High water-based hydraulic manipulator

Abstract

The invention discloses a high-water-based hydraulic mechanical arm, which comprises: a mechanical arm wrist, a non-circular planetary gear hydraulic motor, a cylinder assembly and a clamp assembly. The mechanical arm wrist has a first sealed cavity, a motor fluid passage and a cylinder fluid passage. The non-circular planetary gear hydraulic motor is arranged in the first sealed cavity. The non-circular planetary gear hydraulic motor comprises a non-circular planetary gear assembly and a motor output shaft. The motor fluid passage is connected to the non-circular planetary gear assembly. The motor output shaft has a second sealed cavity connected to the cylinder fluid passage. The cylinder assembly comprises a piston rod arranged in the second sealed cavity. The motor output shaft and the piston rod are both connected to the clamp assembly. The mechanical arm wrist is formed by combining the non-circular planetary gear hydraulic motor and the cylinder assembly in series, making full use of the low-speed and high-torque characteristics of the high-water-based non-circular planetary gear hydraulic motor. The motor output shaft is used as the cylinder body of the piston rod to reduce the axial size, and an internal fluid passage method is adopted.

Description

Technical Field

[0001] The invention relates to the technical field of robot engineering, and in particular to a high-water-based hydraulic mechanical arm. Background Art

[0002] The wrist of the mechanical arm is an important part for the mechanical arm to achieve dexterous operation. The hydraulic mechanical arm adopts rotary and linear actuators to realize the rotation of the wrist of the hydraulic mechanical arm and the opening and closing of the end clamp. In the related art, the design of the wrist of the hydraulic mechanical arm has the following three forms: the first form is that the hydraulic motor and the linear thin-walled cylinder are arranged vertically in parallel, and the output torque of the hydraulic motor is transmitted to the wrist after being reduced by spur gears and worm gears. The disadvantage is that the allowable output torque of the worm gear limits the output torque of the wrist, and the pipeline layout is messy. The second form is that the swing cylinder and the linear cylinder are arranged in series on the same axis. The disadvantage is that the wrist cannot rotate continuously, the axial size is large, the mass is large, and the spatial pipeline is difficult to arrange, which affects the appearance and performance of the hydraulic mechanical arm. The third form is the integrated design of the rotary and executive actuators. The rotary drive is driven by a cycloidal motor. The structure is compact and the pipeline is beautiful, but its key component, the cycloidal motor, is a hydraulic oil medium element and cannot be used in high water-based media. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, an embodiment of the present invention provides a high-water-based hydraulic mechanical arm with a compact structure, complete functions and convenient maintenance.

[0005] The high water-based hydraulic mechanical arm of an embodiment of the present invention includes: a mechanical arm wrist, a non-circular planetary gear hydraulic motor, a cylinder assembly and a clamp assembly, the mechanical arm wrist has a first sealed cavity, a motor fluid passage and a cylinder fluid passage inside, the non-circular planetary gear hydraulic motor is arranged in the first sealed cavity, the non-circular planetary gear hydraulic motor includes a non-circular planetary gear assembly and a motor output shaft connected to the non-circular planetary gear assembly, the motor fluid passage is connected to the inner cavity of the non-circular planetary gear assembly, the motor output shaft has a second sealed cavity connected to the cylinder fluid passage, the cylinder assembly includes a piston rod, at least part of the piston rod is slidably arranged in the second sealed cavity, the motor output shaft is connected to the clamp assembly to drive the clamp assembly to rotate, and the piston rod is connected to the clamp assembly to drive the clamp assembly to open and close.

[0006] The high-water-based hydraulic mechanical arm of the embodiment of the present invention adopts a non-circular planetary gear hydraulic motor and a cylinder assembly in series to form the wrist of the hydraulic mechanical arm, making full use of the low-speed and high-torque characteristics of the high-water-based non-circular planetary gear hydraulic motor, so that the hydraulic mechanical arm is suitable for high-water-based media and can be used in flammable and explosive occasions. The output shaft of the hydraulic motor is used as the cylinder body of the piston rod to reduce the axial size and make the structure compact. In addition, the drive of the non-circular planetary gear hydraulic motor and the cylinder assembly are both internally fluidized, avoiding the problems of external fluidization and pipeline winding in the related art.

[0007] In some embodiments, the wrist of the robotic arm includes a wrist shell end cover, a wrist shell first section, a wrist shell second section and a wrist fixed seat connected in sequence, the wrist shell end cover is rotatable relative to the wrist shell first section, and the motor output shaft is connected to the clamp assembly via the wrist shell end cover.

