CN104476561A - Joint of mechanical arm - Google Patents
Joint of mechanical arm Download PDFInfo
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- CN104476561A CN104476561A CN201410850899.6A CN201410850899A CN104476561A CN 104476561 A CN104476561 A CN 104476561A CN 201410850899 A CN201410850899 A CN 201410850899A CN 104476561 A CN104476561 A CN 104476561A
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Abstract
The invention provides a joint of a mechanical arm, and belongs to the technical field of machinery. The joint solves the problem that the joint of an existing mechanical arm is large in size. The joint of the mechanical arm comprises a shell, a motor and a harmonic reducer, wherein the motor and the harmonic reducer are integrated in the shell; the inner end of a rotating shaft of the motor is connected with the input end of the harmonic reducer; the output end of the harmonic reducer is connected with an output shaft; the rotating shaft of the motor is hollow; the inner end of the output shaft is fixed with the output end of the harmonic reducer, and the outer end of the output shaft penetrates through the outer end of the rotating shaft of the motor; a motor raster is fixed at the outer end of the rotating shaft of the motor; an output shaft raster is fixed at the outer end of the output shaft; an encoder is fixed in the shell; the output shaft raster and the motor raster are respectively positioned on the upper side and the lower side of the encoder; optoelectronic switches matched with output shaft raster and the motor raster are respectively arranged on the upper side and the lower side of the encoder. The joint has the advantages of small size, high space utilization rate, long service life and the like.
Description
Technical field
The invention belongs to field of mechanical technique, relate to a kind of mechanical arm, particularly relate to a kind of joint of mechanical arm.
Background technology
Robotics is the complex art developed rapidly nearly ten years, it has concentrated the newest research results of mechanical engineering, the automatically multiple technologies such as control and artificial intelligence, embodying the last word of optoelectronic integration, is that contemporary science and technology develops one of field the most active.Mechanical arm is the automated machine device obtaining at present most broad practice in robotics, and in productive life, have extremely important effect, in practical application, a lot of industrial flow links all needs mechanical arm to carry out assembling and extracting operation.Mechanical arm can accept instruction, accurately navigates to three-dimensional (or two dimension) spatially certain and a bit carries out operation, can cross and greatly raise labour efficiency.
Joint of mechanical arm is the core component that mechanical arm is formed, and the overall structure in joint, load capacity and perception directly affect the level of operation of mechanical arm entirety.The transmission mechanism that joint of mechanical arm common at present generally adopts motor, harmonic speed reducer, joint output shaft is directly connected.At present, the problems such as on domestic market, joint of mechanical arm ubiquity weight is large, load capacity is low, volume is large, integrated level is low, perception is poor, limit the further lifting of mechanical arm performance.
As Chinese patent discloses a kind of mechanical arm modular joint with dead electricity braking and multiple perceptional function, this mechanical arm modular joint comprises mechanical system, joint electrical system, sensing system and dead electricity brakes, machinery and joint electrical system, sensing system and electricity loss brake integrated, this mechanical arm modular joint utilizes built-in Increament type magnetic coder to detect the relative rotation position of the relative motor stator of rotor, and utilize absolute type encoder to detect the absolute position of joint output opposed articulation stiff end, by the fusion of Increament type magnetic coder and absolute type encoder, thus realize the detection of joint position.In addition, this mechanical arm modular joint also utilizes electricity loss brake to carry out braking with locked wheels when shutting down.Although this mechanical arm modular joint improves perception, because absolute type encoder and electricity loss brake are all the structures increased in addition, therefore cause the volume of whole joint of mechanical arm larger.
Summary of the invention
The object of the invention is the problems referred to above existed for prior art, propose a kind of joint that can effectively reduce the mechanical arm of volume.
