CN106142128A - Revolution rocking type mechanical arm joint module - Google Patents
Revolution rocking type mechanical arm joint module Download PDFInfo
- Publication number
- CN106142128A CN106142128A CN201610605739.4A CN201610605739A CN106142128A CN 106142128 A CN106142128 A CN 106142128A CN 201610605739 A CN201610605739 A CN 201610605739A CN 106142128 A CN106142128 A CN 106142128A
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- China
- Prior art keywords
- unit
- driving control
- mechanical arm
- revolution
- motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Gear Transmission (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a kind of revolution rocking type mechanical arm joint module, connect unit and power communications unit including driving control unit, exterior oscillations connection unit, outside revolution；Wherein, described power communications unit electrically connects described driving control unit；Described driving control unit electrically connects the first driving motor of described exterior oscillations connection unit, outside revolution connects the second of unit and drives motor；Described driving control unit, is used for controlling described exterior oscillations and connects unit and carry out swinging and/or control described outside revolution and connect unit and rotate.The present invention has compact conformation, simple, and it is convenient to change, degree of modularity advantages of higher, and the development for mechanical arm system provides supports conditions.
Description
Technical field
The present invention relates to mechanical arm technology, in particular it relates to a kind of revolution rocking type mechanical arm joint module.
Background technology
In recent years, robotics achieves significant progress, and mechanical arm is obtaining in current robotics
Automated machine device to broad practice.In the production fields such as machine-building, electronics, metallurgy, therapeutic treatment, machine
The use of mechanical arm can accelerate the automatization of system, intellectuality and the construction degree of modernization, thus significantly promote and produce effect
Rate.
But the most of function singleness of present mechanical arm, such as being repeatedly performed the production line machinery of single action
The industrial machine mechanical arm such as arm, bonding machine mechanical arm.This kind of mechanical arm cannot meet a tractor serves several purposes, just can be only done once designing
Single action, relative cost increases.Therefore, the demand for versatility mechanical arm increases the most increasingly, and this kind of mechanical arm does not has
Fixing shape, can change the type of work of oneself according to the demand of operator.
Meanwhile, existing arm robot is generally of multiple cradle head, and the rotation in each joint controls substantially
To be realized by motor or servomotor, this resulted in the usual volume in joint of mechanical arm compared with big, structure is too fat to move
Shortcoming.So many joint of mechanical arm also can increase probability joint damage occur, the dismounting of mechanical arm and dimension after occurring damaging
Repair also is to become sufficiently complex.One of solution for these shortcomings at present is exactly, the joint mould of the arm that designs a mechanism
Block so that the driving of every part with communicate separate, in terms of detachable maintaining, also provide bigger facility.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of revolution rocking type mechanical arm joint module,
Revolution and the oscillating motion of mechanical arm are integrated in a joint, utilize bus to complete the Control on Communication between each joint,
Thus reduce taking up room and quality of joint of mechanical arm, add the motility of the motion of joint of mechanical arm, lead to for mechanical arm
Lay the first stone by change, miniaturization and modularity.
The revolution rocking type mechanical arm joint module provided according to the present invention, including driving control unit, exterior oscillations even
Order unit, outside revolution connect unit and power communications unit；
Wherein, described power communications unit electrically connects described driving control unit；Described driving control unit electrically connects institute
State exterior oscillations and connect the first driving motor of unit, the second driving motor of outside revolution connection unit；
Described driving control unit, be used for controlling described exterior oscillations connect unit carry out swinging and/or control described outside
Portion's revolution connects unit and rotates.
Preferably, described exterior oscillations connects unit and includes that T-shaped swing arm, curved support part, worm screw, worm gear and first drive
Galvanic electricity machine；
Wherein, described T-shaped swing arm is arranged on worm gear, it is possible to swing with described worm gear wheel；
Described arc support divides the downside being arranged on T-shaped swing arm, is used for supporting described T-shaped swing arm；Described first drives
Motor passes sequentially through T-shaped swing arm described in worm screw, worm-gear driven and swings；
Preferably, described outside turning unit includes that rotary table, conducting slip ring and second drive motor；
Wherein, described rotary table is arranged in the described second rotating shaft driving motor, and described conducting slip ring is set in described
In second rotating shaft driving motor；
Described power communications unit electricity electrically connects described driving control unit by conducting slip ring.
