CN104139397B - Main robot single-degree-of-freedom swing-rotating joint module - Google Patents
Main robot single-degree-of-freedom swing-rotating joint module Download PDFInfo
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- CN104139397B CN104139397B CN201410364262.6A CN201410364262A CN104139397B CN 104139397 B CN104139397 B CN 104139397B CN 201410364262 A CN201410364262 A CN 201410364262A CN 104139397 B CN104139397 B CN 104139397B
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Abstract
The invention discloses a main robot single-degree-of-freedom swing-rotating joint module which comprises a first swing base, a second swing base, a first joint shaft and a second joint shaft. One end of the first joint shaft and one end of the second joint shaft are respectively and fixedly connected with the second swing base to achieve axial positioning. The other ends of the first joint shaft and the second joint shaft and the first swing base relatively rotate through a bearing. The first swing base and the second swing base can relatively rotate around a joint axis. The joint module is simple and compact in structure, convenient and fast to assemble, capable of being conveniently connected with other modules and being built into a main robot for teaching, ingenious in design, excellent in performance, convenient to use and practical.
Description
Technical field
The present invention is a kind of main robot single-degree-of-freedom rotating and swinging joint module, belongs to main robot single-degree-of-freedom rotating and swinging joint
The innovative technology of module.
Background technology
The mankind have increasing need for the robot that can work in danger or circumstances not known.However, being subject to artificial intelligence technology, machine
The restriction of the aspects such as structure, control and sensing technology, develops and the intelligent robot of utonomous working can also need in circumstances not known
A very long time.Therefore rely on the intelligence of people at present, the master ＆ slave control robot being operated under man-machine interaction is a kind of reality
Feasible selection.This master ＆ slave control the execution of the intelligence of people and robot is combined it is achieved that the perception of people and
The extension of capacity.Operator operates to main robot, and processor is according to the posture information of main robot operator
Control be intended to be converted into and may be appreciated order from robot, and controlled from robot motion with this to realize corresponding appointing
Business, passes through vision simultaneously or power feels its status information feedback to operator, operator changes the controlling behavior of oneself accordingly.
Chinese scholars have developed a lot of main robots, and has much business-like systems, such as with force feedback
Phantom, the data glove of exoskeleton-type.But the configuration of current main robot is all fixing it is impossible to be wanted according to task
Ask or correspondingly change configuration from the change of robot；And the free degree also immobilizes it is impossible to be increased and decreased as needed.This
Have led to main robot be difficult in adapt to various different from robot.For example, when being actually needed lower-mobility from robot
Cause main robot DOF (degree of freedom) redundance so that mapping complex between principal and subordinate, computationally intensive, the real-time of impact master ＆ slave control with
Stability.Therefore, the versatility of main robot and flexibility are the subject matter that research main robot faces at present.Modular
The problems such as method for designing can solve the problem that poor universality and structure and the control complexity of main robot.Modular host device people can
Obtain multiple various configurations by changing the order of connection of itself only several module or mode, to meet different slaves
Device people's configuration or mission requirements, easily realize the isomorphism mapping between principal and subordinate robot.Compare legacy hosts device people, modularization
Main robot has good adaptability, flexibility and fault-tolerance and low cost and other advantages.Modular construction simple it is easy to
Processing, can mutually replace between each module, realize quick assembling.Modular host device people is not simple Automatic manual transmission,
But the organic linking between module.Modules as component units are all that one kind integrates communication, controls and transmission
Independence and complete Mechatronic Systems.Therefore, it is necessary to the main robot list freedom that exploitation conveniently connects, is easy to operate and control
Degree joint module.
Content of the invention
It is an object of the invention to considering the problems referred to above and providing a kind of simple and compact for structure, connect and master easy to use
Robot single-degree-of-freedom revolute joint module.The present invention can simplify master ＆ slave control system, improve main robot versatility and
Adaptability, reduces development and the use cost of main robot.
The technical scheme is that the main robot single-degree-of-freedom revolute joint module of the present invention, include the first pendulum
Moving base, the second swinging base, the first joint shaft, second joint axle, one end of the first joint shaft and second joint axle respectively with
Second swinging base is connected, and realizes axially position, and the other end of the first joint shaft and second joint axle and the first swinging base lead to
Cross bearing to relatively rotate, the first swinging base can be relatively rotated around joints axes with the second swinging base.
