are a valve sleeve left A port (39), a valve sleeve right A port (40), a valve sleeve left P port (41), a valve sleeve right P port (42), a valve sleeve left B port (43) and a valve sleeve right B port (44) from left to right in sequence, four annular bosses in the middle of the valve sleeve (6) correspond to four annular grooves between the bosses on the valve core (7), the valve sleeve and the valve core are matched with a control oil way, and flow distribution is carried out on the surface of the valve core.
5. A parallel type dual-drive three-degree-of-freedom hydraulic joint according to claim 1, characterized in that: fixed dog (21) is the strip, fixed dog is "T" shape, and upper and lower surface is the horizontal plane, and lower surface and the laminating of rectangle cylinder body surface level, and the length of fixed dog is the difference of the length of the cylindrical cavity of cylinder body (27) and the length of the cylinder boss of valve body, and the height of fixed dog is the distance of rectangle cylinder body surface apart from the hollow cylinder surface of valve body, and the lower cambered surface center department of fixed dog is equipped with the strip seal groove along the axis direction, and the strip seal groove equals with the length of fixed dog, and the dog sealing strip has been inlayed to the strip seal groove.
6. A parallel type dual-drive three-degree-of-freedom hydraulic joint according to claim 1, characterized in that: the blade (8) is strip-shaped, the length of the blade (8) is the difference between the length of the cylindrical cavity (27) of the cylinder body and the length of the cylindrical boss of the valve body (5), the base of the blade (8) is matched with the Z-shaped mounting groove on the valve body (5), is provided with a corresponding threaded hole, and is mounted on the valve body (5) through threaded connection; the center of the lower cambered surface of the blade (8) is provided with a strip-shaped sealing groove along the axis direction, the length of the strip-shaped sealing groove is equal to that of the blade (8), and a blade sealing strip is embedded in the strip-shaped sealing groove.
7. A parallel type dual-drive three-degree-of-freedom hydraulic joint according to claim 1, characterized in that: the working principle of the hydraulic corner self-servo valve (1) is similar to that of a single side of the parallel double-swing hydraulic cylinder, the hydraulic corner self-servo valve is identical to that of the single side of the parallel double-swing hydraulic cylinder in internal structure, the hydraulic corner self-servo valve is not repeated here, the hydraulic corner self-servo valve is used as a swing rotary joint in a three-degree-of-freedom hydraulic joint to perform rotary motion and provide rotary freedom, and the hydraulic corner self-servo valve is connected with the parallel double-swing hydraulic cylinder through a connecting piece (20) to jointly form the three-degree-of-freedom hydraulic robot joint.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110590860.5A CN113246172A (en) | 2021-05-28 | 2021-05-28 | Parallel double-drive three-degree-of-freedom hydraulic joint |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110590860.5A CN113246172A (en) | 2021-05-28 | 2021-05-28 | Parallel double-drive three-degree-of-freedom hydraulic joint |
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| CN113246172A true CN113246172A (en) | 2021-08-13 |
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| CN110774277A (en) * | 2019-12-02 | 2020-02-11 | 福州大学 | Snake-shaped arm three-degree-of-freedom wrist joint and movement method |
| CN111941407A (en) * | 2020-09-17 | 2020-11-17 | 福州大学 | Three-degree-of-freedom snake-shaped robot module and snake-shaped robot applying same |
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2021
- 2021-05-28 CN CN202110590860.5A patent/CN113246172A/en active Pending
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| CN106737827A (en) * | 2017-01-17 | 2017-05-31 | 武汉科技大学 | A kind of corner is from servo passive compliance hydraulic machine person joint |
| CN206510062U (en) * | 2017-01-17 | 2017-09-22 | 武汉科技大学 | A kind of corner is from the submissive swinging driver of servo-hydraulic |
| CN107116572A (en) * | 2017-04-24 | 2017-09-01 | 武汉科技大学 | A kind of passive follow-up hydraulic robot revolute joint |
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Application publication date: 20210813 |