CN104647396B - Can be used for the modular space joint of mechanical arm of quick reconfiguration and mechanical arm - Google Patents
Can be used for the modular space joint of mechanical arm of quick reconfiguration and mechanical arm Download PDFInfo
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- CN104647396B CN104647396B CN201510071810.0A CN201510071810A CN104647396B CN 104647396 B CN104647396 B CN 104647396B CN 201510071810 A CN201510071810 A CN 201510071810A CN 104647396 B CN104647396 B CN 104647396B
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Abstract
A kind of modular space joint of mechanical arm that can be used for quick reconfiguration and mechanical arm, this joint includes: have the column main casing of body portion, shoulder and cervical region, it is arranged on the harmonic speed reducer on main casing cervical region top, it is sheathed on the upper shell outside harmonic speed reducer, it is arranged at the fixed axis gear transmission system in main casing cervical region, it is fixed on the motor in main casing body portion, brakes and electrical system, and is arranged at base plate center and extends upward through the spool of whole main casing and upper shell；Described shoulder constitutes the fixed part in this joint, and shoulder arranges multiple first connecting hole；Described upper shell constitutes the outfan in this joint, and its upper end is connected with harmonic speed reducer outfan and arranges multiple second connecting hole；Fixed axis gear transmission system connects harmonic speed reducer input by its first gear, is connected motor and brakes by second and third gear.This mechanism's arm includes above-mentioned joint.This joint has the advantages such as compact conformation, central canal cabling, modular reconfigurable.
Description
Technical field
The present invention relates to space manipulator, more particularly, it relates to a kind of modular space joint of mechanical arm that can be used for quick reconfiguration, and adopt the mechanical arm in this joint.
Background technology
Space manipulator Reconfiguration Technologies is fast-developing in recent years, and is a development trend of space manipulator.Space manipulator is a part for Space Robot System, is the main execution terminal of Space Robot System task, and the quality of its performance directly affects service behaviour and the result of whole system, is therefore one of the important component part of Space Robot System.Space manipulator joint is integrated with multiple fields such as light, mechanical, electrical, is a complicated frame for movement with critical function, is the core component of space manipulator.Development along with domestic and international robot for space technology, particularly China is about to carry out the mission requirements in the fields such as space station construction, will using substantial amounts of space manipulator to perform space tasks, the restructural of mechanical arm and modularity can reduce the cost of space manipulator and the Mission Capability of room for promotion mechanical arm.
Summary of the invention
It is an object of the invention to provide a kind of modular space joint of mechanical arm that can be used for quick reconfiguration.
The concrete technical scheme of the present invention is as follows:
A kind of modular space joint of mechanical arm that can be used for quick reconfiguration, comprising:
Main casing, in column, including the installing plate between body portion, shoulder, cervical region and body portion and cervical region, shoulder constitutes the fixed part in this joint, and shoulder arranges multiple first connecting hole, and the bottom of main casing arranges base plate；
It is arranged on the harmonic speed reducer on main casing cervical region top；
Being sheathed on the upper shell outside harmonic speed reducer, upper shell constitutes the outfan in this joint, and its upper end is fixing with the outfan of harmonic speed reducer to be connected and arranges multiple second connecting hole；
Fixed axis gear transmission system, is arranged in the cervical region of main casing, including: it is fixedly connected on the first gear of harmonic speed reducer input, and the second gear engaged with the first gear and the 3rd gear；
Motor and brakes, the two is fixed in the body portion of main casing by described installing plate, and its rotating shaft correspondence connects described second gear and the 3rd gear；
Electrical system, is installed in the body portion of main casing, is electrically connected with described motor and brakes；And
One spool, is arranged at described base plate center and extends upward through whole main casing and upper shell.
In the above-mentioned modular space joint of mechanical arm that can be used for quick reconfiguration, preferably, described brakes includes electricity loss brake and incremental encoder, electricity loss brake includes shell, be arranged at two bearings of center, shell two ends, the rotating shaft that is supported on said two bearing and the friction blade being fixed in rotating shaft, and described incremental encoder is fixed on the shell end of electricity loss brake and is connected with the rotating shaft of electricity loss brake.
