CN104786217B - Variable-freedom-degree modular mechanical arm - Google Patents
Variable-freedom-degree modular mechanical arm Download PDFInfo
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- CN104786217B CN104786217B CN201510181151.6A CN201510181151A CN104786217B CN 104786217 B CN104786217 B CN 104786217B CN 201510181151 A CN201510181151 A CN 201510181151A CN 104786217 B CN104786217 B CN 104786217B
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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 variable freedom modular mechanical arm, by multiple
Independent module monomer and connector composition, there is typical modularity feature.
Background technology
With the development of electromechanical integration technology, industrial products are towards intellectuality, systematization, miniaturization and modular side
To development.Especially in light-duty mechanical arm field, mechanical arm have height refine, the development of modularity, lightweight and many axiation becomes
Gesture.And for traditional mechanical arm, more fixing due to its configuration, between each degree of freedom, version is different from,
Not interchangeable, building form is more single, is limited by self structure, determine the unification of its function it is impossible to
Adapt to environment complicated and changeable and task.
Existing traditional mechanical arm is that the upper arm of simulation people is constituted, free in order to ensure that mechanical arm has six spaces
Degree, its active joint number is generally 6, is generally all cradle head, and its first three joint concentrates on wrist, often
The version in individual joint is all less identical, and the advantage of this version is compact conformation, and shared spatial volume is little, relatively work
Make space big.But because its each articulation structure form is all less identical, each joint cannot complete combination in any and replacement,
Motility is poor.
Content of the invention
For the problems referred to above, the present invention propose a kind of can variable freedom modular mechanical arm, using one or more moulds
The joint of mechanical arm of massing design is spliced, and forms the mechanical arm of any degree of freedom, has higher adaptive capacity to environment, tool
There are powerful functional expansionary, motility and adaptability.
A kind of can variable freedom modular mechanical arm, including pedestal, robot linkage and joint of mechanical arm；Pedestal is used for
Supporting machinery arm, and realize setting and the installation of mechanical arm；Between robot linkage, between robot linkage and pedestal and machinery
All it is attached by joint of mechanical arm between arm link and end effector.
It is fixed that described joint of mechanical arm includes output flange axle, harmonic speed reducer, hollow shaft motor, brake gear and dicode disk
Position mechanism.Described output flange axle is the integrative-structure that output flange and output shaft two parts are constituted；Output flange and output shaft
Front end coaxially connects.Wherein, output shaft is sequentially coaxially cased with harmonic speed reducer, hollow shaft motor, brake gear from front to back
With dicode disk-positioning mechanism；Harmonic speed reducer, hollow shaft motor, brake gear, dicode disk-positioning mechanism are respectively positioned on inside the shell.
Above-mentioned harmonic speed reducer is fixed on output flange by screw；Screw is passed through in the quill shaft front end of hollow shaft motor
It is connected to the input of harmonic speed reducer；Hollow shaft motor works, and quill shaft rotates, and after being slowed down by harmonic speed reducer, drives
Output flange rotates.Brake gear is arranged on the rear end cap that the hollow shaft rear end of hollow shaft motor is cased with, rear end cap and shell
Fixing；Brake gear is used for realizing the braking of hollow shaft motor quill shaft.
Described dicode disk-positioning mechanism includes 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 one
Stop position, output signal is a, b, z three-phase differential signal.Speed increment encoder is fixed on hollow shaft rear end end, needs to ensure
The z phase stop position of speed increment encoder aligns with the one of rotor；Positional increment encoder is fixed on output shaft rear end
End.Drive circuit board is arranged between speed increment encoder and positional increment encoder, and the copper post passed through is fixedly supported on
On rear end cap.Speed increment encoder head is separately installed with the front/rear end of drive circuit board read with positional increment encoder
Head, the differential signal producing with positional increment encoder for real-time reading speed incremental encoder, and then determination obtains hollow
The velocity information of axle and the positional information of output shaft；Servo drive circuit is designed with drive circuit board, for realizing to hollow
Spindle motor, the control of brake gear, and speed increment encoder head obtain the place of data with positional increment encoder head
Reason.
