CN105128030B - Articulation mechanism - Google Patents
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- CN105128030B CN105128030B CN201510628660.9A CN201510628660A CN105128030B CN 105128030 B CN105128030 B CN 105128030B CN 201510628660 A CN201510628660 A CN 201510628660A CN 105128030 B CN105128030 B CN 105128030B
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Abstract
The invention belongs to articulation structure field, more particularly to a kind of articulation mechanism.Mounting seat is used as fixed frame, the rotating shaft of rotating drive part drives the wave producer high-speed rotation of harmonic speed reducer, and wave producer causes flexbile gear to produce plastic deformation, flexbile gear and the firm gear engaged transmission being fixed in mounting seat, power is exported by the output shaft being fixed on flexbile gear, makees to slowly run.Harmonic speed reducer is the decelerator of the big ratio of few teeth difference, and axial dimension is small, and articulation mechanism compact overall structure, driving-chain is short, and error accumulation is small.The articulation mechanism rigidity of structure is strong, can carry big axial direction, radial direction, twisting resistance, the load of power and combinations thereof of toppling form.The articulation mechanism is applied to the occasion of single rotary freedom, when being applied on Wearable exoskeleton robot, directly drives rotary joint arm, and rotating drive part is located at the joint surfaces of revolution wherein side, is easy to be dressed in other side, improves wearing experience.
Description
Technical field
The invention belongs to articulation structure field, more particularly to a kind of articulation mechanism.
Background technology
Closely for decades, the fast development that robot technology is obtained, and it is applied to all trades and professions of life production.Wherein use
The most ripe in the Industrial Robot Technology for completing iterative task, development difficulty is small, especially Modular reconfigurable robot
Propose so that sometimes only need to be carried out with several modules simple concatenation can it is integrated go out one meet function robot.
And under the stimulation of social consumption demand and policy guide, the research of intelligent robot is in the ascendant.Wherein, wearable dermoskeleton
Bone robot brings Gospel as a highly integrated intelligent robot for paralysis sufferer, weakling or even soldier.Due to
It is existed between human body is closely contacted or contacts, and structural compactness, security, comfortableness, aesthetic property are suffered from more
High request.
In robot field, modularization research has obtained more achievement.The T-shaped and I types joint of South China Science ＆ Engineering University's research and development
Module (Chinese patent：CN201300421Y and CN201291458Y), it is any by snap ring and extension pipe (straight tube or bending pipe)
Combination, you can realize the function of most conventional robot.A kind of Amphibious snake-like machine that Shenyang automation research is developed
Device person joint's module (Chinese patent：CN201092046Y), do not take into full account the demand of human body wearing in structure, or only relate to
And the narrow scope of application.(Germany is specially in the industrial robot of single degree of freedom joint of German Amtec companies exploitation and commercialization
Profit：DE19939646.A1) there is certain versatility, but be partial to other application place.Chinese Academy of Sciences's Shenzhen advanced technology
The portable wearable lower limb rehabilitation of research institute's development and the articulation structure (Chinese patent added to the fun involved by exoskeleton robot：
CN102846448B), structural compactness, good appearance, and the comfortableness that human body is dressed have been taken into full account, but there is also one
Fixed deficiency：Intra-articular use multi-stage speed-reducing (combination of gear-box, screw mandrel and crank block) kinematic chain is longer, easily causes larger
Accumulated error, poor structure rigidity (is embodied in end mechanical clearance big)；Because joint cavity space is limited and part is more,
It is higher to parts intensity requirement on the premise of ensureing that driving force is enough.Such scheme can apply to medical rehabilitation, and other are led
The operating robot in domain, such as master ＆ slave control, but for Wearable exoskeleton robot and do not apply to.
In general, driving force and power are bigger, and articulation mechanism overall dimensions also will accordingly increase, and in some fields
Close, this contradiction is difficult to reconcile.By taking Wearable exoskeleton robot as an example, to avoid interference with and ensureing comfortableness, joint machine
Structure size (the especially axial dimension of joint rotating shaft) will be made as small as possible, and must be able to drive a fixed load simultaneously, existing
There is technology to be difficult to while meeting above-mentioned requirements.
The content of the invention
It is an object of the invention to provide a kind of articulation mechanism, it is intended to solves existing articulation mechanism and is difficult to while meeting size
The big requirement of small and ability to bear and the technical problem of multi-stage speed-reducing error accumulation and poor structure rigidity.