In the above-mentioned modular space joint of mechanical arm that can be used for quick reconfiguration, preferably, described electrical system is made up of driver and joint mainboard, joint mainboard is inserted on a drive by slot, joint mainboard includes panel and communication board, and communication board is arranged on the side of panel by some spacers.
In the above-mentioned modular space joint of mechanical arm that can be used for quick reconfiguration, it is preferable that described motor, brakes and electrical system three are circumferentially distributed around described spool in main casing.
In the above-mentioned modular space joint of mechanical arm that can be used for quick reconfiguration, preferably, the upper center of described upper shell arranges hole, harmonic speed reducer location, the week edge in hole, location first upwardly extends and extends inwardly to form a boss again, the installing hole of the centrally disposed described spool of boss, upper shell upper end arranges multiple harmonic speed reducer installing hole, multiple harmonic speed reducer installing holes of upper shell upper end are corresponding with multiple second connecting holes be distributed in upper shell upper end center be the center of circle the first circumference and the second circumference on.
In the above-mentioned modular space joint of mechanical arm that can be used for quick reconfiguration, it is preferable that the diameter of described second gear and the 3rd gear is respectively less than the diameter of the first gear.
In the above-mentioned modular space joint of mechanical arm that can be used for quick reconfiguration, it is preferable that the main part of described main casing and upper shell is all cylindrical.
In the above-mentioned modular space joint of mechanical arm that can be used for quick reconfiguration, it is preferable that described spool runs through described first gear and harmonic speed reducer.
Present invention also offers a kind of mechanical arm, it is overall in plane 3R shape, this plane 3R shape mechanical arm includes the pedestal, first connecting rod and the second connecting rod that are sequentially arranged, and it is correspondingly arranged at three joints of pedestal and the joint portion of first connecting rod, the joint portion of the first and second connecting rods, second connecting rod end, three described joints all adopt the joint described in above-mentioned any one, and joint is fixed by two parts that the first connecting hole thereon and the second connecting hole are corresponding with to be connected and is connected.
Present invention also offers a kind of mechanical arm, its entirety is spherical in shape, this ball-type mechanical arm includes pedestal and three joints, three described joints all adopt the joint described in above-mentioned any one, first joint is fixed, with pedestal, the pedestal being connected and passing through the second connecting hole and the first flange by the first connecting hole thereon and is fixed connection, second joint is connected by the first connecting hole thereon and the second connecting hole correspondence are fixing with the pedestal of the disk body of the first flange and the second flange, and the 3rd joint connects by the disk body of the first connecting hole thereon and the second flange is fixing.
Space mechanism shoulder joint of the present invention has the advantages such as compact conformation, central canal cabling, modular reconfigurable.Medium position and joint outfan (i.e. upper shell) position in joint have been provided which that the connecting hole (i.e. the first connecting hole and the second connecting hole) of circumference facilitates connecting rod or flange etc. matched, by can obtain the mechanical arm of various configuration with the assembling of difform connecting rod.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention can be used for some embodiments of the modular space joint of mechanical arm of quick reconfiguration；
Fig. 2 is its internal structure schematic diagram；
Fig. 3 is the structural representation of its fixed axis gear transmission system；
Fig. 4 is the structural representation of its interior layout and electrical system；
Fig. 5 is the structural representation of its upper shell；
Fig. 6 is the structural representation of its main casing；
Fig. 7 is the structural representation of its base plate；
Fig. 8 is its motor, brakes, layout between resonance decelerator and electrical system and connection diagram；
Fig. 9 is the structural representation of its brakes；
Figure 10 is the structural representation of its electricity loss brake；
Figure 11 is the structural representation of a kind of plane 3R shape mechanical arm；
Figure 12 is the structural representation of a kind of ball-type mechanical arm.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.These more detailed descriptions are intended to help and understand the present invention, and should not be taken to be limiting the present invention.According to present disclosure, it will be understood by those skilled in the art that can not needing some or all these specific detail can implement the present invention.And in other cases, in order to avoid innovation and creation being desalinated, widely-known technique is not described in detail.
