Six-degree-of-freedom hydraulic joint robot and working method thereof

Abstract

The invention relates to a six-degree-of-freedom hydraulic joint robot and a working method thereof.The robot is composed of a large arm module, a small arm module, a wrist module, a hand module, a base module and a control module, the whole robot is fixed to a mounting platform through the base module, and the base module, the large arm module, the small arm module, the wrist module and the hand module are sequentially connected; the control module is electrically connected with other modules, and except the control module, each module comprises a main structure and a power structure; the power structure of each part is controlled by the control module, so that the power structure of each part provides power for the corresponding main structure, and the action is completed; wherein the main structure of the small arm module comprises a small arm joint, a small arm rotation support and a small arm rotation support, and the power structure comprises a small arm swing motor and a small arm rotation motor. Compared with the prior art, the invention has the advantages of optimizing the motion precision, improving the flexibility, enhancing the durability, saving the space and the like.

Description

Technical Field

[0001] The invention relates to a hydraulic joint robot, in particular to a six-degree-of-freedom hydraulic joint robot and a working method thereof. Background Art

[0002] In recent years, with the rapid development of modern science and technology such as computers, electronic engineering, control engineering, sensors and artificial intelligence, electric robot technology has made great progress. With the expansion of robot application fields, rescue, detection, construction, mining and other fields have put forward higher and higher requirements on the load capacity of robots, and the disadvantages of low power density and small output torque of motor drive have become increasingly prominent. In contrast, hydraulic drive has the advantages of stable transmission, light weight, small size, large speed regulation range and strong load-bearing capacity, which makes hydraulic robots widely used in industry, military, construction, agriculture and other industries.

[0003] In response to the above, the patent with publication number CN107009355A discloses a six-degree-of-freedom hydraulic joint robot and briefly describes the related hydraulic joints. However, the patent only describes the overall structure of the robot and the internal structure of the hydraulic motor. Although it can withstand a large workload, the motor used is too large, which will cause great inconvenience during loading and transportation, resulting in huge cost and energy consumption, and low work efficiency; in addition, the robot adopts a frame structure as a whole. Although the structure is simple and can reduce its own weight, the structure is easily damaged, has poor durability, and needs to be replaced frequently. Summary of the invention

[0004] The purpose of the present invention is to provide a six-degree-of-freedom hydraulic joint robot and a working method thereof in order to overcome the defects of the above-mentioned prior art.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] According to one aspect of the present invention, a six-degree-of-freedom hydraulic joint robot is provided, the robot is composed of an upper arm module, a lower arm module, a wrist module, a hand module, a base module and a control module, the entire robot is fixed on a mounting platform by the base module, the base module, the upper arm module, the lower arm module, the wrist module and the hand module are connected in sequence, the control module and the other modules are all electrically connected, and except for the control module, each module includes a trunk structure and a power structure; the control module controls the power structure of each part so that the power structure of each part provides power to the corresponding trunk structure, thereby completing the action;

[0007] Among them, the backbone structure of the forearm module includes a forearm joint, a forearm slewing support and a forearm rotation support, and the power structure includes a forearm swing motor and a forearm slewing motor.

[0008] As an optimal technical solution, the main structure in the boom module is the boom joint and the boom slewing support, and the power structure is the boom slewing motor; the main structure in the wrist module is the wrist joint, and the power structure is the wrist slewing motor; the main structure in the hand module is the hand joint, and the power structure is the hand slewing motor.

[0009] As a preferred technical solution, in the upper arm module, the upper arm swivel support is connected to the base module via screws and nuts, and the other side of the upper arm swivel support is connected to the upper arm joint via the upper arm swivel motor; in the forearm module, the forearm swing motor is connected to the upper arm joint via screws and nuts, and the other side of the forearm swing motor is connected to the forearm joint via the forearm rotation support, and the forearm joint is also connected to the forearm swivel motor via the forearm swivel support; in the wrist module, the wrist swivel motor is connected to the forearm joint via screws and nuts, and the other side of the wrist swivel motor is connected to the wrist joint; in the hand joint, the hand swivel motor is connected to the wrist joint via screws and nuts, and the other side of the hand swivel motor is connected to the hand joint.

[0010] As a preferred technical solution, the upper arm joint, the lower arm joint, the wrist joint and the hand joint all adopt a hollow structure.

[0011] As a preferred technical solution, the main structure of each module is made of 7075 aluminum alloy.