Object of the present invention realizes by following technical proposal:
A kind of joint of mechanical arm, the motor comprising shell and be integrated in shell and harmonic speed reducer, the inner of the rotating shaft of described motor is connected with the input of harmonic speed reducer, the output of described harmonic speed reducer is connected with output shaft, it is characterized in that, the rotating shaft of described motor is hollow form, the inner of described output shaft and the output of harmonic speed reducer fix and the outer end of output shaft through the outer end of rotating shaft of motor, the outer end of described machine shaft is fixed with motor grating, described output shaft outer end is fixed with output shaft grating, described shell internal fixtion has encoder, described output shaft grating and motor grating lay respectively at the upper and lower sides of encoder, and the upper and lower sides of encoder is respectively equipped with the optoelectronic switch coordinated with above-mentioned output shaft grating and motor grating.
Machine shaft in the joint of this mechanical arm makes hollow form, by output shaft through machine shaft, can shorten the relative length between machine shaft and output shaft like this.Motor grating is fixed on machine shaft for detecting motor position, output shaft grating is fixed on output shaft for detecting the relative position of output shaft, because output shaft end passes machine shaft end, therefore output shaft grating is fixed on the end of output shaft, shorten the relative position between output shaft grating and motor grating, then two optoelectronic switches are set on an encoder, reach one and same coding device respectively to the object that output shaft grating and machine shaft grating control, thus reduce the volume of whole shell well.
In the joint of above-mentioned mechanical arm, described motor is positioned at the middle part of shell, described harmonic speed reducer is positioned at one end of shell, the rotating shaft of described motor is stretched in harmonic speed reducer, and rotating shaft is stretched between part in harmonic speed reducer and harmonic speed reducer and is provided with bearing, the inner of described output shaft is one-body molded ring flange, described output shaft and the output of harmonic speed reducer pass through through ring flange and the securing member penetrated in harmonic speed reducer fixes, described output shaft penetrates the rotating shaft of motor and the outer end of output shaft is stretched out from the rotating shaft outer end of motor from the output of harmonic speed reducer.
The rotating shaft of motor is stretched in harmonic speed reducer, and utilize bearing countershaft to position, the rotating shaft of such motor just uses as the input of harmonic speed reducer simultaneously, such mode can shorten length further, reduce volume, simultaneously output shaft by through ring flange and the securing member penetrated in harmonic speed reducer and harmonic speed reducer fix, then output shaft penetrates in the rotating shaft of motor from the output of harmonic speed reducer, thus achieves the shortening of connecting length between output shaft and the rotating shaft of motor.
In the joint of above-mentioned mechanical arm, the outer end of described output shaft is fixed with tubular adapter sleeve, the outer end of described adapter sleeve has location division protruding ringwise, the outside of described location division has the locating surface of annular protrusion, ringwise, described output shaft grating to be enclosed within location division and to be fixed on locating surface by securing member described output shaft grating.
The major part of output shaft is positioned at machine shaft, in order to more easily output shaft grating is fixed on the end of output shaft, therefore connects an adapter sleeve in the end of output shaft, utilizes adapter sleeve to fix output shaft grating.Although and add adapter sleeve, because most of output shaft is located in machine shaft, also to be far smaller than length of the prior art because this increasing the length after adapter sleeve,
In the joint of above-mentioned mechanical arm, have the installation step of annular inside described shell, described installation step projection has some joint pins, and described encoder is enclosed within the outside of above-mentioned adapter sleeve, and outer rim and each joint pin of described encoder fix.
Encoder is enclosed within the outside of adapter sleeve, and on fixing each joint pin inside the shell, well encoder is located by the setting of adapter sleeve and enclosure structure, and be enclosed within adapter sleeve due to encoder, and adapter sleeve is for fixing output shaft grating, therefore encoder is enclosed within the space that adapter sleeve can utilize well on adapter sleeve, thus makes the structure in shell compacter, further reduced volume.
In the joint of above-mentioned mechanical arm, connecting plate is provided with above described output shaft grating, hexagonal copper post is connected with corresponding position, joint pin position on the upside of described encoder, described encoder is fixed between hexagonal copper post and joint pin, and the outer rim of described connecting plate and the end of each hexagonal copper post are leant and fixed by securing member.
Hexagonal copper post is utilized to be fixed on by encoder between hexagonal copper post and joint pin, and by the end winding support connecting plate of securing member at each hexagonal copper post, the fastness that encoder is located in the enclosure can be improved, and be also positioned at shell due to hexagonal copper post, therefore do not need the volume increasing shell.
