CN102941578A - Ioint module for rotating mechanical arm rotation - Google Patents
Ioint module for rotating mechanical arm rotation Download PDFInfo
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- CN102941578A CN102941578A CN201210523115XA CN201210523115A CN102941578A CN 102941578 A CN102941578 A CN 102941578A CN 201210523115X A CN201210523115X A CN 201210523115XA CN 201210523115 A CN201210523115 A CN 201210523115A CN 102941578 A CN102941578 A CN 102941578A
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- mechanical arm
- framework
- multidiameter
- joint module
- shaft
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Abstract
The invention provides a joint module for rotating a mechanical arm. The joint module for rotating a mechanical arm is a structure module for realizing the rotation and the positioning of the mechanical arm. The joint module for rotating the mechanical arm comprises a frame, a stepped shaft and an integrated driving device, wherein the stepped shaft is rotatably connected with the middle part of the frame and is provided with a shaft hole; the integrated driving device is closed and a housing of the integrated driving device is fixedly connected with the frame; a coaxial planetary gear reducer, a brushless direct-current motor and a hall sensor are arranged in the housing of the integrated driving device; an output shaft of the coaxial planetary gear reducer is connected with a bevel pinion, and an input shaft of the coaxial planetary gear reducer is connected with a transmission shaft of the brushless direct-current motor; and the bevel pinion is engaged with a bevel gearwheel on the stepped shaft to form a bevel gear transmission pair. The joint module for rotating the mechanical arm has the advantages that the rotation of the mechanical arm is realized based on the compact structure, and therefore, the precise measuring and positioning of a rotation angle of the mechanical arm can be achieved.
Description
Technical field
The present invention relates to a kind of rotary machine Arm Joint, be specially adapted to mechanical arm revolution location, belong to the mechanical arm technical field.
Background technology
Mechanical arm can substitute manually finishes the dull work that repeats to raise labour productivity, also can enter place relatively more dangerous for personnel and carry out work, for example, exist the device interiors such as boiler of the large-scale closed container of pernicious gas, the nuclear facilities that has radiation and hot environment to carry out routine examination or emergency maintenance etc.; Because this type of hazardous area general environment is sealed, the gateway is narrow, there is larger restriction in physical dimension to mechanical arm, in order to advance the application and development of automation mechanized operation in the mechanical arm field, the mechanical arm joint module that needs the project organization compactness, thereby reduce the appearance and size of mechanical arm integral body, improve it to the handling capacity of narrow and small gateway.
Summary of the invention
The object of the invention is: overcome the shortcoming of prior art, a kind of mechanical arm joint module is provided, realize the gyration of mechanical arm with compact structure, thereby reach accurate measurement and the location of mechanical arm angle of revolution.
Technical scheme of the present invention is:
A kind of rotary machine Arm Joint, the multidiameter with axis hole that it comprises framework and is rotationally connected with frame mid portion, also have the integral type driver of the sealing that shell and framework be fixedly connected with: described multidiameter is to be connected by the taper roll bearing that is installed in framework axis hole two ends with being rotationally connected of framework; Described integral type driver is equipped with coaxial planetary reducer, dc brushless motor and Hall element in its shell; The output shaft of described coaxial planetary reducer connects a bevel pinion, and power shaft is connected with the dc brushless motor power transmission shaft; Bevel pinion consists of the Bevel Gear Transmission pair with the bevel gear wheel engagement that is installed on the multidiameter.
Described mechanical arm joint module also is connected with Hall element on the power transmission shaft of its dc brushless motor, be used for carrying out the measurement of angle of revolution; The power transmission shaft tail end of dc brushless motor is in series with electromagnetic brake device, is used for the power transmission shaft of locking dc brushless motor in outage.
Described mechanical arm joint module is installed the support that an end has approach switch on its framework madial wall, a sensing chip corresponding with approach switch is installed on the multidiameter, is used for accurate measurement and the location of angle of revolution.
Described mechanical arm joint module, the distance of its approach switch and sensing chip is less than 1.5mm.
Described mechanical arm joint module, the shaft hole diameter of its multidiameter is greater than the cable size that passes through.
Effect of the present invention is:
1, avoid mechanical arm under out of hand, to cause the accident owing to Action of Gravity Field freely swings.2, this joint module can improve the flexibility of its application in the different different effect of position performance of mechanical arm, enlarges range of application.3, can carry out accurate measurement and the location of angle of revolution.4, can carry out the turning circle counting number or cause other signalizing activities with level signal.5, the movement interference of avoiding causing at the plug-in cable of mechanical arm disposed outside in the conventional art causes cable to suffer the drawback of squeeze and destroy.