[0008] In some embodiments, the non-circular planetary gear hydraulic motor also includes a motor fixing seat and a distribution plate, the motor fixing seat is respectively connected to the first section of the wrist housing and the non-circular planetary gear assembly, the distribution plate is respectively connected to the second section of the wrist housing and the non-circular planetary gear assembly, the motor fixing seat, the non-circular planetary gear assembly and the distribution plate jointly define a motor working chamber, the distribution plate is provided with a working fluid passage, and the motor fluid passage is respectively connected to the motor working chamber and the working fluid passage.

[0009] In some embodiments, the motor fluid circuit includes a motor oil drain line, an inner motor fluid line and an outer motor fluid line, the wrist fixing seat is provided with a first annular inner groove connected to the inner motor fluid line and a first annular outer groove connected to the outer motor fluid line, the motor fixing seat is provided with an oil drain hole, the motor oil drain line is connected to the oil drain hole, the working fluid passage includes a second annular inner groove connected to the first annular inner groove, a second annular outer groove connected to the second annular inner groove, a plurality of liquid-passing inner holes and a plurality of liquid-passing outer holes, one end of the liquid-passing inner hole is connected to the motor working chamber, the other end of the liquid-passing inner hole is connected to the second annular inner groove, one end of the liquid-passing outer hole is connected to the motor working chamber, and the other end of the liquid-passing outer hole is connected to the second annular outer groove.

[0010] In some embodiments, the piston rod defines the second sealed cavity into a rodless cavity and a rod cavity, and the motor output shaft is provided with a rodless cavity annular groove, a rodless cavity liquid hole, a rod cavity annular groove and a rod cavity liquid hole, one end of the rodless cavity liquid hole is connected to the rodless cavity, and the other end of the rodless cavity liquid hole is connected to the rodless cavity annular groove, one end of the rod cavity liquid hole is connected to the rod cavity, and the other end of the rod cavity liquid hole is connected to the rod cavity annular groove, and the cylinder liquid circuit includes a cylinder rodless cavity pipeline connected to the rodless cavity annular groove and a cylinder rod cavity pipeline connected to the rod cavity annular groove.

[0011] In some embodiments, the inlet of the motor oil drain pipeline, the inlet of the motor inner liquid pipeline, the inlet of the motor outer liquid pipeline, the inlet of the cylinder rodless cavity pipeline and the inlet of the cylinder rod cavity pipeline are all located on the first end surface of the wrist fixing seat, and the inlet of the motor oil drain pipeline, the inlet of the motor inner liquid pipeline, the inlet of the motor outer liquid pipeline, the inlet of the cylinder rodless cavity pipeline and the inlet of the cylinder rod cavity pipeline are all provided with pipeline joints.

[0012] In some embodiments, a first oil-passing screw is provided in the motor oil drain pipeline, and the liquid hole inside the first oil-passing screw is connected to the motor oil drain pipeline. A second oil-passing screw is provided in the cylinder rodless cavity pipeline, and the liquid hole inside the second oil-passing screw is connected to the cylinder rodless cavity pipeline. A third oil-passing screw is provided in the cylinder rod cavity pipeline, and the liquid hole inside the third oil-passing screw is connected to the cylinder rod cavity pipeline. The first section of the wrist housing, the motor fixing seat, the non-circular planetary gear assembly, the distribution plate and the second section of the wrist housing are connected by the first oil-passing screw, the second oil-passing screw and the third oil-passing screw.

[0013] In some embodiments, it also includes a plurality of mounting screws, and the first section of the wrist housing, the motor fixing seat, the non-circular planetary gear assembly, the distribution plate and the second section of the wrist housing are connected by the plurality of mounting screws.

[0014] In some embodiments, an angle sensor is also included. The angle sensor is disposed in the first sealed cavity. The stator portion of the angle sensor is connected to the second section of the wrist housing, and the rotor portion of the angle sensor is mounted on the motor output shaft.

[0015] In some embodiments, the wrist fixing seat is provided with a cable outlet hole connected to the first sealing cavity, and a waterproof gland is provided at the opening of the cable outlet hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a first structural schematic diagram of a high water-based hydraulic mechanical arm according to an embodiment of the present invention.

[0017] Figure 2 2 is a second structural schematic diagram of the high water-based hydraulic mechanical arm according to an embodiment of the present invention.

[0018] Figure 3 It is a schematic diagram of the distribution of the internal fluid circuit of the high water-based hydraulic mechanical arm according to an embodiment of the present invention.

[0019] Figure 4 It is an exploded schematic diagram of a partial structure of a high water-based hydraulic mechanical arm according to an embodiment of the present invention.

