CN101913151B - Ontract replaceable joint of large space service robot - Google Patents
Ontract replaceable joint of large space service robot Download PDFInfo
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- CN101913151B CN101913151B CN201010263782XA CN201010263782A CN101913151B CN 101913151 B CN101913151 B CN 101913151B CN 201010263782X A CN201010263782X A CN 201010263782XA CN 201010263782 A CN201010263782 A CN 201010263782A CN 101913151 B CN101913151 B CN 101913151B
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Abstract
The invention relates to an ontract replaceable joint of a large space service robot, in particular to a robot joint, which aims to solve the problems of poor joint control accuracy, large joint mass caused by using planetary gear transmission, small load self-weight ratio for a robot, and poor integration caused by arranging a control circuit outside a joint of the traditional large space service robot. The output end of a transmission shaft for a motor is connected with a pinion in a transmission way; the pinion is engaged with a bull gear; the bull gear is connected with a hollow shaft through a key in a transmission way; the hollow shaft is integrated with a harmonic speed reducer; a cylindrical hollow shell is arranged inside the hollow shaft; the tail of the cylindrical hollow shell is connected with a back cap of the joint; the harmonic speed reducer is connected with the small diameter end of a torque transducer which is arranged inside the output shell of the joint and is sleeved outside the cylindrical hollow shell; and the large diameter end of the torque transducer is connected with the output shell of the joint in a dismountable way. The invention is used for large space service robots.
Description
Technical field
The present invention relates to a kind of joint of robot.
Background technology
According to the present situation of Chinese Space technical development, the space station of building oneself has become trend.Though domestic some progress that obtained in the robot for space field, application belongs to small-sized space maintaining robot, and its design feature can't be applied to big output torque output, long-life operation.At present domesticly still do not carry out space station and the construction of large space object specially, safeguard, arrest, and can help astronaut's deliver from vault to carry out the large-scale robot of job space.The large space robot that can realize above function just becomes the key link that China is further explored space.Joint and control device thereof are the important component parts of robot for space, and the performance in joint has directly determined entire machine people's load from anharmonic ratio, terminal positioning accuracy and reliability.
Present large space service-delivery machine person joint, comprise that Canadian space shuttle robot, large space robot of European Space Agency and the transmission of Japan Experiment Module service robot all are the planetary gear transmissions, inevitably there is higher return difference, brings intrinsic machine error to influence control accuracy; Planetary reduction gear rigidity is poor in addition, also can influence entire machine people's control accuracy, and the planetary gear transmission quality is big, and the robot load is little from anharmonic ratio.Control circuit all is installed in the robot outside, and integration is poor.There is not force sensing function in the joint.The large space joint of robot is to moment, control accuracy, and integrated level, moment perception and life-span all have higher requirements, and design joint that each side the meets the demands trend that is inevitable.
Summary of the invention
The objective of the invention is for solve present large space service-delivery machine person joint control accuracy poor, adopt the planetary gear transmission to cause that to such an extent as to the load of the big robot of joint quality is little from anharmonic ratio, control circuit is installed in the problem that the outside, joint causes the integration difference, a kind of large space service-delivery machine person joint has been proposed.
The present invention solves the problems of the technologies described above the technical scheme of taking to be: described joint comprises electric device, drive unit, the joint protecgulum, the joint inner casing, the joint output shell, the joint shell, the joint bonnet, the circuit board connector, the cylinder type hollow housing, harmonic speed reducer, key, hollow shaft, torque sensor and axial flange, the joint protecgulum is contained on the inner casing of joint, and the two removably connects, the afterbody of joint inner casing is processed with axial flange, the joint inner casing is located in the shell of joint, and the two removably connects, the joint output shell is located between joint inner casing and the joint shell, and the joint output shell is rotatably connected on the shell of joint, the joint bonnet is contained in the output shell of joint, and the two removably connects, and the endoporus of joint bonnet is connected with the cylinder type hollow housing;
Electric device is located in the inner casing of joint, electric device is connected with the joint inner casing by the circuit board connector, drive unit and harmonic speed reducer are contained on the inner casing of joint, described drive unit comprises that band-type brake tightens nut, band-type brake, first rotary transformer, motor transmission shaft, motor, pinion and gear wheel, band-type brake tightens nut band-type brake is locked, the band-type brake and first rotary transformer are enclosed within on the motor transmission shaft, band-type brake is connected with first rotary transformer, the output of motor transmission shaft is connected with pinion drive, pinion and gear wheel engagement; Gear wheel is connected with Hollow Shaft Transmission by key, hollow shaft and harmonic speed reducer are made one, the cylinder type hollow housing is located at hollow shaft inside, the afterbody of cylinder type hollow housing is connected with the joint bonnet, harmonic speed reducer is connected with the smaller diameter end of torque sensor, it is inner and be enclosed within the outside of cylinder type hollow housing that torque sensor is located at the joint output shell, and the larger diameter end of torque sensor and joint output shell removably connect.