In the joint of above-mentioned mechanical arm, the rotating shaft outer end of described motor is circumferentially evenly equipped with the raised line of some curved projections, described motor grating ringwise, described motor grating inner edge circumferentially has the limiting section of some curved protrusions, described raised line snaps between two adjacent limiting sections, and described motor grating and the rotating shaft outer end of motor are fixed by securing member.
Motor grating is fixed on the end of machine shaft, and time fixing, embedded between adjacent two limiting sections in motor grating inner edge by the raised line of machine shaft end, motor grating is fixed on machine shaft end thus, and then utilizes securing member both to be fixed together.Because encoder is fixed on adapter sleeve, conveniently coordinate with encoder, therefore motor grating is fixed on the end of machine shaft, the distance between motor grating and encoder can be shortened.
In the joint of above-mentioned mechanical arm, described encoder is fixed with electromagnet, described installation step have the locating hole just right with electromagnet, brake lever and spring is provided with in described locating hole, described machine shaft is fixed with brake disc, the edge of described brake disc is circumferentially evenly equipped with some gear pin outwards dispersed, brake lever described in when motor stopping leans the bottom at electromagnet and keeps off pin and can lean with brake lever sidepiece under the elastic force effect of spring, and brake lever described when the motor is energized overcomes the elastic force effect of spring and moves down under the effect of electromagnet.
During motor stopping, machine shaft still can be rotated further a period of time under power failure state, but rotating speed can be decreased to 0 gradually.Brake disc is fixed on machine shaft, therefore can along with together rotating, and the bottom that brake lever is leaned at electromagnet by the elastic force effect of spring under power failure state, when the sidepiece that one of them turning on brake disc of machine shaft keeps off pin and brake lever leans, by the barrier effect of brake lever, machine shaft is stopped operating.
With increase brake in prior art and carry out compared with braking with locked wheels to machine shaft, the cooperation of brake disc, brake lever and electromagnet is utilized to realize braking in the application, brake disc, brake lever and electromagnet are integrated on machine shaft, shell and encoder respectively, for the whole brake of increase, the volume that take is less.In addition, with braking with locked wheels unlike, the mode of braking utilizing brake disc to coordinate with brake lever is softer, less to the damage of machine shaft, longer service life.
In the joint of above-mentioned mechanical arm; the cross section of described brake lever is T-shaped; described spring housing is located at the lower end of brake lever; the end of the gear pin of described brake disc has stop part triangular in shape, and the sidepiece of the stop part described in when motor stopping can lean with the upper end sidepiece of brake lever.
Stop part triangular in shape is formed in the end of gear pin; and it is T-shaped that brake lever is arranged to cross section; in order to gear pin can coordinate with brake lever better when motor stopping, make when utilize brake disc realize braking reduce to take volume, better braking effect can be reached.
In the joint of above-mentioned mechanical arm, the iron core of described electromagnet is positioned at the upper end of electromagnet, and described brake lever upper end external diameter is greater than iron core external diameter, and iron core described when the motor is energized promotes brake lever downwards.
During electric motor starting, iron core obtains electric and moves down, and promote brake lever and overcome the elastic force effect of spring and be back to locating hole place, because brake lever upper end external diameter is greater than the external diameter of iron core, therefore, after brake lever is pushed back to locating hole place by iron core, gear foot portion can not lean with iron core and produce braking action to machine shaft.
And when motor stopping, iron core dead electricity and upwards resetting, brake lever its upper end under the elastic force effect of spring leans the bottom at electromagnet again, and in the process be then rotated further at machine shaft, the gear pin of brake disc can lean with brake lever again and form braking.
In the joint of above-mentioned mechanical arm, ringwise, described brake disc and the rotating shaft of motor are by interference fit, and the rotating shaft of described motor is respectively equipped with cannelure at the upper and lower sides of brake disc, is provided with jump ring in described cannelure for described brake disc.
Brake disc and machine shaft pass through interference fit, make brake disc circumferential relative to machine shaft fixing, eliminate relatively rotating of brake disc, then utilize two jump rings being arranged on brake disc upper and lower sides to limit brake disc moving axially relative to machine shaft, limit two axial and circumferential motions, improve the stability of work.
