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Hydraulically driven joints for robots

A robot and hydraulic technology, applied in the direction of fluid pressure actuators, manipulators, mechanical equipment, etc., can solve the problems of insufficient sensitivity, low torque density ratio, etc., and achieve the effect of precise position control and precise torque control

Active Publication Date: 2020-07-28
JIANGSU DREAMWELL DYNAMICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the existing robot joints basically use servo motor plus harmonic reducer or RV reducer. Although this structure has been widely used in the field of robotics, it cannot be denied that its torque density ratio is relatively low and the response is not sensitive enough.

Method used

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  • Hydraulically driven joints for robots
  • Hydraulically driven joints for robots
  • Hydraulically driven joints for robots

Examples

Experimental program
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Effect test

Embodiment Construction

[0039] Hydraulically actuated joints for robots, see Figure 1-Figure 9 : It includes a hydraulic plug-in rotary direct drive valve 1, a vane swing cylinder 2, a valve body installation cavity 22 is prefabricated at one end of the center shaft 21 of the vane swing cylinder 2, and the shape of the valve body installation cavity 22 is according to the hydraulic plug-in rotation The shape of the insertion part of the direct drive valve 1 is made, the hydraulic plug-in rotary direct drive valve plug 1 is installed in the valve body installation cavity 22, and the driving motor 11 of the hydraulic plug-in rotary direct drive valve 1 is exposed to the central shaft 21;

[0040] The blade swing cylinder 2 also includes an upper cover 23, a cylinder body 24, a fixed piece 25, a lower cover 26, and side convex blades 27. The central rotating shaft 21 is connected to the side convex blades 27 through the side convex ring 28, and the side convex blades 27 are in a zero position state. A ...

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Abstract

The invention provides a hydraulically driven joint for a robot, which is based on a joint for a robot integrated with a hydraulic plug-in rotary direct drive valve and a vane swing cylinder, and integrates a hydraulic actuator, an electro-hydraulic servo valve, a position sensor and a detection element of a pressure sensor. The integrated design and application of robot joints can not only meet the current development needs of robots, but also expand the application occasions of robots. It includes threaded plug-in rotary direct-drive electro-hydraulic servo valve, blade swing hydraulic cylinder for robot motion joints, threaded plug-in rotary direct-drive electro-hydraulic servo valve, hereinafter referred to as hydraulic plug-in rotary direct-drive valve, robot motion joint special The vane swing hydraulic cylinder is hereinafter referred to as the vane swing cylinder. The central end of the central shaft of the vane swing cylinder is prefabricated with a valve body installation cavity. Part of the shape is made, and the hydraulic plug-in rotary direct drive valve is plugged into the valve body installation cavity.

Description

technical field [0001] The invention relates to the technical field of robot joints, in particular to hydraulically driven joints for robots. Background technique [0002] The robot joint is the basic component of the robot, and its performance directly affects the overall performance of the robot. With the continuous development of electromechanical technologies such as servo drive, control and sensing technology, robot joints present new characteristics and development trends, such as: large torque, high precision, sensitive response, miniaturization, mechatronics, standardization and modularization and other trends to adapt to the development of robot technology. At present, the existing robot joints basically use servo motor plus harmonic reducer or RV reducer. Although this structure has been widely used in the field of robotics, it cannot be denied that its torque density ratio is relatively low and the response is not sensitive enough. Because the hydraulic drive ha...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02
CPCB25J17/0258B25J9/148F15B15/12F15B15/202F15B13/0406
Inventor 周小云
Owner JIANGSU DREAMWELL DYNAMICS TECH CO LTD