Refer to Fig. 1-10, originally can be used for the modular space joint of mechanical arm of quick reconfiguration and include: main casing 1, harmonic speed reducer 2, upper shell 3, fixed axis gear transmission system 4, motor 5, brakes 6, electrical system 7, spool 8.
Main casing 1 is overall cylindrical.Main casing 1 includes the installing plate 13 between body portion 11, shoulder 12, cervical region 14 and body portion 11 and cervical region 14.Shoulder 12 constitutes the fixed part in this joint, and shoulder 12 arranges multiple first connecting hole 121, is used for connecting the parts such as connecting rod, pedestal structure mechanical arm.The bottom of main casing 1 arranges base plate 9.Installing plate 13 center is provided with conduit mounting holes 131, is additionally provided with shaft hole 132 and the installing hole 133 of motor 5, the shaft hole 134 of brakes 6 and installing hole 135 in addition on installing plate 13.
Recess 141 is set at the inner edge place on main casing 1 cervical region 14 top, and multiple installing hole 142 is set at this recess 141.Harmonic speed reducer 2 is arranged on cervical region 14 top of main casing 1, realizes the location of the two being coordinated with the plurality of installing hole 142 by screw by described recess 141 and the two locking is integrated.
Upper shell 3 is overall cylindrical.Upper shell 3 is sheathed on outside harmonic speed reducer 2, and upper end is connected by multiple screw rods 31 are fixing with the outfan of harmonic speed reducer 2, and upper shell 3 constitutes the outfan in this joint.The upper end of upper shell 3 also sets up multiple second connecting hole 32, is used for and connecting rod connecting structure mechanical arm.Arranging hole 33, harmonic speed reducer location in the upper center of upper shell 3 further, the week edge in hole 33, location first upwardly extends and extends inwardly to form a boss 34 again, the installing hole 35 of the centrally disposed described spool 8 of boss 34.Upper shell 3 upper end arranges the multiple harmonic speed reducer installing holes 36 coordinated with the plurality of screw rod 31.Multiple harmonic speed reducer installing holes 36 of upper shell 3 upper end are distributed on the first circumference that upper shell 3 upper end center is the center of circle, and multiple second connecting holes 32 of upper shell 3 upper end are distributed on the second circumference that upper shell 3 upper end center is the center of circle.
Fixed axis gear transmission system 4 is arranged in the cervical region 14 of main casing 1.This fixed axis gear transmission system 4 includes: be fixedly connected on the first gear 41 of harmonic speed reducer 2 input and the second gear 42 and the 3rd gear 43 engaged with the first gear 41.First gear 41, as the output gear of fixed axis gear transmission system 4, is arranged at center.The diameter of the second gear 42 and the 3rd gear 4 is respectively less than the diameter of the first gear 41.In Fig. 3,411 is the fixing hole on the first gear 41.
Motor 5 adopts brshless DC motor, and it is arranged in the body portion 11 of main casing 1, is realized fixing by the motor installing hole 133 on installing plate 13, and the rotating shaft of motor 5 is fixing with the second gear 42 through the machine shaft hole 132 on installing plate 13 to be connected.
Brakes 6 is arranged in the body portion 11 of main casing 1, is realized fixing by the brakes installing hole 135 on described installing plate 13, and the rotating shaft of brakes 6 is connected through the brakes shaft hole 134 on installing plate 13 is fixing with the 3rd gear 43.Brakes 6 includes electricity loss brake 61 and incremental encoder 62.Electricity loss brake 61 includes shell 611, be arranged at two deep groove ball bearings 612 of center, shell 611 two ends, the rotating shaft 613 that is supported on said two deep groove ball bearing 612 and the friction blade 614 being fixed in rotating shaft 613.Incremental encoder 62 is fixed on housing 611 end of electricity loss brake 61 and is connected with the rotating shaft 613 of electricity loss brake 61.