Preferably, described driving control unit includes driving the first encoder of control the first driving motor, driving control
Second the second encoder driving motor and driving control circuit；
Described driving control circuit connects described first encoder, described second encoder；Described driving control circuit is used
Drive motor in controlling described first by the first encoder-driven and/or driven by the second encoder-driven control described second
Galvanic electricity machine；
Preferably, described power communications unit includes the first aviation plug, the second aviation plug and wire group；
Wherein, described first aviation plug is arranged in described T-shaped swing arm；Described second aviation plug is arranged on described returning
On turntable；
Described first aviation plug electrically connects described driving control circuit by wire group；Described second aviation plug passes through
Described conducting slip ring connects described driving control circuit.
Preferably, described wire group includes controlling transmission line of information and supply lines；
Described first aviation plug electrically connects described driving control circuit by controlling transmission line of information and supply lines.
Preferably, the quantity of described curved support part is two；
Two arc support are divided and are oppositely arranged the described installation body of formation；Described worm screw, described worm gear and first drive
Motor is arranged on inside described installation body.
Compared with prior art, the present invention has a following beneficial effect:
1, the present invention has compact conformation, simple, and it is convenient to change, and degree of modularity advantages of higher, for mechanical arm system
The development of system provides supports conditions；
2, revolution and the oscillating motion of mechanical arm are integrated in a joint by this law, utilize bus complete each joint it
Between Control on Communication, thus reduce taking up room and quality of joint of mechanical arm, add motion flexible of joint of mechanical arm
Property, lay the first stone for mechanical arm generalization, miniaturization and modularity.
Accompanying drawing explanation
By the detailed description non-limiting example made with reference to the following drawings of reading, the further feature of the present invention,
Purpose and advantage will become more apparent upon:
Fig. 1 is the structural representation of the present invention.
In figure:
1 is the first aviation plug, and 2 is T-shaped swing arm, and 3 is wire group, and 4 is worm screw, and 5 is the first driving motor, and 6 is second
Driving motor, 7 is the second aviation plug, and 8 is conducting slip ring, and 9 is rotary table, and 10 is joint module frame, and 11 drive for motor
Circuit, 12 is worm gear, and 13 is curved support part.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in the technology of this area
Personnel are further appreciated by the present invention, but limit the present invention the most in any form.It should be pointed out that, the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into the present invention
Protection domain.
In the present embodiment, the revolution rocking type mechanical arm joint module that the present invention provides, including driving control unit, outward
Portion swings and connects unit, outside revolution connection unit and power communications unit；
Wherein, described power communications unit electrically connects described driving control unit；Described driving control unit electrically connects institute
State exterior oscillations and connect the first driving motor 5 of unit, the second driving motor 6 of outside revolution connection unit；
Described driving control unit, be used for controlling described exterior oscillations connect unit carry out swinging and/or control described outside
Portion's revolution connects unit and rotates.
Described exterior oscillations connects unit and includes that T-shaped swing arm 2, curved support part 13, worm screw 4, worm gear 12 and first drive
Galvanic electricity machine 5；
Wherein, described T-shaped swing arm 2 is arranged on worm gear 12, it is possible to rotates with described worm gear 12 and swings, the most described T-shaped
Swing arm has one degree of freedom.
Described curved support part 13 is arranged on the downside of T-shaped swing arm 2, is used for supporting described T-shaped swing arm 2, and is whole
Inside modules provides closed protective；Motor 5 passes sequentially through worm screw 4, worm gear 12 drives described T-shaped swing arm 2 to put in described first driving
Dynamic；
Described outside turning unit includes that rotary table 9, conducting slip ring 8 and second drive motor 6；
Wherein, described rotary table 9 is arranged in the described second rotating shaft driving motor 6, and described conducting slip ring 8 is set in institute
State in the rotating shaft of the second driving motor 6.Described rotary table 9 has one degree of freedom.
Described second drives motor 6 to control the rotation of rotary table 9, described communication under the driving of described driving control unit
Power supply unit electricity electrically connects described driving control unit by conducting slip ring 8.Described conducting slip ring 8 is described power communications unit
Electrical connection is provided.
Described driving control unit includes driving the first encoder of control the first driving motor 5, driving control second to drive
Second encoder of galvanic electricity machine 6 and driving control circuit 11；
Described driving control circuit 11 connects described first encoder, described second encoder；Described driving control circuit
11 for controlling described first driving motor 5 by the first encoder-driven and/or being controlled by the second encoder-driven described
Second drives motor 6.Control circuit is driven to drive motor to change shape and the angle of mechanical arm according to the requirement of operator.
