Piston type rotary supporting device and control method

Abstract

The invention relates to a piston type rotary supporting device and a control method, and belongs to the technical field of coal mine robot automation. The device comprises a rear end cover, a transmission body piston, a cylinder barrel, an output connecting disc, a front flange and a ball. The rear end cover is matched with a special-shaped hole of the transmission body piston through a special-shaped guide shaft, and axial sliding and circumferential rotation stopping of the piston are achieved. A spiral groove of the transmission body piston is meshed with a multi-head thread of the output connecting disc, so that linear motion is converted into rotary motion; the cylinder barrel and the front and rear end covers form a sealed hydraulic cavity, and the piston is driven by hydraulic oil to reciprocate. According to the control method, positive and negative rotation and speed adjustment of the output connecting disc are achieved by adjusting hydraulic flow. According to the scheme, the high bearing capacity is achieved through hydraulic driving, the speed reducing mechanism is simplified through the spiral transmission structure, the friction resistance is reduced through the balls and the roller paths, and the robot joint is suitable for the severe environment of an underground coal mine and meets the 0-360-degree precise rotation requirement.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine robot automation and relates to a piston type rotary support device and a control method. Background Art

[0002] Most existing coal mine robot joints use harmonic reducers to achieve rotation. Although this type of reducer is stable in operation, it has a complex structure and a large size, making it difficult to install and maintain in narrow or humid environments underground. In addition, harmonic reducers usually need to be used in conjunction with motors, making it difficult to achieve low-speed and high-torque output, and there are safety hazards under explosion-proof requirements. Although some hydraulically driven joints can adapt to high-load conditions, their rotation range is mostly limited by the mechanical structure of traditional hydraulic motors, making it difficult to meet the requirements of 0-360° continuous swing of robot joints. In the existing technology, the combination of hydraulic and mechanical transmission still has problems such as low efficiency and poor sealing. In particular, the conversion mechanism from linear motion to rotational motion is redundantly designed, resulting in the overall device being bulky and costly. Summary of the Invention

[0003] In view of this, an object of the present invention is to provide a joint driving device with a compact structure, strong load-bearing capacity and suitable for harsh environments.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A piston type slewing support device, comprising:

[0006] Rear end cover, transmission body piston, cylinder, output connecting plate, front flange and ball;

[0007] The rear end cover is rigidly connected to the cylinder barrel, and the rear end cover cooperates with the transmission body piston to achieve axial sliding and circumferential rotation prevention of the transmission body piston;

[0008] The outer surface of the transmission body piston cooperates with the inner side of the output connection disk to convert the axial movement of the transmission body piston into the rotational movement of the output connection disk;

[0009] The cylinder is fixedly connected to the rear end cover and the front flange, and cooperates with the transmission body piston to form a sealed first hydraulic chamber and a sealed second hydraulic chamber;

[0010] The output connection disk is in rolling fit with the front flange.

[0011] Optionally, a special-shaped guide shaft is provided inside the rear end cover, and a special-shaped hole is provided on the transmission body piston to cooperate with the special-shaped guide shaft to achieve axial sliding and circumferential anti-rotation of the transmission body piston.

[0012] Optionally, a spiral groove is provided on the outer surface of the transmission body piston, and a multi-start thread is provided on the inner side of the output connecting disk. The spiral groove engages with the multi-start thread to convert the axial movement of the transmission body piston into the rotational movement of the output connecting disk.

[0013] Optionally, the spiral groove of the transmission body piston is a thread structure with a variable lead, which is used to adjust the rotation speed and displacement range of the output connecting disk.

[0014] Optionally, the output connecting disk is connected to an external actuator via a connecting disk for transmitting rotational motion and torque.

[0015] Optionally, the output connection plate is in rolling engagement with the front flange via balls.

[0016] Optionally, the front flange is provided with a raceway for supporting the output connecting disc.

[0017] Optionally, a rolling friction pair is formed between the raceway of the output connecting disc and the balls to reduce rotational resistance.

[0018] Optionally, the rear end cover is further provided with a sealing groove, in which a sealing member is installed for isolating the first hydraulic chamber and the second hydraulic chamber and preventing leakage.

[0019] A control method based on the above-mentioned piston type slewing support device comprises the following steps:

[0020] Inject hydraulic oil into the first hydraulic chamber to drive the transmission body piston to move axially, driving the output connecting plate to rotate in the positive direction;

[0021] Inject hydraulic oil into the second hydraulic chamber to drive the transmission body piston to move in the opposite direction, causing the output connecting plate to rotate in the opposite direction;

[0022] By adjusting the flow of hydraulic oil, the moving speed of the transmission body piston is controlled, and then the rotation speed of the output connecting disk is adjusted.

