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Robot joint driver

A technology of robot joints and drivers, applied in the field of robots, can solve the problems of difficult precise control, complex structure, large space occupation, etc., and achieve the effect of easy precise control, small size, and protection of cleanliness

Active Publication Date: 2018-06-15
BEIJING MECHANICAL EQUIP INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a robot joint driver, which solves the problems that the existing hydraulic joint driver takes up a large space, has a complex structure, and is difficult to achieve precise control

Method used

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Embodiment Construction

[0043] The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0044] The invention provides a robot joint driver, such as figure 1 with 2 Shown, including housing 1, piston 2, screw plug 3, three-position four-way valve 4, connecting rod 5, rotating shaft 6, crank 7, cover 8, encoder 9, pipe joint A10, pipe joint B11, adjusting screw A12, adjusting screw B13, wear ring 14, grid ring 15, O-ring 16.

[0045] The three-position four-way valve 4 controls the hydraulic oil to drive the piston 2 to reciprocate. The piston 2 drives the rotating shaft 6 to rotate through the connecting rod 5 and the crank 7, and the rotating shaft 6 is connected with the corresponding driving parts of the robot.

[0046] Such as image 3 As shown, the housing 1 includes a first section with a piston mounting hole 101, a valve hole 102, a P port 103, a T port 104, a shaft mounting hole 105, an adjusting screw hole 106, and a circular hole, a...

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Abstract

The invention provides a robot joint driver. The robot joint driver comprises a shell (1), a piston (2), a connecting rod (5), a rotating shaft (6) and a crank (7), wherein the piston (2) is sealed ina piston mounting hole (101) of the shell (1); the rotating shaft (6) is mounted in a rotating shaft mounting hole (105) of the shell (1); the connecting rod (5) and the crank (7) are located in theshell (1), and the piston (2) is driven to move to and fro through hydraulic oil; and the piston (2) drives the rotating shaft (6) to rotate through the connecting rod (5) and the crank (7). The driver adopting hydraulic driving has the advantages that as an oil cylinder shell, an oil path channel and a joint bearing mechanism are integrated together, the size is small, output torque is large, thestructure is simple and compact, and installation and use are convenient; the rotating angle of a joint is fed back by an encoder, so that accurate control is facilitated; and the rotating angle range of the joint can be adjusted by a regulating screw, so that the application range is wide, and the use is safe and reliable.

Description

Technical field [0001] The invention relates to the field of robots, in particular to a robot joint driver. Background technique [0002] Bionic robot joint drive methods basically have three types: motor drive, pneumatic drive and hydraulic drive. Compared with the motor drive method, the whole machine has low power density, large volume and pneumatic drive with small driving force, low stiffness, and difficult to achieve precise drive control. Defects, the hydraulic drive has a large power density and is easy to achieve precise automatic control, and is more suitable for driving large torque joints. There are two main forms of hydraulic joint drive. One is to use the triangle structure to convert the telescopic motion of the hydraulic cylinder into the rotation output of the joint, and the other is to use the swing cylinder to directly output the joint rotation. Both of these two forms have certain defects. The structural joint driver occupies a large space, and the swing cyli...

Claims

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Application Information

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IPC IPC(8): B25J17/02
CPCB25J17/0258
Inventor 贾正伟张利剑胡源渊廖平平高润鹏
Owner BEIJING MECHANICAL EQUIP INST