The central axis upright of the joints axes of the present invention and module itself, makees swinging motion right by moment of face driving energy
Joint rotation angle detects.One end of second joint axle is connected with the code-disc in encoder.Encoder is fixed on the first swinging base,
Joint rotation angle is sampled, processor is processed to sampled signal.Counterweight installing arm can be with the second swinging base or first
Swinging base is fixed.Adjusting position in counterweight installing arm for the balancing weight can make module keep flat with meeting under different loads
Weighing apparatus.Holding wire passes through from the inner chamber of rotating base, thus realizes interior cabling.Compared with prior art, have the advantage that
1) one module of the present invention is exactly a basic cellular system, has independence and integrality, can perceive single pass
The gyration of section, is easy to and other module composition main robot systems.
2) two parts that the present invention relatively rotates adopt sliding bearing (flange bearing), and realizing again can spirit while positioning
Live and rotate, structure is simple, assembling is convenient；And adopt the second swinging base mode detached with joint shaft, tight between all parts
Close and reliably connect arrangement, thus modular structure is simply compact, joint axial dimension is little, installation and removal convenient.
3) present invention realizes indifferent equilibrium by the way of counterweight, and structure is simple, simple and comfortable operation.
4) processor of the present invention be integrated in module it is achieved that electrically with the modularization controlling.By internal cabling with outward
It is reliable, quickly and convenient that the bus on boundary connects, and is conducive to operating and attractive in appearance.
5) present invention is directly connected to other modules using Snap ring structure and locks it is not necessary to other special transition or change
To connector, connect and dismounting is simple, convenient and quick.
Joint module of the present invention is simple and compact for structure, and assembling is convenient, easy to connect with other modules, can be built into teaching and use
Main robot.Be a kind of design ingenious, function admirable, convenient and practical main robot single-degree-of-freedom rotating and swinging joint module.
Brief description
Fig. 1 is the outside drawing of joint module of the present invention；
Fig. 2 is the profile of joint module of the present invention.
Specific embodiment
Embodiment:
The outside drawing of the present invention is as shown in figure 1, the profile of joint module of the present invention is as shown in Fig. 2 the main frame of the present invention
Device people's single-degree-of-freedom rotating and swinging joint module, include the first swinging base 09, the second swinging base 01, the first joint shaft 03,
Two joint shafts 14, one end of the first joint shaft 03 and second joint axle 14 is connected with the second swinging base 01 respectively, realizes axially
Positioning, the other end of the first joint shaft 03 and second joint axle 14 is relatively rotated by bearing with the first swinging base 09, the
One swinging base 09 can be relatively rotated around joints axes with the second swinging base 01.
Form situation, above-mentioned first swinging base 09 or second swinging base of the load of main robot posterior joint according to module
It is provided with balancing weight 11, balancing weight 11 is fixed in counterweight installing arm 12, counterweight installing arm 12 is fixed on the first swing base on 01
On seat 09 or the second swinging base 01, the installation site of mobile counterweight installing arm 12 and balancing weight 11 can make balancing weight 11 and bear
Carry balance, realize the indifferent equilibrium in joint.
In the present embodiment, one end of above-mentioned first joint shaft 03 and second joint axle 14 passes through four holding screws 02 respectively
It is connected with the second swinging base 01；This end above-mentioned is the big end of the first joint shaft 03 and second joint axle 14；Above-mentioned balancing weight 11
It is fixed in counterweight installing arm 12 by the stud of locknut 10 and end face, counterweight installing arm 12 is hung by three screws 16
It is fixed on the first swinging base 09 or the second swinging base 01.
In the present embodiment, the other end of above-mentioned first joint shaft 03 and second joint axle 14 and the first swinging base 09 pass through
Flange bearing 04 relatively rotates.In the present embodiment, above-mentioned flange bearing 04 is sliding bearing.Above-mentioned flange bearing 04 is with gap
Engagement sleeves on joint shaft, the dead eye tight fit of the external diameter of flange bearing 04 and the first swinging base 09, its flange is second
Swinging base 01 is separated with the first swinging base 09, prevents two rotatable parts directly contacts from causing to rub.
For the ease of controlling, above-mentioned first swinging base 09 is also equiped with processor 08, processor 08 is fixed to process
On device installing plate 06, processor installing plate 06 is fixed on the first swinging base 09.In the present embodiment, above-mentioned processor 08 passes through
Lock-screw and bolt 07 are fixed on processor installing plate 06, and processor installing plate 06 is fixed on the first pendulum by cheese head screw 05
On moving base 09.
Additionally, being also equiped with encoder 13 on above-mentioned first swinging base 09, encoder 13 is solid by four diagonal screws 15
Link on the medial surface of the first swinging base 09 side journal stirrup, the end of second joint axle 14 is inserted in the centre bore of encoder 13
It is connected with the code-disc of encoder 13, realize the function of the angle detection of encoder 13.