Compared with prior art, output shaft is passed machine shaft by the joint of this mechanical arm, shorten the relative length between machine shaft and output shaft, relative distance between machine shaft grating and output shaft grating is reduced, and by an encoder, two gratings are controlled respectively, make the structure of articular shell inside compacter, reduce the volume of articular shell well; Utilize brake disc, brake lever and electromagnet to form the brake of machine shaft, reasonably make use of the inner space of shell, make enclosure volume less, and braking procedure is softer, service life is longer.
Accompanying drawing explanation
Fig. 1 is the sectional view in the joint of this mechanical arm.
Fig. 2 is the cut-away view in the joint of this mechanical arm.
Fig. 3 is the sectional view between the rotating shaft of motor in the joint of this mechanical arm and output shaft.
Fig. 4 is the schematic diagram between output shaft and output shaft grating.
Fig. 5 is the schematic diagram between the rotating shaft of motor and motor grating.
Fig. 6 is the schematic diagram at encoder place in the joint of this mechanical arm.
Fig. 7 is the schematic diagram in the joint of this mechanical arm between brake disc, brake lever and electromagnet.
Fig. 8 is the schematic diagram of the joint housing of this mechanical arm.
Fig. 9 is the schematic diagram of brake disc in the joint of this mechanical arm.
In figure, 1, shell; 2, motor; 3, harmonic speed reducer; 4, rotating shaft; 4a, raised line; 5, output shaft; 6, motor grating; 6a, limiting section; 7, output shaft grating; 8, encoder; 8a, optoelectronic switch; 8b, electromagnet; 8b1, iron core; 9, adapter sleeve; 9a, location division; 9b, locating surface; 10, installation step; 10a, joint pin; 10b, locating hole; 11, connecting plate; 12, hexagonal copper post; 13, brake lever; 14, spring; 15, brake disc; 15a, gear pin; 15a1, stop part; 16, jump ring; 17, packing ring; 18, ring flange; 19, bearing.
Detailed description of the invention
Be below specific embodiments of the invention and by reference to the accompanying drawings, technical scheme of the present invention is further described, but the present invention be not limited to these embodiments.
Embodiment one
As shown in figures 1 and 3, a kind of joint of mechanical arm, the motor 2 comprising shell 1 and be integrated in shell 1 and harmonic speed reducer 3, motor 2 is positioned at the middle part of shell 1, harmonic speed reducer 3 is positioned at one end of shell 1, the rotating shaft 4 of motor 2 penetrates in harmonic speed reducer 3, and rotating shaft 4 penetrates between part in harmonic speed reducer 3 and harmonic speed reducer 3 and arranges bearing 19, the rotating shaft 4 of bearing 19 pairs of motors 2 is played a supporting role, the rotating shaft 4 of motor 2 can be used as the input of harmonic speed reducer 3 simultaneously, the inner of output shaft 5 is one-body molded ring flange 18, output shaft 5 and the output of harmonic speed reducer 3 pass through through ring flange 18 and the securing member penetrated in harmonic speed reducer 3 fixes.Output shaft 5 penetrates in the rotating shaft 4 of motor 2 from the output of harmonic speed reducer 3, and the outer end of output shaft 5 passes the outer end of the rotating shaft 4 of motor 2.
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 5, rotating shaft 4 outer end of motor 2 is fixed with motor grating 6, rotating shaft 4 outer end of motor 2 is circumferentially evenly equipped with the raised line 4a of some curved projections, motor grating 6 ringwise, motor grating 6 inner edge circumferentially has the limiting section 6a of some curved protrusions, the raised line 4a of motor 2 rotating shaft 4 outer end snaps between two adjacent limiting section 6a, and motor grating 6 is fixed by securing member with rotating shaft 4 outer end of motor 2.In the present embodiment, be also provided with packing ring 17 at the upper and lower sides of motor grating 6, securing member passes the packing ring 17 on the downside of packing ring 17, motor grating 6 and the motor grating 6 on the upside of motor grating 6 successively and penetrates the outer end of the rotating shaft 4 of motor 2.