The present invention has following beneficial effect: 1. the present invention has high capacity from anharmonic ratio: the present invention adopt transmission scheme that distinctive drive unit drives harmonic speed reducer than external same device under volume, situation identical in quality, the driving force near twice is arranged; Because the transmission scheme of motor, pinion and gear wheel and harmonic speed reducer is adopted in the joint, makes the joint that very high output torque be arranged.Simultaneously under the situation of identical output torque, harmonic speed reducer has the characteristics of light weight than planetary reduction gear, so the load in this joint is equivalent to the twice of other large space joint of robot from anharmonic ratio; 2. the present invention has high mechanical precision and control accuracy: because harmonic speed reducer as the output device in whole joint, makes the joint can realize zero return difference.And the return difference of existing large space mechanical arm is up to 3 jiaos of branches; Owing to adopted first rotary transformer to control motor, made the dextrorotation of motor become possibility, and improved the Electric Machine Control precision.High accuracy second rotary transformer is used for detecting the physical location in joint in addition, has improved the positional precision in joint; 3. the present invention has high intelligence: electric device is used for gathering the signal of first rotary transformer, second rotary transformer, torque sensor as the control assembly in joint, through handling, can realize the submissive control of joint and robot in conjunction with control algolithm.And torque sensor belongs to appearance first as the power awareness tool of large space joint of robot; 4. the present invention is highly integrated: electric device is integrated in the joint subordinate first, integrated drive disk assembly, sensing element and control circuit in the joint housing, than other large space joint of robot electric device is placed on outside, joint or the armed lever, very high integrated level is arranged; 5. the present invention has in the replaceable function of rail: be processed with axial flange on the inner casing of joint, can realize being connected of joint and armed lever, thereby or form the double freedom joint assembly with being connected of joint, and convenient disassembly, can realize the rail replacing, prolong robot at the rail service life.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention, and Fig. 2 is the overall structure schematic diagram of drive unit 2, and Fig. 3 is the overall structure schematic diagram of electric device 1.
The specific embodiment
The specific embodiment one: present embodiment is described in conjunction with Fig. 1-Fig. 3, the joint of present embodiment comprises electric device 1, drive unit 2, joint protecgulum 3, joint inner casing 4, joint output shell 5, joint shell 6, joint bonnet 7, circuit board connector 8, cylinder type hollow housing 9, harmonic speed reducer 10, key 11, hollow shaft 12, torque sensor 13 and axial flange 15, joint protecgulum 3 is contained on the joint inner casing 4, and the two removably connects, the afterbody of joint inner casing 4 is processed with axial flange 15, joint inner casing 4 is located in the joint shell 6, and the two removably connects, joint output shell 5 is located between joint inner casing 4 and the joint shell 6, and joint output shell 5 is rotatably connected on the joint shell 6, joint bonnet 7 is contained in the joint output shell 5, and the two removably connects, and the endoporus of joint bonnet 7 is connected with cylinder type hollow housing 9;
Electric device 1 is located in the joint inner casing 4, electric device 1 is connected with joint inner casing 4 by circuit board connector 8, drive unit 2 is contained on the joint inner casing 4 with harmonic speed reducer 10, described drive unit 2 comprises that band-type brake tightens nut 2-1, band-type brake 2-2, the first rotary transformer 2-3, motor transmission shaft 2-4, motor 2-5, pinion 2-6 and gear wheel 2-7, band-type brake tightens nut 2-1 band-type brake 2-2 is locked, the band-type brake 2-2 and the first rotary transformer 2-3 are enclosed within on the motor transmission shaft 2-4, band-type brake 2-2 is connected with the first rotary transformer 2-3, the output of motor transmission shaft 2-4 and pinion 2-6 are in transmission connection, pinion 2-6 and gear wheel 2-7 engagement; Gear wheel 2-7 is in transmission connection by key 11 and hollow shaft 12, hollow shaft 12 is made one with harmonic speed reducer 10, cylinder type hollow housing 9 is located at hollow shaft 12 inside, the afterbody of cylinder type hollow housing 9 is connected with joint bonnet 7, harmonic speed reducer 10 is connected with the smaller diameter end of torque sensor 13, it is inner and be enclosed within the outside of cylinder type hollow housing 9 that torque sensor 13 is located at joint output shell 5, and the larger diameter end of torque sensor 13 and joint output shell 5 removably connect.
