A linear vertical pitch mechanism based on electric cylinder

Abstract

The present invention relates to the technical field of EMA linear vertical mechanism, and in particular to a linear vertical pitch mechanism based on an electric cylinder, comprising: a mechanical arm, the mechanical arm comprising a base and a transmission arm, an electric cylinder for driving the transmission arm to pitch is arranged between the base and the transmission arm, and also comprises: piston sleeves are respectively connected to both ends of the electric cylinder, the piston sleeves at both ends are connected to articulated seats, and the articulated seats are respectively arranged on the base and the transmission arm; a driving device, the driving device is used to drive the electric cylinder to extend and retract; a connecting device, the connecting device is used to coaxially connect the piston sleeve to the articulated seat; an adjusting device, the adjusting device comprises a detection component, a gap adjustment component, a trigger component and a lubrication component; the present application can effectively fill the gap between the piston sleeve and the articulated seat, thereby reducing vibration and noise caused by excessive gap, and improving the accuracy and transmission stability of the entire device.

Description

Technical Field

[0001] The invention relates to the technical field of EMA linear vertical mechanism, in particular to a linear vertical pitch mechanism based on an electric cylinder. Background Art

[0002] The linear vertical pitch mechanism is a mechanism that uses linear drive technology to achieve pitch motion. It has the advantages of simple structure, direct transmission, strong load-bearing capacity and high rigidity. The linear vertical pitch mechanism is widely used in aerospace, robotics, automated factories, medical equipment, energy devices and military equipment. The existing linear vertical pitch mechanism generally uses hydraulic cylinders (EHA) to achieve the pitch drive of heavy equipment such as rocket erection devices, astronomical telescopes, radars / antennas and excavators.

[0003] However, when the above-mentioned drive is realized by a hydraulic cylinder (EHA), there are the following obvious defects: due to the existence of hinge clearance, the transmission / control accuracy of the existing linear vertical pitch drive method is far inferior to that of the light rotary pitch drive method based on harmonics, RV and planetary reducers. With the emergence of medium / large inertia and large aspect ratio loads with high requirements for servo accuracy, such as large parts on production lines, small-aperture artillery and large-caliber machine guns, the contradiction between the rotary pitch mechanism having high servo accuracy but being unable to drive heavy loads and the linear vertical pitch mechanism being able to drive heavy loads but not having high servo accuracy has become increasingly obvious. Summary of the invention

[0004] The object of the present invention is to provide a linear vertical pitch mechanism based on an electric cylinder to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A linear vertical pitch mechanism based on an electric cylinder comprises a mechanical arm, wherein the mechanical arm comprises a base and a transmission arm, an electric cylinder for driving the transmission arm to pitch is arranged between the base and the transmission arm, and further comprises:

[0007] The two ends of the electric cylinder are respectively connected to piston sleeves, and the piston sleeves at both ends are connected to hinge seats, and the hinge seats are respectively arranged on the base and the transmission arm;

[0008] A driving device, the driving device is used to drive the electric cylinder to extend and retract;

[0009] A connecting device, which is arranged on the hinge seat and is used to coaxially connect the piston sleeve to the hinge seat;

[0010] An adjusting device, wherein the adjusting device is arranged on the piston sleeve, and the adjusting device comprises a detection component, a gap adjustment component, a trigger component and a lubrication component, wherein the detection component is used to detect the gap between the piston sleeve and the articulated seat, and the gap adjustment component is used to adjust the gap between the piston sleeve and the articulated seat according to the detection result of the detection component, and the trigger component is used to trigger the opening of the lubrication component after the gap adjustment component adjusts the gap between the piston sleeve and the articulated seat, and the lubrication component is used to lubricate the gap between the piston sleeve and the articulated seat.

[0011] Preferably, the piston sleeve is fixedly connected to both ends of the electric rod.

[0012] Preferably, the driving device comprises a servo motor, the servo motor is arranged on one side of the electric cylinder, and the servo motor is used to drive the electric cylinder to extend and retract.