The present invention is achieved in that a kind of articulation mechanism, including：
Mounting seat with consistent wears groove, it is described that there is the first end being oppositely arranged and the second end through groove；
Rotating drive part, the rotating drive part includes the housing being connected in the mounting seat and is articulated in the housing
On rotating shaft；
Harmonic speed reducer, the harmonic speed reducer include being arranged at the flexbile gear in groove, be fixedly installed in it is described
First end through groove and the firm gear with ring gear and occur in the rotating shaft and with the ripple of the rotating shaft synchronous axial system
Device, the flexbile gear includes ring body and extends the tubular wheel body to be formed, the wave producer in the outer rim of the ring body
It is plugged in the tubular wheel in vivo, the outer wall of the tubular wheel body is provided with the external toothing being meshed with the ring gear；
It is fixedly connected on the ring body and is arranged at the output shaft at second end through groove；
For the output to be pivotally supported on into the bearing on groove.
Further, in addition to be fixedly mounted in the rotating shaft and with the flange shaft sleeve of the rotating shaft synchronous axial system, it is described
Wave producer is fixedly connected on the flange shaft sleeve.
Further, the bearing includes the inner ring being fixedly mounted on the output shaft and is fixedly installed in described run through
Outer ring in groove；The outer wall of the output shaft, which extends outwardly, is formed with annular flange, and the annular flange is departing from the flexbile gear
Side on offer first annular neck, the inner ring is contained in first annular neck, the articulation mechanism also include use
In the first gland being fixedly installed in the inner ring in the first annular neck；The mounting seat is close to second end
Side on offer the second annular slot, the outer ring is contained in the second annular slot, the articulation mechanism also include use
In the second gland being fixedly installed in the outer ring in second annular slot.
Further, in addition to the ring body, the annular flange and first gland are sequentially passed through so that institute
State the first fastener that flexbile gear, the output shaft are fixedly connected with first gland.
Further, in addition to the first linking arm for being fixedly mounted in the mounting seat and it is fixedly mounted on the output
The second linking arm on axle.
Further, it is provided with type face axle, second linking arm and is offered for type face axle on the output shaft
The type hole of grafting, type face axle is Profile Connection with the type hole.
Further, in addition to the torsion sensory package that is arranged on second linking arm, the torsion sensory package
Including the foil gauge being attached on second linking arm and the survey torsion circuit board electrically connected with the foil gauge.
Further, in addition to the electromagnetic brake component for being braked to the rotating shaft, the electromagnetic brake component includes
It is fixedly installed in the magnetic conduction friction member in the rotating shaft and with the rotating shaft synchronous axial system, is connected friction group on the housing
Part, the magnet being fixedly installed on the friction component and the magnet coil being arranged on friction component, the magnetic conduction friction member
With the friction component when magnet coil is powered off it is attracted, the magnetic conduction friction member and the friction component are in the electricity
Magnetic coil is separated when leading to forward voltage, and the magnetic conduction friction member leads to backward voltage with the friction component in the magnet coil
When it is attracted.
Further, the friction component includes the first platen being connected on housing and is connected on first platen
The second platen, first platen include with the first annular portion of the housing phase contact and in the first annular portion
Edge extends the first cylindrical portion to be formed, and second platen is including second ring part relative with the first annular portion and in institute
The inner edge for stating the second ring part extends the second cylindrical portion to be formed；The rotating shaft is arranged in first cylindrical portion, and described
One cylindrical portion is arranged in second cylindrical portion；The magnet be folded in the first annular portion and second ring part it
Between, the magnet coil is flush-mounted between first cylindrical portion and second cylindrical portion.
Further, the magnetic conduction friction member includes being intended for magnetic conduction drag ring and the fixed company that the friction component is set
The magnetic conduction drag ring is connected on departing from the extension ring being fixedly connected on the side of the friction component and with the rotating shaft, it is described
Mounting hole is radially offered on extension ring, the mounting hole is provided with for the extension ring to be fixedly connected on into the rotating shaft
On the second fastener.
