CN104786217A - Variable-freedom-degree modular mechanical arm - Google Patents
Variable-freedom-degree modular mechanical arm Download PDFInfo
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- CN104786217A CN104786217A CN201510181151.6A CN201510181151A CN104786217A CN 104786217 A CN104786217 A CN 104786217A CN 201510181151 A CN201510181151 A CN 201510181151A CN 104786217 A CN104786217 A CN 104786217A
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Abstract
The invention discloses a variable-freedom-degree modular mechanical arm. According to the variable-freedom-degree modular mechanical arm, the modular design idea is introduced into the design of light mechanical arms, and modular mechanical arms with different freedom degrees can be obtained through splicing by means of multiple modular mechanical arm joints. The variable-freedom-degree modular mechanical arm comprises an output flange shaft, a harmonic reducer, a hollow shaft motor, a brake device and a double-weight disc positioning mechanism, wherein the output flange shaft is composed of an output flange and an output shaft, and the output shaft is sleeved with the harmonic reducer, the hollow shaft motor, the brake device and the double-weight disc positioning mechanism. The harmonic reducer is fixed to the output flange and is also fixed to a hollow shaft of the hollow shaft motor. The hollow shaft drives the output flange to rotate after rotating to be decelerated through the harmonic reducer. The brake device is used for conducting emergency brake when an emergency occurs. The double-weight disc positioning mechanism is used for obtaining the speed information of the hollow shaft and the position information of the output shaft. All the components are controlled through a servo driving circuit. The variable-freedom-degree modular mechanical arm has the advantages of being higher in environmental adaptability and high in functional expandability, flexibility and adaptability.
Description
Technical field
The present invention relates to a kind of mechanical arm, specifically, be a kind of can the modular mechanical arm of variable freedom, by multiple independently module monomer and connector composition, there is typical modularization feature.
Background technology
Along with the development of electromechanical integration technology, industrial products are towards intellectuality, systematization, microminiaturized and modular future development.Especially in light-duty mechanical arm field, mechanical arm has height to refine, modularization, lightweight and multiaxis development trend.And for conventional machine mechanical arm, comparatively fixing due to its configuration, between each free degree, version is not identical, do not have replaceability, building form is comparatively single, is subject to the restriction of self structure, determine the unification of its function, environment complicated and changeable and task cannot be adapted to.
Existing conventional machine mechanical arm is that the upper arm of simulation people is formed, in order to ensure that mechanical arm has six spatial degrees of freedom, its active joint number is generally 6, be generally cradle head entirely, and its first three joint concentrates on wrist, the version in each joint is not quite identical, and the advantage of this version is compact conformation, shared spatial volume is little, and relative working space is large.But because its each articulation structure form is all not quite identical, each joint cannot complete any combination and replace, and flexibility is poor.
Summary of the invention
For the problems referred to above, the present invention propose a kind of can the modular mechanical arm of variable freedom, the joint of mechanical arm of one or more modularized design is adopted to splice, form the mechanical arm of any free degree, there is stronger adaptive capacity to environment, there is powerful functional expansionary, flexibility and adaptability.
Can the modular mechanical arm of variable freedom, comprise pedestal, robot linkage and joint of mechanical arm; Pedestal is used for support machine mechanical arm, and realizes setting and the installation of mechanical arm; All be connected by joint of mechanical arm between robot linkage, between robot linkage with pedestal and between robot linkage with end effector.
Described joint of mechanical arm comprises output flange axle, harmonic speed reducer, hollow shaft motor, brake gear and dicode disk-positioning mechanism.Described output flange axle is the integrative-structure that output flange and output shaft two parts are formed; Output flange coaxially connects with output shaft front end.Wherein, on output shaft from front to back successively coaxial sleeve have harmonic speed reducer, hollow shaft motor, brake gear and dicode disk-positioning mechanism; Harmonic speed reducer, hollow shaft motor, brake gear, dicode disk-positioning mechanism are all positioned at shell.
Above-mentioned harmonic speed reducer is fixed on output flange by screw; The quill shaft front end of hollow shaft motor is connected by screw the input at harmonic speed reducer; Hollow shaft motor works, and quill shaft rotates, and after being slowed down, drives output flange to rotate by harmonic speed reducer.The quill shaft rear end that brake gear is arranged on hollow shaft motor is overlapped on the rear end cap that has, and rear end cap and shell are fixed; Brake gear is used for realizing the braking of hollow shaft motor quill shaft.