As shown in Figure 1, Figure 3 and Figure 4, output shaft 5 outer end passes the outer end of the rotating shaft 4 of motor 2, output shaft 5 outer end is fixed with tubular adapter sleeve 9, the outside of adapter sleeve 9 is arranged with encoder 8, encoder 8 is positioned at the top of motor grating 6, and the downside of encoder 8 has the optoelectronic switch 8a matched with motor grating 6.Have the installation step 10 of annular inside shell 1, installation step 10 projection has some joint pin 10a, and the outer rim of encoder 8 is fixed on the end of each joint pin 10a.
As shown in Figure 4, the outer end of adapter sleeve 9 has the location division 9a protruded ringwise, the outside of location division 9a has the locating surface 9b of annular protrusion, location division 9a is arranged with ringwise output shaft grating 7 and output shaft grating 7 is resisted against on locating surface 9b, the upper and lower sides of output shaft grating 7 is also respectively equipped with packing ring 17, output shaft grating 7 and adapter sleeve 9 by successively through the packing ring 17 on the downside of the packing ring 17 on the upside of output shaft 5, output shaft grating 7, output shaft 5 and the securing member penetrating locating surface 9b fix.
As shown in figures 1 to 6, output shaft grating 7 is positioned at the top of encoder 8, the upside of encoder 8 has the optoelectronic switch 8a matched with output shaft grating 7, hexagonal copper post 12 is connected with corresponding position, joint pin 10a position on the upside of encoder 8, hexagonal copper post 12 is fixed on hexagonal copper post 12 and joint pin 10a through encoder 8 and by encoder 8, be provided with connecting plate 11 above output shaft grating 7, the outer rim of connecting plate 11 is resisted against the end of each hexagonal copper post 12 and is fixed by securing member.
As shown in figures 7 and 9, motor 2 rotating shaft 4 is also fixed with ringwise brake disc 15, interference fit is passed through in brake disc 15 and motor 2 rotating shaft 4, brake disc 15 is positioned at the below of motor grating 6, motor 2 rotating shaft 4 is respectively equipped with cannelure at the upper and lower sides of brake disc 15, be provided with jump ring 16 in cannelure, motor 2 rotating shaft 4 between two jump rings 16 is also socketed with packing ring 17, by the effect of two jump rings 16 and packing ring 17, brake disc 15 is axially fixed in motor 2 rotating shaft 4.
As shown in Figure 7, encoder 8 is fixed with electromagnet 8b, the iron core 8b 1 of electromagnet 8b is positioned at the upper end of electromagnet 8b.The installation step 10 of shell 1 have the locating hole 10b just right with electromagnet 8b, be arranged with brake lever 13 in locating hole 10b to overlap, brake lever 13 is provided with brake lever 13 and spring 14 in overlapping, brake lever 13 is T-shaped, the external diameter of brake lever 13 upper end is greater than the external diameter of iron core 8b1 upper end, and spring 14 is set in the lower end of brake lever 13 and the two ends of spring 14 lean respectively and to overlap and in brake lever 13 in brake lever 13.The edge of brake disc 15 is circumferentially evenly equipped with some gear pin 15a outwards dispersed, and the end of gear pin 15a has stop part 15a1 triangular in shape, and stop part 15a1 can lean with the upper end of brake lever 13.
The joint of this mechanical arm is when action, and motor grating 6 detects motor 2 aircraft gate, and output shaft grating 7 detects and calibrates the position of rest of output shaft 5, and brake disc 15, brake lever 13 and electromagnet 8b together form the brake of motor 2 in the joint of this mechanical arm.Original state, when motor 2 is in non-starting state, iron core 8b1 on electromagnet 8b is in power failure state, now iron core 8b1 is positioned at the upper end of electromagnet 8b, brake lever 13 leans in the bottom of electromagnet 8b under the elastic force effect of spring 14, and the end being fixed on the gear pin 15a on the brake disc 15 in motor 2 rotating shaft 4 then leans with brake lever 13 upper end.