Connect when, by the output flange of a joint of mechanical arm be connected to another joint of mechanical arm adpting flange or
On robot linkage end, realize the connection between robot linkage, particularly as follows:
Outer circumference in output flange face upwards uniform Design by n through hole, n >=2；Through hole be by lug perforation with
The one through-hole structure that the bar shaped lockhole being connected is constituted, the width of bar shaped lockhole is less than the diameter of nut perforation；Adpting flange
Uniform screw thread is connected with n screw to the outer circumference in face upwards, makes to have more than connection method between the nut of screw and connecting flange faces
The distance of blue thickness；When two joint of mechanical arm connect, n screw on connecting flange faces is connected respectively flange face
On n through hole, after the nut of screw is passed through by lug hole, through rotate joint of mechanical arm, make n screw screw rod distinguish
Bar shaped lockhole along n through hole moves；Now, n screw is tightened respectively, so that circular orientation projection and locating piece is inserted respectively
Annular positioning groove and positioning in the hole, realize the fixation between two mechanical arms；Equally, in output flange and the connecting rod of joint of mechanical arm
When end is connected, interlinking lever end is designed as the version of above-mentioned adpting flange, and then realizes between joint of mechanical arm and connecting rod
Connection.
It is an advantage of the current invention that:
1st, the present invention can variable freedom modular mechanical arm, modular design method is incorporated into setting of light-duty mechanical arm
The modular mechanical arm of different degree of freedom in meter, can be arbitrarily spliced into by multiple joint of mechanical arm；
2nd, the present invention can variable freedom modular mechanical arm, global design adopts hollow structure, and structure is simple, convenient in
Portion connects up, and is easy to integrated with miscellaneous parts such as decelerators；
3rd, the present invention can variable freedom modular mechanical arm, using modular design method, the structure of module is simple, becomes
This is cheap, has stronger adaptability and autgmentability to various complex environments and application requirement；
4th, the present invention can variable freedom modular mechanical arm, the relative position of speed increment encoder and hollow motor shaft
There is well-determined relation so that encoder has the effect of Hall element, the Hall eliminating brshless DC motor passes
Sensor, save space, minimizing cost, raising service life；
5th, the present invention can variable freedom modular mechanical arm, unique brake gear design, principle simple it is ensured that whole
The safety of body mechanical arm；
6th, the present invention can variable freedom modular mechanical arm, overall construction design is compact, the shell of all aluminium alloy, quality
All smaller with volume；
7th, in modular mechanical shoulder joint of the present invention, between two joint of mechanical arm, and joint of mechanical arm is with mechanical arm even
Using the internal scheme connecting between bar, after the completion of connection, all of junction point is all arranged on inside, does not affect U.S. of overall appearance
See；
8th, in modular mechanical shoulder joint of the present invention, between two joint of mechanical arm, and joint of mechanical arm is with mechanical arm even
Screw array locking structure is adopted, multiple screws are distributed in whole circumference, the uniform force of each screw, and connection completes between bar
There are very high strength and stiffness afterwards；Mechanical arm overall structure is made to have preferable stability and reliability.
Brief description
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, positioning snap ring three's 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 being spliced into using joint of mechanical arm；
Figure 10 is the five degree-of-freedom manipulator schematic diagram being spliced into using joint of mechanical arm；
Figure 11 is the sixdegree-of-freedom simulation schematic diagram being spliced into using joint of mechanical arm；
Figure 12 is the seven freedom mechanical arm schematic diagram being spliced into using joint of mechanical arm；
Figure 13 is the output flange plane connection structure schematic diagram of joint of mechanical arm；
Figure 14 is the connecting flange faces attachment 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- location hole 312- screw
313- circular orientation projection 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- electric magnet 304b- brake catch 304c- positioning snap ring
304d- tri- crest pad 304e- shielding plate 305a- drive circuit board
305b- speed increment encoder 305c- positional increment encoder 305d- encoder mounting seat
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
Specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The present invention can variable freedom modular mechanical arm, including pedestal 1, robot linkage 2 and joint of mechanical arm 3；Base
Seat is used for supporting machinery arm, and realizes setting and the installation of mechanical arm；Between robot linkage 2, robot linkage 2 and pedestal 1
Between and robot linkage 2 and end effector between be all attached by joint of mechanical arm, as shown in Figure 1.