Described dicode disk-positioning mechanism comprises drive circuit board, speed increment encoder and positional increment encoder.Wherein, speed increment encoder and positional increment encoder are the grating encoder of hollow structure; Speed increment encoder has a position of rest, outputs signal as A, B, Z three-phase differential signal.Speed increment encoder is fixed on end, quill shaft rear end, need ensure that the Z phase position of rest of speed increment encoder and of rotor align; Positional increment encoder is fixed on end, output shaft rear end.Drive circuit board is arranged between speed increment encoder and positional increment encoder, and the copper post passed through is fixedly supported on rear end cap.The front/rear end of drive circuit board is separately installed with speed increment encoder head and positional increment encoder head, be used for the differential signal that real-time reading speed incremental encoder and positional increment encoder produce, and then determine to obtain the velocity information of quill shaft and the positional information of output shaft; Drive circuit board is designed with servo drive circuit, is used for realizing control to hollow shaft motor, brake gear, and speed increment encoder head and positional increment encoder head obtain the process of data.
When connecting, on the adpting flange output flange of a joint of mechanical arm being connected to another joint of mechanical arm or robot linkage end, realizing the connection between robot linkage, being specially:
Outer circumference in output flange face upwards uniform Design by n through hole, n >=2; Through hole is to be bored a hole the one through-hole structure formed with the bar shaped lockhole be connected by lug, and the width of bar shaped lockhole is less than the diameter of nut perforation; The outer circumference of connecting flange faces upwards uniform screw thread is connected with n screw, makes to have the distance being greater than adpting flange thickness between the nut of screw and connecting flange faces; When two joint of mechanical arm connect, n on a connecting flange faces screw is connected respectively the n through hole on flange face, after being passed by lug hole by the nut of screw, through rotary machine shoulder joint, the screw rod of n screw is moved respectively along the bar shaped lockhole of n through hole; Now, n screw is tightened respectively, circular orientation projection and locating piece are inserted in annular positioning groove and locating hole respectively, realizes fixing between two mechanical arms; Equally, when the output flange of joint of mechanical arm is connected with interlinking lever end, interlinking lever end is designed to the version of above-mentioned adpting flange, and then realizes the connection between joint of mechanical arm and connecting rod.
The invention has the advantages that:
1, the present invention can the modular mechanical arm of variable freedom, is incorporated into by modular design method in the design of light-duty mechanical arm, can be spliced into arbitrarily the modular mechanical arm of the different free degree by multiple joint of mechanical arm;
2, the present invention can the modular mechanical arm of variable freedom, and global design adopts hollow structure, and structure is simple, facilitates internal wiring, is convenient to the miscellaneous part such as decelerator integrated;
3, the present invention can the modular mechanical arm of variable freedom, and adopt modular design method, the structure of module is simple, with low cost, requires have stronger adaptability and autgmentability to various complex environment and application;
4, the present invention can the modular mechanical arm of variable freedom, the relative position of speed increment encoder and hollow motor shaft has well-determined relation, encoder is made to have the effect of Hall element, eliminate the Hall element of brshless DC motor, save space, reduce cost, improve service life;
5, the present invention can the modular mechanical arm of variable freedom, unique brake gear design, and principle is simple, ensure that the security of integrated machine mechanical arm;
6, the present invention can the modular mechanical arm of variable freedom, and overall construction design is compact, the shell of all aluminium alloy, and quality and volume are all smaller;
7, in modular mechanical shoulder joint of the present invention, between two joint of mechanical arm, and between joint of mechanical arm with robot linkage, adopt the inner scheme be connected, connected rear all tie points and be all arranged on inside, do not affected the attractive in appearance of overall appearance;
8, in modular mechanical shoulder joint of the present invention, between two joint of mechanical arm, and adopt screw array locking structure between joint of mechanical arm and robot linkage, multiple screw is distributed on circumferentially whole, the uniform force of each screw, has very high strength and stiffness after having connected; Mechanical arm overall structure is made to have good stability and reliability.