[0020] Figure 5 Schematic diagram of a clamp assembly of a high water-based hydraulic mechanical arm according to an embodiment of the present invention.

[0021] Figure 6 It is a distribution diagram of the motor working chamber of the non-circular planetary gear hydraulic motor of the high water-based hydraulic mechanical arm according to an embodiment of the present invention.

[0022] Reference numerals:

[0023] Robot arm wrist 1, wrist shell end cover 11, wrist shell first section 12, wrist shell second section 13, wrist fixing seat 14, motor oil drain pipeline 101, first oil through screw 1011, motor inner liquid pipeline 102, motor outer liquid pipeline 103, first annular inner groove 104, first annular outer groove 105, cylinder rodless cavity pipeline 106, second oil through screw 1061, cylinder rod cavity pipeline 107, third oil through screw 1071, mounting screw 1081,

[0024] The non-circular planetary gear assembly 21, the motor output shaft 22, the motor fixing seat 23, the oil drain hole 231, the distribution plate 24, the second annular inner groove 241, the second annular outer groove 242, the liquid inner hole 243, the liquid outer hole 244,

[0025] Piston rod 3,

[0026] Clamp assembly 4, finger 401, first pin 402, second pin 403, first connecting rod 404, second connecting rod 405, C-shaped shaft 406, slider 407, third pin 408, fourth pin 409, connecting seat 410, connecting plate 411,

[0027] Angle sensor 5, waterproof cable gland 51. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0029] The high water-based hydraulic mechanical arm according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0030] like Figures 1 to 5 As shown, the high water-based hydraulic mechanical arm of the embodiment of the present invention includes: a mechanical arm wrist 1, a non-circular planetary gear hydraulic motor, a cylinder assembly and a clamp assembly 4.

[0031] The wrist of the mechanical arm 1 has a first sealed cavity, a motor fluid passage and a cylinder fluid passage inside, and the non-circular planetary gear hydraulic motor is arranged in the first sealed cavity. The non-circular planetary gear hydraulic motor includes a non-circular planetary gear assembly 21 and a motor output shaft 22 connected to the non-circular planetary gear assembly 21, the motor fluid passage is connected to the inner cavity of the non-circular planetary gear assembly 21, and the motor output shaft 22 has a second sealed cavity connected to the cylinder fluid passage. The cylinder assembly includes a piston rod 3, at least part of which is slidably arranged in the second sealed cavity. The motor output shaft 22 is connected to the clamp assembly 4 to drive the clamp assembly 4 to rotate, and the piston rod 3 is connected to the clamp assembly 4 to drive the clamp assembly 4 to open and close.

[0032] Among them, the non-circular planetary gear hydraulic motor is a low-speed, high-torque hydraulic motor, suitable for high-water-based media, and can be used in flammable and explosive occasions.

[0033] Optionally, the non-circular planetary gear assembly 21 includes an inner gear ring, a plurality of planetary gears and a center gear, the center hole of the inner gear ring is non-circular, the outer shape of the center gear is non-circular, the plurality of planetary gears are meshed with the inner gear ring and the center gear, and the center gear is connected to the motor output shaft 22 via a transmission pin. Figure 4 As shown, the central hole of the inner gear ring is generally hexagonal, there are eight planetary wheels, and the central wheel is square.

[0034] The motor fluid path is connected to the working chamber between any two adjacent planetary gears. The working fluid enters the working chamber of the motor through the motor fluid path. The pressure of the working fluid drives the planetary gears to revolve and rotate, and drives the center wheel to rotate, thereby outputting mechanical power.

[0035] Alternatively, if Figure 1 As shown, the upper end of the motor output shaft 22 is provided with a cylindrical second sealed cavity, and the central axis of the second sealed cavity is coaxially arranged with the motor output shaft 22. The lower end of the piston rod 3 is slidably arranged in the second sealed cavity along the axial direction of the motor output shaft 22, and the oil cylinder liquid passage is connected with the second sealed cavity. The working fluid enters and is discharged from the second sealed cavity through the oil cylinder liquid passage, thereby realizing that the piston rod 3 extends upward from the second sealed cavity and retracts downward into the second sealed cavity. That is, the motor output shaft 22 serves as the cylinder body of the piston rod 3, reducing the axial dimension and having a compact structure. In addition, a piston guide ring and a drum ring are provided between the circumferential wall of the lower end of the piston rod 3 and the wall surface of the second sealed cavity.