[0013] Preferably, the articulated seat is provided with a fixing hole, and the connecting device includes a fixing rod and a fixing nut, one end of the fixing rod is provided with a threaded groove that cooperates with the fixing nut, and the piston sleeve and the articulated seat are connected to each other by inserting the fixing rod into the fixing hole and the piston sleeve and fixing them through the fixing nut.

[0014] Preferably, the detection component includes a mounting ring and a distance sensor 1, the mounting ring is arranged in the fixing hole, and a plurality of the distance sensors 1 are arranged around the inner circular surface of the mounting ring.

[0015] Preferably, the gap adjustment assembly includes a mounting block, a driving push rod and an adjustment block, the mounting block is arranged inside the fixed rod, a plurality of driving push rods are arranged around the mounting block, the driving push rod is connected to the adjustment block, and the driving push rod drives the adjustment block to move to adjust the gap between the piston sleeve and the articulated seat.

[0016] Preferably, the trigger component includes a second distance sensor, and the second distance sensor is used to detect the position of the adjustment block. When the second distance sensor detects that the adjustment block has completed adjustment, it triggers the lubrication component to be turned on.

[0017] Preferably, the lubrication assembly is arranged on the piston sleeve.

[0018] Preferably, the lubrication assembly includes a lubrication cylinder, an injection push rod, an injection piston and a solenoid valve, the lubrication cylinder is arranged on the piston sleeve, the injection push rod is arranged on the lubrication cylinder, and the injection push rod is used to drive the injection piston to move along the lubrication cylinder when the solenoid valve is opened so that the lubrication oil is injected into the gap between the piston sleeve and the hinge seat through the solenoid valve.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: when the present invention is in use, the gap between the piston sleeve and the articulated seat is detected in real time through the detection component. When it is detected that the piston sleeve is eccentrically connected to the articulated seat, the gap adjustment component will be started to fill the gap between the piston sleeve and the articulated seat. After the filling is completed, the trigger component will trigger the lubrication component to lubricate the gap between the piston sleeve and the articulated seat. The present application can effectively fill the gap between the piston sleeve and the articulated seat, thereby reducing the vibration and noise caused by the excessive gap, and improving the accuracy and transmission smoothness of the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the axial structure of the present invention;

[0021] Figure 2 It is an enlarged schematic diagram of the local structure of the articulated seat;

[0022] Figure 3 This is a schematic diagram of the explosion structure of the hinged seat of the present invention;

[0023] Figure 4 The schematic diagram of the connection structure between the fixing rod and the adjusting block of the present invention is shown in FIG. Figure 1 ;

[0024] Figure 5 The schematic diagram of the connection structure between the fixing rod and the adjusting block of the present invention is shown in FIG. Figure 2 ;

[0025] Figure 6 This is a schematic diagram of the connection structure of the mounting block and the adjusting block of the present invention;

[0026] Figure 7 This is a schematic diagram of the piston sleeve structure of the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of the lubrication component of the present invention.

[0028] In the figure: 1 base, 2 transmission arm, 3 electric cylinder, 4 piston sleeve, 5 hinge seat, 6 servo motor, 7 fixing rod, 8 fixing nut, 9 mounting ring, 10 distance sensor 1, 11 mounting block, 12 driving push rod, 13 adjusting block, 14 distance sensor 2, 15 lubricating oil cylinder, 16 injection push rod, 17 injection piston, 18 solenoid valve, 501 fixing hole. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-8 , the present invention provides a technical solution:

[0031] A linear vertical pitch mechanism based on an electric cylinder, as shown in the attached manual Figure 1 As shown, the robot arm includes a base 1 and a transmission arm 2, an electric cylinder 3 for driving the transmission arm 2 to pitch is arranged between the base 1 and the transmission arm 2, and also includes:

[0032] The two ends of the electric cylinder 3 are respectively fixedly connected with piston sleeves 4, and the piston sleeves 4 are used to connect the electric cylinder 3 and the articulated seat 5 to each other. The piston sleeves 4 at both ends are connected with the articulated seat 5. In this embodiment, the articulated seat 5 is respectively fixedly connected to the base 1 and the transmission arm 2 by welding;

[0033] A driving device, the driving device is used to drive the electric cylinder 3 to extend and retract;