[0023] The beneficial effects of the present invention are:

[0024] High load-bearing capacity and low-speed control: Through the linear motion of the hydraulically driven transmission piston, combined with the meshing transmission of the spiral groove and multi-start thread, the pressure advantage of the hydraulic system is utilized to achieve high torque output. At the same time, the piston movement speed is precisely controlled through flow regulation, so that the output connection plate can operate stably at extremely low speeds, meeting the low-speed and heavy-load requirements of the coal mine robot joints.

[0025] Simplified and compact structure: The matching design of the special-shaped guide shaft and the special-shaped hole ensures axial sliding of the transmission body piston while eliminating circumferential rotation, eliminating the complex gear structure of the traditional reducer; the cylinder is integrated with the hydraulic chamber, combining the drive and transmission functions in a single device, greatly reducing the volume and adapting to the narrow space underground.

[0026] Low friction and high reliability: The output connecting plate forms a rolling friction pair through the ball bearings and the raceway of the front flange, significantly reducing rotational resistance and extending service life. The double sealing design of the sealing groove and seal effectively prevents hydraulic oil leakage and improves the reliability of the device in humid and dusty environments.

[0027] Flexibility and adaptability: The variable lead design of the spiral groove allows the rotational displacement range of the output connecting disc to be adjusted to meet different working conditions; the explosion-proof characteristics of the hydraulic drive make it suitable for flammable and explosive places such as coal mines, expanding the application scenarios of robot joints.

[0028] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0030] Figure 1 This is the structural principle diagram of this scheme;

[0031] Figure 2 This is the structural diagram of the rear end cover;

[0032] Figure 3 It is the structural diagram of the rotating body;

[0033] Figure 4 This is the output connection disk structure diagram.

[0034] Figure numerals: rear end cover 1, transmission body piston 2, seal 3, cylinder 4, output connecting plate 5, front flange 6, ball 7, first hydraulic chamber A, second hydraulic chamber B, connecting hole 11, sealing groove 12, guide shaft 13, special-shaped hole 21, sealing annular groove 22, spiral groove 23, multi-start thread 51, raceway 52, connecting plate 53, connecting hole 54. DETAILED DESCRIPTION

[0035] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0036] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0037] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0038] like Figure 1-4 As shown, the piston-type slewing support device disclosed in this embodiment includes a rear end cap 1, a transmission piston 2, a seal 3, a cylinder barrel 4, an output connecting plate 5, a front flange 6, balls 7, a first hydraulic chamber A, and a second hydraulic chamber B. The rear end cap 1 is rigidly connected to the cylinder barrel 4 via a connecting hole 11. The internally shaped guide shaft 13 of the rear end cap 1 is inserted into a shaped hole 21 in the transmission piston 2, restricting the piston's circumferential rotation. The seal 3 is installed in the sealing groove 12, separating the first hydraulic chamber A from the second hydraulic chamber B. The outer surface of the transmission piston 2 is provided with a spiral groove 23, which engages with the multi-threaded thread 51 of the output connecting plate 5. When the piston moves axially, the spiral groove 23 propels the output connecting plate 5 to rotate about its axis. The cylinder barrel 4 is fixed to the front flange 6, and the output connecting plate 5 is embedded in a raceway 52 of the front flange 6 via balls 7, forming a low-friction slewing support. The output connecting plate 5 is connected to an external actuator via a connecting plate 53 and a connecting hole 54.

[0039] The overall diagram of this device is shown in Figure 1It consists of a rear end cover 1, a transmission piston 2, a seal 3, a cylinder 4, an output connecting plate 5, a front flange 6 and a ball 7.

[0040] Rear end cover 1: Figure 2 It is rigidly connected to the cylinder and mates with the transmission piston, which slides within the rear end cap, providing a seal and anti-rotation function, bearing the circumferential load of the joint motor. It primarily consists of a connection hole 11, a sealing groove 12, and a guide shaft 13. The guide shaft has a special-shaped cross-section and mates with the inner hole of the transmission piston to prevent circumferential rotation of the transmission piston.

[0041] Transmission piston 2: Figure 3 The piston mates with the front and rear end caps, the cylinder barrel, and the output shaft, allowing it to move back and forth within the caps and the cylinder barrel, driving the output shaft to rotate. Together, they form two complete hydraulically sealed chambers—a first hydraulic chamber A and a second hydraulic chamber B. The piston mates with the rear end cap's shaped shaft by forming a special-shaped hole 21, a sealing annular groove 22, and a spiral groove 23 with a large lead. The special-shaped hole 21, which mates with the rear end cap's shaped shaft, provides a rotation stop. A sealing ring is installed within the annular groove 22, forming the first hydraulic chamber A and the second hydraulic chamber B with the adjacent components. The spiral groove 23 mates with the output shaft thread, driving the output shaft to rotate when the piston mates with it.