Having the technical effect that relative to prior art of the invention：Mounting seat is used as fixed frame, the rotating shaft of rotating drive part
The wave producer high-speed rotation of harmonic speed reducer is driven, wave producer causes flexbile gear to produce plastic deformation, and flexbile gear is with being fixed on peace
The firm gear engaged transmission on seat is filled, power is exported by the output shaft being fixed on flexbile gear, makees to slowly run.Harmonic speed reducer is
The decelerator of the big ratio of few teeth difference, axial dimension is small, and articulation mechanism compact overall structure, driving-chain is short, and error accumulation is small.The pass
Save mechanism structure rigidity strong, big axial direction, radial direction, twisting resistance, the load of power and combinations thereof of toppling form can be carried.The articulation mechanism
Suitable for the occasion of single rotary freedom, when being applied on Wearable exoskeleton robot, rotary joint arm is directly driven,
Rotating drive part is located at the joint surfaces of revolution wherein side, is easy to be dressed in other side, improves wearing experience.
Brief description of the drawings
Fig. 1 is the three-dimensional installation diagram of articulation mechanism provided in an embodiment of the present invention；
Fig. 2 is the three-dimensional installation diagram of another angle of Fig. 1 articulation mechanism；
Fig. 3 is the sectional view of Fig. 1 articulation mechanism；
Fig. 4 is the three-dimensional exploded view of Fig. 1 articulation mechanism.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is referred to Fig. 4, articulation mechanism provided in an embodiment of the present invention, including：
Mounting seat 10 with consistent wears groove 11, has the first end 11a and the second end 11b being oppositely arranged through groove 11；
Rotating drive part 20, rotating drive part 20 includes the housing 21 being connected in mounting seat 10 and is articulated on housing 21
Rotating shaft 22；
Harmonic speed reducer 30, harmonic speed reducer 30 includes being arranged at flexbile gear 31 in groove 11, is fixedly installed in and runs through
The first end 11a of groove 11 and with ring gear 321 firm gear 32 and in rotating shaft 22 and with the synchronous axial system of rotating shaft 22
Wave producer 33, flexbile gear 31 includes ring body 311 and extends the tubular wheel body 312 to be formed, ripple in the outer rim of ring body 311
Generator 33 is plugged in tubular wheel body 312, and the outer wall of tubular wheel body 312 is provided with the external toothing being meshed with ring gear 321
3121；
It is fixedly connected on ring body 311 and is arranged at the output shaft 40 of the second end 11b through groove 11；
For the bearing 50 being supported on output shaft 40 on groove 11.
Mounting seat 10 is as fixed frame, and the rotating shaft 22 of rotating drive part 20 drives the wave producer 33 of harmonic speed reducer 30
High-speed rotation, wave producer 33 causes flexbile gear 31 to produce plastic deformation, and flexbile gear 31 is nibbled with the firm gear 32 being fixed in mounting seat 10
Transmission is closed, power is exported by the output shaft 40 being fixed on flexbile gear 31, makees to slowly run.Harmonic speed reducer 30 is that few teeth difference is big
The decelerator of ratio, axial dimension is small, and articulation mechanism compact overall structure, driving-chain is short, and error accumulation is small.The articulation mechanism knot
Structure rigidity is strong, can carry big axial direction, radial direction, twisting resistance, the load of power and combinations thereof of toppling form.The articulation mechanism is applied to single
The occasion of rotary freedom, when being applied on Wearable exoskeleton robot, directly drives rotary joint arm, rotates driving
Part 20 is located at the joint surfaces of revolution wherein side, is easy to be dressed in other side, improves wearing experience.
Further, rotating drive part 20 is servomotor, is easy to provide desired speed and predetermined corner.Preferably, turn
Dynamic actuator 20 is disc type servomotor, can maximize reduction axial dimension.Further, disc type servomotor is provided with code-disc
(not shown), the big radial dimension of disc type servomotor is conducive to improving the resolution ratio of photoelectric code disk, because at identical minimum stroke
Under point density, distribution radius is bigger, can separated time number it is more.Code-disc is inductive encoder, and the umber of pulse for the reading that rotates a circle is most
It is high by reachable 6400.It is to be appreciated that rotating drive part can also be other motors or the rotating drive part of other forms.
Further, bearing 50 is 4 points of ultra-thin bearings 50 of contact, and four spot contact bearings 50 can carry radial direction, axle simultaneously
To (two-way), tilting moment, the angular contact bearing group that effectiveness is close to face-to-face equivalent to a pair, and axial dimension is less than the latter one
Half, make compact conformation.It is to be appreciated that bearing can also be deep groove ball bearing or the bearing of other combining forms, sacrifice certain
Compactness and bearing capacity.