Then, motor 2 is energized and starts, iron core 8b1 on electromagnet 8b obtains and moves downward, and overcome the elastic force effect of spring 14 simultaneously and brake lever 13 is depressed into locating hole 10b place in top downwards, motor 2 in the course of the work, iron core 8b1 be in always electricity condition and keep push up pressure brake lever 13 state.Now, because brake lever 13 is pushed up to locating hole 10b place, therefore brake lever 13 loses the restriction to brake disc 15, and motor 2 rotating shaft 4 is free to rotate.
And when motor 2 is shut down; iron core 8b1 dead electricity on electromagnet 8b and be upwards reset to initial position; lose the top pressure effect of iron core 8b1; brake lever 13 withstands on the bottom of electromagnet 8b again under the elastic force effect of spring 14; now motor 2 rotating shaft 4 is in reduction of speed rotary state; when motor 2 rotating shaft 4 turn on brake disc 15 one of them gear pin 15a and brake lever 13 upper end lean formed brake time, motor 2 rotating shaft 4 just stops operating.Compared to increasing whole brake in prior art, braking with locked wheels is carried out for motor 2 rotating shaft 4, brake disc 15, brake lever 13 and electromagnet 8b is adopted to form the structure of braking in the joint of this mechanical arm, brake disc 15, brake lever 13 and electromagnet 8b are separately fixed on motor 2 rotating shaft 4, shell 1 and encoder 8, not only take full advantage of inner space and the structure of shell 1, reduce the volume of whole shell 1, and compared to braking with locked wheels, the Method compare that brake disc 15 coordinates with brake lever 13 is soft, and the loss caused motor 2 rotating shaft 4 is less.Although motor 2 after a shutdown, motor 2 rotating shaft 4 still can be rotated by reduction of speed, impacts the stop position of output shaft 5, due to the existence of output shaft grating 7, makes output shaft 5 understand the setting position of rest of self-return to output shaft 5 when restarting.
The joint of this mechanical arm is by making hollow form by motor 2 rotating shaft 4, make output shaft 5 through motor 2 rotating shaft 4, thus the connecting length shortened between motor 2 rotating shaft 4 and output shaft 5, respectively motor grating 6 and output shaft grating 7 are fixed on the outer end of motor 2 rotating shaft 4 and output shaft 5 simultaneously, shorten the distance between motor grating 6 and output shaft grating 7, thus motor grating 6 and output shaft grating 7 can be controlled by one and same coding device 8, the inside of shell 1 is made to seem more compact, space availability ratio is higher, thus also just can reduce the volume of shell 1 well.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Claims (10)
1. the joint of a mechanical arm, the motor (2) comprising shell (1) and be integrated in shell (1) and harmonic speed reducer (3), the inner of the rotating shaft (4) of described motor (2) is connected with the input of harmonic speed reducer (3), the output of described harmonic speed reducer (3) is connected with output shaft (5), it is characterized in that, the rotating shaft (4) of described motor (2) is in hollow form, the inner of described output shaft (5) and the output of harmonic speed reducer (3) fix and the outer end of output shaft (5) through the outer end of rotating shaft (4) of motor (2), rotating shaft (4) outer end of described motor (2) is fixed with motor grating (6), described output shaft (5) outer end is fixed with output shaft grating (7), described shell (1) internal fixtion has encoder (8), described output shaft grating (7) and motor grating (6) lay respectively at the upper and lower sides of encoder (8), and the upper and lower sides of encoder (8) is respectively equipped with the optoelectronic switch (8a) coordinated with above-mentioned output shaft grating (7) and motor grating (6).
2. the joint of mechanical arm according to claim 1, it is characterized in that, described motor (2) is positioned at the middle part of shell (1), described harmonic speed reducer (3) is positioned at one end of shell (1), the rotating shaft (4) of described motor (2) is stretched in harmonic speed reducer (3), and rotating shaft (4) is stretched between part in harmonic speed reducer (3) and harmonic speed reducer (3) and is provided with bearing (19), the inner of described output shaft (5) is one-body molded ring flange (18), described output shaft (5) and the output of harmonic speed reducer (3) pass through through ring flange (18) and the securing member penetrated in harmonic speed reducer (3) fixes, described output shaft (5) penetrates the rotating shaft (4) of motor (2) and the outer end of output shaft (5) is stretched out from rotating shaft (4) outer end of motor (2) from the output of harmonic speed reducer (3).