Described joint of mechanical arm 3 includes output flange axle 301, harmonic speed reducer 302, hollow shaft motor 303, brake gear
304th, 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 constituted, such as Fig. 3
Shown, output flange 301a is coaxially connected with output shaft 301b front end.Wherein, output shaft 301b sequentially coaxially covers from front to back
There are harmonic speed reducer 302, hollow shaft motor 303, brake gear 304 and dicode disk-positioning mechanism 305.Above-mentioned harmonic speed reducer
302nd, hollow shaft motor 303, brake gear 304, dicode disk-positioning mechanism 305 are respectively positioned in the shell 306 of all aluminium alloy, pass through
Shell 306 is protected.Replacing for the ease of brake gear 304 and dicode disk-positioning mechanism 305 and maintenance, by shell 306
It is designed as the structure with bonnet.Adpting flange 307 is also devised with shell 306, by adpting flange 307 and above-mentioned output method
Blue 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, having motor stator 303a, rotor
303b and quill shaft 303c, as shown in Figure 2.Hollow shaft motor 303 is fixing by hot jacket cooperation and shell 306, motor stator
The shaft shoulder positioning of design in shell 306 inwall circumference is passed through in 303a rear and front end.Quill shaft 303c front end is connected by screw
The input of harmonic speed reducer 302, realizes the axially position of hollow shaft motor 303.On the rear and front end of quill shaft 303c respectively
It is cased with drive end bearing bracket 303d and rear end cap 303e；As shown in figure 1, between drive end bearing bracket 303d, harmonic speed reducer 302 and shell 306 three
Fixed by screw；Rear end cap 303e directly passes through fixing between screw and shell 306；And make drive end bearing bracket 303d and rear end cap 303e
And between motor stator 303a rear and front end, there is certain interval respectively, provide a fininsh allowance for motor stator 303a.Simultaneously
Drive end bearing bracket 303d is connected with quill shaft 303c front-end and back-end by deep groove ball bearing respectively with rear end cap 303e it is ensured that hollow
Axle 303c is capable of the rotation of steady and smooth.It is also equipped with oil sealing between drive end bearing bracket 303d and quill shaft 303c simultaneously, prevent harmonic wave
Fluid in decelerator 302 enters in other parts.By said structure, hollow shaft motor 303 works, and quill shaft 303c turns
Dynamic, after harmonic speed reducer 302 slows down, drive output flange 301a to rotate.
Described brake gear 304 is installed on rear end cap 303e, including electric magnet 304a, brake catch 304b, locator card
Ring 304c and three crest pad 304d, as shown in Figure 5.Wherein, electric magnet 304a is arranged on outside rear end cap 303e by l type support
At edge, positioning snap ring 304c and three crest pad 304d is 2, and catch 304b is for 1 for brake, using having four in circumference
The decussate texture of spacing lever.2 three crest pad 304d and brake catch 304b are according to positioning snap ring 304c- tri- crest pad
The order that piece 304d- brake catch 304b- tri- crest pad 304d- positions snap ring 304c is enclosed within quill shaft 303c, as Fig. 6 institute
Show, and be additionally provided with shielding plate 304e between the three crest pad 304d and positioning snap ring 304c near quill shaft 303c axle head,
The structure of 2 locator card interannulars is blocked.Wherein, 2 positioning snap ring 304c are fixed on design in quill shaft 303c circumference
Groove in, and will 2 three crest pad 304d and 1 brake catch 304b three between be fixed.From there through brake dress
Put 304 can ensure joint of mechanical arm 3 do not go up electricity or occur emergency situations when, can promptly mechanically brake from
And the device ensuring personal safety.During normal work, electric adhesive on electric magnet 304a, brake catch 304b can rotate freely；
When break down power down when, electric magnet 304a discharge, to brake catch 304b spacing lever contact with electric magnet 304a bar portion
Afterwards, stopped by electric magnet 304a bar portion, so the catch 304b that will brake locked so as to can not be freely rotatable so that quill shaft
303c stall, reaches the purpose of brake.Brake gear 304 plays critically important effect to the safety ensureing joint of mechanical arm 3.