The specific embodiment two: present embodiment is described in conjunction with Fig. 3, the electric device 1 of present embodiment is by joint drive circuit board 1-1, the first support 1-2, joint control circuit board 1-3, the second support 1-4, joint power supply circuit board 1-5 the 3rd support 1-6, joint interface card 1-7 and joint interface card pressure ring 1-8 constitute, joint drive circuit board 1-1 is fixed on the circuit board connector 8 by the first support 1-2, joint control circuit board 1-3 is fixed on the control circuit board mount 1-2 of joint by the second support 1-4, joint power supply circuit board 1-5 is fixed on the power circuit board mount 1-4 of joint by the 3rd support 1-6, joint interface card 1-7 is fixed on the interface circuit board mount 1-6 of joint by joint interface card pressure ring 1-8, joint drive circuit board 1-1, the first support 1-2, joint control circuit board 1-3, the second support 1-4, joint power supply circuit board 1-5, the 3rd support 1-6, joint interface card 1-7 and joint interface card pressure ring 1-8 are provided with the coaxial line three-way hole of walking, this structure has realized the centre bore cabling, and is highly integrated.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: in conjunction with Fig. 1 present embodiment is described, the joint of present embodiment comprises that also second rotary transformer, 14, the second rotary transformers 14 are contained in the joint shell 6, and the two is affixed.Joint rotary transformer 14 is used for obtaining high accuracy joint position information, guarantees the joint control accuracy.Other composition and annexation are identical with the specific embodiment one.
Operation principle: motor 2-5 is converted into mechanical energy as the power set in whole joint with electric energy, provides required power output to the joint.The first rotary transformer 2-3 is used for detecting the position of rotor, and its existence is the prerequisite of motor high-precision servo control.Band-type brake 2-2 provides braking moment in emergency circumstances simultaneously.The power in joint passes to motor transmission shaft 2-4 by the rotor of motor 2-5, and passes to gear wheel 2-7 by the pinion 2-6 that is connected on the motor transmission shaft 2-4, and playing slows down increases the effect of turning round.Gear wheel 2-7 passes to harmonic speed reducer 10 with power by hollow shaft 12 once more, and playing slows down for the second time increases the effect of turning round.Moment passes to torque sensor 13 via harmonic speed reducer 10, finally outputs to joint output shell 5.Torque sensor 13 is used for the output torque in joint in the testing process, and these data can be used for the submissive control in joint, meanwhile can provide overload protection, the force sensing function in Here it is this joint.
Electric device 1 is used for gathering the signal of the first rotary transformer 2-3, second rotary transformer 14, torque sensor 13 as the control assembly in joint, through handling, in conjunction with control algolithm control motor 2-5, band-type brake 2-2.Electric device 1, the first rotary transformer 2-3, second rotary transformer 14, torque sensor 13 have improved the degree of intelligence in joint, make the Position Control in joint and submissive control become possibility.
Claims (3)
1. a large space service robot is at the rail replaceable joint, it is characterized in that described joint comprises electric device (1), drive unit (2), joint protecgulum (3), joint inner casing (4), joint output shell (5), joint shell (6), joint bonnet (7), circuit board connector (8), cylinder type hollow housing (9), harmonic speed reducer (10), key (11), hollow shaft (12), torque sensor (13) and axial flange (15), joint protecgulum (3) is contained on the joint inner casing (4), and the two removably connects, the afterbody of joint inner casing (4) is processed with axial flange (15), joint inner casing (4) is located in the joint shell (6), and the two removably connects, joint output shell (5) is located between joint inner casing (4) and the joint shell (6), and joint output shell (5) is rotatably connected on the joint shell (6), joint bonnet (7) is contained in the joint output shell (5), and the two removably connects, and the endoporus of joint bonnet (7) is connected with cylinder type hollow housing (9);
Electric device (1) is located in the joint inner casing (4), electric device (1) is connected with joint inner casing (4) by circuit board connector (8), drive unit (2) is contained on the joint inner casing (4) with harmonic speed reducer (10), described drive unit (2) comprises that band-type brake tightens nut (2-1), band-type brake (2-2), first rotary transformer (2-3), motor transmission shaft (2-4), motor (2-5), pinion (2-6) and gear wheel (2-7), band-type brake tightens nut (2-1) band-type brake (2-2) is locked, band-type brake (2-2) and first rotary transformer (2-3) are enclosed within on the motor transmission shaft (2-4), band-type brake (2-2) is connected with first rotary transformer (2-3), the output of motor transmission shaft (2-4) and pinion (2-6) are in transmission connection, pinion (2-6) and gear wheel (2-7) engagement; Gear wheel (2-7) is in transmission connection by key (11) and hollow shaft (12), hollow shaft (12) is made one with harmonic speed reducer (10), cylinder type hollow housing (9) is located at hollow shaft (12) inside, the afterbody of cylinder type hollow housing (9) is connected with joint bonnet (7), harmonic speed reducer (10) is connected with the smaller diameter end of torque sensor (13), it is inner and be enclosed within the outside of cylinder type hollow housing (9) that torque sensor (13) is located at joint output shell (5), and the larger diameter end of torque sensor (13) and joint output shell (5) removably connect.