[0034] A connecting device, which is arranged on the hinge seat 5 and is used to coaxially connect the piston sleeve 4 to the hinge seat 5;

[0035] The adjusting device is arranged on the piston sleeve 4, and the adjusting device includes a detection component, a gap adjustment component, a trigger component and a lubrication component. The detection component is used to detect the gap between the piston sleeve 4 and the articulated seat 5, and the gap adjustment component is used to adjust the gap between the piston sleeve 4 and the articulated seat 5 according to the detection result of the detection component. The trigger component is used to trigger the opening of the lubrication component after the gap adjustment component adjusts the gap between the piston sleeve 4 and the articulated seat 5, and the lubrication component is used to lubricate the gap between the piston sleeve 4 and the articulated seat 5.

[0036] The driving device includes a servo motor 6, which is arranged on one side of the electric cylinder 3. The servo motor 6 is used to drive the electric cylinder 3 to extend and retract. Driving the electric cylinder 3 to extend and retract by the servo motor 6 is an existing technology. The model of the servo motor 6 can be specifically selected according to actual conditions, and will not be elaborated here.

[0037] The articulated seat 5 is provided with a fixing hole 501, and the fixing hole 501 is used to cooperate with the fixing rod 7 to connect the electric cylinder 3 and the mechanical arm (including the base 1 and the transmission arm 2) to each other. The connecting device includes a fixing rod 7 and a fixing nut 8. The fixing rod 7 is also used to install the gap adjustment component. One end of the fixing rod 7 is provided with a threaded groove (not shown) that cooperates with the fixing nut 8. The threaded groove is used to cooperate with the fixing nut 8 to limit the fixing rod 7. The fixing rod 7 is inserted into the fixing hole 501 and the piston sleeve 4 and fixed by the fixing nut 8 to connect the piston sleeve 4 and the articulated seat 5 to each other.

[0038] The detection component includes a mounting ring 9 and a distance sensor 10. The mounting ring 9 is arranged inside the fixing hole 501. A plurality of distance sensors 10 are arranged, and the plurality of distance sensors 10 are arranged around the inner circular surface of the mounting ring 9. The distance sensor 10 is a reflective infrared distance sensor. The center of the fixed rod 7 can be determined by the data fed back by the plurality of distance sensors 10, so as to calculate the position of the fixed rod 7 and further calculate the gap between the piston sleeve 4 and the articulated seat 5.

[0039] The clearance adjustment assembly includes a mounting block 11, a driving push rod 12 and an adjusting block 13. The mounting block 11 is arranged inside the fixed rod 7. The mounting block 11 is used to install the driving push rod 12 and the adjusting block 13. A plurality of driving push rods 12 are arranged around the mounting block 11. In the present embodiment, the contact surfaces of the adjusting block 13 and the piston sleeve 4 are made of copper material, which has good wear resistance and low friction coefficient, and helps to reduce energy loss and improve work efficiency. Since the degree of wear of the adjusting blocks 13 in each direction is different during use, the plurality of driving push rods 12 do not move synchronously, but can move individually, so that the coaxiality can be quickly adjusted. The telescopic end of the driving push rod 12 is fixedly connected with the adjusting block 13, and the adjusting block 13 is driven by the driving push rod 12 to move to adjust the clearance between the piston sleeve 4 and the articulated seat 5.

[0040] The trigger component includes a distance sensor 14, which is a reflective infrared distance sensor. The distance sensor 14 is set on the adjustment block 13. The distance sensor 14 is used to detect the position of the adjustment block 13. When the distance sensor 14 detects that the adjustment block 13 has completed the adjustment (no longer moves), it will trigger the lubrication component to start.

[0041] The lubrication assembly is arranged on the piston sleeve 4, and the lubrication assembly includes a lubrication cylinder 15, an injection push rod 16, an injection piston 17 and a solenoid valve 18. The lubrication cylinder 15 is arranged inside the piston sleeve 4, and the lubrication cylinder 15 is used to store lubrication oil. The injection push rod 16 is arranged inside the lubrication cylinder 15, and the injection push rod 16 is used to drive the injection piston 17 to move along the lubrication cylinder 15 when the solenoid valve 18 is opened, so that the lubrication oil is injected into the gap between the piston sleeve 4 and the hinge seat 5 through the solenoid valve 18.