[0036] Alternatively, if Figure 1 As shown, the upper end of the motor output shaft 22 is connected to the clamp assembly 4, and the upper end of the piston rod 3 is connected to the clamp assembly 4. The motor output shaft 22 rotates and drives the piston rod 3 and the clamp assembly 4 to rotate. The extension and retraction of the piston rod 3 drives the clamp assembly 4 to open and close.

[0037] For example, Figure 5 As shown, the clamp assembly 4 includes a finger 401, a first pin 402, a second pin 403, a first connecting rod 404, a second connecting rod 405, a C-shaped shaft 406, a slider 407, a third pin 408, a fourth pin 409, a connecting seat 410 and a connecting plate 411. The connecting seat 410, the first connecting rod 404, the second connecting rod 405 and the finger 401 constitute a four-bar linkage mechanism, the second connecting rod 405 is an active rod, the piston rod 3 and the slider 407 are fixedly connected by screws, and the end of the piston rod 3 is designed with a square extension section that matches the slider 407. After being matched with the slider 407, the piston rod 3 and the motor output shaft 22 are prevented from rotating relative to each other. The telescopic action of the piston rod 3 drives the slider 407 to slide on the C-shaped shaft 406, and at the same time drives the C-shaped shaft 406 to move and the second connecting rod 405 to rotate around the third pin 408, and drives the finger 401 to move through the planar four-bar linkage mechanism to realize the opening and closing of the clamp mechanism.

[0038] Therefore, the high-water-based hydraulic mechanical arm of the embodiment of the present invention adopts a non-circular planetary gear hydraulic motor and a cylinder assembly in series to form the wrist of the hydraulic mechanical arm, making full use of the low-speed and high-torque characteristics of the high-water-based non-circular planetary gear hydraulic motor, so that the hydraulic mechanical arm is suitable for high-water-based media and can be used in flammable and explosive occasions. The hydraulic motor output shaft 22 is used as the cylinder body of the piston rod 3 to reduce the axial size and compact the structure. In addition, the drive of the non-circular planetary gear hydraulic motor and the cylinder assembly adopts an internal fluid flow method, avoiding the problems of external fluid flow and pipeline winding in the related technology.

[0039] In some embodiments, Figure 1 As shown, the wrist of the robot arm 1 includes a wrist housing end cover 11, a wrist housing first section 12, a wrist housing second section 13 and a wrist fixing seat 14 which are connected in sequence. The wrist housing end cover 11 is rotatable relative to the wrist housing first section 12, and the motor output shaft 22 is connected to the clamp assembly 4 via the wrist housing end cover 11.

[0040] Alternatively, if Figure 1 As shown, from top to bottom are the wrist housing end cover 11, the wrist housing first section 12, the wrist housing second section 13 and the wrist fixing seat 14. The motor output shaft 22 is detachably connected to the end of the wrist housing by screws, and the end of the wrist housing is detachably connected to the clamp assembly 4 by screws.

[0041] A dust ring, a bud ring and a rod guide ring are arranged between the rod portion of the piston rod 3 and the end of the wrist housing. The wrist housing end cover 11 is used to block the second sealing cavity, and a retaining ring and an O-ring are arranged between the end of the wrist housing and the inner circumference of the motor output shaft 22. A rotating seal, a plurality of rotating Gly rings and a thrust bearing are arranged between the outer circumference of the motor output shaft 22 and the inner circumference of the first section 12 of the wrist housing.

[0042] Therefore, the clamp assembly 4 and the robot arm wrist 1 are designed to be separated, so that the clamp assembly 4 can be replaced and maintained without disassembling the linear cylinder seal, and there is no liquid leakage.

[0043] In some embodiments, Figures 1 to 4 As shown, the non-circular planetary gear hydraulic motor further includes a motor fixing seat 23 and a distribution plate 24. The motor fixing seat 23 is respectively connected to the first section 12 of the wrist housing and the non-circular planetary gear assembly 21, and the distribution plate 24 is respectively connected to the second section 13 of the wrist housing and the non-circular planetary gear assembly 21. The motor fixing seat 23, the non-circular planetary gear assembly 21 and the distribution plate 24 jointly define a motor working chamber. The distribution plate 24 is provided with a working fluid passage, and the motor fluid passage is respectively connected to the motor working chamber and the working fluid passage.