[0012] As a preferred technical solution, the power structure of each module uses hydraulic motors, specifically including ZAX330, ZX330 or EX330-3.

[0013] As a preferred technical solution, in the base module, the main structure is the base, and the power structure is the base rotary motor, wherein the base is a flat plate structure with four holes evenly arranged at the four corners of the plate, and the base plate is fixed to the mounting platform by bolts and nuts through the holes.

[0014] As an optimal technical solution, a reducer is also provided in the power structure of the base module, one end of the reducer is connected to the base rotary motor, and the other end is connected to the base. The speed output by the base rotary motor is reduced by the reducer and then drives the base to realize the rotation of the base.

[0015] As a preferred technical solution, the control module uses an industrial computer combined with a programmable logic controller. The industrial computer is used to perform kinematic calculations to obtain motion trajectory planning, and the programmable logic controller is used to obtain corresponding control signals based on the motion trajectory planning.

[0016] According to another aspect of the present invention, a working method of a six-degree-of-freedom hydraulic joint robot is provided. The method is applied to a six-degree-of-freedom hydraulic joint robot as described above. The method includes six working conditions: base rotation, upper arm joint swing, forearm joint swing, forearm joint rotation, hand joint rotation and hand joint swing; in each working condition, the control module first outputs a control signal to the power structure of each module, and then the power structure of each module outputs torque to the corresponding trunk structure to provide power, thereby completing the action.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. In the forearm module of the present invention, the main structure includes a forearm joint, a forearm slewing support and a forearm rotation support, and the power structure includes a forearm swing motor and a forearm rotation motor. By jointly controlling the forearm joint with the forearm swing motor and the forearm rotation motor, a complex forearm motion trajectory can be achieved, the movement flexibility is improved, and the working space is expanded. At the same time, the motion parameters of the two motors are accurately controlled by the control module, the position of the forearm can be accurately located, and the motion accuracy is optimized.

[0019] 2. The upper arm joint, lower arm joint, wrist joint and hand joint of the present invention are all hollow structures, which reduces the weight of the robot, has higher durability, does not require frequent maintenance, and has low manufacturing cost; and the main structure of each module is made of 7075 aluminum alloy. This structure ensures the strength and rigidity of the main load-bearing part of the robot while reducing its own weight, is not easy to damage, and has high production efficiency.

[0020] 3. The power structure of each module in the present invention uses hydraulic motors, specifically including ZAX330, ZX330 or EX330-3. The size of the motor is smaller than that of motors with the same working pressure and the same power, but it can provide the same working pressure and bear the same load, so that the robot can save more space and cost during the assembly process. The hydraulic rotary motor of the present invention is smaller in size, easy to assemble and transport, and saves space.

[0021] 4. In the six-degree-of-freedom robot of the present invention, a reducer is also provided in the power structure of the base module. One end of the reducer is connected to the base rotary motor, and the other end is connected to the base. The speed output by the base rotary motor is decelerated by the reducer to drive the base to realize the rotation of the base. The present invention sets a reducer for the rotation of the base, achieves the purpose of torque increase and deceleration, and enables the base to realize rotary motion under greater torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a front view of the present invention;

[0023] Figure 2 A top view of the present invention;

[0024] Figure 3 It is a left side view of the present invention;

[0025] In the figure, 1 is the base, 2 is the base rotation motor, 3 is the upper arm rotation motor, 4 is the upper arm joint, 5 is the forearm swing motor, 6 is the forearm rotation motor, 7 is the wrist rotation motor, 8 is the hand rotation motor, 9 is the reducer, 10 is the forearm rotation support, 11 is the forearm joint, 12 is the hand joint, 13 is the wrist joint, 14 is the upper arm rotation support, and 15 is the forearm rotation support. DETAILED DESCRIPTION

[0026] 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 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 should fall within the scope of protection of the present invention.

[0027] In recent years, with the rapid development of modern science and technology such as computers, electronic engineering, control engineering, sensors and artificial intelligence, electric robot technology has made great progress. With the expansion of robot application fields, rescue, detection, construction, mining and other fields have put forward higher and higher requirements on the load capacity of robots, and the disadvantages of low power density and small output torque of motor drive have become increasingly prominent. In contrast, hydraulic drive has the advantages of stable transmission, light weight, small size, large speed regulation range and strong load-bearing capacity, which makes hydraulic robots widely used in industry, military, construction, agriculture and other industries.