Described first drives motor can change the direction of rotation of described worm gear under the driving of described driving control unit
Thus control swaying direction and the angle of T-shaped swing arm.
Described power communications unit includes the first aviation plug the 1, second aviation plug 7 and wire group 3；
Wherein, described first aviation plug 1 is arranged in described T-shaped swing arm 2；Described second aviation plug 7 is arranged on institute
State on rotary table 9；
Described first aviation plug 1 electrically connects described driving control circuit 11 by wire group 3；Described second aviation plug
7 connect described driving control circuit 11 by described conducting slip ring 8.
Described wire group includes controlling transmission line of information and supply lines；
Described first aviation plug 1 electrically connects described driving control circuit 11 by controlling transmission line of information and supply lines.
The quantity of described curved support part 13 is two；
Two curved support parts 13 are oppositely arranged the described installation body of formation；Described worm screw 4, described worm gear 12 and first
Motor 5 is driven to be arranged on inside described installation body.
In the present embodiment, external connection unit is the interconnective interface unit of mechanical arm joint module, at the machine of structure
The when of mechanical arm entirety, described outside is waved connection unit and is connected unit with described outside revolution and is connected with each other and forms one two certainly
By the joint of mechanical arm spent, the rotary table axis of described turning unit is also the axis of whole module.
Described power communications unit includes two aviation plugs and one group of wire.Two aviation plugs form machine in multimode
Can link together the when of mechanical arm system, it is ensured that the communication of system and power unobstructed.Wire includes controlling transmission line of information
And supply lines, supply lines provides the energy for modules, and transmission line of information provides control information for modules.Described conduction is sliding
Ring provides electrical connection for described power communications unit, and prevents the wire caused by rotary table rotation to be wound around problem.
Described driving control unit includes the driving control circuit driving motor, and drive circuit can be according to the requirement of operator
Motor is driven to change shape and the angle of mechanical arm.In concrete enforcement, operator controls two groups of motors by drive circuit
Rotation direction and velocity of rotation, thus change direction of rotation and the anglec of rotation of described T-shaped swing arm, or turntable can be changed back to
Gyratory directions and angle of revolution.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims, this not shadow
Ring the flesh and blood of the present invention.
Claims (7)
1. a revolution rocking type mechanical arm joint module, it is characterised in that include driving control unit, exterior oscillations to connect single
Unit, outside revolution connect unit and power communications unit；
Wherein, described power communications unit electrically connects described driving control unit；Outside the electrical connection of described driving control unit is described
Portion swings the first driving motor (5) of connection unit, outside revolution connects the second of unit and drives motor (6)；
Described driving control unit, is used for controlling described exterior oscillations and connects unit and carry out swinging and/or control described outside and return
Turn connection unit to rotate.
Revolution rocking type mechanical arm joint module the most according to claim 1, it is characterised in that described exterior oscillations connects
Unit includes that T-shaped swing arm (2), curved support part (13), worm screw (4), worm gear (12) and first drive motor (5)；
Wherein, described T-shaped swing arm (2) is arranged on worm gear (12), it is possible to rotates with described worm gear (12) and swings；
Described curved support part (13) is arranged on the downside of T-shaped swing arm (2), is used for supporting described T-shaped swing arm (2)；Described
One driving motor (5) passes sequentially through worm screw (4), worm gear (12) drives described T-shaped swing arm (2) to swing.
Revolution rocking type mechanical arm joint module the most according to claim 1, it is characterised in that described outside turning unit
Motor (6) is driven including rotary table (9), conducting slip ring (8) and second；
Wherein, described rotary table (9) is arranged in the described second rotating shaft driving motor (6), and described conducting slip ring (8) is set in
In described second rotating shaft driving motor (6)；
Described power communications unit electricity electrically connects described driving control unit by conducting slip ring (8).
Revolution rocking type mechanical arm joint module the most according to claim 1, it is characterised in that described driving control unit
Including drive control first driving motor (5) the first encoder, drive control second driving motor (6) the second encoder with
And drive control circuit (11)；
Described driving control circuit (11) connects described first encoder, described second encoder；Described driving control circuit
(11) for controlling described first driving motor (5) by the first encoder-driven and/or being controlled by the second encoder-driven
Described second drives motor (6).
