CN209364655U - A kind of double freedom hydraulic machinery shoulder joint with independent driving capability - Google Patents
A kind of double freedom hydraulic machinery shoulder joint with independent driving capability Download PDFInfo
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- CN209364655U CN209364655U CN201920049959.2U CN201920049959U CN209364655U CN 209364655 U CN209364655 U CN 209364655U CN 201920049959 U CN201920049959 U CN 201920049959U CN 209364655 U CN209364655 U CN 209364655U
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- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 14
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000004904 shortening 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
- 239000007788 liquid Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
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Abstract
The utility model discloses a kind of double freedom hydraulic machinery shoulder joint with independent driving capability, including rear end arms body, left servo-cylinder component, rear end holder, front end holder, connection cross axle, preceding end arms body and right servo-cylinder component；End arms body and left servo-cylinder component form revolute pair afterwards, afterwards end arms body with connect with cross axle trunnion axis formed revolute pair, left servo-cylinder component and rear end holder form revolute pair, rear end holder with connect with cross axle vertical axes upper surface be connected, front end holder with connect with cross axle trunnion axis right side be connected, preceding end arms body forms revolute pair with cross axle vertical axes with connecting, and right servo-cylinder component and front end holder form revolute pair, and right servo-cylinder component and preceding end arms body form revolute pair；The utility model is using two servo-cylinder components with independent driving capability, and by cross axle structure, two servo-cylinders of hydraulic-driven realize that mechanical arm is rotated around the double freedom of two axis, and mechanical arm is made to realize the flexible motion under space angle.
Description
Technical field
The utility model relates to hydraulic manipulator field more particularly to a kind of double freedom liquid with independent driving capability
Press mechanical pressing shoulder 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 utility model has carried out the design of fro hydraulic driving machinery shoulder joint, because hydraulic drive has
There are the outstanding advantages that big, light-weight, inertia is small and output rigidity is big of contributing, meanwhile, hydraulic system can be by improving system
Pressure improve output power, power is again than with huge advantage, especially with the mechanical arm of larger bearing capacity.
Utility model content
The purpose of this utility model is that in view of the deficiencies of the prior art, provide it is a kind of with independent driving capability it is double from
It is hydraulic by cross axle structure using two servo-cylinder components with independent driving capability by degree hydraulic machinery shoulder joint
It drives two servo-cylinders to realize that mechanical arm is rotated around the double freedom of two axis, transports mechanical arm realization flexibly under space angle
It is dynamic, and flexible movement can be realized under the operating condition of heavy duty, have the advantages that power again than big, flexible movements and stable.
The purpose of this utility model is achieved through the following technical solutions: it is a kind of with independent driving capability it is double from
By degree hydraulic machinery shoulder joint, including rear end arms body, left servo-cylinder component, rear end holder, front end holder, connection cross
Axis, preceding end arms body and right servo-cylinder component；
End arms body and left servo-cylinder component form revolute pair after described, and rear end arms body uses cross axle trunnion axis shape with connecting
At revolute pair, left servo-cylinder component and rear end holder form revolute pair, and rear end holder uses the upper of cross axle vertical axes with connecting
End face is connected, and front end holder is connected with the right side for using cross axle trunnion axis is connect, and preceding end arms body and connection cross axle are vertical
Axis forms revolute pair, and right servo-cylinder component and front end holder form revolute pair, and right servo-cylinder component is formed with preceding end arms body
Revolute pair.
Further, the right servo-cylinder component includes ring, right piston bar, right oil cylinder and right front ring behind the right side, the right side
Front ring and right oil cylinder are connected, and form revolute pair with preceding end arms body, it is described it is right after ring and right piston bar be connected, and with front end holder
Form revolute pair.
Further, the left servo-cylinder component includes left front ring, left piston bar, left oil cylinder and left back ring, the left side
Front ring and left piston bar are connected, and form revolute pair with rear end holder, and the left back ring and left oil cylinder are connected, and with rear end arms body
Form revolute pair.
The beneficial outcomes of the utility model are: the utility model double freedom hydraulic machinery shoulder joint has only using two
The servo-cylinder component of vertical driving capability can adjust two piston pole lengths according to different requirements by cross axle structure,
Each driving unit in mechanical arm front end rear end has independent driving capability, realizes movement of the mechanical arm under space angle, full
The different application of foot, realizes the flexible motion of mechanical arm；It will mechanically and hydraulically be integrated in one, big with energy density
Feature.
Detailed description of the invention
Fig. 1 is complete mechanical shoulder joint figure；
Fig. 2 is rear end arms body figure；
Fig. 3 is connection cross axle figure；
Fig. 4 is rear end holder figure；
Fig. 5 is front end holder figure；
Fig. 6 is preceding end arms body figure；
Fig. 7 is right servo-cylinder component drawings；
Fig. 8 is left servo-cylinder component drawings.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments.
A kind of double freedom hydraulic machinery shoulder joint with independent driving capability provided by the utility model, utilizes two balls
Hinge and a cross axle structure can realize double freedom rotation under the operating condition of heavy duty；As shown in Figure 1, the joint includes
End arms body 3.1, left servo-cylinder component 2, rear end holder 3.2, front end holder 3.3, connection cross axle 3.4, preceding end arms body afterwards
3.5 and right servo-cylinder component 1；
As shown in figures 1 to 6, end arms body 3.1 and left servo-cylinder component 2 form revolute pair after described, rear end arms body 3.1 with
Connection 3.4 trunnion axis of cross axle forms revolute pair, and left servo-cylinder component 2 forms revolute pair, rear end folder with rear end holder 3.2
Seat 3.2 with connect connected with the upper surfaces of 3.4 vertical axes of cross axle, front end holder 3.3 uses 3.4 trunnion axis of cross axle with connecting
Right side is connected, and preceding end arms body 3.5 uses 3.4 vertical axes of cross axle formation revolute pair, right servo-cylinder component 1 and front end with connect
Holder 3.3 forms revolute pair, and right servo-cylinder component 1 forms revolute pair with preceding end arms body 3.5.