In the present embodiment, above-mentioned first swinging base 09 is hollow structure, and the cabling of encoder 13 passes through this cavity even
It is connected on processor 8.
In the present embodiment, above-mentioned second swinging base 01, the first joint shaft 03, second joint axle 14, flange bearing 04 and
The dead in line of encoder 13, and simultaneously vertical with the axis of the first swinging base 09 and the second swinging base 01.First swing
The general both out of plumb of the axis of pedestal 09 and the second swinging base 01, also not parallel, overlap when stretching when joint.
In the present embodiment, above-mentioned first swinging base 09 is designed with two journal stirrups, fixes other rotatable parts for supporting；
The both sides of the first joint shaft 03 and second joint axle 14 slave module respectively are assembled to the second swinging base 01 successively.
In the present embodiment, the upper and lower side of above-mentioned processor 08 be designed with electric interfaces for encoder 13 and two ends other
The signal of module connects, and realizes supply and the can bus signal transmission of power supply signal.
In the present embodiment, the machinery that the outer end design of above-mentioned first swinging base 09 and the second swinging base 01 is unified connects
Mouthful, axle section there is dovetail groove so that joint module quickly and easily can be connected with adjacent module.Logical between joint module
Cross screw, be that trapezoidal snap ring realizes quick connection and locking with axle section.This connected mode not only can stop phase gang mould
Block is around the effect relatively rotating of axis, and two modules can be made to be connected in the axial direction.
The operation principle of the present invention is as follows: the first swinging base 09 can be relative around joints axes work with the second swinging base 01
Rotate, relatively rotate angle and detected by encoder 13.Balancing weight 11 and counterweight installing arm 12 hang and are fixed on the second swinging base
01 or first swinging base 09 side.When with these module composition main robots, from the beginning of the rotating and swinging joint of end, pass through
On increase and decrease rotating and swinging joint, to adjust them tight in counterweight installing arm 12 for the quantity of balancing weight 11 and (slack adjuster, along chute move)
Maintenance puts the balance adjusting rotating and swinging joint one by one.
Claims (9)
1. a kind of main robot single-degree-of-freedom rotating and swinging joint module it is characterised in that include the first swinging base (09), second
The one of swinging base (01), the first joint shaft (03), second joint axle (14), the first joint shaft (03) and second joint axle (14)
End is connected with the second swinging base (01) respectively, realizes axially position, the first joint shaft (03) and second joint axle (14) another
One end is relatively rotated by bearing with the first swinging base (09), the first swinging base (09) and the second swinging base (01) energy
Relatively rotate around joints axes；It is provided with balancing weight on above-mentioned first swinging base (09) or the second swinging base (01)
(11), balancing weight (11) is fixed in counterweight installing arm (12), counterweight installing arm (12) be fixed on the first swinging base (09) or
On second swinging base (01).
2. main robot single-degree-of-freedom rotating and swinging joint module according to claim 1 is it is characterised in that above-mentioned first joint
The big end of axle (03) and second joint axle (14) is passed through holding screw (02) respectively and is connected with the second swinging base (01)；Above-mentioned join
Pouring weight (11) is fixed in counterweight installing arm (12) by the stud of locknut (10) and end face, and counterweight installing arm (12) is passed through
Three screws (16) are hung and are fixed on the first swinging base (09) or the second swinging base (01).
3. main robot single-degree-of-freedom rotating and swinging joint module according to claim 1 is it is characterised in that above-mentioned first joint
The other end of axle (03) and second joint axle (14) is relatively rotated by flange bearing (04) with the first swinging base (09).
4. main robot single-degree-of-freedom rotating and swinging joint module according to claim 3 is it is characterised in that above-mentioned flange bearing
(04) it is sliding bearing；Above-mentioned flange bearing (04) with gap engagement sleeves on joint shaft, the external diameter of flange bearing (04) and
The dead eye tight fit of one swinging base (09), its flange is separated the second swinging base (01) with the first swinging base (09),
Prevent two rotatable parts directly contacts from causing to rub.
5. the main robot single-degree-of-freedom rotating and swinging joint module according to any one of Claims 1-4 is it is characterised in that above-mentioned
Processor (08) is also equiped with the first swinging base (09), processor (08) is fixed on processor installing plate (06), processes
Device installing plate (06) is fixed on the first swinging base (09).
