Passive follow-up hydraulic robot rotary joint capable of continuously rotating

Abstract

The invention discloses a passive follow-up hydraulic robot rotary joint capable of continuously rotating. The passive follow-up hydraulic robot rotary joint comprises a valve element, a valve sleeve, a valve body, a hydraulic cylinder, a hydraulic motor and a variable stiffness mechanism. The valve element, the valve sleeve and the valve body are sequentially and coaxially mounted in the hydraulic cylinder, and output shafts of the valve element and the valve body extend out of the right end of the hydraulic cylinder, penetrate through the hydraulic motor and then are connected with a flexible output mechanism; the valve element, the valve sleeve, the valve body, the hydraulic cylinder, the hydraulic motor, a high-pressure oil path and a low-pressure oil path form a hydraulic corner self-servo mechanism; the variable stiffness mechanism comprises a separation disc, a sweeping arm disc and a load disc, the sweeping arm disc is mounted on the valve element, the separation disc is mounted on the output shaft of the valve body, power transmission is carried out between the sweeping arm disc and the separation disc through a first-stage flexible mechanism, and power transmission is carried out between the load disc and the sweeping arm disc through a second-stage flexible mechanism. When the joint encounters accidental collision, the joint can be quickly switched to a low-rigidity mode, the safety of the outside and the whole mechanism is guaranteed, and the joint can automatically recover to a high-rigidity mode after the collision is finished to continue normal operation.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a joint technology of a hydraulic robot, in particular to a rotary joint of a passive follow-up hydraulic robot capable of continuous rotation. Background technique [0002] The hydraulic angle servo joint technology combines hydraulic pressure and motor technology. Using their respective advantages, the small torque of the motor directly drives the valve core to open the valve port, and the high-pressure oil pushes the vane to drive the valve body to rotate, thereby obtaining a large output torque. The hydraulic angle self-servo valve is the core component of the hydraulic control system. It has the characteristics of high precision and fast response. It is widely used in high-precision mechatronics systems, aerospace airborne drive systems, and large-scale test equipment. Therefore, Get the attention of scientific and technological personnel at home and abroad. [0003] This patent is base...

AI Technical Summary

Problems solved by technology

However, there are fixed stops in its structure, and the angle of rotation of the hydraulic joint is limited to a certain extent.

[0005]Aiming at the problem that the above-mentioned hydraulic angle self-servo valve has rotation angle restrictions during the movement process, and the safety of hydraulic manipulator robots with large output torque needs to be improved

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