阅读说明：本技术 机器人运动关节专用叶片摆动式液压缸 (Special blade swing type hydraulic cylinder for robot motion joint ) 是由 周小云 于 2019-12-13 设计创作，主要内容包括：本发明提供了机器人运动关节专用叶片摆动式液压缸,其可承受较大的倾覆力矩,其具有结构简单、合理的空间布局、内漏小、启动压力低、便于集成的特点,满足机器人运动关节的运动需求。其包括缸体、输出轴,所述缸体的内环的径向位置设置有一内凹止挡,所述内凹止挡对应所述缸体的两侧壁位置分别设置有螺纹孔,每个螺纹孔内插装有一个接头体,所述输出轴对应于所述缸体的中心空腔的中心轴位置布置,所述输出轴的轴向两端分别外凸于所述缸体的对应端面,输出轴的上凸于所述缸体的上露部分套装有第一端盖组件,输出轴的下凸于所述缸体的下露部分套装有第二端盖组件,第一端盖组件、第二端盖组件为关于所述输出轴的轴向垂直面对称布置的组件结构。(The invention provides a blade swing type hydraulic cylinder special for a robot motion joint, which can bear larger overturning moment, has the characteristics of simple and reasonable structure, small internal leakage, low starting pressure and convenience for integration, and meets the motion requirement of the robot motion joint. The improved cylinder comprises a cylinder body and an output shaft, wherein an inner concave stop is arranged at the radial position of an inner ring of the cylinder body, the inner concave stop corresponds to two side wall positions of the cylinder body and is provided with a threaded hole respectively, a joint body is inserted into each threaded hole, the output shaft corresponds to the central shaft position of a central cavity of the cylinder body and is arranged, the two axial ends of the output shaft protrude outwards respectively to the corresponding end faces of the cylinder body, the upper part of the output shaft protrudes outwards to the upper exposed part of the cylinder body and is sleeved with a first end cover assembly, the lower part of the output shaft protrudes downwards to the lower exposed part of the cylinder body and is sleeved with a second end cover assembly, and the first end cover assembly and.)

1. Special blade oscillating pneumatic cylinder of robot motion joint, its characterized in that: the cylinder comprises a cylinder body and an output shaft, wherein an inner concave stop is arranged at the radial position of an inner ring of the cylinder body, threaded holes are respectively formed in the positions, corresponding to two side walls of the cylinder body, of the inner concave stop, a connector body is inserted into each threaded hole, the output shaft is arranged at the position corresponding to a central shaft of a central cavity of the cylinder body, two axial ends of the output shaft respectively protrude out of corresponding end faces of the cylinder body, a first end cover component is sleeved on an upper exposed part of the output shaft, protruding out of the cylinder body, a second end cover component is sleeved on a lower exposed part of the output shaft, the first end cover component and the second end cover component are component structures symmetrically arranged about an axial vertical plane of the output shaft, each of the first end cover component and the second end cover component comprises an end cover and a gland, and an outer ring part, close to the end face of the, the inner ring part of the end cover close to the end face of the cylinder body is tightly attached to the main body part of the output shaft and arranged corresponding to the end face, an inner concave ring groove is arranged at the edge position of the end cover corresponding to the main body part of the output shaft, a shaft shoulder sealing plug is arranged in the inner concave ring groove, the exposed surface of the shaft shoulder sealing is tightly attached to the main body part of the output shaft and arranged corresponding to the end face, a central area of the axially exposed end face of the end cover is concave to form a gland mounting cavity, a gland is arranged in the gland mounting cavity and fixedly connected to the end cover through bolts, an inner concave bearing groove is arranged at the central position of the end cover close to the gland, a sliding shaft is arranged in the inner concave bearing groove in a pressed mode, an inner ring of the sliding bearing is sleeved at the corresponding outer wall position of the outer, an inner concave groove is formed in the ring wall penetrating through the avoidance hole, the dustproof ring is embedded in the inner concave groove and arranged, the inner ring of the dustproof ring is sleeved on the outer wall of the outer convex part of the output shaft, and the end covers in the first end cover assembly and the second end cover assembly are fixedly connected with positioning holes in the corresponding positions of the cylinder body through pins and screws;