According to the described large space service robot of claim 1 at the rail replaceable joint, it is characterized in that electric device (1) is by joint drive circuit board (1-1), first support (1-2), joint control circuit board (1-3), second support (1-4), joint power supply circuit board (1-5), the 3rd support (1-6), joint interface card (1-7) and joint interface card pressure ring (1-8) constitute, joint drive circuit board (1-1) is fixed on the circuit board connector (8) by first support (1-2), joint control circuit board (1-3) is fixed on first support (1-2) by second support (1-4), joint power supply circuit board (1-5) is fixed on second support (1-4) by the 3rd support (1-6), joint interface card (1-7) is fixed on the 3rd support (1-6) by joint interface card pressure ring (1-8), joint drive circuit board (1-1), first support (1-2), joint control circuit board (1-3), second support (1-4), joint power supply circuit board (1-5), the 3rd support (1-6), joint interface card (1-7) and joint interface card pressure ring (1-8) are provided with the coaxial line three-way hole of walking.
According to claim 1 or 2 described large space service robots at the rail replaceable joint, it is characterized in that described joint also comprises second rotary transformer (14), second rotary transformer (14) is contained in the joint shell (6), and the two is affixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010263782XA CN101913151B (en) | 2010-08-26 | 2010-08-26 | Ontract replaceable joint of large space service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010263782XA CN101913151B (en) | 2010-08-26 | 2010-08-26 | Ontract replaceable joint of large space service robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101913151A CN101913151A (en) | 2010-12-15 |
| CN101913151B true CN101913151B (en) | 2011-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010263782XA Expired - Fee Related CN101913151B (en) | 2010-08-26 | 2010-08-26 | Ontract replaceable joint of large space service robot |
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| Country | Link |
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| CN (1) | CN101913151B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102107433B (en) * | 2010-12-31 | 2012-09-05 | 哈尔滨工业大学 | Space robot joint with on-track replaceable key component |
| CN102744731B (en) * | 2012-07-19 | 2014-07-02 | 北京理工大学 | Integral rotary joint and method for determining zero position of integral rotary joint |
| CN104175327B (en) * | 2013-05-27 | 2016-04-13 | 北京理工大学 | Integrated flexible rotary joint |
| CN103692450A (en) * | 2013-11-28 | 2014-04-02 | 华南理工大学 | Robotic arm joint part for planar joint type robots |
| CN104626187B (en) * | 2014-12-30 | 2016-03-23 | 哈尔滨工业大学 | A kind of joint of mechanical arm rapid replacing interface that can change in-orbit |
| CN104816311B (en) * | 2015-04-20 | 2016-08-31 | 哈尔滨工业大学 | A kind of joint of mechanical arm rapid replacing interface system that can change in-orbit |
| CN105128029B (en) * | 2015-09-28 | 2017-02-01 | 哈尔滨工业大学深圳研究生院 | Modular high-torque space manipulator joint |
| CN106142089A (en) * | 2016-08-23 | 2016-11-23 | 威海新北洋正棋机器人股份有限公司 | A kind of robot |
| CN106426135A (en) * | 2016-11-22 | 2017-02-22 | 合肥中科艾帝尔机器人技术有限公司 | Light modular robot driving joint |
| US20200108514A1 (en) * | 2018-10-09 | 2020-04-09 | Flexiv Ltd. | Actuator and robot with reliable torque sensor arrangement |
| CN110919688B (en) * | 2019-11-30 | 2021-07-16 | 北京思灵机器人科技有限责任公司 | Mechanical arm joint |
| CN111071417A (en) * | 2019-12-09 | 2020-04-28 | 中国船舶重工集团公司第七一九研究所 | Compact electric watertight joint |
| CN117601170A (en) * | 2023-12-20 | 2024-02-27 | 广州里工实业有限公司 | Robot joint module, installation method and robot |
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| JP3574242B2 (en) * | 1995-11-20 | 2004-10-06 | 本田技研工業株式会社 | Torque sensor |
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| CN101913151A (en) | 2010-12-15 |
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