Described dicode disk-positioning mechanism 305 includes 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 hollow structure
Grating encoder.Speed increment encoder 305b has a stop position, and output signal is a, b, z three-phase differential signal；Speed
Degree incremental encoder 305b hollow space circumference on there are three different fan grooves of central angle, respectively with quill shaft 303c on
After three fan-shaped key cooperation positioning of circumference design, quill shaft 303c rear end end is coaxially fixed on by screw, so that speed is increased
Amount encoder 305b and quill shaft 303c has well-determined position relationship, and installs in speed increment encoder 305b
Afterwards, need to ensure that the z phase stop position of speed increment encoder 305b aligns with the one of rotor 303b, now, rotor
The position with respect to motor stator 303a for the 303b is the zero-bit of speed increment encoder 305b.Thus, medium velocity increment of the present invention
Encoder 305b can replace Hall element, when determining the initial position that rotor 303b is with respect to motor stator 303a
When, speed increment encoder 305b electrification reset, the differential signal of continuous reading speed incremental encoder 305b, work as speed increment
Encoder 305b often rotates and carries out switch operation when 120 °, thus realizing and replace the commutation effect of Hall element.Position increases
Amount encoder 305c passes through four non-uniform installing holes of design in circumference, is fixed on positional increment encoder 305c by screw
In encoder mounting seat 305d, positional increment encoder 305c and encoder mounting seat 305d can be made to have well-determined position
Relation.Encoder mounting seat 305d passes through the installing hole opening up in itself circumference, is fixed on output shaft 301b rear end end by screw
Portion, makes positional increment encoder 305c and output flange axle 301 coaxially position, and can ensure positional increment encoder 305c and defeated
Shaft 301b has unique position relationship.By the differential signal of reading position incremental encoder 305c output, to determine defeated
Go out the anglec of rotation that flange shaft 301 is with respect to initial position, and then determine the overall appearance of the mechanical arm of application joint of mechanical arm 3
State.Drive circuit board 305a is arranged between speed increment encoder 305b and positional increment encoder 305c, and outer circumference is upwards
It is fixedly supported on rear end cap 303e by uniform copper post 305e.It is separately installed with the front/rear end of drive circuit board 305a
Speed increment encoder head 305f and positional increment encoder head 305g, real-time reading speed incremental encoder 305b respectively
The differential signal producing with positional increment encoder 305c.Servo drive circuit 308 is also devised with drive circuit board 305a.
Described servo drive circuit 308 includes main control module 308a, signal conversion module 308b, brake control module
308c, motor drive module 308d and power module 308e, build as shown in figure 8, passing through can bus physical between modules and connecting
Vertical communication.
Wherein, signal conversion module 308b is one piece of am26lv32 chip, for receiving speed increment encoder head
The differential signal that 305b and positional increment encoder head 305g reads, and it is respectively converted into the monophasic pulses transmission of 3.3v level
To main control module 308a.Brake control module 308c is one piece of drv104 chip, for controlling electric magnet in brake gear 304
304a high pressure adhesive, low pressure keeps, to reduce the caloric value of electric magnet 304a.Main control module 308a is by one piece of arm framework
Device stm32f303rct6 is as main control chip, for realizing: 1, the monophasic pulses receiving are processed, obtain hollow for reason
The velocity information of axle 303c and the positional information of output shaft 301b；2nd, send control to the drv104 chip of brake control module 308c
System instruction, realizes the control to electric magnet 304a in brake gear 304；3rd, send hollow shaft motor 303 control instruction, by electricity
Machine drive module 308d realizes being controlled to hollow shaft motor 303.Described power module 308e have lm5576 chip,
Lm2674 chip and ams1117 chip, are respectively intended to 48v input voltage changes into the voltage of 12v, 5v, 3.3v；Wherein 12v
Voltage supplies motor drive module 308d；5v voltage feed speed incremental encoder read head 305f and positional increment encoder head
305g；3.3v voltage supplies the main control chip of main control module 308a.Above-mentioned motor drive module 308d is driven using conventional h bridge
Circuit, realizes the control to hollow shaft motor 303 by svpwm algorithm.In the present invention, motor drive module 308d uses
Sum90n10 model mos is managed, and 100v is pressure, has the conveyance capacity of 90a, conducting resistance 6.7m ω；Mos pipe drive select be
Ir2181s, ir2181s are high voltage, high-speed power enhancement mode fet mosfet and insulated gate bipolar transistor
The driver of igbt, with independent high low-side reference output channel.The main control chip of main control module 308a connects also by debugging
The existing programming that main control chip is entered with line program of cause for gossip；Connect the AccessPort interface of main control chip by rs232 interface, it is right to realize
The AccessPort of joint of mechanical arm 3.Temperature sensor 308f, Hall current sensing are also devised with above-mentioned drive circuit board 305a
Device 308g and input voltage measurement module 308h；Wherein, temperature sensor 308f adopts lm60 model, real-time detection machine of the present invention
The temperature signal of tool shoulder joint 3, sends to main control chip, is converted into temperature information by main control chip.Hall current sensor
308g adopts acs712 model, the electric current that in real-time detection hollow shaft motor 303, three-phase windings pass through, and sends to main control chip,
Current information is converted into by main control chip.Input voltage measurement module 308h is used for input voltage is detected with the presence or absence of mistake
By mistake.