Accompanying drawing explanation
Fig. 1 is mechanical arm of the present invention (four-degree-of-freedom) structural representation;
Fig. 2 is joint of mechanical arm structural representation in mechanical arm of the present invention;
Fig. 3 is output flange axle construction schematic diagram in joint of mechanical arm;
Fig. 4 is joint of mechanical arm hollow mandrel electric machine structure schematic diagram;
Fig. 5 is brake device structure schematic diagram in joint of mechanical arm;
Fig. 6 is three crest pads in brake gear, brake catch, location snap ring three mounting means schematic diagram;
Fig. 7 is dicode disk-positioning mechanism structural scheme of mechanism in joint of mechanical arm;
Fig. 8 is servo drive circuit structured flowchart in joint of mechanical arm;
Fig. 9 is the four-degree-of-freedom mechanical arm schematic diagram utilizing joint of mechanical arm to be spliced into;
Figure 10 is the five degree-of-freedom manipulator schematic diagram utilizing joint of mechanical arm to be spliced into;
Figure 11 is the sixdegree-of-freedom simulation schematic diagram utilizing joint of mechanical arm to be spliced into;
Figure 12 is the seven freedom mechanical arm schematic diagram utilizing joint of mechanical arm to be spliced into;
Figure 13 is the output flange plane connection structure schematic diagram of joint of mechanical arm;
Figure 14 is the adpting flange plane connection structure schematic diagram of joint of mechanical arm;
Figure 15 is connected mode schematic diagram between two joint of mechanical arm.
In figure:
1-pedestal 2-robot linkage 3-joint of mechanical arm
301-output flange axle 302-harmonic speed reducer 303-hollow shaft motor
304-brake gear 305-dicode disk-positioning mechanism 306-shell
307-adpting flange 308-servo drive circuit 309-through hole
310-annular positioning groove 311-locating hole 312-screw
313-circular orientation protruding 314-locating piece 301a-output flange
301b-output shaft 303a-motor stator 303b-rotor
303c-quill shaft 303d-drive end bearing bracket 303e-rear end cap
304a-electromagnet 304b-brake catch 304c-locates snap ring
304d-tri-crest pad 304e-shielding plate 305a-drive circuit board
305b-speed increment encoder 305c-positional increment encoder 305d-encoder mount pad
305e-copper post 305f-speed increment encoder head 305g-positional increment encoder head
308a-main control module 308b-signal conversion module 308c-brake control module
308d-motor drive module 308e-power module 308f-temperature sensor
308g-Hall current sensor 308h-input voltage measurement module 309a-nut is bored a hole
309b-bar shaped lockhole
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The present invention can the modular mechanical arm of variable freedom, comprises pedestal 1, robot linkage 2 and joint of mechanical arm 3; Pedestal is used for support machine mechanical arm, and realizes setting and the installation of mechanical arm; Between robot linkage 2, between robot linkage 2 with pedestal 1 and robot linkage 2 be all connected by joint of mechanical arm with between end effector, as shown in Figure 1.
Described joint of mechanical arm 3 comprises output flange axle 301, harmonic speed reducer 302, hollow shaft motor 303, brake gear 304, dicode disk-positioning mechanism 305 and shell 306, as shown in Figure 2.
Described output flange axle 301 is the integrative-structure that output flange 301a and output shaft 301b two parts are formed, and as shown in Figure 3, output flange 301a coaxially connects with output shaft 301b front end.Wherein, on output shaft 301b from front to back successively coaxial sleeve have harmonic speed reducer 302, hollow shaft motor 303, brake gear 304 and dicode disk-positioning mechanism 305.Above-mentioned harmonic speed reducer 302, hollow shaft motor 303, brake gear 304, dicode disk-positioning mechanism 305 are all positioned at the shell 306 of all aluminium alloy, are protected by shell 306.For the ease of replacing and the maintenance of brake gear 304 and dicode disk-positioning mechanism 305, shell 306 is designed to the structure with bonnet.Shell 306 is also designed with adpting flange 307, by adpting flange 307 and above-mentioned output flange 301a, realizes the connection between multiple joint of mechanical arm 3, and the connection between joint of mechanical arm 3 and robot linkage 2.Above-mentioned harmonic speed reducer 302 is fixed on output flange 301a by screw.