3. the joint of mechanical arm according to claim 2, it is characterized in that, the outer end of described output shaft (5) is fixed with tubular adapter sleeve (9), the outer end of described adapter sleeve (9) has location division (9a) protruding ringwise, the outside of described location division (9a) has the locating surface (9b) of annular protrusion, ringwise, described output shaft grating (7) is enclosed within location division (9a) and goes up and be fixed on locating surface (9b) by securing member described output shaft grating (7).
4. the joint of mechanical arm according to claim 3, it is characterized in that, described shell (1) inner side has the installation step (10) of annular, described installation step (10) projection has some joint pins (10a), described encoder (8) is enclosed within the outside of above-mentioned adapter sleeve (9), and outer rim and each joint pin (10a) of described encoder (8) fix.
5. the joint of mechanical arm according to claim 4, it is characterized in that, described output shaft grating (7) top is provided with connecting plate (11), described encoder (8) upside is connected with hexagonal copper post (12) with joint pin (10a) corresponding position, position, described encoder (8) is fixed between hexagonal copper post (12) and joint pin (10a), and the outer rim of described connecting plate (11) and the end of each hexagonal copper post (12) are leant and fixed by securing member.
6. the joint of the mechanical arm according to claim 1 or 2 or 3 or 4 or 5, it is characterized in that, rotating shaft (4) outer end of described motor (2) is circumferentially evenly equipped with the raised line (4a) of some curved projections, described motor grating (6) ringwise, described motor grating (6) inner edge circumferentially has the limiting section (6a) of some curved protrusions, described raised line (4a) snaps between adjacent two limiting sections (6a), described motor grating (6) is fixed by securing member with rotating shaft (4) outer end of motor (2).
7. the joint of mechanical arm according to claim 3, it is characterized in that, described encoder (8) is fixed with electromagnet (8b), described installation step (10) have the locating hole (10b) just right with electromagnet (8b), brake lever (13) and spring (14) is provided with in described locating hole (10b), described motor (2) rotating shaft (4) is fixed with brake disc (15), the edge of described brake disc (15) is circumferentially evenly equipped with some gear pin (15a) outwards dispersed, brake lever (13) described in when motor (2) is shut down leans in the bottom of electromagnet (8b) and keeps off pin (15a) and can lean with brake lever (13) sidepiece under the elastic force effect of spring (14), and the brake lever (13) described in when motor (2) starts overcomes the elastic force effect of spring (14) and moves down under the effect of electromagnet (8b).
8. the joint of mechanical arm according to claim 7; it is characterized in that; the cross section of described brake lever (13) is T-shaped; described spring (14) is set in the lower end of brake lever (13); the end of the gear pin (15a) of described brake disc (15) has stop part (15a1) triangular in shape, and the sidepiece of the stop part (15a1) described in when motor (2) is shut down can lean with the upper end sidepiece of brake lever (13).
9. the joint of mechanical arm according to claim 7, it is characterized in that, the iron core (8b1) of described electromagnet (8b) is positioned at the upper end of electromagnet (8b), described brake lever (13) upper end external diameter is greater than iron core (8b1) external diameter, and the iron core (8b1) described in when motor (2) starts promotes brake lever (13) downwards.