In mechanical arm of the present invention, each joint of mechanical arm 3 can achieve the motion of mechanical arm one degree of freedom, therefore in machine
In tool arm, can will be attached by one or more joint of mechanical arm 3 between two robot linkage 2 in mechanical arm,
And the loading condition according to position mechanical arm, the nominal torque of each joint of mechanical arm 3 of specific design, constitute arbitrarily free
The mechanical arm of degree.When connecting, the output flange 301a of a joint of mechanical arm 3 can be connected to another joint of mechanical arm 3
Adpting flange 307 (or robot linkage 2 end) on, connect into the mechanical arm of different degree of freedom according to actual needs).At this
In invention, for the ease of connecting, the adpting flange 307 in design joint of mechanical arm 3 is vertical with output flange 301a axis.
Mechanical arm as shown in Figure 9, has 4 joint of mechanical arm and 2 connecting rods, makes it be respectively 1～No. 4 mechanical arm and closes
Section and No. 1 connecting rod；Then the output flange of No. 1 joint of mechanical arm is connected with pedestal, adpting flange is defeated with No. 2 joint of mechanical arm
Go out flange to be connected；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 and No. 3 mechanical arms
Joint adpting flange is connected, and No. 3 joint of mechanical arm output flanges are connected with No. 4 joint of mechanical arm adpting flanges；No. 4 mechanical arms
Output flange is used for connecting robot arm end effector, thus forming 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 the output flange of No. 1 joint of mechanical arm is connected with pedestal, adpting flange with
The output flange of No. 2 joint of mechanical arm is connected；The adpting flange of No. 2 joint of mechanical arm is connected with No. 1 robot linkage one end；1
Number connecting rod other end is connected with No. 3 joint of mechanical arm adpting flanges, No. 3 joint of mechanical arm output flanges and No. 2 robot linkage
One end is connected, and No. 2 robot linkage other ends are connected with No. 4 joint of mechanical arm adpting flanges；The output method of No. 4 joint of mechanical arm
Orchid be connected with the adpting flange of No. 5 joint of mechanical arm, No. 5 joint of mechanical arm for connecting robot arm end effector, thus,
Thus forming five degree-of-freedom manipulator.
As shown in figure 11, on the basis of above-mentioned five degree-of-freedom manipulator, No. 6 joint of mechanical arm are increased, by No. 6 mechanical arms
The adpting flange in joint is connected with the output flange of No. 5 joint of mechanical arm, No. 6 joint of mechanical arm for connecting mechanical arm tail end
Executor, thus form sixdegree-of-freedom simulation.
As shown in figure 12, on the basis of above-mentioned sixdegree-of-freedom simulation, connect in No. 3 joint of mechanical arm and No. 2 mechanical arms
Increase No. 7 joint of mechanical arm between bar, the adpting flange of No. 7 joint of mechanical arm is connected with the output flange of No. 3 joint of mechanical arm；
Output flange is connected with No. 2 robot linkage ends, thus forming seven freedom mechanical arm.
In use, two joint of mechanical arm connected modes also affect the reliability of whole mechanical arm to a certain extent
Property, stability, precision and safety, therefore in the present invention, output flange face in joint of mechanical arm 3 is adopted with connecting flange faces
The internal thought connecting, by between connection hide in inside modules, do not affect the overall aesthetic property of outward appearance.Using screw array
Locking structure has enough rigidity, strength and stability it is ensured that connecting between joint of mechanical arm, realizes between two joint of mechanical arm
Connection, particularly as follows:
Outer circumference in output flange face upwards uniform Design by n through hole 309, n >=2；Through hole 309 is by lug
The one through-hole structure that perforation 309a is constituted with the bar shaped lockhole 309b being connected；And the width of bar shaped lockhole 309b is less than nut
The diameter of perforation 309a；Annular positioning groove 310 and location hole 311 are also had on output flange face simultaneously, as shown in figure 13.
Uniform screw thread is connected with n screw 312 to the outer circumference of connecting flange faces upwards, makes between nut and the connecting flange faces of screw 312
There is the distance more than adpting flange 307 thickness；Circular orientation raised 313 and positioning are also designed on connecting flange faces simultaneously
Block 314, 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 circular orientation projection 313 positions.When two joint of mechanical arm 3 connect, by connecting flange faces
N screw 312 be connected respectively n through hole 309 on flange face, the nut of screw 312 is bored a hole by lug
After 309a passes through, through rotating joint of mechanical arm 3, the screw rod of n screw 312 is made to move along the bar shaped lockhole 309b of n through hole respectively
Dynamic, when the screw rod movement of screw 312 is to bar shaped lockhole 309b end, location hole 311 is corresponding with locating piece 314 position；Now,
N screw 312 is tightened, makes circular orientation raised 313 and locating piece 314 insert annular positioning groove 310 and location hole 311 respectively
Interior, realize the fixation between two joint of mechanical arm 3.Equally, in output flange 301a and the robot linkage 2 of joint of mechanical arm 3
When end is connected, robot linkage 2 end can be designed as the version of above-mentioned adpting flange 307, and then realize mechanical arm
Connection between joint 3 and robot linkage 2.