[0028] Example 1

[0029] In this embodiment, a six-degree-of-freedom hydraulic joint robot is used. Figure 1 As shown, the top view is Figure 2 As shown, the left view is Figure 3 As shown, the robot consists of an arm module, an arm module, a wrist module, a hand module, a base module and a control module. The entire robot is fixed on the mounting platform by the base module. The base module, the arm module, the arm module, the wrist module and the hand module are connected in sequence. The control module is electrically connected to the other modules. Except for the control module, each module includes a trunk structure and a power structure. The control module controls the power structure of each part so that the power structure of each part provides power to the corresponding trunk structure to complete the action.

[0030] In this embodiment, the main structure of the forearm module includes the forearm joint, the forearm slewing support and the forearm rotation support, and the power structure includes the forearm swing motor and the forearm slewing motor. The main structure of the arm module is the arm joint and the arm slewing support, and the power structure is the arm slewing motor; the main structure of the wrist module is the wrist joint, and the power structure is the wrist slewing motor; the main structure of the hand module is the hand joint, and the power structure is the hand slewing motor.

[0031] In this embodiment, in the upper arm module, the upper arm swivel support is connected to the base module via screws and nuts, and the other side of the upper arm swivel support is connected to the upper arm joint via the upper arm swivel motor; in the forearm module, the forearm swing motor is connected to the upper arm joint via screws and nuts, and the other side of the forearm swing motor is connected to the forearm joint via the forearm rotation support, and the forearm joint is also connected to the forearm swivel motor via the forearm swivel support; in the wrist module, the wrist swivel motor is connected to the forearm joint via screws and nuts, and the other side of the wrist swivel motor is connected to the wrist joint; in the hand joint, the hand swivel motor is connected to the wrist joint via screws and nuts, and the other side of the hand swivel motor is connected to the hand joint.

[0032] In this embodiment, the upper arm joint, the lower arm joint, the wrist joint and the hand joint all adopt a hollow structure. The weight of the robot itself is reduced, the robot has higher durability, does not require frequent maintenance, and has low manufacturing costs. This structure ensures the strength and rigidity of the robot's main load-bearing capacity under the condition of meeting the minimum weight, is not easy to damage, and has high production efficiency.

[0033] In this embodiment, the main structure of each module is made of 7075 aluminum alloy. The power structure of each module uses a hydraulic motor, specifically ZAX330, ZX330 or EX330-3. The size of the motor is smaller than that of the motor with the same working pressure and the same power, but it can provide the same working pressure and withstand the same load, so that the robot saves more space and cost during the assembly process.

[0034] In this embodiment, the main structure is the base, and the power structure is the base rotary motor, wherein the base is a flat plate structure, and four holes are evenly arranged at the four corners of the plate, and bolts and nuts are passed through the holes to fix the bottom plate to the mounting platform. A reducer is also provided in the power structure of the base module, one end of the reducer is connected to the base rotary motor, and the other end is connected to the base, and the speed output by the base rotary motor is reduced by the reducer to drive the base to realize the rotation of the base.

[0035] In this embodiment, the control module uses an industrial computer combined with a programmable logic controller. The industrial computer is used to perform kinematic calculations to obtain motion trajectory planning, and the programmable logic controller is used to obtain corresponding control signals based on the motion trajectory planning.

[0036] In this embodiment, the working process of the robot is divided into six working conditions: base rotation, upper arm joint swing, lower arm joint swing, lower arm joint rotation, hand joint rotation and hand joint swing.

[0037] In summary, the six-degree-of-freedom hydraulic joint robot in this scheme controls the arm joints through the arm swing motor and the arm rotation motor, which can realize complex arm motion trajectories, improve movement flexibility, and expand the workspace. At the same time, the control module accurately controls the motion parameters of the two motors, which can accurately locate the position of the arm and optimize the motion accuracy. In addition, the structure ensures the strength and rigidity of the robot's main load-bearing capacity while reducing its own weight, is not easy to damage, and has high production efficiency.

[0038] Example 2

[0039] In this embodiment, a working method of a six-degree-of-freedom hydraulic joint robot is applied, which includes six working conditions: base rotation, upper arm joint swing, forearm joint swing, forearm joint rotation, hand joint rotation and hand joint swing; in each working condition, the control module first outputs a control signal to the power structure of each module, and then the power structure of each module outputs torque to the corresponding trunk structure to provide power, thereby completing the action.