Electrical system 7 is installed in the body portion 11 of main casing 1, is electrically connected with motor 5 and brakes 6.More specifically, electrical system 7 is made up of driver 71 and joint mainboard 72, and joint mainboard 72 is inserted in driver 71 by slot.Joint mainboard 72 includes panel 721 and communication board 722, and communication board 722 is arranged on the side of panel 721 by some spacers 723.
Spool 8 is arranged at described base plate 9 center and extends upward through whole main casing 1 and upper shell 3.Spool 8 also extends through described first gear 41 and harmonic speed reducer 2.Power line and holding wire can pass through spool 8 cabling.
Being provided with communicating hole 91 and power hole 92 on base plate 9, communication connection and mains connection correspondence in electrical system 7 are embedded in communicating hole 91 and power hole 92.
Above-mentioned motor 5, brakes 6 and electrical system 7 three are circumferentially distributed around described spool 8 in the body portion 11 of main casing 1.
Above-mentioned main casing 1 constitutes the fixing end in joint, and upper shell 3 constitutes the clutch end in joint, and the shoulder 12 of main casing 1 is positioned at the stage casing in whole joint.This joint realizes two parts (such as: connecting rod and connecting rod, base and connecting rod when being used for constructing space parts arm, Deng) between connection, specifically it is connected fixing with the first connecting hole 121 of main casing 1 shoulder 12 in joint for parts, and is connected fixing with the second connecting hole 32 of upper shell 3 end in joint for another parts.
Figure 11 illustrates with a kind of plane 3R shape mechanical arm of above-mentioned ball and socket structure.With reference to Figure 11, this plane 3R shape mechanical arm includes the pedestal 100, first connecting rod 200 and the second connecting rod 300 that are sequentially arranged, and is correspondingly arranged at pedestal 100 and the joint portion of first connecting rod 200, the joint portion of the first and second connecting rods and the first joint 400 of second connecting rod 300 end, second joint 500 and the 3rd joint 600.Three described joints all adopt the joint of above-described embodiment, and joint is fixed by two parts that the first connecting hole thereon and the second connecting hole are corresponding with to be connected and is connected.More specifically, pedestal 100 is cylindrically, the fixing end (the body portion of main casing) in the first joint 400 is placed in pedestal 100 and by the first connecting hole of the first joint shoulder by the two fixing connection, and the clutch end (upper shell) in the first joint 400 is connected by the second connecting hole and first connecting rod 200 left end are fixing；First connecting hole of second joint 500 and the second connecting hole correspondence are fixing with the left end of the right-hand member of first connecting rod 200 and second connecting rod 300 to be connected；First connecting hole in the 3rd joint 600 is fixing with the right-hand member of second connecting rod 300 to be connected.
Figure 12 illustrates with a kind of ball-type mechanical arm of above-mentioned ball and socket structure.With reference to Figure 12, this ball-type mechanical arm includes pedestal the 100, first joint 400, second joint 500 and the 3rd joint 600.Three described joints all adopt the joint of above-described embodiment, and joint is fixed by two parts that the first connecting hole thereon and the second connecting hole are corresponding with to be connected and is connected.More specifically, pedestal 100 is cylindrically, the fixing end (the body portion of main casing) in the first joint 400 is placed in pedestal 100 and by the first connecting hole of the first joint shoulder by the two fixing connection, and the clutch end (upper shell) in the first joint 400 connects by the pedestal of its second connecting hole and the first flange 200 ' is fixing；Second joint 500 is connected by the first connecting hole thereon and the second connecting hole correspondence are fixing with the pedestal of the disk body of the first flange 200 ' and the second flange 300 '；3rd joint 600 connects by the disk body of the first connecting hole thereon and the second flange 300 ' is fixing.