Hollow shaft motor 303 is quill shaft brshless DC motor, as shown in Figure 4, has motor stator 303a, rotor 303b and quill shaft 303c, as shown in Figure 2.Hollow shaft motor 303 is coordinated by hot jacket to be fixed with shell 306, the shaft shoulder location of motor stator 303a rear and front end by shell 306 inwall circumference designs.Quill shaft 303c front end is connected by screw the input at harmonic speed reducer 302, realizes the axial location of hollow shaft motor 303.On the rear and front end of quill shaft 303c, cover has drive end bearing bracket 303d and rear end cap 303e respectively; As shown in Figure 1, drive end bearing bracket 303d, fixed by screw between harmonic speed reducer 302 and shell 306 three; Rear end cap 303e is directly by fixing between screw and shell 306; And make drive end bearing bracket 303d and rear end cap 303e have certain interval respectively and between motor stator 303a rear and front end, for motor stator 303a provides a fininsh allowance.Simultaneously drive end bearing bracket 303d is connected with quill shaft 303c front-end and back-end respectively by deep groove ball bearing with rear end cap 303e on, and guarantee quill shaft 303c can the rotation of steady and smooth.Between drive end bearing bracket 303d and quill shaft 303c, also oil sealing is installed simultaneously, prevents the fluid in harmonic speed reducer 302 from entering into other parts.By said structure, hollow shaft motor 303 works, and quill shaft 303c rotates, and after being slowed down, drives output flange 301a to rotate by harmonic speed reducer 302.
Described brake gear 304 is installed on rear end cap 303e, comprises electromagnet 304a, brake catch 304b, location snap ring 304c and three crest pad 304d, as shown in Figure 5.Wherein, electromagnet 304a is arranged on rear end cap 303e outer rim place by L-type support, and location snap ring 304c and three crest pad 304d is 2, and brake catch 304b is 1, adopts decussate texture circumference with four spacing levers.2 three crest pad 304d and brake catch 304b are enclosed within quill shaft 303c according to locating the snap ring 304c-tri-crest pad 304d-order that catch 304b-tri-crest pad 304d-locates snap ring 304c of braking, as shown in Figure 6, and being also provided with shielding plate 304e near between the three crest pad 304d and location snap ring 304c of quill shaft 303c axle head, the structure of 2 locator card interannulars is blocked.Wherein, 2 location snap ring 304c are fixed in groove that quill shaft 303c circumference designs, and are braked between catch 304b three by 2 three crest pad 304d and 1 and be fixed.Can ensureing at joint of mechanical arm 3 when not powering on or emergency situations occurs by brake gear 304 thus, can promptly brake mechanically thus the device ensured personal safety.During normal work, electromagnet 304a powers on adhesive, and brake catch 304b can rotate freely; When break down power down time, electromagnet 304a discharges, after contacting to the spacing lever of brake catch 304b with electromagnet 304a bar portion, by electromagnet 304a bar, portion stops, and then the catch 304b that will brake is locked, makes it freely not rotate, thus make quill shaft 303c stall, reach the object of brake.Brake gear 304 is to ensureing that the safety of joint of mechanical arm 3 plays very important effect.
Described dicode disk-positioning mechanism 305 comprises drive circuit board 305a, speed increment encoder 305b and positional increment encoder 305c, as shown in Figure 7.Wherein, speed increment encoder 305b and positional increment encoder 305c is the grating encoder of hollow structure.Speed increment encoder 305b has a position of rest, outputs signal as A, B, Z three-phase differential signal, the hollow space circumference of speed increment encoder 305b has the different fan groove of three central angles, coordinate after locating respectively with three the fan-shaped keys designed circumferential on quill shaft 303c, end, quill shaft 303c rear end is coaxially fixed on by screw, speed increment encoder 305b and quill shaft 303c is made to have well-determined position relationship, and after speed increment encoder 305b installs, need ensure that the Z phase position of rest of speed increment encoder 305b and of rotor 303b align, now, rotor 303b is the zero-bit of speed increment encoder 305b relative to the position of motor stator 303a.Thus, medium velocity incremental encoder 305b of the present invention can replace Hall element, when determining the initial position of rotor 303b relative to motor stator 303a, speed increment encoder 305b electrification reset, the differential signal of continuous reading speed incremental encoder 305b, carry out switch operation when speed increment encoder 305b often rotates 120 °, thus realize and replace the commutation effect of Hall element.Positional increment encoder 305c is by four non-uniform installing holes of the upper design of circumference, by screw, positional increment encoder 305c is fixed on encoder mount pad 305d, positional increment encoder 305c and encoder mount pad 305d can be made to have well-determined position relationship.The installing hole of encoder mount pad 305d by self circumference is offered, end, output shaft 301b rear end is fixed on by screw, make positional increment encoder 305c and output flange axle 301 coaxial positioning, and can ensure that positional increment encoder 305c and output shaft 301b has unique position relationship.By the differential signal that load position incremental encoder 305c exports, determine the anglec of rotation of output flange axle 301 relative to initial position, and then determine the overall attitude of mechanical arm of application machine shoulder joint 3.Drive circuit board 305a is arranged between speed increment encoder 305b and positional increment encoder 305c, and outer circumference is upwards fixedly supported on rear end cap 303e by uniform copper post 305e.The front/rear end of drive circuit board 305a is separately installed with speed increment encoder head 305f and positional increment encoder head 305g, the differential signal that difference real-time reading speed incremental encoder 305b and positional increment encoder 305c produces.Drive circuit board 305a is also designed with servo drive circuit 308.