[0040] In this embodiment, the method is applied to Figure 1 In the six-degree-of-freedom hydraulic joint robot shown in FIG. 1 , the top view of the robot is as follows: Figure 2 As shown, the left view is Figure 3 As shown, it includes a base, an upper arm joint, a lower arm joint, a wrist joint, and a hand joint. In the base module, the main structure is the base, and the power structure is the base rotary motor. The base is a flat plate structure, and four holes are evenly arranged at the four corners of the plate. Bolts and nuts are used to fix the base plate to the mounting platform through the holes.

[0041] In this embodiment, a reducer is also provided in the power structure of the base module. One end of the reducer is connected to the base rotary motor, and the other end is connected to the base. The speed output by the base rotary motor is reduced by the reducer and then drives the base to realize the rotation of the base.

[0042] In this embodiment, the main structure of the forearm module includes the forearm joint, the forearm slewing support and the forearm rotation support, and the power structure includes the forearm swing motor and the forearm slewing motor. The main structure of the arm module is the arm joint and the arm slewing support, and the power structure is the arm slewing motor; the main structure of the wrist module is the wrist joint, and the power structure is the wrist slewing motor; the main structure of the hand module is the hand joint, and the power structure is the hand slewing motor.

[0043] In this embodiment, in the arm module, the arm slewing support is connected to the base module via screws and nuts, and the other side of the arm slewing support is connected to the arm joint via the arm slewing motor; in the arm module, the arm swing motor is connected to the arm joint via screws and nuts, and the other side of the arm swing motor is connected to the arm joint via the arm rotation support, and the arm joint is also connected to the arm slewing motor via the arm slewing support; in the wrist module, the wrist slewing motor is connected to the arm joint via screws and nuts, and the other side of the wrist slewing motor is connected to the wrist joint; in the hand joint, the hand slewing motor is connected to the wrist joint via screws and nuts, and the other side of the hand slewing motor is connected to the hand joint. The arm joint, arm joint, wrist joint and hand joint all adopt hollow structures, which reduces the weight of the robot itself, has higher durability, does not require frequent maintenance, and has low manufacturing cost. This structure ensures the strength and rigidity of the main load-bearing of the robot under the condition of meeting the minimum weight, is not easy to damage, and has high production efficiency.

[0044] In this embodiment, the motors that drive the base, upper arm joints, lower arm joints, wrist joints and hand joints to swing or rotate: that is, the base rotation motor, upper arm rotation motor, lower arm swing motor, lower arm rotation motor, wrist rotation motor, hand rotation motor all adopt the same motor model, specifically including ZAX330, ZX330 or EX330-3. The size of this motor is smaller than that of motors with the same working pressure and the same power, but it can provide the same working pressure and withstand the same load, so that the robot saves more space and cost during the assembly process.

[0045] In this embodiment, the rotation of the base is achieved through the base rotation motor and the reducer. The reducer has the characteristics of torque increase and deceleration, so that the base can realize the rotation function under the condition of bearing a larger torque.

[0046] In this embodiment, the control module uses an industrial computer combined with a programmable logic controller. The industrial computer is used to perform kinematic calculations to obtain motion trajectory planning, and the programmable logic controller is used to obtain corresponding control signals based on the motion trajectory planning.

[0047] In this embodiment, in the base rotation working condition, after the hydraulic oil drives the base rotation motor to rotate, the base rotation motor drives the base through the reducer to realize the rotation process; in the upper arm joint swinging working condition, the upper arm joint is connected to the upper arm rotation support and the upper arm rotation motor by means of screws and nuts. The upper arm rotation motor is driven by hydraulic oil to rotate and drive the upper arm joint to rotate; in the forearm joint swinging working condition, the forearm swing motor drives the forearm joint to realize the up and down swinging process after the hydraulic oil enters; in the forearm joint rotation working condition, the forearm joint is connected to the forearm rotation motor through the forearm rotation support, and when the forearm rotation motor is supplied with oil, the forearm joint realizes the rotation process. In the hand joint rotation working condition, when the hydraulic oil is supplied to the hand rotation motor, the rotation motor drives the hand joint to realize the rotation function; in the hand joint swinging working condition, when the hydraulic oil is supplied to the wrist rotation motor, the rotation motor drives the hand joint to realize the swing function.