Claims (2)
1. a kind of can variable freedom modular mechanical arm, including pedestal, robot linkage and joint of mechanical arm；Pedestal is used for propping up
Support mechanical arm, and realize setting and the installation of mechanical arm；Between robot linkage, between robot linkage and pedestal and mechanical arm
All it is attached by joint of mechanical arm between connecting rod and end effector；It is characterized in that: described joint of mechanical arm includes exporting
Flange shaft, 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 constituted；Output flange and output shaft front end
Coaxially connect；Wherein, output shaft is sequentially coaxially cased with from front to back harmonic speed reducer, hollow shaft motor, brake gear with double
Code-disc detent mechanism；Harmonic speed reducer, hollow shaft motor, brake gear, dicode disk-positioning mechanism are respectively positioned on inside the 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
Input in harmonic speed reducer；Hollow shaft motor works, and quill shaft rotates, and after slowing down by harmonic speed reducer, drives output
Flange rotates；Brake gear is arranged on the rear end cap that the hollow shaft rear end of hollow shaft motor is cased with, and rear end cap is fixed with shell；
Brake gear is used for realizing the braking of hollow shaft motor quill shaft；
Described dicode disk-positioning mechanism includes drive circuit board, speed increment encoder and positional increment encoder；Wherein, speed
Incremental encoder and positional increment encoder are the grating encoder of hollow structure；Speed increment encoder has a stopping
Position, output signal is a, b, z three-phase differential signal；Speed increment encoder is fixed on hollow shaft rear end end, need to ensure speed
The z phase stop position of incremental encoder aligns with the one of rotor；Positional increment encoder is fixed on output shaft rear end end；
Drive circuit board is arranged between speed increment encoder and positional increment encoder, is fixedly supported on rear end cap by copper post
On；Speed increment encoder head and positional increment encoder head are separately installed with the front/rear end of drive circuit board, use
Carry out the differential signal that real-time reading speed incremental encoder is produced with positional increment encoder, and then determine the speed obtaining quill shaft
Degree information and the positional information of output shaft；Servo drive circuit is designed with drive circuit board, for realize to hollow shaft motor,
The control of brake gear, and the process of speed increment encoder head and positional increment encoder head acquisition data；
When connecting, the output flange of a joint of mechanical arm is connected to adpting flange or the machinery of another joint of mechanical arm
On arm link end, realize the connection between robot linkage, particularly as follows:
Uniform Design has n through hole, n >=2 to outer circumference in output flange face upwards；Through hole is to be bored a hole and be connected by lug
The one through-hole structure that logical bar shaped lockhole is constituted, the width of bar shaped lockhole is less than the diameter of nut perforation；Connecting flange faces
Uniform screw thread is connected with n screw to outer circumference upwards, makes to have between the nut of screw and connecting flange faces thick more than adpting flange
The distance of degree；When two joint of mechanical arm connect, n screw on connecting flange faces is connected respectively on flange face
N through hole, after the nut of screw is passed through by lug hole, through rotating joint of mechanical arm, the screw rod making n screw is respectively along n
The bar shaped lockhole of individual through hole moves；Now, n screw is tightened respectively, make circular orientation raised and locating piece insertion ring respectively
Shape locating slot and positioning in the hole, realize the fixation between two mechanical arms；Equally, in output flange and the connecting-rod head of joint of mechanical arm
When portion is connected, interlinking lever end is designed as the version of above-mentioned adpting flange, and then realizes between joint of mechanical arm and connecting rod
Connect；
Annular positioning groove and location hole is also had on described output flange face；Circular orientation is also designed on connecting flange faces convex
Rise and locating piece；When the output flange face of two joint of mechanical arm is coaxial with connecting flange faces, annular positioning groove with annular
Positioning convex position corresponds to；When the screw rod movement of screw is to Bar lock bore end, location hole is corresponding with locating piece position.
2. as claimed in claim 1 a kind of can variable freedom modular mechanical arm it is characterised in that: in described joint of mechanical arm
Adpting flange vertical with output flange axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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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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