Claims (9)
1. the modular space joint of mechanical arm that can be used for quick reconfiguration, it is characterised in that including:
Main casing (1), this main casing is a single part, in column, it is made up of body portion (11), shoulder (12), installing plate (13) between cervical region (14) and body portion and cervical region, shoulder constitutes the fixed part in this joint, shoulder arranges a plurality of first connecting hole (121), described installing plate is one piece of transverse slat, the inner edge place on described cervical region (14) top arranges recess (141), and arranges a plurality of installing hole (142) at this recess (141)；The bottom of main casing arranges base plate (9)；
Harmonic speed reducer (2), it is arranged on cervical region (14) top of main casing (1), is positioned by the described recess (141) on this cervical region (14) top and coordinate the cervical region locking by harmonic speed reducer with main casing to be integrated by screw with described a plurality of installing holes (142) of this recess (141)；
Upper shell (3), cylindrical, it is sheathed on described harmonic speed reducer (2) outward, upper shell upper end is connected by a plurality of screw rods (31) are fixing with the outfan of harmonic speed reducer (2), upper shell (3) upper center arranges harmonic speed reducer hole, location (33), the week edge in this hole, location (33) first upwardly extends and extends inwardly to form a boss (34) again, the installing hole (35) of boss (34) centrally disposed spool (8), upper shell constitutes the outfan in this joint, its upper end also sets up a plurality of second connecting hole (32) and is used for and connecting rod connecting structure mechanical arm；
Fixed axis gear transmission system (4), it is arranged in the cervical region of main casing, including: the first gear (41), and the second gear (42) engaged with the first gear and the 3rd gear (43), the first gear (41) is fixedly mounted on the input of described harmonic speed reducer；
Motor (5) and brakes (6), the two is fixed in the body portion of main casing by described installing plate (13), and its rotating shaft correspondence connects described second gear and the 3rd gear；
Electrical system (7), is installed in the body portion of main casing, is electrically connected with described motor and brakes；And
One spool (8), is arranged at described base plate center and extends upward through whole main casing and upper shell.
2. the modular space joint of mechanical arm that can be used for quick reconfiguration according to claim 1, it is characterized in that: described brakes (6) includes electricity loss brake (61) and incremental encoder (62), electricity loss brake includes shell (611), be arranged at two bearings (612) of center, shell two ends, the rotating shaft (613) that is supported on said two bearing and the friction blade (614) being fixed in rotating shaft, and described incremental encoder is fixed on the shell end of electricity loss brake and is connected with the rotating shaft of electricity loss brake.
3. the modular space joint of mechanical arm that can be used for quick reconfiguration according to claim 1, it is characterized in that: described electrical system (7) is made up of driver (71) and joint mainboard (72), joint mainboard is inserted on a drive by slot, joint mainboard includes panel (721) and communication board (722), and communication board is arranged on the side of panel by some spacers (723).
4. the modular space joint of mechanical arm that can be used for quick reconfiguration according to claim 1, it is characterised in that: described motor, brakes and electrical system three are circumferentially distributed around described spool in main casing.
5. the modular space joint of mechanical arm that can be used for quick reconfiguration according to claim 1, it is characterized in that: upper shell upper end arranges a plurality of harmonic speed reducer installing hole (36), a plurality of harmonic speed reducer installing holes (36) of upper shell upper end and a plurality of second connecting hole (32) correspondence be distributed in upper shell upper end center be the center of circle the first circumference and the second circumference on.
6. the modular space joint of mechanical arm that can be used for quick reconfiguration according to claim 1, it is characterised in that: the diameter of described second gear and the 3rd gear is respectively less than the diameter of the first gear.
7. the modular space joint of mechanical arm that can be used for quick reconfiguration according to claim 1, it is characterised in that: described spool runs through described first gear and harmonic speed reducer.
8. a mechanical arm, in plane 3R shape, it is characterized in that: this plane 3R shape mechanical arm includes the pedestal (100), first connecting rod (200) and the second connecting rod (300) that are sequentially arranged, and it is correspondingly arranged at three joints (400,500,600) of pedestal and the joint portion of first connecting rod, the joint portion of the first and second connecting rods, second connecting rod end, three described joints all adopt the joint in claim 1 to 7 described in any one, and joint is fixed by two parts that the first connecting hole thereon and the second connecting hole are corresponding with to be connected and is connected.