Specifically, when installing harmonic speed reducer 30, by the ring gear 321 of firm gear 32 and 3121 pairs of the external toothing of flexbile gear 31
Together, wave producer 33 is squeezed into from the notch end of flexbile gear 31.Firm gear 32 is fixed on the first end 11a of the through slot of mounting seat 10, and
Ensure that the end face of firm gear 32 is higher by the end face 2-3mm of mounting seat 10.The axial direction of rotating shaft 22 is axially coincident with output shaft 40, will effectively turn
The power output of dynamic actuator 20 is to output shaft 40.Further, harmonic speed reducer 30 can be using planetary reduction gear or other decelerations
Scheme, sacrifices certain compactness.It should be noted that the housing 21 of rotating drive part 20 is package assembly with rotating shaft 22, Fig. 2 is
Structural representation.
In the present embodiment, articulation mechanism is used for Wearable exoskeleton robot joint, has preferably coordinated joint size
Conflicting between driving force, compact conformation, bearing capacity enough, is easy to wearing.Using disc type servomotor 20, harmonic reduction
The combination of device 30 and 4 points of ultra-thin bearings 50 of contact, it is to avoid influence wearer walking swing arm and robot overall aesthetics, is closed
Section module axial dimension becomes as far as possible small.Pay particular attention to, axial dimension will reduce as far as possible, can try in certain limit
Achieved the goal by sacrificing radial dimension, so even being that some standard components are also required to careful selection.
Model machine has been made in this articulation mechanism, and by the unloaded trial operation of 10 hours periods, as a result heavy burden run-in test shows
Show, bearing capacity is more than 80N*m, module temperature rise is less than 6 DEG C, in the absence of the visible parts wear of naked eyes, meet the requirements, can be with
It is directly used on the Wearable exoskeleton robot of stock size.
Further, in addition to be fixedly mounted in rotating shaft 22 and with the flange shaft sleeve 60 of the synchronous axial system of rotating shaft 22, ripple
Generator 33 is fixedly connected on flange shaft sleeve 60.The installation of wave producer 33 is easy in the configuration.Specifically, flange shaft sleeve 60 is wrapped
The first cylindrical body 61 being sequentially connected, the cylindrical body 63 of annular solid 62 and second are included, the external diameter of annular solid 62 is more than the first cylindrical body
61 external diameter, the external diameter of annular solid 62 is more than the external diameter of the second cylindrical body 63.First cylindrical body 61 is inserted in wave producer 33
Hole 331, and flange shaft sleeve 60 is connected on wave producer 33 by fastener (not shown) on annular solid 62, at second
Flange shaft sleeve 60 is fixed in rotating shaft 22 using the fastener (not shown) of radially installed on shape body 63.
Further, bearing 50 includes the inner ring 51 being fixedly mounted on output shaft 40 and is fixedly installed in groove 11
Outer ring 52；The outer wall of output shaft 40, which extends outwardly, is formed with annular flange 41, side of the annular flange 41 departing from flexbile gear 31
On offer first annular neck 411, inner ring 51 is contained in first annular neck 411, and articulation mechanism also includes being used for will be interior
Circle 51 is fixedly installed in the first gland 71 in first annular neck 411；Mounting seat 10 is close to opening on the second end 11b side
Provided with the second annular slot 12, outer ring 52 is contained in the second annular slot 12, and articulation mechanism also includes being used to consolidate outer ring 52
Dingan County is loaded on the second gland 72 in the second annular slot 12.First gland 71 has connection output shaft 40 and flexbile gear 31 and pressure
Mandrel holds the effect of 50 inner rings 51.Second gland 72 has the effect for compressing the outer ring 52 of bearing 50, and the second gland 72 is by thereon
Flange 721 outer ring 52 of bearing 50 is pressed in the second annular slot 12, and installation is connected to by fastener (not shown)
On seat 10.
Further, in addition to sequentially pass through ring body 311, the gland 71 of annular flange 41 and first so that flexbile gear 31,
The first fastener (not shown) that output shaft 40 is fixedly connected with the first gland 71.The compact conformation, is easily installed, connection jail
Gu, flexbile gear 31 is fixed together with output shaft 40.In fastening, focal point symmetrically reserves 2 to 3 holes, convenient dismounting.