Described servo drive circuit 308 comprises main control module 308a, signal conversion module 308b, brake control module 308c, motor drive module 308d and power module 308e, as shown in Figure 8, sets up communication between modules by CAN physical connection.
Wherein, signal conversion module 308b is one piece of AM26LV32 chip, is used for the differential signal that inbound pacing incremental encoder read head 305b and positional increment encoder head 305g reads, and the monophasic pulses being converted to 3.3V level respectively transfers to main control module 308a.Brake control module 308c is one piece of DRV104 chip, is used for controlling electromagnet 304a high pressure adhesive in brake gear 304, and low pressure keeps, to reduce the caloric value of electromagnet 304a.Main control module 308a, is used for realizing: 1, process the monophasic pulses received, obtain the velocity information of quill shaft 303c and the positional information of output shaft 301b as main control chip by the processor STM32F303RCT6 of one piece of ARM framework; 2, to the DRV104 chip sending controling instruction of brake control module 308c, the control to electromagnet 304a in brake gear 304 is realized; 3, send hollow shaft motor 303 control instruction, realize controlling the carrying out of hollow shaft motor 303 by motor drive module 308d.Described power module 308e has LM5576 chip, LM2674 chip and AMS1117 chip, is used for 48V input voltage to change into the voltage of 12V, 5V, 3.3V respectively; Wherein 12V voltage supply motor drive module 308d; 5V voltage feed speed incremental encoder read head 305f and positional increment encoder head 305g; The main control chip of 3.3V voltage supply main control module 308a.Above-mentioned motor drive module 308d adopts conventional H-bridge drive circuit, by the control of SVPWM algorithm realization to hollow shaft motor 303.What in the present invention, motor drive module 308d adopted is SUM90N10 model metal-oxide-semiconductor, and 100V is withstand voltage, has the conveyance capacity of 90A, conducting resistance 6.7m Ω; Metal-oxide-semiconductor drives the driver of to be IR2181S, IR2181S be high voltage, high-speed power enhancement mode fet MOSFET and the insulated gate bipolar transistor IGBT selected, with independently high low-side reference output channel.The main control chip of main control module 308a also realizes by debugging interface programming main control chip being carried out to program; Connected the AccessPort interface of main control chip by RS232 interface, realize the AccessPort to joint of mechanical arm 3.Above-mentioned drive circuit board 305a is also designed with temperature sensor 308f, Hall current sensor 308g and input voltage measurement module 308h; Wherein, temperature sensor 308f adopts LM60 model, detects the temperature signal of joint of mechanical arm 3 of the present invention in real time, is sent to main control chip, is converted into temperature information by main control chip.Hall current sensor 308g adopts ACS712 model, detects the electric current that in hollow shaft motor 303, three-phase windings passes through in real time, is sent to main control chip, is converted into current information by main control chip.Input voltage measurement module 308h is used for detecting whether input voltage exists mistake.
In mechanical arm of the present invention, each joint of mechanical arm 3 can realize the motion of mechanical arm one degree of freedom, therefore in mechanical arm, can be connected in mechanical arm by one or more joint of mechanical arm 3 between two robot linkage 2, and according to the loading condition of position mechanical arm, the nominal torque of each joint of mechanical arm 3 of specific design, forms the mechanical arm of any free degree.When connecting, the output flange 301a of a joint of mechanical arm 3 can be connected on the adpting flange 307 (or robot linkage 2 end) of another joint of mechanical arm 3, connect into the mechanical arm of the different free degree according to actual needs).In the present invention, for the ease of connecting, the adpting flange 307 in design joint of mechanical arm 3 and output flange 301a axes normal.