Description of drawings
Fig. 1 is the perspective view of mechanical arm joint module
Fig. 2 is the cross-sectional schematic of mechanical arm joint module
Corresponding each mark title in the cross-sectional schematic accompanying drawing of this mechanical arm joint module of Fig. 3 embodiment 2:
The coaxial planetary reducer 4-of 1-framework 2-multidiameter 3-dc brushless motor 5-Hall element 6-electromagnetic brake device 7-taper roll bearing 8-taper roll bearing 9-bevel gear wheel 10-bevel pinion 11-support 12-approach switch 13-sensing chip 14-connecting tube 15-mechanical arm joint module 16-mechanical arm joint module
The specific embodiment
Embodiment 1:
As shown in Figures 1 and 2, a kind of rotary machine Arm Joint, it comprises framework 1 and the multidiameter with axis hole 2 that is rotationally connected with framework 1 middle part, and also have the integral type driver of the sealing that shell and framework 1 be fixedly connected with: described multidiameter 2 is to be connected by the taper roll bearing 7,8 that is installed in framework 1 axis hole two ends with being rotationally connected of framework 1; Described integral type driver is equipped with coaxial planetary reducer 3, dc brushless motor 4 and Hall element 5 in its shell; The output shaft of described coaxial planetary reducer 3 connects a bevel pinion 10, and power shaft is connected with dc brushless motor 4 power transmission shafts; Bevel pinion 10 consists of the Bevel Gear Transmission pair with bevel gear wheel 9 engagements that are installed on the multidiameter 2.Also be connected with Hall element 5 on the power transmission shaft of dc brushless motor 4, be used for carrying out the measurement of angle of revolution; The power transmission shaft tail end of dc brushless motor 4 is in series with electromagnetic brake device 6, is used for the power transmission shaft of locking dc brushless motor 4 in outage.Avoid mechanical arm under out of hand, to cause the accident owing to Action of Gravity Field freely swings.Bevel gear wheel 9 is fixed on the multidiameter; When framework 1 is fixed, then multidiameter 2 will turn round under bevel gear 9,10 transmission, if multidiameter 2 is fixing, then framework 1 can be around multidiameter 2 revolutions under bevel gear 9,10 transmission, so design, this mechanical arm joint module can improve the flexibility of its application in the different different effect of position performance of mechanical arm, enlarges range of application.One end is installed on framework 1 madial wall the support 11 of approach switch 12, a sensing chip 13 corresponding with approach switch 12 is installed, for accurate measurement and the location of angle of revolution on the multidiameter 2.The distance of approach switch 12 and sensing chip 13 is less than 1.5mm.The approach switch of inductance type is home switch, is used for the position of the absolute original position of definite mechanical arm gyration; When mechanical arm moved, when approach switch 12 and sensing chip 13 have arrived default relative angle, approach switch 12 just can send level signal, in actual applications, can carry out the turning circle counting number or cause other signalizing activities with this level signal.Multidiameter 2, its shaft hole diameter is greater than the cable size that passes through.Associated cable can be passed through from its endoporus, after the centre of gyration internal placement in each joint, is drawn out to the base outside again, and the movement interference of avoiding causing at the plug-in cable of mechanical arm disposed outside in the conventional art causes cable to suffer the drawback of squeeze and destroy.
Embodiment 2:
As shown in Figure 3, as different from Example 1, it adopts a connecting tube 14 that two mechanical arm joint modules 15,16 are connected, and two mechanical arm joint modules are relative up and down, are fixed together with connecting tube 14; The ring flange of multidiameter in the mechanical arm joint module 15 is fixed on the external device (ED), and then framework can be driven around its revolution, drives connecting tube 14 and turn round together; The framework of mechanical arm joint module 16 and connecting tube 14 are fixing, and then its inner multidiameter turns round under the driving of inner cone gear, turn round together thereby drive other equipment of installing on the ring flange.
Claim protection domain of the present invention is not limited to above-mentioned application example.
Claims (5)
1. rotary machine Arm Joint, it is characterized in that, it comprises framework (1) and the multidiameter with axis hole (2) that is rotationally connected with framework (1) middle part, and also have the integral type driver of the sealing that shell and framework (1) be fixedly connected with: described multidiameter (2) is to be connected by the taper roll bearing (7,8) that is installed in framework (1) axis hole two ends with being rotationally connected of framework (1); Described integral type driver is equipped with coaxial planetary reducer (3), dc brushless motor (4) and Hall element (5) in its shell; The output shaft of described coaxial planetary reducer (3) connects a bevel pinion (10), and power shaft is connected with dc brushless motor (4) power transmission shaft; Bevel pinion (10) consists of the Bevel Gear Transmission pair with bevel gear wheel (9) engagement that is installed on the multidiameter (2).
2. mechanical arm joint module according to claim 1 is characterized in that, also is connected with Hall element (5) on the power transmission shaft of described dc brushless motor (4), is used for carrying out the measurement of angle of revolution; The power transmission shaft tail end of dc brushless motor (4) is in series with electromagnetic brake device (6), is used for the power transmission shaft of locking dc brushless motor (4) in outage.
3. mechanical arm joint module according to claim 1, it is characterized in that, the support (11) that one end has approach switch (12) is installed on described framework (1) madial wall, sensing chip (13) corresponding with approach switch (12) of the upper installation of multidiameter (2) is for accurate measurement and the location of angle of revolution.
4. mechanical arm joint module according to claim 1 is characterized in that, the distance of described approach switch (12) and sensing chip (13) is less than 1.5mm.
