CN103358317A - Robot joint with power-off protection function and adjustable rigidity - Google Patents
Robot joint with power-off protection function and adjustable rigidity Download PDFInfo
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- CN103358317A CN103358317A CN2013103249098A CN201310324909A CN103358317A CN 103358317 A CN103358317 A CN 103358317A CN 2013103249098 A CN2013103249098 A CN 2013103249098A CN 201310324909 A CN201310324909 A CN 201310324909A CN 103358317 A CN103358317 A CN 103358317A
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- pressing plate
- protection function
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 59
- 239000010959 steel Substances 0.000 claims abstract description 59
- 238000010276 construction Methods 0.000 claims description 14
- 230000006698 induction Effects 0.000 claims description 8
- 230000000694 effects Effects 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 108010022579 ATP dependent 26S protease Proteins 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The invention discloses a robot joint with a power-off protection function and adjustable rigidity. A spring press plate and a steel ball are arranged in the support structure, the steel ball elastically moves in the axial direction of the mechanical support structure, a shallow pit matched with the circular arc surface of the steel ball is arranged on a steel ball press plate, the steel ball press plate is in rotating connection with the mechanical support structure through a bearing connecting device, when the external input torque acts on the mechanical support structure, the steel ball drives the steel ball press plate to rotate, and when the torque is oversize, the steel ball is disconnected from the shallow pit of the steel ball press plate. An annular clamp groove with a groove is formed in the connecting plate and is clamped and connected with a convex strip arranged on the side wall of the steel ball press plate, and the double protection effects are realized on the robot joint. A convex block matched with a magnetic slide block is arranged on the side wall in an outer casing, a spring pushes a friction layer of the magnetic slide block to be pasted with the convex block, and the braking is realized. The robot joint has the advantages that under the condition of not influencing the normal mechanical and electrical connection, the overload protection function on the joint is realized, after the overload disappears, the initial state can be conveniently and fast recovered, and in addition, the power-off protection function is realized.
Description
Technical field
The invention belongs to the Robotics field, be specifically related to a kind of have power-off protection function and the adjustable joint of robot of rigidity.
Background technology
Be accompanied by the develop rapidly in the fields such as automobile, chemical industry, electronics, food processing, plastics, life science, especially the developing rapidly of robot equipment field, harsher standard has been proposed for the transmission accuracy of driving joint transfer system, security reliability, small size, damping noise reduction, lightweight, the performance such as non-maintaining.
The modularization industrial robot has changed the limitation of traditional industry robot, can adapt to working environment complicated and changeable and Given task, has enlarged the application of industrial robot, and progressively becomes the focus of robot research.Modularization robot is assembled by a series of modules, by the flexible reconstruct combination of the freedom of module, is built into the different robot modeling of 26S Proteasome Structure and Function, to satisfy the demand of varying environment and task.Reasonably mechanical interface and electric interfaces guarantee between the two adjacent modules the easily and efficiently transmission of power and signal.
When robot will realize that pick-and-place, carrying, boring etc. operate, will produce larger loading force; Particularly when robot ran into the catastrophic failures such as unexpected loading, acceleration be excessive, load increased greatly; If electromechanical interface is simple transmitting torque, impulsive force will be delivered on each joint fully, very easily causes the robot parts to destroy; Perhaps require element size to increase, driving power increases, and can cause the waste on the cost.
Summary of the invention
The technical problem that (one) will solve
The technical problem to be solved in the present invention provides a kind of have power-off protection function and the adjustable joint of robot of rigidity.
(2) technical scheme
For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of have power-off protection function and an adjustable joint of robot of rigidity, comprises supporting construction, spring bearer plate, steel ball pressing plate, connecting plate;
Described supporting construction comprises inner housing, back shaft and the supporter that connects this inner housing and back shaft, described back shaft one end is provided with external screw thread, described supporter is provided with through hole radially, the steel ball that is provided with spring in the described through hole and links to each other with this spring, described steel ball partly stretches out described through hole end face, and described spring bearer plate is provided with the projection that stretches in the through hole, described projection pressing spring, described spring bearer plate is sheathed on the back shaft, and fixes with bolt tightening;
Described steel ball pressing plate is located at outside the sidewall of a side that described supporter is provided with steel ball, and described steel ball pressing plate is provided with the shallow hole that matches with described steel ball arc surface, and described steel ball pressing plate is connected on the described back shaft by bearing rotary;
Described connecting plate comprises base plate and the annular slot of being located on the base plate, on the described annular slot madial wall in the circumferential direction of the circle array some grooves are arranged, described steel ball pressing plate lateral wall is provided with the raised line with the clamping of described groove phase, and described connecting plate is assemblied on the steel ball pressing plate and by the bearing rotary of being located on the plate outer side wall and is connected on the inner housing inwall.