Mechanical arm as shown in Figure 9, has 4 joint of mechanical arm and 2 connecting rods, makes it be respectively 1 ~ No. 4 joint of mechanical arm and No. 1 connecting rod; Then be connected with pedestal by the output flange of No. 1 joint of mechanical arm, adpting flange is connected with the output flange of No. 2 joint of mechanical arm; The adpting flange of No. 2 joint of mechanical arm is connected with No. 1 connecting rod one end; No. 1 connecting rod other end is connected with No. 3 joint of mechanical arm adpting flanges, and No. 3 joint of mechanical arm output flanges are connected with No. 4 joint of mechanical arm adpting flanges; The output flange of No. 4 mechanical arms is used for connecting robot arm end effector, thus forms four-degree-of-freedom mechanical arm.
Mechanical arm as shown in Figure 10, has 5 joint of mechanical arm and 2 robot linkage; It is made to be respectively 1 ~ No. 5 joint of mechanical arm and 1 ~ No. 2 robot linkage; Then be connected with pedestal by the output flange of No. 1 joint of mechanical arm, adpting flange is connected with the output flange of No. 2 joint of mechanical arm; The adpting flange of No. 2 joint of mechanical arm is connected with No. 1 robot linkage one end; No. 1 connecting rod other end is connected with No. 3 joint of mechanical arm adpting flanges, and No. 3 joint of mechanical arm output flanges are connected with No. 2 robot linkage one end, and No. 2 robot linkage other ends are connected with No. 4 joint of mechanical arm adpting flanges; The output flange of No. 4 joint of mechanical arm is connected with the adpting flange of No. 5 joint of mechanical arm, No. 5 joint of mechanical arm be used for connect robot arm end effector, thus, thus formed five degree-of-freedom manipulator.
As shown in figure 11, on the basis of above-mentioned five degree-of-freedom manipulator, increase No. 6 joint of mechanical arm, the output flange of the adpting flange of No. 6 joint of mechanical arm with No. 5 joint of mechanical arm is connected, No. 6 joint of mechanical arm be used for connect robot arm end effector, thus formed sixdegree-of-freedom simulation.
As shown in figure 12, on the basis of above-mentioned sixdegree-of-freedom simulation, between No. 3 joint of mechanical arm and No. 2 robot linkage, increase No. 7 joint of mechanical arm, the output flange of the adpting flange of No. 7 joint of mechanical arm with No. 3 joint of mechanical arm is connected; Output flange is connected with No. 2 robot linkage ends, thus forms seven freedom mechanical arm.
When applying, two joint of mechanical arm connected modes also affect the reliability of whole mechanical arm, stability, precision and security to a certain extent, therefore in the present invention, output flange face in joint of mechanical arm 3 and connecting flange faces are adopted the inner thought be connected, by between connection hide in inside modules, do not affect the aesthetic property of overall appearance.Adopt screw array locking structure, ensure to connect between joint of mechanical arm that there is enough rigidity, strength and stability, realize the connection between two joint of mechanical arm, be specially:
Outer circumference in output flange face upwards uniform Design by n through hole 309, n >=2; Through hole 309 is the one through-hole structure be made up of with the bar shaped lockhole 309b be connected lug perforation 309a; And the width of bar shaped lockhole 309b is less than the diameter of nut perforation 309a; On output flange face, also have annular positioning groove 310 and locating hole 311, as shown in figure 13 simultaneously.The outer circumference of connecting flange faces upwards uniform screw thread is connected with n screw 312, makes to have the distance being greater than adpting flange 307 thickness between the nut of screw 312 and connecting flange faces; On connecting flange faces, also design circular orientation protruding 313 and locating piece 314 simultaneously, as shown in figure 14, in said structure, when output flange face and the connecting flange faces of two joint of mechanical arm 3 are coaxial, annular positioning groove 310 is corresponding with protruding 313 positions of circular orientation.When two joint of mechanical arm 3 connect, n on a connecting flange faces screw 312 is connected respectively n through hole 309 on flange face, after the nut of screw 312 is passed by lug perforation 309a, through rotary machine shoulder joint 3, the screw rod of n screw 312 is moved along the bar shaped lockhole 309b of n through hole respectively, when the screw rod of screw 312 moves to bar shaped lockhole 309b end, locating hole 311 is corresponding with locating piece 314 position; Now, n screw 312 is tightened, make circular orientation protruding 313 and locating piece 314 insert annular positioning groove 310 respectively with in locating hole 311, realize fixing between two joint of mechanical arm 3.Equally, when the output flange 301a of joint of mechanical arm 3 is connected with robot linkage 2 end, robot linkage 2 end can be designed to the version of above-mentioned adpting flange 307, and then realizes the connection between joint of mechanical arm 3 and robot linkage 2.