[0042] Working principle: When in use, the distance sensor 10 will detect the center of the fixed rod 7. When it is detected that the center of the fixed rod 7 is offset, the driving push rod 12 will start and drive the adjusting block 13 to fill the gap between the piston sleeve 4 and the articulated seat 5, thereby improving the accuracy of the electric cylinder 3 driving the transmission arm 2 to move. After the distance sensor 2 14 detects that the adjusting block 13 stops moving, the solenoid valve 18 will open and the injection push rod 16 will move, thereby driving the injection piston 17 to move along the lubricating oil cylinder 15, thereby injecting the lubricating oil into the gap between the piston sleeve 4 and the articulated seat 5.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A linear vertical pitch mechanism based on an electric cylinder, comprising a mechanical arm, wherein the mechanical arm comprises a base and a transmission arm, and an electric cylinder for driving the transmission arm to pitch is arranged between the base and the transmission arm, characterized in that: Also includes: The two ends of the electric cylinder are respectively connected to piston sleeves, and the piston sleeves at both ends are connected to hinge seats, and the hinge seats are respectively arranged on the base and the transmission arm; A driving device, the driving device is used to drive the electric cylinder to extend and retract; A connecting device, which is arranged on the hinge seat and is used to coaxially connect the piston sleeve to the hinge seat; An adjusting device, the adjusting device is arranged on the piston sleeve, the adjusting device comprises a detection component, a gap adjustment component, a trigger component and a lubrication component, the detection component is used to detect the gap between the piston sleeve and the hinge seat, the gap adjustment component is used to adjust the gap between the piston sleeve and the hinge seat according to the detection result of the detection component, the trigger component is used to trigger the opening of the lubrication component after the gap adjustment component adjusts the gap between the piston sleeve and the hinge seat, and the lubrication component is used to lubricate the gap between the piston sleeve and the hinge seat; The hinge seat is provided with a fixing hole, and the connecting device includes a fixing rod and a fixing nut, one end of the fixing rod is provided with a thread groove that cooperates with the fixing nut, and the fixing rod is inserted into the fixing hole and the piston sleeve and fixed through the fixing nut to connect the piston sleeve and the hinge seat to each other; The detection assembly includes a mounting ring and a distance sensor 1, wherein the mounting ring is arranged at the fixing hole, and a plurality of distance sensors 1 are arranged, and the plurality of distance sensors 1 are arranged around the inner circular surface of the mounting ring; The clearance adjustment assembly comprises a mounting block, a driving push rod and an adjustment block, wherein the mounting block is arranged inside the fixing rod, a plurality of driving push rods are arranged around the mounting block, the driving push rod is connected to the adjustment block, and the driving push rod drives the adjustment block to move so as to adjust the clearance between the piston sleeve and the hinge seat; The lubrication assembly is arranged on the piston sleeve; The lubrication assembly includes a lubrication cylinder, an injection push rod, an injection piston and a solenoid valve. The lubrication cylinder is arranged on the piston sleeve, and the injection push rod is arranged on the lubrication cylinder. The injection push rod is used to drive the injection piston to move along the lubrication cylinder when the solenoid valve is turned on, so that the lubrication oil is injected into the gap between the piston sleeve and the hinge seat through the solenoid valve.

2. The linear vertical pitch mechanism based on an electric cylinder according to claim 1, characterized in that: The piston sleeve is fixedly connected to both ends of the electric cylinder.

3. The linear vertical pitch mechanism based on an electric cylinder according to claim 1, characterized in that: The driving device comprises a servo motor, which is arranged on one side of the electric cylinder and is used to drive the electric cylinder to extend and retract.

4. The linear vertical pitch mechanism based on an electric cylinder according to claim 1, characterized in that: The trigger component includes a second distance sensor, which is used to detect the position of the adjustment block. When the second distance sensor detects that the adjustment block has completed adjustment, it will trigger the lubrication component to start.

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