9. a mechanical arm, spherical in shape, it is characterized in that: this ball-type mechanical arm includes pedestal (100) and three joints (400, 500, 600), three described joints all adopt the joint in claim 1 to 7 described in any one, first joint (400) is connected by the first connecting hole thereon and pedestal (100) are fixing, and connect by the pedestal of the second connecting hole and the first flange (200 ') is fixing, second joint (500) is connected by the first connecting hole thereon and the second connecting hole correspondence are fixing with the pedestal of the disk body of the first flange (200 ') and the second flange (300 '), 3rd joint (600) connects by the disk body of the first connecting hole thereon and the second flange (300 ') is fixing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510071810.0A CN104647396B (en) | 2015-02-11 | 2015-02-11 | Can be used for the modular space joint of mechanical arm of quick reconfiguration and mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510071810.0A CN104647396B (en) | 2015-02-11 | 2015-02-11 | Can be used for the modular space joint of mechanical arm of quick reconfiguration and mechanical arm |
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| CN104647396A CN104647396A (en) | 2015-05-27 |
| CN104647396B true CN104647396B (en) | 2016-07-20 |
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| 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 |
| CN105751237B (en) * | 2016-03-30 | 2019-04-19 | 广东工业大学 | A kind of brake apparatus for the joint of robot with gear drive |
| CN105818161A (en) * | 2016-03-30 | 2016-08-03 | 广东工业大学 | Internal-wiring robot revolute joint module |
| CN106363619B (en) * | 2016-11-14 | 2018-08-31 | 昆山艾派科技有限公司 | Plane articulation robot architecture |
| JP6374471B2 (en) * | 2016-11-28 | 2018-08-15 | ファナック株式会社 | Bond structure |
| CN106737825B (en) * | 2016-12-30 | 2019-02-12 | 哈尔滨工业大学 | A kind of shock resistance flexible joint suitable for mechanical arm |
| CN107635729A (en) * | 2017-07-11 | 2018-01-26 | 深圳市艾唯尔科技有限公司 | A kind of attachment structure and method in robot movable joint |
| CN107486868B (en) * | 2017-09-11 | 2023-06-20 | 清华大学深圳研究生院 | Joint connection device of mechanical arm based on locking disc |
| CN108161947A (en) * | 2018-01-02 | 2018-06-15 | 长泰县宏盛机械制造有限公司 | Bracket attachment mount |
| CN108406843B (en) * | 2018-05-29 | 2021-01-26 | 安徽工程大学 | Mechanical joint's connection structure |
| CN112171707B (en) * | 2020-10-10 | 2022-03-04 | 安徽工业大学 | Quick automatic interface device of end-of-arm actuating mechanism |
| CN112248020B (en) * | 2020-10-10 | 2022-03-29 | 安徽工业大学 | Quick automatic interface device of end execution device of mechanical arm |
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| WO2007037131A1 (en) * | 2005-09-27 | 2007-04-05 | Kabushiki Kaisha Yaskawa Denki | Multi-joint manipulator |
| CN100563949C (en) * | 2007-08-29 | 2009-12-02 | 哈尔滨工业大学 | Modularized joint of space manipulator |
| CN100544902C (en) * | 2007-08-29 | 2009-09-30 | 哈尔滨工业大学 | Spacing mechanical arm perpendicular style modularization joint |
| CN102218739B (en) * | 2011-05-23 | 2013-08-07 | 哈尔滨工业大学 | Mechanical arm modularized joint with force position perceiving function |
| CN102626930B (en) * | 2012-04-28 | 2014-06-04 | 哈尔滨工业大学 | Mechanical arm modular joint with power-off brake and multiple perceptive functions |
| CN103481293A (en) * | 2013-10-14 | 2014-01-01 | 哈尔滨工业大学 | Arm modularized joint of service robot |
| CN204585242U (en) * | 2015-02-11 | 2015-08-26 | 清华大学深圳研究生院 | Can be used for modular space joint of mechanical arm and the mechanical arm of quick reconfiguration |
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Address after: 518055 Guangdong city of Shenzhen province Nanshan District Xili of Tsinghua Patentee after: Shenzhen International Graduate School of Tsinghua University Address before: 518055 Guangdong city of Shenzhen province Nanshan District Xili of Tsinghua Patentee before: GRADUATE SCHOOL AT SHENZHEN, TSINGHUA University |