the main body part of the output shaft is provided with a radial outward convex blade corresponding to the central cavity position of the cylinder body, the outer ring part of the radial center position of the blade forms a first inward concave slot, a first door-shaped seal is inserted in the first inward concave slot, the exposed surface of the first gate-type seal is arranged closely to the inner wall of the cylinder body, the inner ring part of the radial central position of the inward-concave stop block is inward-concave to form a second inward-concave slot, the second gate-type seal is inserted in the second inward-concave slot, the exposed surface of the second gate-shaped seal is arranged closely to the corresponding outer wall of the output shaft, the blade, the inward-concave stop, the first gate-shaped seal and the second gate-shaped seal separate the inner cavity of the cylinder body to form a first cavity and a second cavity, one joint body is communicated with the first cavity, and the other joint body is communicated with the second cavity;

the end covers are respectively provided with a sealing concave ring groove corresponding to the ring surface position of the outer convex part of the output shaft, the GREEN rings are embedded in the sealing concave ring grooves, and the inner rings of the GREEN rings are arranged in a manner of being tightly attached to the corresponding outer walls of the output shaft, so that the sealing reliability is ensured.

2. The swing type hydraulic cylinder of the blade dedicated for the kinematic joint of the robot as claimed in claim 1, wherein: the surface of the inner ring of the sliding bearing is provided with a spiral groove which is used for storing abrasion powder of the sealing ring corresponding to lubricating grease.

3. The swing type hydraulic cylinder of the blade dedicated for the kinematic joint of the robot as claimed in claim 1, wherein: the upper surface of the output shaft is flush with the upper surfaces of the end cover and the gland of the first end cover assembly, and the center of the upper surface of the output shaft is concavely provided with a driving groove.

4. The swing type hydraulic cylinder of the blade dedicated for the kinematic joint of the robot as claimed in claim 3, wherein: the driving groove is specifically a cross groove.

5. The swing type hydraulic cylinder of the blade dedicated for the kinematic joint of the robot as claimed in claim 1, wherein: the lower surface of the output shaft is flush with the lower surfaces of the end cover and the gland of the second end cover assembly, and the center of the lower surface of the output shaft is concave to form a connecting hole.

6. The swing type hydraulic cylinder of the blade dedicated for the kinematic joint of the robot as claimed in claim 1, wherein: still be provided with second O type circle between the radial contact surface of end cover, gland, the end cover corresponds to the inboard of screw is provided with the sealed annular of second, second O type circle embedded in the sealed annular of second, the exposed surface of second O type circle is hugged closely the gland arranges.

7. The swing type hydraulic cylinder of the blade dedicated for the kinematic joint of the robot as claimed in claim 1, wherein: and the inner ring parts of the two end surfaces of the cylinder body are respectively provided with a third sealing ring groove, a third O-shaped ring is respectively embedded in the corresponding third sealing ring grooves, and the exposed surface of the third O-shaped ring is tightly attached to the corresponding end surface of the end cover.

Technical Field

The invention relates to the technical field of hydraulic cylinder structures, in particular to a blade swing type hydraulic cylinder special for a robot motion joint.

Background

A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work. The robot generally comprises an actuating mechanism, a driving device, a detection device, a control system, a complex machine and the like, and the existing actuating mechanism basically adopts a servo motor and a harmonic reducer or an RV reducer. Although this structure is widely used in the field of robots, it is undeniable that the torque density ratio is relatively low. Because the hydraulic drive has the characteristic of high power density, the hydraulic drive is vigorously researched and used in the robot industry in all countries in the world at present, and the development of hydraulic elements applied to the robot field is caused.

The hydraulic cylinder is an actuating element in a hydraulic system, and converts hydraulic energy provided by a hydraulic pump into mechanical energy to enable a mechanical structure to realize linear motion or rotary motion. At present, the rotary oil cylinder mainly depends on import, so that the rotary motion is realized by adopting a linear oil cylinder and hinging in many occasions at home at present, which causes the structural size of the rotary joint to be larger. With the pressure brought by the laws and regulations for energy conservation and emission reduction at home and abroad, the high-efficiency and energy conservation of the hydraulic transmission technology can be continuously discussed, so that people can pay attention to the miniaturization, light weight and integration of mechanical structures, particularly robots.

The existing blade swing hydraulic cylinder is structurally too large in size, or the design is not suitable for application of a robot, so that a blade swing type oil cylinder special for a robot motion joint capable of meeting requirements is urgently needed.

Disclosure of Invention

Aiming at the problems, the invention provides the blade swing type hydraulic cylinder special for the moving joint of the robot, which can bear larger overturning moment, has the characteristics of simple and reasonable structure, space layout, small internal leakage, low starting pressure and convenience in integration, and meets the movement requirement of the moving joint of the robot.