10. the joint of mechanical arm according to claim 7, it is characterized in that, described brake disc (15) ringwise, described brake disc (15) passes through interference fit with the rotating shaft (4) of motor (2), the rotating shaft (4) of described motor (2) is respectively equipped with cannelure at the upper and lower sides of brake disc (15), is provided with jump ring (16) in described cannelure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410850899.6A CN104476561B (en) | 2014-12-30 | 2014-12-30 | A kind of joint of mechanical arm |
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| CN201410850899.6A CN104476561B (en) | 2014-12-30 | 2014-12-30 | A kind of joint of mechanical arm |
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| CN104476561A true CN104476561A (en) | 2015-04-01 |
| CN104476561B CN104476561B (en) | 2016-08-24 |
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| CN106411040A (en) * | 2016-10-18 | 2017-02-15 | 中国电子科技集团公司第二十研究所 | One-body motor integrating brake |
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| CN108943006A (en) * | 2018-08-22 | 2018-12-07 | 中国地质大学（武汉） | A kind of robot modularized series connection joint |
| CN109253227A (en) * | 2018-11-15 | 2019-01-22 | 杨庆华 | A kind of harmonic speed reducer that can be directly connected to mechanical arm |
| CN109630651A (en) * | 2019-01-25 | 2019-04-16 | 苏州阿清智能科技有限公司 | A kind of harmonic reduction driving mechanism that band is self-locking |
| CN109730891A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | A kind of upper limb ectoskeleton can be hand-off and the shoulder horizontal movement joint structure that limits |
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| CN112659176A (en) * | 2020-12-18 | 2021-04-16 | 江苏集萃智能制造技术研究所有限公司 | Non-biased cooperative robot integrated joint |
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| CN107650142B (en) * | 2017-07-12 | 2024-04-26 | 哈尔滨工大特种机器人有限公司 | Servo driving system applied to mechanical arm joint |
| CN107516968A (en) * | 2017-09-30 | 2017-12-26 | 江苏集萃智能制造技术研究所有限公司 | A kind of and flexible motor braking mechanism of the co-melting robot of people |
| CN108890688A (en) * | 2018-08-17 | 2018-11-27 | 上海节卡机器人科技有限公司 | A kind of cooperation robot integral joint |
| CN108943006A (en) * | 2018-08-22 | 2018-12-07 | 中国地质大学（武汉） | A kind of robot modularized series connection joint |
| CN109253227A (en) * | 2018-11-15 | 2019-01-22 | 杨庆华 | A kind of harmonic speed reducer that can be directly connected to mechanical arm |
| CN109730891A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | A kind of upper limb ectoskeleton can be hand-off and the shoulder horizontal movement joint structure that limits |
| CN109630651B (en) * | 2019-01-25 | 2022-02-11 | 苏州阿清智能科技有限公司 | Harmonic speed reduction driving mechanism with self-locking function |
| CN109630651A (en) * | 2019-01-25 | 2019-04-16 | 苏州阿清智能科技有限公司 | A kind of harmonic reduction driving mechanism that band is self-locking |
| WO2021017002A1 (en) * | 2019-08-01 | 2021-02-04 | 睿信科机器人股份有限公司 | Robot joint and robot |
| US11938627B2 (en) | 2019-08-01 | 2024-03-26 | Siemens Aktiengesellschaft | Robot joint and robot |
| CN110948474A (en) * | 2019-11-01 | 2020-04-03 | 浙江谱麦科技有限公司 | Precision lifting device for industrial SCARA robot |
| CN110948474B (en) * | 2019-11-01 | 2021-02-09 | 诸暨市竟程智能科技有限公司 | Precision lifting device for industrial SCARA robot |
| CN110861120A (en) * | 2019-12-24 | 2020-03-06 | 中国科学院宁波材料技术与工程研究所 | Driving joint based on double-stator frameless torque motor and application thereof |
| CN110861120B (en) * | 2019-12-24 | 2023-08-04 | 中国科学院宁波材料技术与工程研究所 | Driving joint based on double-stator frameless torque motor and application thereof |
| CN112659176A (en) * | 2020-12-18 | 2021-04-16 | 江苏集萃智能制造技术研究所有限公司 | Non-biased cooperative robot integrated joint |
| CN112659176B (en) * | 2020-12-18 | 2023-09-22 | 江苏集萃智能制造技术研究所有限公司 | Non-offset cooperative robot integrated joint |
| CN115609627A (en) * | 2022-10-08 | 2023-01-17 | 深圳市越疆科技有限公司 | Mechanical arm, joint module and coding assembly thereof |
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Address after: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Patentee after: Qixing Intelligent Technology Co., Ltd. Address before: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Patentee before: ZHEJIANG QIXING ELECTRONICS CO., LTD. |