Further, in addition to the first linking arm 73 for being fixedly mounted in mounting seat 10 and it is fixedly mounted on output shaft 40
On the second linking arm 74.The configuration is easy to articulation mechanism to use.Specifically, the first linking arm 73 and the second linking arm 74 are mutually embedding
Connection is substantially flush upper and lower end face, while ensureing the installation place of bearing 50 in the middle of the upper and lower end face, it is ensured that erectility lower axle
Hold and do not produce extra power of toppling at 50.
Further, it is provided with type face axle 42, the second linking arm 74 and is offered for the grafting of type face axle 42 on output shaft 40
Type hole 741, type face axle 42 and type hole 741 are Profile Connection.The configuration is beneficial to transmitting large torque to the second linking arm 74.Type face
Axle 42 is shaped on output shaft 40.In the present embodiment, type face axle 42 cuts out three table tops for a circular shaft and formed vertically,
The section of type hole 741 is adapted with the section of type face axle 42.It is to be appreciated that the section of type hole 741 and the section of type face axle 42
It is in waist type or other same shapes.Further, the end of type face axle 42 offers annular groove 421, for adding jump ring (not shown)
Realize the axial restraint of the second linking arm 74, it is ensured that enough high pulling torques can be transmitted, and bear axial force.
Further, extension tube 75 is inserted with the first linking arm 73 and the second linking arm 74, is easy to add binding strip,
Articulation mechanism is applied on Wearable exoskeleton robot.
Further, the section of the extension interface of the first linking arm 73, the section of the extension interface of the second linking arm 74, prolong
The section of long tube 75 is rectangular, and the first linking arm 73, the second linking arm 74 can bear big after being connected respectively with extension tube 75
Twisting resistance.It is to be appreciated that the section of the extension interface of the first linking arm 73, the section of the extension interface of the second linking arm 74,
The section of extension tube 75 is simultaneously rounded or is in other shapes simultaneously, sacrifices certain anti-torsion.
Further, the side wall of the side wall of the first linking arm 73 and the second linking arm 74 offers waist-shaped hole (731,742),
It is connected by fastener (not shown) with extension tube 75, and entire length is adjustable.
Further, being extended with the side of rotating shaft 22 for the housing 21 of rotating drive part 20 is installed with connecting plate
23, connecting plate 23 is fixed on the housing 21 of rotating drive part 20 by fastener, and connecting plate 23 is easy to other parts to install.
As a whole, whole articulation mechanism is constituted by three rigidity are overall：By the first linking arm 73, the second gland 72,
The first rigidity that mounting seat 10, the outer ring 52 of bearing 50, firm gear 32, connecting plate 23, the housing 21 of rotating drive part 20 are constituted connects
Junctor；The second rigidity being made up of the second linking arm 74, output shaft 40, the inner ring 51 of bearing 50, the first gland 71, flexbile gear 31 connects
Junctor, and the 3rd rigid connection body being made up of the rotating shaft 22 of rotating drive part 20, flange shaft sleeve 60, wave producer 33.The
One rigid connection body drives the second rigid connection body to slowly run as fixed frame, the 3rd rigid connection body high-speed rotation.
Further, in addition to the torsion sensory package 80 that is arranged on the second linking arm 74, torsion sensory package 80 is wrapped
The survey torsion circuit board 82 for including the foil gauge 81 being attached on the second linking arm 74 and being electrically connected with foil gauge 81.According to second
The result of the finite element analysis of linking arm 74, is sticked foil gauge 81 in its dependent variable maximum, using favour stone half-bridge circuit.Resistance
Foil gauge 81 exports tiny differential signal e after bridge circuit is nursed one's health, and using C8051F230 chips, the chip internal is carried
Programmable gain amplifier and analog-digital converter, tiny differential signal first pass through programmable gain amplifier and put after entering processor
After big, then by analog-to-digital conversion, tiny differential signal is converted into data signal.This partial function is at the end of the second linking arm 74
Survey on torsion circuit board 82 and complete, outlet line (not shown) passes through the wire lead slot 743 and threading hole 744 on the second linking arm 74
Guide the side of rotating drive part 20 into, the configuration structure is compact.