Special blade oscillating pneumatic cylinder of robot motion joint, its characterized in that: the cylinder comprises a cylinder body and an output shaft, wherein an inner concave stop is arranged at the radial position of an inner ring of the cylinder body, threaded holes are respectively formed in the positions, corresponding to two side walls of the cylinder body, of the inner concave stop, a connector body is inserted into each threaded hole, the output shaft is arranged at the position corresponding to a central shaft of a central cavity of the cylinder body, two axial ends of the output shaft respectively protrude out of corresponding end faces of the cylinder body, a first end cover component is sleeved on an upper exposed part of the output shaft, protruding out of the cylinder body, a second end cover component is sleeved on a lower exposed part of the output shaft, the first end cover component and the second end cover component are component structures symmetrically arranged about an axial vertical plane of the output shaft, each of the first end cover component and the second end cover component comprises an end cover and a gland, and an outer ring part, close to the end face of the, the inner ring part of the end cover close to the end face of the cylinder body is tightly attached to the main body part of the output shaft and arranged corresponding to the end face, an inner concave ring groove is arranged at the edge position of the end cover corresponding to the main body part of the output shaft, a shaft shoulder sealing plug is arranged in the inner concave ring groove, the exposed surface of the shaft shoulder sealing is tightly attached to the main body part of the output shaft and arranged corresponding to the end face, a central area of the axially exposed end face of the end cover is concave to form a gland mounting cavity, a gland is arranged in the gland mounting cavity and fixedly connected to the end cover through bolts, an inner concave bearing groove is arranged at the central position of the end cover close to the gland, a sliding shaft is arranged in the inner concave bearing groove in a pressed mode, an inner ring of the sliding bearing is sleeved at the corresponding outer wall position of the outer, an inner concave groove is formed in the ring wall penetrating through the avoidance hole, the dustproof ring is embedded in the inner concave groove and arranged, the inner ring of the dustproof ring is sleeved on the outer wall of the outer convex part of the output shaft, and the end covers in the first end cover assembly and the second end cover assembly are fixedly connected with positioning holes in the corresponding positions of the cylinder body through pins and screws;

the main body part of the output shaft is provided with a radial outward convex blade corresponding to the central cavity position of the cylinder body, the outer ring part of the radial center position of the blade forms a first inward concave slot, a first door-shaped seal is inserted in the first inward concave slot, the exposed surface of the first gate-type seal is arranged closely to the inner wall of the cylinder body, the inner ring part of the radial central position of the inward-concave stop block is inward-concave to form a second inward-concave slot, the second gate-type seal is inserted in the second inward-concave slot, the exposed surface of the second gate-shaped seal is arranged closely to the corresponding outer wall of the output shaft, the blade, the inward-concave stop, the first gate-shaped seal and the second gate-shaped seal separate the inner cavity of the cylinder body to form a first cavity and a second cavity, one joint body is communicated with the first cavity, and the other joint body is communicated with the second cavity;

sealing concave ring grooves are respectively formed in the positions, corresponding to the ring surfaces of the outer convex parts of the output shaft, of the end covers, the GREL rings are embedded in the sealing concave ring grooves, and the inner rings of the GREL rings are arranged in a manner of being tightly attached to the corresponding outer walls of the output shaft, so that reliable sealing is guaranteed;

it is further characterized in that: the surface of the inner ring of the sliding bearing is provided with a spiral groove, and the spiral groove is used for storing abrasion powder of a sealing ring corresponding to lubricating grease;

the upper surface of the output shaft is flush with the upper surfaces of the end cover and the gland of the first end cover assembly, and the center of the upper surface of the output shaft is concave to form a driving groove;

the driving groove is specifically a cross groove, so that the initial position of the blade of the output shaft can be conveniently adjusted, and meanwhile, the output shaft is connected with a load and is positioned by the cross groove and locked by a screw, so that higher positioning precision is achieved;

the lower surface of the output shaft is flush with the lower surfaces of the end cover and the gland of the second end cover component, and the central position of the lower surface of the output shaft is concave to form a connecting hole which is convenient for being connected with an external connecting structure for output;

a second O-shaped ring is further arranged between the radial contact surfaces of the end cover and the gland, a second sealing ring groove is formed in the inner side of the end cover corresponding to the screw, the second O-shaped ring is embedded in the second sealing ring groove, and the exposed surface of the second O-shaped ring is arranged in a manner of being tightly attached to the gland;

and the inner ring parts of the two end surfaces of the cylinder body are respectively provided with a third sealing ring groove, a third O-shaped ring is respectively embedded in the corresponding third sealing ring grooves, and the exposed surface of the third O-shaped ring is tightly attached to the corresponding end surface of the end cover.