[0044] Among them, Figure 1 As shown, from top to bottom, there are the motor fixing seat 23, the non-circular planetary gear assembly 21, and the distribution plate 24. A sealing ring is provided between the upper end surface of the inner gear ring of the non-circular planetary gear assembly 21 and the first section 12 of the wrist housing, and between the lower end surface of the inner gear ring of the non-circular planetary gear assembly 21 and the second section 13 of the wrist housing. A thrust needle bearing is provided between the upper end surface of the motor fixing seat 23 and the motor output shaft 22, and an oil seal is provided between the central through hole of the motor fixing seat 23 and the motor output shaft 22, and between the central through hole of the distribution plate 24 and the motor output shaft 22. A plurality of O-rings are provided between the lower end surface of the distribution plate 24 and the second section 13 of the wrist housing, and the plurality of O-rings are distributed at intervals along the radial direction of the distribution plate 24.

[0045] It can be understood that the inner gear ring, the central gear, any two adjacent planetary gears, the distributor plate 24 and the motor fixing seat 23 together define the motor working chamber, that is, the motor working chamber is multiple. Figure 4 As shown, this type of non-circular planetary gear assembly 21 corresponds to ten motor working chambers.

[0046] And, if Figure 6 As shown, when the planetary gear revolves and rotates, the volume of the motor working chamber changes. If the volume of any motor working chamber reaches the maximum, the volumes of the two adjacent motor working chambers reach the minimum. Figure 6A and C refer to the positions with the largest volume, and B and D refer to the positions with the smallest volume.

[0047] In some embodiments, Figures 1 to 4 As shown, the motor fluid passage includes a motor oil drain pipeline 101, a motor inner fluid pipeline 102 and a motor outer fluid pipeline 103. The wrist fixing seat 14 is provided with a first annular inner groove 104 connected to the motor inner fluid pipeline 102 and a first annular outer groove 105 connected to the motor outer fluid pipeline 103. The motor fixing seat 23 is provided with an oil drain hole 231, and the motor oil drain pipeline 101 is connected to the oil drain hole 231. The working fluid passage includes a second annular inner groove 241 connected to the first annular inner groove 104, a second annular outer groove 242 connected to the second annular inner groove 241, a plurality of liquid inner holes 243 and a plurality of liquid outer holes 244. One end of the inner liquid hole 243 is connected to the motor working chamber, the other end of the inner liquid hole 243 is connected to the second annular inner groove 241, one end of the outer liquid hole 244 is connected to the motor working chamber, and the other end of the outer liquid hole 244 is connected to the second annular outer groove 242.

[0048] Among them, the motor oil drain pipeline 101 is arranged on the wrist fixing seat 14, the second section 13 of the wrist housing, the distribution plate 24, the inner gear ring of the non-circular planetary gear assembly 21, the motor fixing seat 23 and the first section 12 of the wrist housing from bottom to top, and the lower end of the motor oil drain pipeline 101 is located on the lower end surface of the wrist fixing seat 14. The motor inner liquid pipeline 102 and the motor outer liquid pipeline 103 are arranged on the wrist fixing seat 14 and the second section 13 of the wrist housing from bottom to top. The upper end of the motor inner liquid pipeline 102 is connected to the first annular inner groove 104, and the lower end of the motor inner liquid pipeline 102 is located on the lower end surface of the wrist fixing seat 14 and connected to the outside. The upper end of the motor outer liquid pipeline 103 is connected to the first annular outer groove 105, and the lower end of the motor outer liquid pipeline 103 is located on the lower end surface of the wrist fixing seat 14 and connected to the outside.

[0049] The process holes of the motor oil drain pipeline 101, the motor inner liquid pipeline 102 and the motor outer liquid pipeline 103 produced during the processing are respectively provided with hydraulic screw plugs to prevent the liquid inside the pipeline from leaking.

[0050] The first annular inner groove 104 and the first annular outer groove 105 are arranged on the upper end surface of the second section 13 of the wrist housing, and the second annular inner groove 241 and the second annular outer groove 242 are arranged on the lower end surface of the distribution plate 24. The first annular inner groove 104 corresponds to and is connected with the second annular inner groove 241 in upper and lower positions, and the first annular outer groove 105 corresponds to and is connected with the second annular outer groove 242 in upper and lower positions. The inner liquid hole 243 and the outer liquid hole 244 are both inclinedly arranged, and the upper ends of the inner liquid hole 243 and the upper ends of the outer liquid hole 244 are both connected with the motor working chamber, and the lower end of the inner liquid hole 243 is connected with the second annular inner groove 241, and the lower end of the outer liquid hole 244 is connected with the second annular outer groove 242.

[0051] The multiple O-rings between the lower end surface of the distribution plate 24 and the second section 13 of the wrist housing are used to separate the first annular inner groove 104, the first annular outer groove 105, the inner liquid pipeline 102 of the motor, the outer liquid pipeline 103 of the motor, and the second annular inner groove 241, the second annular outer groove 242, the inner liquid hole 243 and the outer liquid hole 244.

