CN106275521A - A kind of mechanical arm deceleration articulation structure - Google Patents
A kind of mechanical arm deceleration articulation structure Download PDFInfo
- Publication number
- CN106275521A CN106275521A CN201610904756.8A CN201610904756A CN106275521A CN 106275521 A CN106275521 A CN 106275521A CN 201610904756 A CN201610904756 A CN 201610904756A CN 106275521 A CN106275521 A CN 106275521A
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- China
- Prior art keywords
- mechanical arm
- output shaft
- power shaft
- articulation structure
- shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of mechanical arm deceleration articulation structure, comprise: power shaft, be connected with motor, driven by motor rotate；Multiple index cams, are separately positioned on power shaft, rotate together with power shaft；Output shaft, is spaced a distance and is arranged on the lower section of power shaft, be freely rotatable, and be connected with mechanical arm；Clutch plate, is arranged on output shaft, rotates together with output shaft；Multiple cylinders, are separately positioned on clutch plate, and can freely roll, and contact with index cam and realize PURE ROLLING, it is achieved the moment transmission between power shaft and output shaft and decrease of speed transmission, and the moment after slowing down is transferred to mechanical arm by output shaft.The present invention can realize the high accuracy moment output of multi-stage speed-reducing ratio, and simple and compact for structure, speed reducing ratio is big, transmission accuracy is high；Volume is little, lightweight, easy for installation, and generalization is strong, and reliability is high, is particularly suitable for applications in the spatial manipulation environment that lightweight needs.
Description
Technical field
The present invention relates to a kind of deceleration articulation structure, specifically refer to a kind of for the deceleration joint of spatial manipulation mechanical arm biography
Dynamic structure.
Background technology
At present, industrial mechanical arm used carries out transmission by reducing gear mostly, and reducing gear itself also can contain
There is stronger non-linear factor.As a example by planetary reducer, gear train is during production and processing, it is necessary to retain one
Fixed backlash, has good oil film packing space and prevents from occurring in transmission process the gear teeth during to be guaranteed in normally working
Interfere.Backlash then can produce impact to the dynamic response of planetary reducer, thus has influence on whole system
Service behaviour.
Along with the development of space science technology, the form of spatial manipulation mechanical arm is the most various, and function is the most increasing.
Realize the most stable of space motion, generally use the deceleration articulation structure of certain speed reducing ratio as transmission.Service clearance in-orbit
Mechanical arm realizes the spatial manipulation operations such as crawl, capture, fueling, in-orbit assembling, respectively in needing to manipulate space on a large scale
Driven by motor between mechanical arm and realize rotating or step motion, and generally for obtaining joint high-resolution motion, joint needs
Use the drive system of certain speed reducing ratio as system moment transmitting device.
Summary of the invention
It is an object of the invention to provide a kind of mechanical arm deceleration articulation structure, the high accuracy moment of multi-stage speed-reducing ratio can be realized
Output, simple and compact for structure, speed reducing ratio is big, transmission accuracy is high；Volume is little, lightweight, easy for installation, and generalization is strong, reliability
Height, is particularly suitable for applications in the spatial manipulation environment that lightweight needs.
For achieving the above object, the present invention provides a kind of mechanical arm deceleration articulation structure, comprises: power shaft, with motor even
Connect, driven by motor rotate；Multiple index cams, are separately positioned on described power shaft, rotate together with power shaft；Output
Axle, is spaced a distance and is arranged on the lower section of described power shaft, be freely rotatable, and be connected with mechanical arm；Clutch plate, is arranged
On described output shaft, rotate together with output shaft；Multiple cylinders, are separately positioned on described clutch plate, and can be free
Roll, and contact with described index cam and realize PURE ROLLING, it is achieved the moment transmission between power shaft and output shaft
And decrease of speed transmission, and will slow down after moment be transferred to mechanical arm by output shaft.
The both sides of described power shaft are provided with the first rolling bearing, it is achieved rotating freely of power shaft.
Being provided with multiple power shaft keyway on described power shaft, each index cam sets by this power shaft keyway is fixing
Put on power shaft, and rotate together with power shaft.
The both sides of described output shaft are provided with the second rolling bearing, it is achieved rotating freely of output shaft.
Being provided with output shaft keyway on described output shaft, clutch plate is fixedly installed on output shaft by this output shaft keyway
On, and rotate together with output shaft.
The both sides of described clutch plate are respectively cylindrical support disk, and each support disk is provided with multiple groove.