Described supporting construction is located in the shell body inner chamber, described shell body inwall is provided with stator, described stator links to each other with the inner housing sidewall of supporting construction by rotor, also be arranged with spring and magnetic slider on the described inner housing lateral wall, described magnetic slider is provided with frictional layer, described shell body madial wall is provided with the projection that matches with described magnetic slider, and described spring is located between magnetic slider and the rotor, and frictional layer and projection applying that described spring promotes magnetic slider realize braking.
The groove bottom of described annular slot is provided with the electronic induction sheet, and when the raised line on the described steel ball pressing plate lateral wall broke away from groove on the annular slot, the electronic induction sheet can be responded to the separating signal linkage and feed back input current in described rotor.
(3) beneficial effect
The present invention is compared to prior art, has following beneficial effect:
1, this joint is independent, compact, be easy to connect, but effective communication power and signal is conducive to robot architecture's reconstruct;
2, this joint can prevent overload, protection system safety in transmitted load;
3, this joint adopts elastomer block to realize adjustable rigidity, and is simple in structure, effective, be easy to recover;
4, adopt the duplicate protection effect, at first the disengaging of raised line occurs prior to the disengaging of steel ball and steel ball pressing plate shallow hole on annular slot upper groove and the steel ball pressing plate, when the disengaging of groove and raised line occurs, but electronic induction sheet feedback signal is transferred to robot controller to reduce outputting power; When controller inefficacy or fill order mistake, when continuing the large power of output, steel ball and steel ball pressing plate break away from; the raised line phase clamping of the groove on the annular slot and steel ball pressing plate; play the effect of protection groove and raised line, avoid them to continue sliding friction occurs, increased the service life in joint.
5, brake apparatus adopts stator and rotor to match, fast response time, and good braking effect, security of system is high.
Description of drawings
Fig. 1 is the structural representation with the adjustable joint of robot of power-off protection function and rigidity of the present invention.
Fig. 2 is the structural representation with the adjustable joint of robot of power-off protection function and rigidity among Fig. 1.
Fig. 3 is the structural representation with the adjustable joint of robot of power-off protection function and rigidity among Fig. 1.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for explanation the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1 to Figure 3, a kind of have power-off protection function and an adjustable joint of robot of rigidity, comprises supporting construction 1, spring bearer plate 2, steel ball pressing plate 3, connecting plate 7;
The supporter 103 that described supporting construction 1 comprises inner housing 101, back shaft 102 and connects this inner housing 101 and back shaft 102, described back shaft 102 1 ends are provided with external screw thread, described supporter 103 is provided with through hole 104 radially, the steel ball 5 that is provided with spring 4 in the described through hole 104 and links to each other with this spring 4, described steel ball 5 parts are stretched out described through hole 104 end faces, described spring bearer plate 2 is provided with the projection that stretches in the through hole 104, described projection pressing spring 4, described spring bearer plate 2 is sheathed on the back shaft 102, and tightens fixing with bolt 6;
Described steel ball pressing plate 3 is located at outside the sidewall of a side that described supporter 103 is provided with steel ball 5, and described steel ball pressing plate 3 is provided with the shallow hole that matches with described steel ball 5 arc surfaces, and described steel ball pressing plate 3 is connected on the described back shaft 102 by bearing rotary;
Described connecting plate 7 comprises base plate 701 and the annular slot 702 of being located on the base plate 701, on described annular slot 702 madial walls in the circumferential direction of the circle array some grooves 703 are arranged, described steel ball pressing plate 3 lateral walls are provided with the raised line with described groove 703 phase clampings, and described connecting plate 7 is assemblied on the steel ball pressing plate 3 and by the bearing rotary of being located on base plate 701 lateral walls and is connected on inner housing 101 inwalls.
Described supporting construction is located in shell body 8 inner chambers, described shell body 8 inwalls are provided with stator 9, described stator 9 links to each other with inner housing 101 sidewalls of supporting construction by rotor 10, also be arranged with spring 11 and magnetic slider 12 on described inner housing 101 lateral walls, described magnetic slider 12 is provided with frictional layer 13, described shell body 8 madial walls are provided with the projection 14 that matches with described magnetic slider 12, described spring 11 is located between magnetic slider 12 and the rotor 10, and described spring 11 promotes the frictional layer 13 of magnetic slider 12 and realizes braking with projection 14 applyings.
Groove 703 bottoms of described annular slot 702 are provided with electronic induction sheet (not shown), when the raised line 7 on described steel ball pressing plate 3 lateral walls broke away from groove 703 on the annular slots 702, the electronic induction sheet can be responded to the separating signal linkage and feed back input current in described rotor.