[0052] It can be understood that the working fluid enters the motor working chamber through the motor inner liquid pipeline 102, the first annular inner groove 104, the second annular inner groove 241 and the liquid inner hole 243 in sequence, and enters the motor working chamber through the motor outer liquid pipeline 103, the first annular outer groove 105, the second annular outer groove 242 and the liquid outer hole 244 in sequence. Conversely, the working fluid in the motor working chamber is discharged through the liquid inner hole 243, the second annular inner groove 241, the first annular inner groove 104 and the motor inner liquid pipeline 102 in sequence, and the working fluid in the motor working chamber is discharged through the liquid outer hole 244, the second annular outer groove 242, the first annular outer groove 105 and the motor outer liquid pipeline 103 in sequence, that is, the liquid inner hole 243 and the liquid outer hole 244 are both the inlet and outlet holes of the distribution plate 24. In addition, during the operation of the motor, the working fluid leaked between the motor working chambers is discharged through the oil drain hole 231 and the motor oil drain pipeline 101.

[0053] The working fluid enters the motor working chamber from the distribution plate 24, and its pressure drives the planetary gear to revolve and rotate, and drives the center wheel to rotate, outputting mechanical power. At this time, the volume of the motor working chamber changes, and the planetary gear cooperates with the distribution plate 24 to ensure that the inlet hole is opened and the outlet hole is closed when the volume of the motor working chamber reaches the minimum, and the outlet hole is opened and the inlet hole is closed when the volume of the closed working chamber reaches the maximum. When the planetary gear revolves, the multiple planetary gears each close or connect the inner hole 243 and the outer hole 244 in turn, causing the oil inlet and outlet of the motor working chamber to change cyclically, thereby making the motor output shaft 22 rotate uninterruptedly, changing the direction of the oil inlet and outlet of the distribution plate 24, and the motor output shaft 22 can rotate clockwise or counterclockwise.

[0054] In some embodiments, the piston rod 3 defines the second sealed cavity into a rodless cavity and a rod cavity. The motor output shaft 22 is provided with a rodless cavity annular groove, a rodless cavity liquid hole, a rod cavity annular groove and a rod cavity liquid hole. One end of the rodless cavity liquid hole is connected to the rodless cavity, and the other end of the rodless cavity liquid hole is connected to the rodless cavity annular groove. One end of the rod cavity liquid hole is connected to the rod cavity, and the other end of the rod cavity liquid hole is connected to the rod cavity annular groove. The cylinder liquid passage includes a cylinder rodless cavity pipeline 106 connected to the rodless cavity annular groove and a cylinder rod cavity pipeline 107 connected to the rod cavity annular groove.

[0055] Among them, the oil cylinder rodless cavity pipeline 106 is arranged on the wrist fixing seat 14, the second section 13 of the wrist housing, the distribution plate 24, the inner gear ring of the non-circular planetary gear assembly 21, the motor fixing seat 23 and the first section 12 of the wrist housing from bottom to top, and the lower end of the oil cylinder rodless cavity pipeline 106 is located on the lower end surface of the wrist fixing seat 14. The oil cylinder rod cavity pipeline 107 is arranged on the wrist fixing seat 14, the second section 13 of the wrist housing, the distribution plate 24, the inner gear ring of the non-circular planetary gear assembly 21, the motor fixing seat 23 and the first section 12 of the wrist housing from bottom to top, and the lower end of the oil cylinder rod cavity pipeline 107 is located on the lower end surface of the wrist fixing seat 14.

[0056] The process holes of the oil cylinder rodless cavity pipeline 106 and the oil cylinder rod cavity pipeline 107 produced during the processing are respectively provided with hydraulic screw plugs to prevent the leakage of liquid inside the pipeline.

[0057] It can be understood that the working fluid enters the rodless cavity through the cylinder rodless cavity pipeline 106, the rodless cavity annular groove and the rodless cavity liquid hole in sequence, and the working fluid enters the rod cavity through the cylinder rod cavity pipeline 107, the rod cavity annular groove and the rod cavity liquid hole in sequence.

[0058] In some embodiments, the inlet of the motor drain line 101, the inlet of the motor inner liquid line 102, the inlet of the motor outer liquid line 103, the inlet of the cylinder rodless cavity line 106, and the inlet of the cylinder rod cavity line 107 are all located on the first end surface of the wrist fixing seat 14 (such as Figure 1 On the lower end surface of the wrist fixing seat 14 in the middle), the inlet of the motor oil drain pipeline 101, the inlet of the motor inner liquid pipeline 102, the inlet of the motor outer liquid pipeline 103, the inlet of the cylinder rodless cavity pipeline 106 and the inlet of the cylinder rod cavity pipeline 107 are all provided with pipeline joints.