Further, in addition to for countershaft 22 the electromagnetic brake component 90 braked, electromagnetic brake component 90 includes solid
Dingan County is loaded in rotating shaft 22 and the magnetic conduction friction member 91 with the synchronous axial system of rotating shaft 22, the friction component that is connected on housing 21
92nd, the magnet 93 being fixedly installed on friction component 92 and the magnet coil 94 being arranged on friction component 92, magnetic conduction friction member
91 with friction component 92 when magnet coil 94 is powered off it is attracted, magnetic conduction friction member 91 and friction component 92 are logical in magnet coil 94
It is separated during forward voltage, magnetic conduction friction member 91 and friction component 92 are attracted when magnet coil 94 leads to backward voltage.Specifically
Ground, when power is off, magnetic conduction friction member 91 tightly under the magnetic fields that magnet 93 is produced, are closely against one with friction component 92
Rise, now with larger brake force；With forward voltage is connected to magnet coil 94, it is opposite that magnet coil 94 results from former magnetic field
Magnetic field, and tend to substantially until magnetic conduction friction member 91 takes off completely with friction component 92 as voltage raises this neutralization effect
Open；On the contrary, when to 94 turn-on reversal voltage of magnet coil, then enhancing effect can be produced to former magnetic field so that in particular case
Bigger brake force can be produced down.
Further, friction component 92 includes the first platen 921 being connected on housing 21 and is connected to the first platen 921
On the second platen 922, the first platen 921 include with the first annular portion 9211 of the phase contact of housing 21 and in first annular portion
9211 inner edge extends the first cylindrical portion 9212 to be formed, and the second platen 922 includes relative with first annular portion 9211 second
Ring part 9221 and extend the second cylindrical portion 9222 to be formed in the inner edge of the second ring part 9221；Rotating shaft 22 is arranged in first
In shape portion 9212, the first cylindrical portion 9212 is arranged in the second cylindrical portion 9222；Magnet 93 be folded in first annular portion 9211 with
Between second ring part 9221, magnet coil 94 is flush-mounted between the first cylindrical portion 9212 and the second cylindrical portion 9222.The configuration
Compact conformation, is easily installed.Specifically, the first annular ring part 9221 of portion 9211 and second compresses magnet 93, and passes through fastening
Part is fixed on connecting plate 23.Magnet 93 is permanent magnet, and circumferentially array is arranged on friction component 92.
Further, magnetic conduction friction member 91 includes the magnetic conduction drag ring 911 for being intended for the setting of friction component 92 and fixed company
Magnetic conduction drag ring 911 is connected on departing from the extension ring 912 being fixedly connected on the side of friction component 92 and with rotating shaft 22, extension ring
Mounting hole 9121 is radially offered on 912, mounting hole 9121 is provided with for extension ring 912 to be fixedly connected on into rotating shaft 22
The second fastener (not shown).Magnetic conduction friction member 91, which makes chorista, can prevent loosening, and extension ring 912 is to lean on rotating shaft 22
The second fastener being radially arranged is connected, and is easily loosened under long-term varying load.The ductility of extension ring 912 is good, in the second fastening
When part is tightened, the screwed hole of extension ring 912 produces elastic deformation so that the second fastener is more difficult to be released.In the present embodiment
In, the second fastener is made using ferrous material.Extension ring 912 is made using copper, it is possible to understand that ground, and extension ring 912 can be with
Made using the good material of the ductility such as gold, platinum, silver, tungsten, aluminium.Further, used between magnetic conduction drag ring 911 and extension ring 912
Fastener (not shown) is connected.
Further, protection cylinder 100 is provided between mounting seat 10 and connecting plate 23, protection cylinder 100 is cylindrical in shape, and electromagnetism is embraced
Gate assembly 90 is arranged in protection cylinder 100, and electromagnetic brake component 90 is protected.The opposite end of protection cylinder 100 is respectively provided with
There is annular flange 101, be easy to the connection with mounting seat 10, connecting plate 23.First linking arm 73, mounting seat 10 and protection cylinder 100
An annular flange 101 using some fasteners realize connection.Specifically, uniform 12 holes in the outer of mounting seat 10.Wherein, in
3 symmetrical holes of the heart are counter sink, integral for correlated parts to be assembled, it is ensured that driving is complete with deceleration part
Property, it is to avoid foreign impacts influence the stability of internal structure；Remaining 9 hole is smooth bore.The annulus end of first linking arm 73
12 counter sinks are evenly equipped with, stop screw 13 are screwed in any hole position on demand, remaining hole position screws in plain screw and connected first
Arm 73, mounting seat 10, protection cylinder 100 is connect to fasten.Protection another annular flange 101 of cylinder 100 uses fastener with connecting plate 23
Connection.