Claims (3)
1. can the modular mechanical arm of variable freedom, comprise pedestal, robot linkage and joint of mechanical arm; Pedestal is used for support machine mechanical arm, and realizes setting and the installation of mechanical arm; All be connected by joint of mechanical arm between robot linkage, between robot linkage with pedestal and between robot linkage with end effector; It is characterized in that: described joint of mechanical arm comprises output flange axle, harmonic speed reducer, hollow shaft motor, brake gear and dicode disk-positioning mechanism;
Described output flange axle is the integrative-structure that output flange and output shaft two parts are formed; Output flange coaxially connects with output shaft front end; Wherein, on output shaft from front to back successively coaxial sleeve have harmonic speed reducer, hollow shaft motor, brake gear and dicode disk-positioning mechanism; Harmonic speed reducer, hollow shaft motor, brake gear, dicode disk-positioning mechanism are all positioned at shell;
Above-mentioned harmonic speed reducer is fixed on output flange by screw; The quill shaft front end of hollow shaft motor is connected by screw the input at harmonic speed reducer; Hollow shaft motor works, and quill shaft rotates, and after being slowed down, drives output flange to rotate by harmonic speed reducer; The quill shaft rear end that brake gear is arranged on hollow shaft motor is overlapped on the rear end cap that has, and rear end cap and shell are fixed; Brake gear is used for realizing the braking of hollow shaft motor quill shaft;
Described dicode disk-positioning mechanism comprises drive circuit board, speed increment encoder and positional increment encoder; Wherein, speed increment encoder and positional increment encoder are the grating encoder of hollow structure; Speed increment encoder has a position of rest, outputs signal as A, B, Z three-phase differential signal; Speed increment encoder is fixed on end, quill shaft rear end, need ensure that the Z phase position of rest of speed increment encoder and of rotor align; Positional increment encoder is fixed on end, output shaft rear end; Drive circuit board is arranged between speed increment encoder and positional increment encoder, and the copper post passed through is fixedly supported on rear end cap; The front/rear end of drive circuit board is separately installed with speed increment encoder head and positional increment encoder head, be used for the differential signal that real-time reading speed incremental encoder and positional increment encoder produce, and then determine to obtain the velocity information of quill shaft and the positional information of output shaft; Drive circuit board is designed with servo drive circuit, is used for realizing control to hollow shaft motor, brake gear, and speed increment encoder head and positional increment encoder head obtain the process of data;
When connecting, on the adpting flange output flange of a joint of mechanical arm being connected to another joint of mechanical arm or robot linkage end, realizing the connection between robot linkage, being specially:
Outer circumference in output flange face upwards uniform Design by n through hole, n >=2; Through hole is to be bored a hole the one through-hole structure formed with the bar shaped lockhole be connected by lug, and the width of bar shaped lockhole is less than the diameter of nut perforation; The outer circumference of connecting flange faces upwards uniform screw thread is connected with n screw, makes to have the distance being greater than adpting flange thickness between the nut of screw and connecting flange faces; When two joint of mechanical arm connect, n on a connecting flange faces screw is connected respectively the n through hole on flange face, after being passed by lug hole by the nut of screw, through rotary machine shoulder joint, the screw rod of n screw is moved respectively along the bar shaped lockhole of n through hole; Now, n screw is tightened respectively, circular orientation projection and locating piece are inserted in annular positioning groove and locating hole respectively, realizes fixing between two mechanical arms; Equally, when the output flange of joint of mechanical arm is connected with interlinking lever end, interlinking lever end is designed to the version of above-mentioned adpting flange, and then realizes the connection between joint of mechanical arm and connecting rod.
2. a kind of as claimed in claim 1 can the modular mechanical arm of variable freedom, it is characterized in that: described output flange face also has annular positioning groove and locating hole; Connecting flange faces also designs circular orientation projection and locating piece; When the output flange face of two joint of mechanical arm is coaxial with connecting flange faces, annular positioning groove is corresponding with circular orientation raised position; When the screw rod of screw moves to Bar lock bore end, locating hole is corresponding with locating piece position.