[0059] In some embodiments, Figures 1 to 4As shown, a first oil-through screw 1011 is provided in the motor oil drain pipeline 101, and the liquid-through hole inside the first oil-through screw 1011 is connected to the motor oil drain pipeline 101. A second oil-through screw 1061 is provided in the oil cylinder rodless cavity pipeline 106, and the liquid-through hole inside the second oil-through screw 1061 is connected to the oil cylinder rodless cavity pipeline 106. A third oil-through screw 1071 is provided in the oil cylinder rod cavity pipeline 107, and the liquid-through hole inside the third oil-through screw 1071 is connected to the oil cylinder rod cavity pipeline 107. The first section 12 of the wrist housing, the motor fixing seat 23, the non-circular planetary gear assembly 21, the distributor plate 24 and the second section 13 of the wrist housing are connected through the first oil-through screw 1011, the second oil-through screw 1061 and the third oil-through screw 1071.

[0060] An ED seal is arranged between any oil-through screw and the second section 13 of the wrist housing, and an O-ring and an O-ring retaining ring are arranged on the oil-through screw to prevent leakage of liquid inside the pipeline.

[0061] Furthermore, if Figures 1 to 4 As shown, it also includes a plurality of mounting screws 1081, and the first section 12 of the wrist housing, the motor fixing seat 23, the non-circular planetary gear assembly 21, the distribution plate 24 and the second section 13 of the wrist housing are connected by the plurality of mounting screws 1081. In other words, the high water-based hydraulic mechanical arm of the embodiment of the present invention has a plurality of mounting holes, and the mounting holes are arranged on the first section 12 of the wrist housing, the motor fixing seat 23, the non-circular planetary gear assembly 21, the distribution plate 24 and the second section 13 of the wrist housing, and the mounting screws 1081 are assembled in the mounting holes to realize the connection between the first section 12 of the wrist housing, the motor fixing seat 23, the non-circular planetary gear assembly 21, the distribution plate 24 and the wrist housing. In addition, an ED seal is installed between the mounting screws 1081 and the second section 13 of the wrist housing to prevent liquid leakage.

[0062] In some embodiments, Figure 1 As shown, it also includes an angle sensor 5, which is arranged in the first sealed cavity and below the distribution plate 24. The stator part of the angle sensor 5 is connected to the second section 13 of the wrist housing, and the rotor part of the angle sensor 5 is mounted on the motor output shaft 22.

[0063] It can be understood that when the non-circular planetary gear assembly 21 drives the motor output shaft 22 to rotate, the rotor and the stator produce relative motion, output corresponding electrical signals, measure and feedback the angle and speed of the wrist rotation, and use it in conjunction with the control valve to achieve position closed-loop control of the wrist rotation angle and achieve precise positioning of the wrist rotation.

[0064] Furthermore, the wrist fixing seat 14 is provided with a cable outlet hole communicating with the first sealing cavity, and a waterproof cable gland 51 is provided at the opening of the cable outlet hole.

[0065] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0066] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0067] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0068] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0069] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0070] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. A high water-based hydraulic mechanical arm, characterized in that: include: A mechanical arm wrist, wherein the mechanical arm wrist has a first sealed cavity, a motor fluid passage and a cylinder fluid passage; A non-circular planetary gear hydraulic motor, the non-circular planetary gear hydraulic motor is arranged in the first sealed cavity, the non-circular planetary gear hydraulic motor includes a non-circular planetary gear assembly and a motor output shaft connected to the non-circular planetary gear assembly, the motor fluid passage is connected to the inner cavity of the non-circular planetary gear assembly, and the motor output shaft has a second sealed cavity connected to the cylinder fluid passage; an oil cylinder assembly, the oil cylinder assembly comprising a piston rod, at least a portion of the piston rod being slidably disposed in the second sealing chamber; A clamp assembly, wherein the motor output shaft is connected to the clamp assembly to drive the clamp assembly to rotate, and the piston rod is connected to the clamp assembly to drive the clamp assembly to open and close; The motor fluid passage comprises a motor oil drain pipeline, a motor inner fluid passage pipeline and a motor outer fluid passage pipeline, an oil drain hole is provided on the motor fixing seat, and the motor oil drain pipeline is connected to the oil drain hole; The wrist of the mechanical arm comprises a wrist housing end cover, a first section of the wrist housing, a second section of the wrist housing and a wrist fixing seat which are connected in sequence, the wrist housing end cover is used to seal the second sealing cavity, a retaining ring and an O-ring are arranged between the end of the wrist housing and the inner peripheral wall of the motor output shaft and are spaced from top to bottom, and the clamp assembly is designed as a separate part from the wrist of the mechanical arm; The wrist housing end cover is rotatable relative to the first section of the wrist housing, and the motor output shaft is connected to the clamp assembly via the wrist housing end cover; The non-circular planetary gear hydraulic motor also includes a motor fixing seat and a distribution plate, the motor fixing seat is respectively connected to the first section of the wrist housing and the non-circular planetary gear assembly, the distribution plate is respectively connected to the second section of the wrist housing and the non-circular planetary gear assembly, the motor fixing seat, the non-circular planetary gear assembly and the distribution plate jointly define a motor working chamber, the distribution plate is provided with a working fluid passage, and the motor fluid passage is respectively connected to the motor working chamber and the working fluid passage.