6. main robot single-degree-of-freedom rotating and swinging joint module according to claim 5 is it is characterised in that above-mentioned processor
(08) pass through lock-screw and bolt (07) is fixed on processor installing plate (06), processor installing plate (06) is by cheese head screw
(05) it is fixed on the first swinging base (09).
7. main robot single-degree-of-freedom rotating and swinging joint module according to claim 6 is it is characterised in that above-mentioned first swings
Encoder (13) is also equiped with pedestal (09), encoder (13) is affixed to the first swinging base by four diagonal screws (15)
(09) on the medial surface of side journal stirrup, with encoder in the centre bore of end insertion encoder (13) of second joint axle (14)
(13) code-disc is connected, and realizes the function of the angle detection of encoder (13).
8. main robot single-degree-of-freedom rotating and swinging joint module according to claim 7 is it is characterised in that above-mentioned first swings
Pedestal (09) is hollow structure, and the cabling of encoder (13) is connected on processor (08) by this cavity；Above-mentioned first pass
Nodal axisn (03), the dead in line of second joint axle (14), flange bearing (04) and encoder (13), and with the first swinging base
(09) axis of and the second swinging base (01) is simultaneously vertical, the axis of the first swinging base (09) and the second swinging base (01)
Axis overlap when stretching when joint.
9. main robot single-degree-of-freedom rotating and swinging joint module according to claim 8 is it is characterised in that above-mentioned first swings
Pedestal (09) is designed with two journal stirrups, fixes other rotatable parts for supporting；First joint shaft (03) and second joint axle
(14) both sides of slave module are assembled to the second swinging base (01) successively respectively；The upper and lower side of above-mentioned processor (08) is designed with electricity
Gas interface is used for being connected with the signal of encoder (13) and other modules of two ends, realizes supply and the can bus letter of power supply signal
Number transmission；Unified mechanical interface is designed in the outer end of above-mentioned first swinging base (09) and the second swinging base (01), cuts open in axle
There is dovetail groove so that joint module can be connected with adjacent module on face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410364262.6A CN104139397B (en) | 2014-07-28 | 2014-07-28 | Main robot single-degree-of-freedom swing-rotating joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410364262.6A CN104139397B (en) | 2014-07-28 | 2014-07-28 | Main robot single-degree-of-freedom swing-rotating joint module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104139397A CN104139397A (en) | 2014-11-12 |
| CN104139397B true CN104139397B (en) | 2017-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410364262.6A Active CN104139397B (en) | 2014-07-28 | 2014-07-28 | Main robot single-degree-of-freedom swing-rotating joint module |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238772A (en) * | 2018-11-21 | 2019-09-17 | 湖北工业大学 | A kind of multiple degrees of freedom fixture |
| CN111702803B (en) * | 2020-06-22 | 2022-12-16 | 广东工业大学 | Damping-adjustable swinging and rotating device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101927497A (en) * | 2010-07-30 | 2010-12-29 | 华南理工大学 | Rotating and swinging joint module of robot of single degree of freedom |
| CN202185919U (en) * | 2011-08-15 | 2012-04-11 | 中国科学院沈阳自动化研究所 | Driving module for building underwater electric manipulator |
| CN203697030U (en) * | 2014-02-25 | 2014-07-09 | 北京邮电大学世纪学院 | Robot wrist mechanism |
| CN203945373U (en) * | 2014-07-28 | 2014-11-19 | 广东工业大学 | Main robot single-degree-of-freedom rotating and swinging joint module |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4106172B2 (en) * | 2000-03-27 | 2008-06-25 | 新明和工業株式会社 | Transfer robot and vacuum chamber |
| JP2002113686A (en) * | 2000-10-06 | 2002-04-16 | Koyo Seiko Co Ltd | Structure of robot arm joint part |
-
2014
- 2014-07-28 CN CN201410364262.6A patent/CN104139397B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101927497A (en) * | 2010-07-30 | 2010-12-29 | 华南理工大学 | Rotating and swinging joint module of robot of single degree of freedom |
| CN202185919U (en) * | 2011-08-15 | 2012-04-11 | 中国科学院沈阳自动化研究所 | Driving module for building underwater electric manipulator |
| CN203697030U (en) * | 2014-02-25 | 2014-07-09 | 北京邮电大学世纪学院 | Robot wrist mechanism |
| CN203945373U (en) * | 2014-07-28 | 2014-11-19 | 广东工业大学 | Main robot single-degree-of-freedom rotating and swinging joint module |
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| Publication number | Publication date |
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| CN104139397A (en) | 2014-11-12 |
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