3. a kind of as claimed in claim 1 can the modular mechanical arm of variable freedom, it is characterized in that: the adpting flange in described joint of mechanical arm and output flange axes normal.
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| CN201510181151.6A CN104786217B (en) | 2014-12-18 | 2015-04-16 | Variable-freedom-degree modular mechanical arm |
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| CN2014107957080 | 2014-12-18 | ||
| CN201410795708 | 2014-12-18 | ||
| CN201510181151.6A CN104786217B (en) | 2014-12-18 | 2015-04-16 | Variable-freedom-degree modular mechanical arm |
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| CN104786217B CN104786217B (en) | 2017-01-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104842366A (en) * | 2015-05-11 | 2015-08-19 | 仙渡工程科技(上海)有限公司 | Universal multi-joint all-purpose robot |
| CN106737624A (en) * | 2017-01-20 | 2017-05-31 | 远东服装（苏州）有限公司 | A kind of mechanical arm material catching apparatus |
| CN107351075A (en) * | 2017-07-28 | 2017-11-17 | 华南理工大学 | A kind of lightweight modules mechanical arm of restructural |
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| CN106737624A (en) * | 2017-01-20 | 2017-05-31 | 远东服装（苏州）有限公司 | A kind of mechanical arm material catching apparatus |
| CN107351075A (en) * | 2017-07-28 | 2017-11-17 | 华南理工大学 | A kind of lightweight modules mechanical arm of restructural |
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| CN108598750A (en) * | 2018-06-07 | 2018-09-28 | 浙江琦星电子有限公司 | Power supply between joint of mechanical arm and signal transmission form |
| CN108922364A (en) * | 2018-07-25 | 2018-11-30 | 温州大学 | The instructional device of industrial robot |
| CN109745087A (en) * | 2018-12-18 | 2019-05-14 | 北京航空航天大学 | A kind of laparoscope robot architecture and working method |
| CN109702732A (en) * | 2019-01-22 | 2019-05-03 | 福建（泉州）哈工大工程技术研究院 | A kind of seven freedom cooperation robot |
| CN109702733A (en) * | 2019-01-22 | 2019-05-03 | 福建（泉州）哈工大工程技术研究院 | A kind of movable type seven freedom smart collaboration robot |
| CN109998880A (en) * | 2019-05-10 | 2019-07-12 | 陈刚 | A kind of man-machine interactive manipulator massage device of view-based access control model and pressure sensor |
| CN110497442A (en) * | 2019-09-07 | 2019-11-26 | 遨博（江苏）机器人有限公司 | Mechanical arm, cooperation robot and the two working method of high load large arm exhibition |
| CN110733030A (en) * | 2019-11-06 | 2020-01-31 | 哈尔滨莫迪科技有限责任公司 | modularized mechanical arm capable of being rapidly assembled and disassembled |
| CN110733030B (en) * | 2019-11-06 | 2021-04-20 | 哈尔滨莫迪科技有限责任公司 | Modularization mechanical arm capable of being rapidly assembled and disassembled |
| CN111152262A (en) * | 2020-01-07 | 2020-05-15 | 北京可以科技有限公司 | Mechanical arm device |
| CN111216111A (en) * | 2020-01-07 | 2020-06-02 | 北京可以科技有限公司 | Module unit and modular robot |
| CN111216111B (en) * | 2020-01-07 | 2023-02-10 | 北京可以科技有限公司 | Module unit and modular robot |
| CN111098319A (en) * | 2020-01-19 | 2020-05-05 | 路邦科技授权有限公司 | Industrial grade arm allies oneself with control system more |
| WO2021237844A1 (en) * | 2020-05-27 | 2021-12-02 | 广州市精谷智能科技有限公司 | Device for connecting joints of multi-axis robot |
| WO2022101030A1 (en) * | 2020-11-13 | 2022-05-19 | Kuka Deutschland Gmbh | Robot arm and method for assembling a robot arm |
| CN115890644A (en) * | 2023-01-17 | 2023-04-04 | 北京理工大学 | Desktop-level six-degree-of-freedom mechanical arm structure |
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Denomination of invention: Variable-freedom-degree modular mechanical arm Effective date of registration: 20180628 Granted publication date: 20170118 Pledgee: Beijing Jingxi Xinrong Cci Capital Ltd. Pledgor: AUBO (BEIJING) ROBOTICS TECHNOLOGY Co.,Ltd. Registration number: 2018990000503 |
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