As shown in fig. 7, the right servo-cylinder component 1 includes ring 1.1, right piston bar 1.2, right oil cylinder 1.3 and the right side behind the right side
Front ring 1.4, the right front ring 1.4 are connected with right oil cylinder 1.3, and form revolute pair, ring 1.1 behind the right side with preceding end arms body 3.5
It is connected with right piston bar 1.2, and forms revolute pair with front end holder 3.3.
As shown in figure 8, the left servo-cylinder component 2 includes left front ring 2.1, left piston bar 2.2, left oil cylinder 2.3 and a left side
Ring 2.4 afterwards, the left front ring 2.1 is connected with left piston bar 2.2, and forms revolute pair, the left back ring with rear end holder 3.2
2.4 are connected with left oil cylinder 2.3, and form revolute pair with rear end arms body 3.1.
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；
Later end arms body 3.1 is referential, when the right piston bar 1.2 of right servo-cylinder component 1 elongates or shortens, preceding end arms
Body 3.5 is rotated around the vertical axes of connection cross axle 3.4, to realize that joint is movable to the left or to the right；
Later end arms body 3.1 is referential, when the left piston bar 2.2 of left servo-cylinder component 2 elongates or shortens, preceding end arms
Body 3.5 is rotated around the trunnion axis of connection cross axle 3.4, to realize that joint is movable upward or downward；
Right piston bar 1.2 and left piston bar 2.2 are run simultaneously, to realize activity of the joint on space angle；
By setting independent left servo-cylinder component 2 and right servo-cylinder component 1, after left servo-cylinder component 2 is mounted on
End arms body 3.1, end arms body 3.5 before right servo-cylinder component 1 is mounted on, end arms body 3.5 is in sky before two parts independently drive realization
Between activity in angle.
The course of work of the utility model 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) end arms body 3.1 is referential later, and the right piston bar 1.2 that control system controls right servo-cylinder component 1 extends
Or when shortening, preceding end arms body 3.5 is rotated around the vertical axes of connection cross axle 3.4, to realize that joint is movable to the left or to the right；
(5) end arms body 3.1 is referential later, and the left piston bar 2.2 that control system controls left servo-cylinder component 2 extends
Or when shortening, preceding end arms body 3.5 is rotated around the trunnion axis of connection cross axle 3.4, to realize that joint is movable upward or downward；
(6) right piston bar 1.2 and left piston bar 2.2 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 utility model, it can be according to need
It wants, designs a variety of mechanical arm front ends and revolute pair form, it is clear that other application example identical with the utility model basic principle
It should also belong to the protection scope of the utility model.
Claims (3)
1. a kind of double freedom hydraulic machinery shoulder joint with independent driving capability, it is characterised in that: including rear end arms body
(3.1), cross axle (3.4), preceding end arms are used in left servo-cylinder component (2), rear end holder (3.2), front end holder (3.3), connection
Body (3.5) and right servo-cylinder component (1)；
End arms body (3.1) and left servo-cylinder component (2) form revolute pair, rear end arms body (3.1) and connection cross after described
Axis (3.4) trunnion axis forms revolute pair, and left servo-cylinder component (2) and rear end holder (3.2) form revolute pair, rear end holder
(3.2) it is connected with the upper surface of cross axle (3.4) vertical axes with connecting, front end holder (3.3) uses cross axle (3.4) water with connecting
The right side of flat axis is connected, and preceding end arms body (3.5) uses cross axle (3.4) vertical axes formation revolute pair, right servo-cylinder with connect
Component (1) and front end holder (3.3) form revolute pair, and right servo-cylinder component (1) and preceding end arms body (3.5) form revolute pair.
2. a kind of double freedom hydraulic machinery shoulder joint with independent driving capability according to claim 1, feature
Be: the right servo-cylinder component (1) includes ring (1.1), right piston bar (1.2), right oil cylinder (1.3) and right front ring behind the right side
(1.4), the right front ring (1.4) and right oil cylinder (1.3) are connected, and form revolute pair, ring behind the right side with preceding end arms body (3.5)
(1.1) it is connected with right piston bar (1.2), and forms revolute pair with front end holder (3.3).
3. a kind of double freedom hydraulic machinery shoulder joint with independent driving capability according to claim 1, feature
Be: the left servo-cylinder component (2) includes left front ring (2.1), left piston bar (2.2), left oil cylinder (2.3) and left back ring
(2.4), the left front ring (2.1) and left piston bar (2.2) are connected, and form revolute pair with rear end holder (3.2), described left back
Ring (2.4) and left oil cylinder (2.3) are connected, and form revolute pair with rear end arms body (3.1).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920049959.2U CN209364655U (en) | 2019-01-13 | 2019-01-13 | A kind of double freedom hydraulic machinery shoulder joint with independent driving capability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920049959.2U CN209364655U (en) | 2019-01-13 | 2019-01-13 | A kind of double freedom hydraulic machinery shoulder joint with independent driving capability |
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| CN209364655U true CN209364655U (en) | 2019-09-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648600A (en) * | 2019-01-13 | 2019-04-19 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint with independent driving capability |
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2019
- 2019-01-13 CN CN201920049959.2U patent/CN209364655U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648600A (en) * | 2019-01-13 | 2019-04-19 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint with independent driving capability |
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