Further, connecting plate 23 is intended for the side of electromagnetic brake component 90 and protrudes above and be formed with boss 231, the second pressure
The side that the first annular portion 9211 of disk 922 is intended for connecting plate 23 opens up fluted 9213, and boss 231 can stretch into groove
9213, it is easy to electromagnetic brake component 90 to be radially positioned on connecting plate 23.
These are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Any modifications, equivalent substitutions and improvements made within principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of articulation mechanism, it is characterised in that：Including：
Mounting seat with consistent wears groove, it is described that there is the first end being oppositely arranged and the second end through groove；
Rotating drive part, the rotating drive part includes the housing being connected in the mounting seat and is articulated on the housing
Rotating shaft, being extended with the side of the rotating shaft for the housing is installed with connecting plate, the mounting seat and the connecting plate
Between be provided with protection cylinder；
Harmonic speed reducer, the harmonic speed reducer includes being arranged at the flexbile gear run through in groove, is fixedly installed in described run through
The first end of groove and with ring gear firm gear and in the rotating shaft and with the wave producer of the rotating shaft synchronous axial system, institute
Flexbile gear is stated including ring body and extends the tubular wheel body to be formed in the outer rim of the ring body, the wave producer is plugged in
In vivo, the outer wall of the tubular wheel body is provided with the external toothing being meshed with the ring gear to the tubular wheel；
It is fixedly connected on the ring body and is arranged at the output shaft at second end through groove；
For the output to be pivotally supported on into the bearing on groove；
For the electromagnetic brake component braked to the rotating shaft, the electromagnetic brake component is arranged in the protection cylinder.
2. articulation mechanism as claimed in claim 1, it is characterised in that：Also include be fixedly mounted in the rotating shaft and with this turn
The flange shaft sleeve of axle synchronous axial system, the wave producer is fixedly connected on the flange shaft sleeve.
3. articulation mechanism as claimed in claim 1, it is characterised in that：The bearing includes being fixedly mounted on the output shaft
Inner ring and be fixedly installed in the outer ring in groove；The outer wall of the output shaft, which extends outwardly, is formed with annular flange,
The annular flange on the side of the flexbile gear departing from first annular neck is offered, and the inner ring is contained in first annular card
In groove, the articulation mechanism also includes the first gland for being used to be fixedly installed in the inner ring in the first annular neck；
The mounting seat is close to the second annular slot is offered on the side at second end, and the outer ring is contained in the second annular snap
In groove, the articulation mechanism also includes the second gland for being used to be fixedly installed in the outer ring in second annular slot.
4. articulation mechanism as claimed in claim 3, it is characterised in that：Also include sequentially passing through the ring body, the ring
Shape flange is with first gland so that the first fastening that the flexbile gear, the output shaft are fixedly connected with first gland
Part.
5. the articulation mechanism as described in any one of Claims 1-4, it is characterised in that：Also include being fixedly mounted on the installation
The first linking arm on seat and the second linking arm being fixedly mounted on the output shaft.
6. articulation mechanism as claimed in claim 5, it is characterised in that：Type face axle, described second are provided with the output shaft
The type hole for the type face axle grafting is offered on linking arm, type face axle is Profile Connection with the type hole.
7. articulation mechanism as claimed in claim 5, it is characterised in that：Also include the torsion being arranged on second linking arm
Sensory package, the torsion sensory package includes the foil gauge being attached on second linking arm and is electrically connected with the foil gauge
The survey torsion circuit board connect.
8. the articulation mechanism as described in any one of Claims 1-4, it is characterised in that：The electromagnetic brake component includes fixing
Be installed on the magnetic conduction friction member in the rotating shaft and with the rotating shaft synchronous axial system, be connected friction component on the housing, it is solid
Dingan County loaded on the magnet on the friction component and the magnet coil being arranged on friction component, the magnetic conduction friction member with it is described
Friction component is attracted when the magnet coil is powered off, and the magnetic conduction friction member is with the friction component in the magnet coil
It is separated during logical forward voltage, the magnetic conduction friction member and the friction component are attracting when the magnet coil logical backward voltage
Close.