Revolution rocking type mechanical arm joint module the most according to claim 3, it is characterised in that
Described power communications unit includes the first aviation plug (1), the second aviation plug (7) and wire group (3)；
Wherein, described first aviation plug (1) is arranged on described T-shaped swing arm (2)；Described second aviation plug (7) is arranged on
On described rotary table (9)；
Described first aviation plug (1) electrically connects described driving control circuit (11) by wire group (3)；Described second aviation is inserted
Head (7) connects described driving control circuit (11) by described conducting slip ring (8).
Revolution rocking type mechanical arm joint module the most according to claim 1, it is characterised in that described wire group includes control
Transmission line of information processed and supply lines；
Described first aviation plug (1) electrically connects described driving control circuit (11) by controlling transmission line of information and supply lines.
Revolution rocking type mechanical arm joint module the most according to claim 2, it is characterised in that described curved support part
(13) quantity is two；
Two curved support parts (13) are oppositely arranged the described installation body of formation；Described worm screw (4), described worm gear (12) and
One drives motor (5) to be arranged on inside described installation body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610605739.4A CN106142128B (en) | 2016-07-28 | 2016-07-28 | Turn round rocking type mechanical arm joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610605739.4A CN106142128B (en) | 2016-07-28 | 2016-07-28 | Turn round rocking type mechanical arm joint module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106142128A true CN106142128A (en) | 2016-11-23 |
| CN106142128B CN106142128B (en) | 2019-09-03 |
Family
ID=58060965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610605739.4A Active CN106142128B (en) | 2016-07-28 | 2016-07-28 | Turn round rocking type mechanical arm joint module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106142128B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344360A (en) * | 2017-07-31 | 2017-11-14 | 广州大学 | A kind of double-degree-of-freedom robot module |
| CN108890634A (en) * | 2018-05-25 | 2018-11-27 | 北京工商大学 | A kind of control system and method for module machine person joint |
| CN110480677A (en) * | 2019-09-11 | 2019-11-22 | 安徽人和智能制造有限公司 | A kind of installation clamping structure for rotation section at mechanical arm rotation connection |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2549916A1 (en) * | 1983-07-25 | 1985-02-01 | Onera (Off Nat Aerospatiale) | COMPLIANCE ACTIVE ARTICULATION DEVICE |
| CN2492352Y (en) * | 2001-08-22 | 2002-05-22 | 北京航空航天大学 | Two-freedom knuckle mechanism |
| CN102233583A (en) * | 2011-05-13 | 2011-11-09 | 清华大学 | Rack connecting rod type two-degree-of-freedom thumb root joint device |
| CN102862165A (en) * | 2012-09-25 | 2013-01-09 | 杭州电子科技大学 | Double-degree-of-freedom robot shoulder joint steering engine |
| CN105058421A (en) * | 2015-08-26 | 2015-11-18 | 北京航空航天大学 | Compact type mechanical arm joint module integrating two degrees of freedom |
-
2016
- 2016-07-28 CN CN201610605739.4A patent/CN106142128B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2549916A1 (en) * | 1983-07-25 | 1985-02-01 | Onera (Off Nat Aerospatiale) | COMPLIANCE ACTIVE ARTICULATION DEVICE |
| CN2492352Y (en) * | 2001-08-22 | 2002-05-22 | 北京航空航天大学 | Two-freedom knuckle mechanism |
| CN102233583A (en) * | 2011-05-13 | 2011-11-09 | 清华大学 | Rack connecting rod type two-degree-of-freedom thumb root joint device |
| CN102862165A (en) * | 2012-09-25 | 2013-01-09 | 杭州电子科技大学 | Double-degree-of-freedom robot shoulder joint steering engine |
| CN105058421A (en) * | 2015-08-26 | 2015-11-18 | 北京航空航天大学 | Compact type mechanical arm joint module integrating two degrees of freedom |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344360A (en) * | 2017-07-31 | 2017-11-14 | 广州大学 | A kind of double-degree-of-freedom robot module |
| CN108890634A (en) * | 2018-05-25 | 2018-11-27 | 北京工商大学 | A kind of control system and method for module machine person joint |
| CN110480677A (en) * | 2019-09-11 | 2019-11-22 | 安徽人和智能制造有限公司 | A kind of installation clamping structure for rotation section at mechanical arm rotation connection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106142128B (en) | 2019-09-03 |
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