When the present invention worked, after the rotor energising, rotor rotated, and produces magnetic field and suction band magnetic slider close, and magnetic slider is separated with projection, and rotor drives supporting construction and rotates, and moment of torsion is passed to supporting construction.When load during less than predetermined value, steel ball contacts with the shallow hole of steel ball pressing plate, and raised line clamping on annular slot upper groove and the steel ball pressing plate can transmitting torque; When load was excessive, groove and raised line broke away from, but electronic induction sheet feedback signal is transferred to robot controller to reduce epitrochanterian output current; When controller lost efficacy or the fill order mistake, when continuing the large power of output, spring is compressed, steel ball skids off from the shallow hole of steel ball pressing plate, can not transmitting torque, need to prove the slippage power that the slippage power that steel ball skids off skids off from the annular slot upper groove greater than the raised line on the steel ball pressing plate from the shallow hole of steel ball pressing plate; The effect of protection groove and raised line is played in the raised line phase clamping of the groove on the annular slot and steel ball pressing plate, avoids their to continue sliding friction occurs, and has increased the service life in joint.After overload disappeared, rotation joint, rear end made steel ball again be pressed into spherical shallow hole, can work on.After outage, because the effect of spring promotes magnetic slider and projection and fits, the locking joint keeps inactive state.
Certainly, above only is concrete exemplary applications of the present invention, and protection scope of the present invention is not constituted any limitation.In addition to the implementation, the present invention can also have other embodiment.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop within the present invention's scope required for protection.
Claims (3)
1. one kind has power-off protection function and the adjustable joint of robot of rigidity, it is characterized in that: comprise supporting construction, spring bearer plate, steel ball pressing plate, connecting plate;
Described supporting construction comprises inner housing, back shaft and the supporter that connects this inner housing and back shaft, described back shaft one end is provided with external screw thread, described supporter is provided with through hole radially, the steel ball that is provided with spring in the described through hole and links to each other with this spring, described steel ball partly stretches out described through hole end face, and described spring bearer plate is provided with the projection that stretches in the through hole, described projection pressing spring, described spring bearer plate is sheathed on the back shaft, and fixes with bolt tightening;
Described steel ball pressing plate is located at outside the sidewall of a side that described supporter is provided with steel ball, and described steel ball pressing plate is provided with the shallow hole that matches with described steel ball arc surface, and described steel ball pressing plate is connected on the described back shaft by bearing rotary;
Described connecting plate comprises base plate and the annular slot of being located on the base plate, on the described annular slot madial wall in the circumferential direction of the circle array some grooves are arranged, described steel ball pressing plate lateral wall is provided with the raised line with the clamping of described groove phase, and described connecting plate is assemblied on the steel ball pressing plate and by the bearing rotary of being located on the plate outer side wall and is connected on the inner housing inwall.
2. according to claim 1 have power-off protection function and an adjustable joint of robot of rigidity; it is characterized in that: described supporting construction is located in the shell body inner chamber; described shell body inwall is provided with stator; described stator links to each other with the inner housing sidewall of supporting construction by rotor; also be arranged with spring and magnetic slider on the described inner housing lateral wall; described magnetic slider is provided with frictional layer; described shell body madial wall is provided with the projection that matches with described magnetic slider; described spring is located between magnetic slider and the rotor, and frictional layer and projection applying that described spring promotes magnetic slider realize braking.