9. articulation mechanism as claimed in claim 8, it is characterised in that：The friction component includes first be connected on housing
Platen and the second platen being connected on first platen, first platen include the first ring with the housing phase contact
Shape portion and extend the first cylindrical portion to be formed in the inner edge in the first annular portion, second platen includes and first ring
The second relative ring part of shape portion and extend the second cylindrical portion to be formed in the inner edge of second ring part；The rotating shaft is worn
In in first cylindrical portion, first cylindrical portion is arranged in second cylindrical portion；The magnet is folded in described
Between one ring part and second ring part, the magnet coil is flush-mounted in first cylindrical portion and second cylindrical portion
Between.
10. articulation mechanism as claimed in claim 8, it is characterised in that：The magnetic conduction friction member includes being intended for the friction
Component set magnetic conduction drag ring and be fixedly connected on the magnetic conduction drag ring departing from the side of the friction component and with
Mounting hole is radially offered on the extension ring that the rotating shaft is fixedly connected, the extension ring, the mounting hole, which is provided with, to be used for
The extension ring is fixedly connected on to the second fastener in the rotating shaft.
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| CN201510628660.9A CN105128030B (en) | 2015-09-29 | 2015-09-29 | Articulation mechanism |
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| CN201510628660.9A CN105128030B (en) | 2015-09-29 | 2015-09-29 | Articulation mechanism |
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| CN105128030B true CN105128030B (en) | 2017-11-07 |
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| CN108214452B (en) * | 2016-12-21 | 2020-09-15 | 深圳市肯綮科技有限公司 | Lower limb assistance exoskeleton device and power joint device thereof |
| CN107363812B (en) * | 2017-08-07 | 2020-11-13 | 浙江工业大学 | Wireless control six-degree-of-freedom mechanical arm demonstration system |
| CN107582334B (en) * | 2017-08-29 | 2023-04-18 | 中国科学院深圳先进技术研究院 | Exoskeleton robot and knee joint part thereof |
| CN109702765B (en) * | 2017-10-26 | 2021-05-18 | 深圳市肯綮科技有限公司 | Power joint device and lower limb assisting equipment |
| WO2021056346A1 (en) * | 2019-09-26 | 2021-04-01 | 西门子（中国）有限公司 | Flexible gear component and transmission mechanism |
| CN111281744A (en) * | 2020-03-05 | 2020-06-16 | 武汉沃森拓客科技有限公司 | Modular joint and wearable modular joint exoskeleton |
| CN111409111B (en) * | 2020-04-24 | 2023-10-10 | 珠海格力电器股份有限公司 | Industrial robot, mechanical arm, joint structure and assembly method thereof |
| CN112936335B (en) * | 2021-05-13 | 2021-09-14 | 上海捷勃特机器人有限公司 | Robot joint structure and assembling method thereof |
| CN114800445A (en) * | 2022-04-02 | 2022-07-29 | 中国科学技术大学先进技术研究院 | Amphibious exoskeleton robot system for underwater rescue |
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| DE3522336A1 (en) * | 1985-06-22 | 1987-01-02 | Bosch Gmbh Robert | ROBOT JOINT WITH AN ELECTRIC DRIVE MOTOR |
| JP2000074762A (en) * | 1998-09-01 | 2000-03-14 | Meidensha Corp | Working force detector |
| CN100484727C (en) * | 2006-03-31 | 2009-05-06 | 中国科学院沈阳自动化研究所 | Rotary joint structure of underwater electric manipulator |
| CN200988225Y (en) * | 2006-12-30 | 2007-12-12 | 浙江工业大学 | Robot flexible arm joint driving and it speed reducing device |
| CN100544903C (en) * | 2007-08-29 | 2009-09-30 | 哈尔滨工业大学 | Spacing mechanical arm parallel modularization joint |
| CN100563949C (en) * | 2007-08-29 | 2009-12-02 | 哈尔滨工业大学 | Modularized joint of space manipulator |
| CN202684927U (en) * | 2012-05-23 | 2013-01-23 | 深圳众为兴技术股份有限公司 | High-precision joint mechanism of robot |
| CN203471790U (en) * | 2013-09-03 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Hollow intelligent modularization joint |
| CN103622751A (en) * | 2013-12-18 | 2014-03-12 | 哈尔滨工业大学 | Surgical robot passive joint based on motor drive locking |
| CN204976659U (en) * | 2015-09-29 | 2016-01-20 | 中国科学院深圳先进技术研究院 | Joint mechanism |
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