5. mechanical arm joint module according to claim 1 is characterized in that, described multidiameter (2), and its shaft hole diameter is greater than the cable size that passes through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210523115.XA CN102941578B (en) | 2012-12-09 | 2012-12-09 | Ioint module for rotating mechanical arm rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210523115.XA CN102941578B (en) | 2012-12-09 | 2012-12-09 | Ioint module for rotating mechanical arm rotation |
Publications (2)
| Publication Number | Publication Date |
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| CN102941578A true CN102941578A (en) | 2013-02-27 |
| CN102941578B CN102941578B (en) | 2015-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210523115.XA Active CN102941578B (en) | 2012-12-09 | 2012-12-09 | Ioint module for rotating mechanical arm rotation |
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| CN (1) | CN102941578B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104908036A (en) * | 2014-03-12 | 2015-09-16 | 发那科株式会社 | Industrial robot |
| CN105171735A (en) * | 2015-10-23 | 2015-12-23 | 哈尔滨工程大学 | Hydraulic mechanical arm swing joint with brake |
| CN110640785A (en) * | 2018-06-26 | 2020-01-03 | 田国富 | Multi-degree-of-freedom combined mechanical arm |
| CN112077875A (en) * | 2020-08-21 | 2020-12-15 | 上海大学 | High dynamic swing joint of robot based on high-efficient one-way internal power |
| CN112077876A (en) * | 2020-08-26 | 2020-12-15 | 上海大学 | Variable-rigidity unidirectional driving swing joint for large-bearing high-dynamic foot type robot |
| CN112873267A (en) * | 2021-02-18 | 2021-06-01 | 上海节卡机器人科技有限公司 | Cooperative robot integrated joint |
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| DE4431494A1 (en) * | 1994-09-03 | 1996-03-28 | Suhm Philipp Dipl Inform | Device for independent rotation of object about two axes |
| CN101116972A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Spacing mechanical arm perpendicular style modularization joint |
| WO2009026937A2 (en) * | 2007-08-26 | 2009-03-05 | Abozaied Abdallah Ezzat Abdall | New robotic joint configuration |
| CN201597037U (en) * | 2010-01-07 | 2010-10-06 | 郑州轻工业学院 | Composable robot joint |
| CN201792341U (en) * | 2010-07-30 | 2011-04-13 | 华南理工大学 | Single-DOF swinging joint module of robot |
| CN201811713U (en) * | 2010-10-20 | 2011-04-27 | 柯铭溉 | Stopwatch digital accumulated carry sensing device |
| JP2012117609A (en) * | 2010-12-01 | 2012-06-21 | Nabtesco Corp | Gear transmission |
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2012
- 2012-12-09 CN CN201210523115.XA patent/CN102941578B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE4431494A1 (en) * | 1994-09-03 | 1996-03-28 | Suhm Philipp Dipl Inform | Device for independent rotation of object about two axes |
| WO2009026937A2 (en) * | 2007-08-26 | 2009-03-05 | Abozaied Abdallah Ezzat Abdall | New robotic joint configuration |
| CN101116972A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Spacing mechanical arm perpendicular style modularization joint |
| CN201597037U (en) * | 2010-01-07 | 2010-10-06 | 郑州轻工业学院 | Composable robot joint |
| CN201792341U (en) * | 2010-07-30 | 2011-04-13 | 华南理工大学 | Single-DOF swinging joint module of robot |
| CN201811713U (en) * | 2010-10-20 | 2011-04-27 | 柯铭溉 | Stopwatch digital accumulated carry sensing device |
| JP2012117609A (en) * | 2010-12-01 | 2012-06-21 | Nabtesco Corp | Gear transmission |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104908036A (en) * | 2014-03-12 | 2015-09-16 | 发那科株式会社 | Industrial robot |
| US10099389B2 (en) | 2014-03-12 | 2018-10-16 | Fanuc Corporation | Industrial robot comprising drive shaft provided with brake unit |
| CN104908036B (en) * | 2014-03-12 | 2019-05-14 | 发那科株式会社 | Industrial robot |
| CN105171735A (en) * | 2015-10-23 | 2015-12-23 | 哈尔滨工程大学 | Hydraulic mechanical arm swing joint with brake |
| CN110640785A (en) * | 2018-06-26 | 2020-01-03 | 田国富 | Multi-degree-of-freedom combined mechanical arm |
| CN112077875A (en) * | 2020-08-21 | 2020-12-15 | 上海大学 | High dynamic swing joint of robot based on high-efficient one-way internal power |
| CN112077875B (en) * | 2020-08-21 | 2021-08-20 | 上海大学 | High dynamic swing joint of robot based on high-efficient one-way internal power |
| CN112077876A (en) * | 2020-08-26 | 2020-12-15 | 上海大学 | Variable-rigidity unidirectional driving swing joint for large-bearing high-dynamic foot type robot |
| CN112873267A (en) * | 2021-02-18 | 2021-06-01 | 上海节卡机器人科技有限公司 | Cooperative robot integrated joint |
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| Publication number | Publication date |
|---|---|
| CN102941578B (en) | 2015-03-18 |
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