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Integrated hydraulic robot connecting rod

A hydraulic robot and integrated technology, applied in the field of robotics, can solve the problems of single function, large volume and weight of hydraulic robot connecting rods, and achieve the effect of improving aesthetics, small size, and convenient maintenance and replacement

Pending Publication Date: 2021-12-21
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The present invention provides an integrated hydraulic robot connecting rod in order to solve the single function of the existing hydraulic robot connecting rod, the large volume and weight after being matched with the driver, and the influence of the bending force of the hydraulic hose on the joint torque

Method used

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specific Embodiment approach

[0018] Specific implementation method: the following combination figure 1 and Figure 4 Describe the action process of the connecting rod of the integrated hydraulic robot. An integrated hydraulic robot connecting rod according to the present invention comprises connecting rod earrings (101), a liquid pressure sensor (102), a servo valve (103), a piston rod (104), a liquid pressure sensor (105), a connecting rod Body (106), one-dimensional force sensor (107), piston rod earring (108), connecting pin (109), guide slider (110), displacement sensor (116) and guide wheel (501), (502), (503), (504), (505), (506), (507), (508).

[0019] One end of the guide slider (110) is connected with the piston rod earring (108) through the pin shaft (109), and the piston rod earring (108) is connected with the one-dimensional force sensor (107) through threads, and the one-dimensional force sensor (107) the other end is connected with piston rod (104) by screw thread. Under the action of pr...

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Abstract

The inertia of the connecting rod of the robot connecting rod has great influence on static and dynamic performance of the robot, and under the premise that performance requirements are met, the inertia is solved to be the minimum through stress. However, a connecting rod and a driving unit of an existing hydraulic robot mostly adopt a split type structure, so that the size and the weight of the connecting rod are increased invisibly; and meanwhile, as an external hydraulic oil tube is adopted for supplying oil to the driving unit, bending force generated by bending of a hydraulic hose has a powerful effect on robot joint torque, the force measurement difficulty is large, and the control precision of the joint torque force is reduced. According to the integrated hydraulic robot connecting rod, the problems that an existing hydraulic robot connecting rod is single in function and large in size and weight after being matched with a driver, the bending force of a hydraulic hose influences joint torque and the like are solved; and meanwhile, oil can be cooled in the flowing process of a connecting rod oil channel, and the cooling power of a system is reduced.

Description

Technical field: [0001] The invention relates to an integrated hydraulic robot connecting rod, which belongs to the field of robots. Background technique: [0002] The inertia of the connecting rod of the robot has a great influence on the static and dynamic performance of the robot. Under the premise of meeting the performance requirements, the lowest inertia should be sought. However, the connecting rods and driving units of existing hydraulic robots mostly adopt a split structure, which increases the volume and weight of the connecting rods virtually. It also has a strong effect on the robot joint torque, and the measurement of this force is difficult, which reduces the control accuracy of the joint torque force. Invention content: [0003] The present invention provides an integrated hydraulic robot connecting rod in order to solve the single function of the existing hydraulic robot connecting rod, the large volume and weight after being matched with the driver, and t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J17/02B25J9/00B25J19/02
CPCB25J17/00B25J17/02B25J9/00B25J19/02B25J9/0009
Inventor 孙桂涛时献江
Owner HARBIN UNIV OF SCI & TECH
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