3. according to claim 2 have power-off protection function and an adjustable joint of robot of rigidity; it is characterized in that: the groove bottom of described annular slot is provided with the electronic induction sheet; when the raised line on the described steel ball pressing plate lateral wall broke away from groove on the annular slot, the electronic induction sheet can be responded to the separating signal linkage and feed back input current in described rotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310324909.8A CN103358317B (en) | 2013-07-29 | 2013-07-29 | A kind of have power-off protection function and the adjustable joint of robot of rigidity |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310324909.8A CN103358317B (en) | 2013-07-29 | 2013-07-29 | A kind of have power-off protection function and the adjustable joint of robot of rigidity |
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| Publication Number | Publication Date |
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| CN103358317A true CN103358317A (en) | 2013-10-23 |
| CN103358317B CN103358317B (en) | 2015-12-23 |
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| CN201310324909.8A Active CN103358317B (en) | 2013-07-29 | 2013-07-29 | A kind of have power-off protection function and the adjustable joint of robot of rigidity |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108773A (en) * | 2015-08-20 | 2015-12-02 | 温州乐控节能科技有限公司 | Robot joint and robot |
| CN105292293A (en) * | 2015-10-29 | 2016-02-03 | 南京邮电大学 | Dynamic descending speed limiting device for high altitude cable climbing robot |
| CN106032013A (en) * | 2015-03-19 | 2016-10-19 | 宁夏巨能机器人系统有限公司 | Movable joint structure of annular manipulator and installation method thereof |
| CN107963142A (en) * | 2017-12-22 | 2018-04-27 | 华南理工大学广州学院 | Clean the foot joint structure of climbing robot |
| CN108726312A (en) * | 2018-08-22 | 2018-11-02 | 河南理工大学 | A kind of induction elevator governor |
| CN114131647A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Lever type rigidity-variable flexible joint based on cam |
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| GB383516A (en) * | 1932-03-23 | 1932-11-17 | William Warren Triggs | Improvements in safety clutch mechanisms |
| US4220230A (en) * | 1979-03-30 | 1980-09-02 | Hansen Quinten A | Overload release clutch |
| CN1309749A (en) * | 1998-06-17 | 2001-08-22 | 盖茨公司 | Flexible shaft coupling element and flexible couplings incorporating same |
| CN201639427U (en) * | 2010-08-06 | 2010-11-17 | 武汉华大新型电机科技股份有限公司 | Power-off brake for alternating current servomotor |
| CN102312943A (en) * | 2010-07-08 | 2012-01-11 | 王雷 | Large-torque overload clutch |
| CN102322486A (en) * | 2011-09-01 | 2012-01-18 | 陈忠永 | Overload protection type coupling |
| CN102684375A (en) * | 2011-03-18 | 2012-09-19 | 精工爱普生株式会社 | Electric motor, robot, and brake device |
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2013
- 2013-07-29 CN CN201310324909.8A patent/CN103358317B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB383516A (en) * | 1932-03-23 | 1932-11-17 | William Warren Triggs | Improvements in safety clutch mechanisms |
| US4220230A (en) * | 1979-03-30 | 1980-09-02 | Hansen Quinten A | Overload release clutch |
| CN1309749A (en) * | 1998-06-17 | 2001-08-22 | 盖茨公司 | Flexible shaft coupling element and flexible couplings incorporating same |
| CN102312943A (en) * | 2010-07-08 | 2012-01-11 | 王雷 | Large-torque overload clutch |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106032013A (en) * | 2015-03-19 | 2016-10-19 | 宁夏巨能机器人系统有限公司 | Movable joint structure of annular manipulator and installation method thereof |
| CN106032013B (en) * | 2015-03-19 | 2018-07-24 | 宁夏巨能机器人系统有限公司 | A kind of movable joint structure and its installation method of annular manipulator |
| CN105108773A (en) * | 2015-08-20 | 2015-12-02 | 温州乐控节能科技有限公司 | Robot joint and robot |
| CN105292293A (en) * | 2015-10-29 | 2016-02-03 | 南京邮电大学 | Dynamic descending speed limiting device for high altitude cable climbing robot |
| CN105292293B (en) * | 2015-10-29 | 2017-06-23 | 南京邮电大学 | A kind of dynamic the device of limiting the dropping speed for overhead calbe climbing robot |
| CN107963142A (en) * | 2017-12-22 | 2018-04-27 | 华南理工大学广州学院 | Clean the foot joint structure of climbing robot |
| CN108726312A (en) * | 2018-08-22 | 2018-11-02 | 河南理工大学 | A kind of induction elevator governor |
| CN108726312B (en) * | 2018-08-22 | 2023-10-03 | 河南理工大学 | Electromagnetic induction type elevator speed limiter |
| CN114131647A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Lever type rigidity-variable flexible joint based on cam |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103358317B (en) | 2015-12-23 |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Huanxi Inventor before: Lin Jiajie |
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| COR | Change of bibliographic data | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20151223 Address after: 100036 Beijing city Haidian District Cuiwei Road No. 2 Building 1 floor 3 No. 3089 hospital Patentee after: Beijing taikoubou Robot Technology Services Ltd. Address before: 315799 Zhejiang city of Ningbo province Xiangshan County dancy Street tannin Road No. 13 Patentee before: Lin Jiajie |
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| TR01 | Transfer of patent right |
Effective date of registration: 20201214 Address after: No.7, Yangqiao 4th Road, Xianghe Town, Quanjiao County, Chuzhou City, Anhui Province Patentee after: ANHUI LEDA PRECISION ALLOY CO.,LTD. Address before: Room 3089, 3 / F, building 1, yard 2, Cuiwei Road, Haidian District, Beijing 100036 Patentee before: Beijing taikoubou Robot Technology Services Ltd. |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A robot joint with power-off protection function and adjustable stiffness Effective date of registration: 20231213 Granted publication date: 20151223 Pledgee: Quanjiao enterprise financing Company limited by guarantee Pledgor: ANHUI LEDA PRECISION ALLOY CO.,LTD. Registration number: Y2023980071276 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |