CN205852828U - A kind of hydraulic knuckle - Google Patents
A kind of hydraulic knuckle Download PDFInfo
- Publication number
- CN205852828U CN205852828U CN201620512939.0U CN201620512939U CN205852828U CN 205852828 U CN205852828 U CN 205852828U CN 201620512939 U CN201620512939 U CN 201620512939U CN 205852828 U CN205852828 U CN 205852828U
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- CN
- China
- Prior art keywords
- piston rod
- hollow piston
- hollow
- bearing
- flange
- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of hydraulic knuckle, including hollow flange, slidably it is sheathed on the hollow piston rod in described hollow flange, and be connected with described hollow piston rod and be installed on the rotating mechanism in described hollow flange, described rotating mechanism includes that fixed cover is located at the nut sleeve of described hollow piston rod, the screw rod being connected with described nut sleeve screw-driven, is sheathed on the bearing in hollow piston set, and is sheathed on bearing and is fixedly installed in the installation set of described screw rod one end.This utility model is operationally, hollow piston rod slides in hollow flange and drives nut sleeve linear motion, and drive the screw rod being connected with nut sleeve threaded engagement to rotate, thus drive is fixed, with screw rod, the installation set being connected and is rotated, realize being converted into linear motion input the function of rotary motion output, the move distance of hollow piston rod is directly proportional linear relationship to the described anglec of rotation installing set, has simple in construction, the beneficial effect that easy to control and stability is high.
Description
Technical field
This utility model relates to Industrial Robot Technology field, relates to a kind of industrial robot hydraulic knuckle, refers in particular to
A kind of industrial robot hydraulic rotation joint or swinging joint.
Background technology
Along with the development of robotics, robot mechanized equipment, automobile making, etc. industry field extensively should
With.At present, each movable joint of industrial robot, the servomotor that commonly used control accuracy is high drives RV reductor or humorous
Ripple reductor, implements the structure driven to robotic arm, and this version occupies industrial robot more than 1/4th nearly
Cost, hardware infusion of financial resources height, technical difficulty is big, and action simple automation equipment less demanding for control accuracy,
The robot input cost of this version is prohibitively expensive, it appears waste one's talent on a petty job, and causes unnecessary waste.
For this problem, employing linear hydraulic cylinder is had to drive crank block swing mechanism, to drive mechanical arm action
Structure is devised, and owing to structure uses Hydraulic servo drive, can manufacture equally and realize industrial robot of good performance, and
And contrast servomotor drives RV reductor or the structure of harmonic wave speed reducing machine driven machine arm action, have structure simpler,
Output loading capability is strong and power is than big advantage.But but this structure exists control, and input quantity is non-linear with output
Relation, it is big that output controls difficulty, poor work stability, in-convenience in use shortcoming.
Utility model content
The purpose of this utility model is that solving existing linear hydraulic cylinder drives crank block swing mechanism to drive machinery
The structure of arm action, exist control input quantity and output be non-linear relation cause output to control difficulty is big, working stability
Property difference and inconvenient problem with use, it is provided that a kind of simple in construction, the hydraulic knuckle that easy to control and stability is high.
The purpose of this utility model can reach by the following technical solutions:
A kind of hydraulic knuckle, including hollow flange, is slidably sheathed on the hollow piston rod in described hollow flange, and
Be connected and be installed on the rotating mechanism in described hollow flange with described hollow piston rod, described rotating mechanism includes fixing sheathed
In the nut sleeve of described hollow piston rod, the screw rod being connected with described nut sleeve screw-driven, it is sheathed in hollow piston set
Bearing, and it is sheathed on bearing and is fixedly installed in the installation set of described screw rod one end.
Further, described installation set includes that rotary sleeve and output shaft, one end of described rotary sleeve are provided with first shaft shoulder, institute
State rotary sleeve to be sheathed on described bearing inner race, and the one side of described bearing is pressed on described first shaft shoulder top；Described rotary sleeve
The other end is connected by connector and described output shaft are fixing, and the another side of described bearing is pressed on described output shaft top, described
Rotary sleeve is fixing with described screw rod to be connected.
As the preferred scheme of one, in the middle part of the excircle of described hollow piston rod, it is provided with second shaft shoulder, is positioned at described
Having oil-in and oil-out in the hollow flange of the both sides of two shaft shoulders, described second shaft shoulder is close with the inwall of described hollow flange
Envelope connects, and the two ends of described hollow piston rod are tightly connected with described hollow flange, forms oil suction chamber respectively and goes out oil pocket.
As the preferred scheme of one, the excircle of described hollow piston rod has chute, described hollow flange interior
Wall is provided with the projection corresponding with described runner position, and described projection is slidably sheathed in described chute.
Further, one end of described hollow piston rod is connected with the inner wall sealing of described hollow flange by sealing ring,
The other end of hollow piston rod is connected with the inner wall sealing of described hollow flange by sealing lid, and described sealing lid passes through sealing ring
Be connected with the inner wall sealing of described hollow piston rod and hollow flange, described seal lid by connector be fixedly installed in described in
On empty flange.
As the preferred scheme of one, described bearing is set to two, and two described bearings mutually push up pressure, forms duplex bearing even
Access node structure.
As the preferred scheme of one, described screw rod is connected with described nut sleeve screw-driven by ball.
As the preferred scheme of one, described rotary sleeve is connected with described screw rod by connecting key.
Further, described oil-in and oil-out are provided with the joint for external oil pipe.
As the preferred scheme of one, described hollow flange includes the first cylinder barrel and the second cylinder barrel, described hollow piston rod
Being sheathed in described second cylinder barrel, described bearing holder (housing, cover) is located in described first cylinder barrel.
Implement this utility model, have the advantages that
1, this utility model is operationally, and hollow piston rod slides in hollow flange and drives nut sleeve linear motion, and
Drive the screw rod being connected with nut sleeve threaded engagement to rotate, thus drive is fixed the installation set being connected and carried out turning with screw rod
Dynamic, it is achieved linear motion input to be converted into the function of rotary motion output, owing to the move distance of hollow piston rod is with described
The anglec of rotation installing set is directly proportional linear relationship, solves existing linear hydraulic cylinder and drives crank block swing mechanism to drive
The structure of mechanical arm action exist control input quantity and output be non-linear relation cause output to control difficulty is big, work is steady
Qualitative difference and inconvenient problem with use, have simple in construction, the feature that easy to control and stability is high.
2, projection of the present utility model plays constraint hollow piston at circumferencial direction and produces swing fortune during sliding
Dynamic effect, it is ensured that the move distance of hollow piston rod is directly proportional linear relationship with the described anglec of rotation overlapped of installing, and prevents out
Now output controls that difficulty is big and the problem of poor work stability.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, the accompanying drawing in describing below is only
It is embodiments more of the present utility model, for those of ordinary skill in the art, in the premise not paying creative work
Under, it is also possible to other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the structural representation of this utility model hydraulic knuckle；
Fig. 2 is the Fig. 1 sectional view along A-A direction；
Fig. 3 is the three-dimensional structure diagram of this utility model hydraulic knuckle.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under making creative work premise
The every other embodiment obtained, broadly falls into the scope of this utility model protection.
Embodiment
Referring to figs. 1 through Fig. 3, the present embodiment relates to hydraulic knuckle, including hollow flange 1, is slidably sheathed on described hollow
Hollow piston rod 2 in flange 1, and be connected with described hollow piston rod 2 and be installed on the rotating machine in described hollow flange 1
Structure, described rotating mechanism includes that fixed cover is located at the nut sleeve 31 of described hollow piston rod 2, with described nut sleeve 31 screw-driven
The screw rod 32 connected, is sheathed on the bearing 33 in hollow piston set, and is sheathed on bearing 33 and is fixedly installed in described spiral shell
The installation set 34 of bar 32 one end.Described bearing is angular contact ball bearing.Operationally, hollow piston rod 2 is sliding in hollow flange 1
Move and drive nut sleeve 31 to move along a straight line, and driving the screw rod 32 being connected with nut sleeve 31 threaded engagement to rotate, thus
The installation set 34 that be connected fixing with screw rod 32 is driven to rotate, it is achieved linear motion input is converted into rotary motion output
Function, owing to the move distance of hollow piston rod 2 is directly proportional linear relationship to the described anglec of rotation installing set 34, solves existing
Drive crank block swing mechanism to drive the structure of mechanical arm action to control input quantity and output with the presence of linear hydraulic cylinder
Cause output to control difficulty is big, poor work stability and inconvenient problem with use for non-linear relation, has simple in construction,
The feature that easy to control and stability is high.
Bearing 33 uses angular contact ball bearing, to bear the axial load of hollow piston rod and to bear what mechanical arm brought
Service load, load capacity is big, improves stability and the safety of work.
As in figure 2 it is shown, described set 34 of installing includes that rotary sleeve 341 and output shaft 342, one end of described rotary sleeve 341 set
There are first shaft shoulder 343, described rotary sleeve 341 to be sheathed on described bearing 33 inner ring, and described axle is pressed on described first shaft shoulder 343 top
Hold the one side of 33；The other end of described rotary sleeve 341 is connected by connector is fixing with described output shaft 342, and described defeated
The another side of described bearing 33 is pressed on shaft 342 top, and described rotary sleeve 341 is fixing with described screw rod 32 to be connected.Rotary sleeve 341 He
Output shaft 342 is threaded connection part and relatively connects and push up two sides being pressed on bearing 33 inner ring, so that rotary sleeve 341
With on the inner ring that output shaft 342 is fixedly installed in bearing 33, simple in construction, rotary sleeve 341 and output shaft can be realized rapidly
The installation and removal of 342.
It is provided with second shaft shoulder 21 in the middle part of the excircle of described hollow piston rod 2, is positioned at the both sides of described second shaft shoulder 21
Having oil-in 11 and oil-out 12 in hollow flange 1, described second shaft shoulder 21 connects with the inner wall sealing of described hollow flange 1
Connect, and the two ends of described hollow piston rod 2 are tightly connected with described hollow flange 1, form oil suction chamber 13 respectively and go out oil pocket 14.
Described oil-in 11 and oil-out 12 are provided with the joint 4 for external oil pipe.Liquid is inputted toward oil suction chamber 13 by oil-in 11
Force feed, second shaft shoulder 21 drives hollow piston rod 2 to slide under the pressure of hydraulic oil promotes, and goes out the hydraulic pressure in oil pocket 14
Oil is discharged by oil-out 12；And when needs reverse drive hollow piston rod 2 slides, in going out oil pocket 14, input liquid
Oil, then second shaft shoulder 21 drives hollow piston rod 2 to carry out reverse slide under the pressure of hydraulic oil promotes, it is achieved controls hydraulic pressure and drives
Dynamic piston rod carries out the function slided.
Having chute 22 on the excircle of described hollow piston rod 2, the inwall of described hollow flange 1 is provided with and described cunning
The projection 15 that groove 22 position is corresponding, described projection 15 is slidably sheathed in described chute 22.This projection 15 is at circumferencial direction
Play constraint hollow piston during sliding, produce the effect of oscillating motion, it is ensured that the move distance of hollow piston rod 2 with
The described anglec of rotation installing set 34 is directly proportional linear relationship, and preventing output, to control difficulty big and poor work stability
Problem.
One end of described hollow piston rod 2 is connected with the inner wall sealing of described hollow flange 1 by sealing ring, hollow piston
The other end of bar 2 is connected with the inner wall sealing of described hollow flange 1 by sealing lid 5, and the described lid 5 that seals is by sealing ring and institute
State hollow piston rod 2 and hollow flange 1 inner wall sealing connect, described seal lid 5 by connector be fixedly installed in described in
On empty flange 1.Under the sealing function of sealing ring, oil suction chamber 13 can be prevented and go out oil pocket 14 appearance leakage oil condition, Jin Erbao
The stability of card hydraulic coupling, it is ensured that hydraulic-driven safe and reliable operation.
Due to rotary sleeve 341 drive screw rod 32 rotate during, screw rod 32 by pole axial compressive force and act on
On the inner ring of bearing 33, in order to improve the axial load of bearing 33 inner ring, prevent bearing 33 because bearing excessive axial force and
Damaging, described bearing 33 is set to two, and two described bearings 33 mutually push up pressure, forms duplex bearing 33 attachment structure.
Described rotary sleeve 341 has through hole, and one end of described screw rod 32 is provided with external screw thread and through through hole, described screw rod 32
It is fixedly connected on described rotary sleeve 341 by nut 6, facilitates the connection of rotary sleeve 341 and screw rod 32, improve the effect installed
Rate.
Described screw rod 32 is connected with described nut sleeve 31 screw-driven by ball, reduce screw rod 32 and nut sleeve 31 it
Between frictional resistance, and there is kinematic accuracy and the high feature of transmission efficiency.
Described rotary sleeve 341 is connected with described screw rod 32 by connecting key 7.When screw rod 32 rotates, screw rod 32 is by even
Connecing key 7 drives rotary sleeve 341 to rotate.
Described hollow flange 1 includes the first cylinder barrel 16 and the second cylinder barrel 17, and described hollow piston rod 2 is sheathed on described second
In cylinder barrel 17, described bearing 33 is sheathed in described first cylinder barrel 16.When mounted can be first by hollow piston rod 2, nut sleeve 31
It is installed on the second cylinder barrel 17 with screw rod 32, the most again bearing 33, rotary sleeve 341 and output shaft 342 is installed on the first cylinder barrel
On 16, finally the first cylinder barrel 16 is installed on the second cylinder barrel 17, and by fixing even with described rotary sleeve 341 for one end of screw rod 32
It is connected together, facilitates the assembly or disassembly of this hydraulic knuckle, improve the efficiency of assembling.
Above disclosed only this utility model one preferred embodiment, can not limit this practicality with this certainly
Novel interest field, the equivalent variations therefore made according to this utility model claim, still belong to what this utility model was contained
Scope.