[0048] In summary, this working method can realize complex forearm motion trajectories, improve movement flexibility, and expand the working space. At the same time, by accurately controlling the motion parameters of the two motors through the control module, the position of the forearm can be accurately located, and the motion accuracy is optimized. A smaller motor is selected, but it can provide the same working pressure and withstand the same load, so that the robot can save more space and cost during the assembly process. The hydraulic rotary motor of the present invention is smaller in size, easy to assemble and transport, and saves space. In the base rotation condition, the speed output by the base rotary motor is reduced by a reducer to drive the base to realize the rotation of the base. The present invention sets a reducer for the rotation of the base, which achieves the purpose of torque increase and deceleration, so that the base can realize rotational motion under a larger torque.

[0049] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A six-degree-of-freedom hydraulic joint robot, characterized in that: The robot is composed of an arm module, a forearm module, a wrist module, a hand module, a base module and a control module. The entire robot is fixed on a mounting platform by the base module. The base module, the arm module, the forearm module, the wrist module and the hand module are connected in sequence. The control module and other modules are all electrically connected. Except for the control module, each module includes a trunk structure and a power structure. The control module controls the power structure of each part so that the power structure of each part provides power to the corresponding trunk structure, thereby completing the action. Among them, the backbone structure of the forearm module includes a forearm joint, a forearm slewing support and a forearm rotation support, and the power structure includes a forearm swing motor and a forearm slewing motor.

2. A six-degree-of-freedom hydraulic joint robot according to claim 1, characterized in that: The main structure of the upper arm module is the upper arm joint and the upper arm rotation support, and the power structure is the upper arm rotation motor; the main structure of the wrist module is the wrist joint, and the power structure is the wrist rotation motor; the main structure of the hand module is the hand joint, and the power structure is the hand rotation motor.

3. A six-degree-of-freedom hydraulic joint robot according to claim 2, characterized in that: In the described upper arm module, the upper arm swivel support is connected to the base module via screws and nuts, and the other side of the upper arm swivel support is connected to the upper arm joint via the upper arm swivel motor; in the described forearm module, the forearm swing motor is connected to the upper arm joint via screws and nuts, and the other side of the forearm swing motor is connected to the forearm joint via the forearm rotation support, and the forearm joint is also connected to the forearm swivel motor via the forearm swivel support; in the described wrist module, the wrist swivel motor is connected to the forearm joint via screws and nuts, and the other side of the wrist swivel motor is connected to the wrist joint; in the described hand joint, the hand swivel motor is connected to the wrist joint via screws and nuts, and the other side of the hand swivel motor is connected to the hand joint.

4. A six-degree-of-freedom hydraulic joint robot according to claim 3, characterized in that: The upper arm joint, the lower arm joint, the wrist joint and the hand joint all adopt a hollow structure.

5. The six-degree-of-freedom hydraulic joint robot according to claim 1, characterized in that: The main structure of each module is made of 7075 aluminum alloy.

6. A six-degree-of-freedom hydraulic joint robot according to claim 1, characterized in that: The power structure of each module uses hydraulic motors, specifically including ZAX330, ZX330 or EX330-3.

7. The six-degree-of-freedom hydraulic joint robot according to claim 1, characterized in that: In the base module, the main structure is the base, and the power structure is the base rotary motor, wherein the base is a flat plate structure with four holes evenly arranged at the four corners of the plate, and the base plate is fixed to the mounting platform by bolts and nuts through the holes.

8. The six-degree-of-freedom hydraulic joint robot according to claim 7, characterized in that: A reducer is also provided in the power structure of the base module. One end of the reducer is connected to the base rotary motor, and the other end is connected to the base. The rotation speed output by the base rotary motor is reduced by the reducer to drive the base to realize the rotation of the base.

9. The six-degree-of-freedom hydraulic joint robot according to claim 1, characterized in that: The control module uses an industrial computer combined with a programmable logic controller. The industrial computer is used to perform kinematic calculations to obtain motion trajectory planning, and the programmable logic controller is used to obtain corresponding control signals according to the motion trajectory planning.

10. A working method of a six-degree-of-freedom hydraulic joint robot, characterized in that: The method is applied to a six-degree-of-freedom hydraulic joint robot as described in any one of claims 1-9, and the method includes six working conditions: base rotation, upper arm joint swing, lower arm joint swing, lower arm joint rotation, hand joint rotation and hand joint swing; in each working condition, the control module first outputs a control signal to the power structure of each module, and then the power structure of each module outputs torque to the corresponding trunk structure to provide power, thereby completing the action.

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