[0042] Cylinder 4: fixed to the front and rear end covers and matched with the transmission body piston;

[0043] Output coupling plate 5: Mounted on the ball bearing, it mates with the transmission piston to convert the axial motion of the transmission piston into rotational motion. It primarily consists of multi-threaded plates 51, a raceway 52, a coupling plate 53, and a connection hole 54. Multi-threaded plates 51 mate with the transmission piston; coupling plate 53 connects to the final working component, transmitting torque and motion.

[0044] Front flange 6: cooperates with the output connecting plate and the ball to form a hydraulic cavity, and cooperates with the ball to complete the support and rotation of the output connecting plate, reducing friction.

[0045] Working Principle: When oil is injected into the first hydraulic chamber A, the transmission piston 2 moves right, causing the spiral groove 23 to rotate the output connecting plate 5 clockwise. When oil is injected into the second hydraulic chamber B, the piston moves left, causing the output connecting plate 5 to rotate counterclockwise. By adjusting the hydraulic oil flow rate to control the piston's movement speed, the output connecting plate 5's speed can be adjusted, ultimately achieving precise swing within a range of 0-360° for the robot joint.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A piston type rotary support device, characterized in that: include: rear end cover (1), transmission body piston (2), cylinder (4), output connection plate (5), front flange (6) and ball (7); The rear end cover (1) is rigidly connected to the cylinder barrel (4), and the rear end cover (1) cooperates with the transmission body piston (2) to achieve axial sliding and circumferential rotation prevention of the transmission body piston (2); The outer surface of the transmission body piston (2) cooperates with the inner side of the output connection disk (5) to convert the axial movement of the transmission body piston (2) into the rotational movement of the output connection disk (5); The cylinder barrel (4) is fixedly connected to the rear end cover (1) and the front flange (6), and cooperates with the transmission body piston (2) to form a sealed first hydraulic chamber (A) and a second hydraulic chamber (B); The output connection disk (5) and the front flange (6) are in rolling engagement.

2. The piston type rotary support device according to claim 1, characterized in that: A special-shaped guide shaft (13) is provided inside the rear end cover (1), and a special-shaped hole (21) is provided on the transmission body piston (2) to cooperate with the special-shaped guide shaft (13) to achieve axial sliding and circumferential rotation prevention of the transmission body piston (2).

3. The piston type rotary support device according to claim 1, characterized in that: The outer surface of the transmission body piston (2) is provided with a spiral groove (23), and the inner side of the output connecting disk (5) is provided with a multi-start thread (51). The spiral groove (23) engages with the multi-start thread (51) to convert the axial movement of the transmission body piston (2) into the rotational movement of the output connecting disk (5).

4. The piston type rotary support device according to claim 3, characterized in that: The spiral groove (23) of the transmission body piston (2) is a thread structure with a variable lead, and is used to adjust the rotation speed and displacement range of the output connecting disk (5).

5. The piston type rotary support device according to claim 1, characterized in that: The output connection disk (5) is connected to an external actuator via a connection disk (53) for transmitting rotational motion and torque.

6. The piston type rotary support device according to claim 1, characterized in that: The output connection plate (5) is in rolling engagement with the front flange (6) via balls (7).

7. The piston type rotary support device according to claim 6, characterized in that: The front flange (6) is provided with a raceway (52) for supporting the output connection disc (5).

8. The piston type rotary support device according to claim 7, characterized in that: A rolling friction pair is formed between the rolling track (52) of the output connecting disc (5) and the balls (7), which is used to reduce rotational resistance.

9. The piston type rotary support device according to claim 1, characterized in that: The rear end cover (1) is further provided with a sealing groove (12), in which a sealing member (3) is installed for isolating the first hydraulic chamber (A) and the second hydraulic chamber (B) and preventing leakage.

10. A control method based on the piston type slewing support device according to any one of claims 1 to 9, characterized in that: The following steps are involved: Injecting hydraulic oil into the first hydraulic chamber (A) drives the transmission body piston (2) to move axially, thereby driving the output connecting disc (5) to rotate in the forward direction; Injecting hydraulic oil into the second hydraulic chamber (B) drives the transmission body piston (2) to move in the reverse direction, thereby driving the output connecting plate (5) to rotate in the reverse direction; By adjusting the flow rate of the hydraulic oil, the moving speed of the transmission body piston (2) is controlled, thereby adjusting the rotation speed of the output connection disk (5).

Images