Claims (10)
1. a hydraulic knuckle, it is characterised in that: including hollow flange, the hollow being slidably sheathed in described hollow flange is lived
Stopper rod, and it is connected and is installed on the rotating mechanism in described hollow flange, described rotating mechanism bag with described hollow piston rod
Include fixed cover and be located at the nut sleeve of described hollow piston rod, the screw rod being connected with described nut sleeve screw-driven, it is sheathed on hollow
Bearing in piston bush, and it is sheathed on bearing and is fixedly installed in the installation set of described screw rod one end.
A kind of hydraulic knuckle the most according to claim 1, it is characterised in that: described installation set includes rotary sleeve and output
Axle, one end of described rotary sleeve is provided with first shaft shoulder, and described rotary sleeve is sheathed on described bearing inner race, and described first shaft shoulder
The one side of described bearing is pressed on top；The other end of described rotary sleeve is connected by connector and described output shaft are fixing, and described
The another side of described bearing is pressed on output shaft top, and described rotary sleeve is fixing with described screw rod to be connected.
A kind of hydraulic knuckle the most according to claim 1, it is characterised in that: set in the middle part of the excircle of described hollow piston rod
There is second shaft shoulder, the hollow flange of the both sides being positioned at described second shaft shoulder has oil-in and oil-out, described second shaft shoulder
It is connected with the inner wall sealing of described hollow flange, and the two ends of described hollow piston rod are tightly connected with described hollow flange, point
Xing Cheng oil suction chamber and go out oil pocket.
4. according to a kind of hydraulic knuckle described in claim 1 or 3, it is characterised in that: on the excircle of described hollow piston rod
Having chute, the inwall of described hollow flange is provided with the projection corresponding with described runner position, and described projection slidably overlaps
It is located in described chute.
A kind of hydraulic knuckle the most according to claim 4, it is characterised in that: one end of described hollow piston rod is by sealing
Circle is connected with the inner wall sealing of described hollow flange, the other end of hollow piston rod by sealing cover with described hollow flange interior
Wall is tightly connected, and the described lid that seals is connected by the inner wall sealing of sealing ring with described hollow piston rod and hollow flange, described
Seal lid to be fixedly installed on described hollow flange by connector.
A kind of hydraulic knuckle the most according to claim 1, it is characterised in that: described bearing is set to two, two described axles
Hold and mutually push up pressure, form duplex bearing attachment structure.
A kind of hydraulic knuckle the most according to claim 1, it is characterised in that: described screw rod is by ball and described nut sleeve
Screw-driven connects.
A kind of hydraulic knuckle the most according to claim 2, it is characterised in that: described rotary sleeve is by connecting key and described spiral shell
Bar connects.
A kind of hydraulic knuckle the most according to claim 3, it is characterised in that: described oil-in and oil-out are provided with use
Joint in external oil pipe.
A kind of hydraulic knuckle the most according to claim 3, it is characterised in that: described hollow flange include the first cylinder barrel and
Second cylinder barrel, described hollow piston rod is sheathed in described second cylinder barrel, and described bearing holder (housing, cover) is located in described first cylinder barrel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620512939.0U CN205852828U (en) | 2016-05-30 | 2016-05-30 | A kind of hydraulic knuckle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620512939.0U CN205852828U (en) | 2016-05-30 | 2016-05-30 | A kind of hydraulic knuckle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205852828U true CN205852828U (en) | 2017-01-04 |
Family
ID=57638074
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620512939.0U Expired - Fee Related CN205852828U (en) | 2016-05-30 | 2016-05-30 | A kind of hydraulic knuckle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205852828U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904480A (en) * | 2016-05-30 | 2016-08-31 | 广东工业大学 | Hydraulic joint |
| CN109944849A (en) * | 2019-04-22 | 2019-06-28 | 沈阳东北电力调节技术有限公司 | Mortise and tenon type attachment device in Driven by Hydraulic Cylinder heavy load between two connectors |
| CN111237280A (en) * | 2020-03-25 | 2020-06-05 | 武汉科技大学 | Rigidity-adjustable corner self-servo valve control hydraulic joint |
-
2016
- 2016-05-30 CN CN201620512939.0U patent/CN205852828U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904480A (en) * | 2016-05-30 | 2016-08-31 | 广东工业大学 | Hydraulic joint |
| CN109944849A (en) * | 2019-04-22 | 2019-06-28 | 沈阳东北电力调节技术有限公司 | Mortise and tenon type attachment device in Driven by Hydraulic Cylinder heavy load between two connectors |
| CN109944849B (en) * | 2019-04-22 | 2024-04-12 | 沈阳东北电力调节技术有限公司 | Mortise and tenon type connecting device between two connecting pieces in hydraulic cylinder driving heavy load |
| CN111237280A (en) * | 2020-03-25 | 2020-06-05 | 武汉科技大学 | Rigidity-adjustable corner self-servo valve control hydraulic joint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170104 Termination date: 20200530 |