2. The high water-based hydraulic mechanical arm according to claim 1, characterized in that: The wrist fixing seat is provided with a first annular inner groove connected to the inner liquid pipeline of the motor and a first annular outer groove connected to the outer liquid pipeline of the motor. The working fluid passage includes a second annular inner groove connected to the first annular inner groove, a second annular outer groove connected to the second annular inner groove, a plurality of inner liquid holes and a plurality of outer liquid holes. One end of the inner liquid hole is connected to the working chamber of the motor, and the other end of the inner liquid hole is connected to the second annular inner groove. One end of the outer liquid hole is connected to the working chamber of the motor, and the other end of the outer liquid hole is connected to the second annular outer groove.

3. The high water-based hydraulic mechanical arm according to claim 2, characterized in that: The piston rod defines the second sealing chamber into a rodless chamber and a rod chamber, and the motor output shaft is provided with a rodless chamber annular groove, a rodless chamber liquid hole, a rod chamber annular groove and a rod chamber liquid hole, one end of the rodless chamber liquid hole is connected to the rodless chamber, the other end of the rodless chamber liquid hole is connected to the rodless chamber annular groove, one end of the rod chamber liquid hole is connected to the rod chamber, the other end of the rod chamber liquid hole is connected to the rod chamber annular groove, and the cylinder liquid passage includes a cylinder rodless chamber pipeline connected to the rodless chamber annular groove and a cylinder rod chamber pipeline connected to the rod chamber annular groove.

4. The high water-based hydraulic mechanical arm according to claim 3, characterized in that: The inlet of the motor oil drain pipeline, the inlet of the motor inner liquid pipeline, the inlet of the motor outer liquid pipeline, the inlet of the cylinder rodless cavity pipeline and the inlet of the cylinder rod cavity pipeline are all located on the first end surface of the wrist fixing seat, and the inlet of the motor oil drain pipeline, the inlet of the motor inner liquid pipeline, the inlet of the motor outer liquid pipeline, the inlet of the cylinder rodless cavity pipeline and the inlet of the cylinder rod cavity pipeline are all provided with pipeline joints.

5. The high water-based hydraulic mechanical arm according to claim 3, characterized in that: A first oil-passing screw is provided in the motor oil drain pipeline, and the liquid hole inside the first oil-passing screw is connected to the motor oil drain pipeline. A second oil-passing screw is provided in the cylinder rodless cavity pipeline, and the liquid hole inside the second oil-passing screw is connected to the cylinder rodless cavity pipeline. A third oil-passing screw is provided in the cylinder rod cavity pipeline, and the liquid hole inside the third oil-passing screw is connected to the cylinder rod cavity pipeline. The first section of the wrist housing, the motor fixing seat, the non-circular planetary gear assembly, the distribution plate and the second section of the wrist housing are connected by the first oil-passing screw, the second oil-passing screw and the third oil-passing screw.

6. The high water-based hydraulic mechanical arm according to claim 1, characterized in that: It also includes a plurality of mounting screws, and the first section of the wrist housing, the motor fixing seat, the non-circular planetary gear assembly, the distribution plate and the second section of the wrist housing are connected by the plurality of mounting screws.

7. The high water-based hydraulic mechanical arm according to claim 1, characterized in that: It also includes an angle sensor, which is arranged in the first sealed cavity. The stator part of the angle sensor is connected to the second section of the wrist housing, and the rotor part of the angle sensor is sleeved on the motor output shaft.

8. The high water-based hydraulic mechanical arm according to claim 7, characterized in that: The wrist fixing seat is provided with a cable outlet hole which is communicated with the first sealing cavity, and a waterproof gland is provided at the opening of the cable outlet hole.

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