In order to ensure that the movable plate and the fixed plate have enough strength, the inward concave stop catch is integrated with the cylinder body, and the blades and the output shaft are integrated; a metal sliding bearing is adopted for supporting and guiding, a Glare ring is designed on the inner side of the sliding bearing, a dustproof ring is designed on the outer side of the sliding bearing, and a spiral groove is designed on the inner surface of the sliding bearing; in order to reduce the internal leakage of the oil cylinder, a shaft shoulder seal and a door-shaped seal are arranged; the output shaft is connected with the load by adopting end surface flat key positioning and screw locking, so that higher positioning precision is achieved; therefore, the structure enables the oil cylinder to bear larger overturning moment, and has the advantages of simple structure, more reasonable spatial layout, small internal leakage, low starting pressure, convenience in integration and the like.

The special design of the blade swing type hydraulic cylinder special for the robot movement joint realizes reasonable layout and simple structure, can effectively reduce inner leakage and starting pressure, and enables the sliding bearing and the sealing ring to have longer service life, so that the oil cylinder has better performance index and longer service life.

Drawings

FIG. 1 is a front view cross-sectional structural schematic of the present invention;

FIG. 2 is a schematic top view of the present invention;

FIG. 3 is a top view (with the first end cap assembly removed) with a partial cross-sectional structural view of the present invention;

the names corresponding to the sequence numbers in the figure are as follows:

the sealing structure comprises a cylinder body 1, an output shaft 2, a main body part 201, a concave stop 3, a threaded hole 4, a joint body 5, a first end cover assembly 6, a second end cover assembly 7, an end cover 8, a gland 9, a concave ring groove 10, a shaft shoulder seal 11, a gland mounting cavity 12, a bolt 13, a concave bearing groove 14, a sliding bearing 15, a through avoidance hole 16, a concave groove 17, a dust ring 18, a pin 19, a screw 20, a positioning hole 21, a blade 22, a first concave slot 23, a first door-shaped seal 24, a second concave slot 25, a second door-shaped seal 26, a first cavity 27, a second cavity 28, a sealing concave ring groove 29, a Gla ring 30, a driving groove 32, a connecting hole 33, a second O-shaped ring 34, a second sealing ring groove 35, a third sealing ring groove 36 and a third O-shaped ring 37.

Detailed Description

The special blade swing type hydraulic cylinder for the robot movement joint is shown in figures 1-3: the cylinder comprises a cylinder body 1 and an output shaft 2, wherein an inner concave stop 3 is arranged at the radial position of an inner ring of the cylinder body 1, threaded holes 4 are respectively arranged at the positions, corresponding to two side walls of the cylinder body 1, of the inner concave stop 3, a connector body 5 is inserted into each threaded hole 4, the output shaft 2 is arranged at the position corresponding to a central shaft of a central cavity of the cylinder body 1, two axial ends of the output shaft 2 respectively protrude out of corresponding end surfaces of the cylinder body 1, a first end cover component 6 is sleeved at the part, protruding out of the cylinder body 1, of the output shaft 2, a second end cover component 7 is sleeved at the part, protruding out of the cylinder body 1, of the output shaft 2, the first end cover component 6 and the second end cover component 7 are component structures symmetrically arranged on an axial vertical plane of the output shaft 2, each of the first end cover component 6 and the second end cover component 7 comprises an, an inner ring part of an end cover 8 close to the end face of the cylinder body 1 is arranged close to the corresponding end face of a main body part 201 of an output shaft 2, an inner concave ring groove 10 is arranged at the edge position of the end cover 8 corresponding to the main body part 201 of the output shaft 2, a shaft shoulder seal 11 is plugged in the inner concave ring groove 10, the exposed surface of the shaft shoulder seal 11 is arranged close to the corresponding end face of the main body part 201 of the output shaft 2, a gland mounting cavity 12 is formed by the inner concave part of the central area of the axial exposed end face of the end cover 8, a gland 9 is arranged in the gland mounting cavity 12 and is fixedly connected to the end cover 8 through a bolt 13, an inner concave bearing groove 14 is arranged at the central position of the end cover 8 close to the gland 9, a sliding bearing 15 is pressed in the inner concave bearing groove 14, the inner ring of the sliding bearing 15 is sleeved at the corresponding outer, an inner concave groove 17 is formed in the ring wall penetrating through the avoidance hole 16, the dust ring 18 is embedded in the inner concave groove 17, the inner ring of the dust ring 18 is sleeved on the outer wall of the outer convex part of the output shaft 2, and the end covers 9 in the first end cover assembly 6 and the second end cover assembly 7 are fixedly connected with uniformly distributed positioning holes 21 at the corresponding positions of the cylinder body 1 through pins 19 and screws 20;

the main body part 201 of the output shaft 2 is provided with a radial outward convex vane 22 corresponding to the central cavity position of the cylinder body 1, the outer ring part of the radial central position of the vane 22 forms a first inward concave slot 23, a first gate type seal 24 is inserted in the first inward concave slot 23, the exposed surface of the first gate type seal 23 is closely attached to the inner wall of the cylinder body 1, the inner ring part of the radial central position of the inward concave stop 3 is inward concave to form a second inward concave slot 25, a second gate type seal 26 is inserted in the second inward concave slot 25, the exposed surface of the second gate type seal 26 is closely attached to the corresponding outer wall of the output shaft 2, the vane 22, the inward concave stop 3, the first gate type seal 23 and the second gate type seal 26 separate the inner cavity of the cylinder body 2 to form a first cavity 27 and a second cavity 28, one of the connector bodies 5 communicates with the first cavity 27, and the other connector body 5 communicates with the second cavity 28.

The end covers 8 are respectively provided with a sealing concave ring groove 29 corresponding to the ring surface position of the convex part of the output shaft 2, the GREEN 30 is embedded in the sealing concave ring groove 29, and the inner ring of the combined sealing ring is arranged in a manner of being clung to the corresponding outer wall of the output shaft 2, so that the sealing reliability is ensured;

the surface of the inner ring of the sliding bearing 15 is designed with a spiral groove (not shown in the figure), and the spiral groove is used for storing abrasion powder of the sealing ring corresponding to lubricating grease;

the upper surface of the output shaft 2 is flush with the upper surfaces of the end cover 8 and the gland 9 of the first end cover assembly 6, and a driving groove 32 is formed in the center of the upper surface of the output shaft 2 in a concave mode;

the driving groove 32 is specifically a cross groove, so that the initial position of the blade 22 of the output shaft can be conveniently adjusted, and meanwhile, the output shaft is connected with a load by adopting cross groove positioning and screw locking, so that higher positioning precision is achieved;

the lower surface of the output shaft 2 is flush with the lower surfaces of the end cover 8 and the gland 9 of the second end cover assembly 7, and the central position of the lower surface of the output shaft 2 is concave to form a connecting hole 33 which is convenient for connecting with an external connecting structure for output;

a second O-shaped ring 34 is further arranged between the radial contact surfaces of the end cover 8 and the gland 9, a second sealing ring groove 35 is formed in the inner side, corresponding to the bolt 13, of the end cover 8, the second O-shaped ring 34 is embedded in the second sealing ring groove 35, and the exposed surface of the second O-shaped ring 34 is arranged in a manner of being tightly attached to the gland 9;

the inner ring parts of the two end surfaces of the cylinder body 1 are respectively provided with a third sealing ring groove 36, the third O-shaped rings 37 are respectively embedded in the corresponding third sealing ring grooves 36, and the exposed surfaces of the third O-shaped rings 37 are closely attached to the corresponding end surfaces of the end covers 9.

The third O-shaped ring and the second O-shaped ring 34 effectively prevent the hydraulic medium of the oil cylinder from leaking out in the use process; the special design of the door-shaped sealing structure and the shaft shoulder sealing can effectively reduce internal leakage and starting pressure; the combined sealing structure of the Gla ring and the O-shaped ring can prevent the hydraulic medium in the oil cylinder from entering the part where the sliding bearing is matched with the output shaft, effectively reduce impurities in the hydraulic medium from entering the part and avoid the damage of the sliding bearing; the inner surface of the sliding bearing is provided with a spiral groove for storing lubricating grease and wear powder of the GREEN ring; the lubricating grease mainly prevents dry friction between the sliding bearing and the output shaft; the dustproof ring is used for preventing external impurities from entering the oil cylinder and preventing lubricating grease from flowing out; the joint body is used for being connected with hydraulic power, serving as an inlet and an outlet of a hydraulic medium and enabling the oil cylinder to rotate clockwise and anticlockwise.

The special design of the blade swing type hydraulic cylinder special for the robot movement joint realizes reasonable layout and simple structure, can effectively reduce internal leakage and starting pressure, and enables the sliding bearing and the GREEN ring to have longer service life, so that the oil cylinder has better performance index and longer service life.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.