The asymmetric bolt that is equipped with in the groove of described clutch plate both sides, described cylinder correspondence is set in each spiral shell
On bolt, it is fixedly installed on clutch plate and can freely roll.
Sub-degree angle between the number of described index cam, each index cam and the number of cylinder are according to machinery
The speed reducing ratio of arm deceleration articulation structure determines.
Position that position that described index cam is arranged on power shaft, cylinder are arranged on clutch plate, cylinder straight
Footpath size determines according to the distance between speed reducing ratio and power shaft and the output shaft of mechanical arm deceleration articulation structure.
Mechanical arm deceleration articulation structure of the present invention, also comprises multiple bracing frame, is used for installing location and supporting whole
Individual mechanical arm deceleration articulation structure.
Mechanical arm deceleration articulation structure provided by the present invention, can realize the high accuracy moment output of multi-stage speed-reducing ratio, knot
Structure is the compactest, and speed reducing ratio is big, transmission accuracy is high；Volume is little, lightweight, easy for installation, and generalization is strong, and reliability is high, especially
It is suitably applied in the spatial manipulation environment that lightweight needs.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the mechanical arm deceleration articulation structure in the present invention.
Detailed description of the invention
Below in conjunction with Fig. 1, describe a preferred embodiment of the present invention in detail.
As it is shown in figure 1, the mechanical arm deceleration articulation structure provided for the present invention, comprise: power shaft 2, be connected with motor, by
Driven by motor rotates；Multiple index cams 1, are separately positioned on described power shaft 2, rotate together with power shaft 2；Output shaft
6, it is spaced a distance and is arranged on the lower section of described power shaft 2, be freely rotatable, and be connected with mechanical arm, as this machinery
The source of arm energy input；Clutch plate 5, is arranged on described output shaft 6, rotates together with output shaft 6；Multiple cylinders 9, point
It is not arranged on described clutch plate 5, and can freely roll, and contact with described index cam 1 and realize PURE ROLLING,
Realize between power shaft 2 and output shaft 6 moment transmission and decrease of speed transmission, and will slow down after moment passed by output shaft 6
It is handed to mechanical arm.
The both sides of described power shaft 2 are provided with the first rolling bearing 3, it is achieved rotating freely of power shaft 2.
Being provided with multiple power shaft keyway 12 on described power shaft 2, each index cam 1 is by this power shaft keyway 12
It is fixedly installed on power shaft 2, and rotates together with power shaft 2.
The both sides of described output shaft 6 are provided with the second rolling bearing 7, it is achieved rotating freely of output shaft 6.
Being provided with output shaft keyway 10 on described output shaft 6, clutch plate 5 is fixedly installed on by this output shaft keyway 10
On output shaft 6, and rotate together with output shaft 6.
The both sides of described clutch plate 5 are respectively cylindrical support disk, and each support disk is provided with multiple groove.
The asymmetric bolt 11 that is equipped with in the groove of described clutch plate 5 both sides, described cylinder 9 correspondence is set in respectively
On individual bolt 11, it is fixedly installed on clutch plate 5 and can freely roll.
Described cylinder 9 and index cam 1 contact movement, realize the higher pair rotary motion of linear contact lay between the two, due to
Cylinder 9 can roll automatically, can reduce relatively conventional gear train assembly because of friction factor etc. and cause speed reducing ratio inaccuracy, discontinuous
Phenomenon, it is achieved the multi-stage speed-reducing of certain speed reducing ratio.
The sub-degree angle specifically arranged between number, each index cam 1 of described index cam 1 and the tool of cylinder 9
Body arranges number and can determine according to the speed reducing ratio reached needed for mechanical arm deceleration articulation structure.
The concrete position that described index cam 1 is arranged on the particular location on power shaft 2, cylinder 9 is arranged on clutch plate 5
Put, the diameter of cylinder can be according to the speed reducing ratio reached needed for mechanical arm deceleration articulation structure and power shaft 2 and output shaft
Distance between 6 determines.
Mechanical arm deceleration articulation structure of the present invention, also comprises multiple bracing frame 4,8, is used for installing location and supporting
Whole mechanical arm deceleration articulation structure.
Mechanical arm deceleration articulation structure provided by the present invention, is used for driving manipulator motion, mainly uses index cam
Joint deceleration is carried out as drive system with cylinder.Owing to motor is connected to be provided with the power shaft 2 of index cam 1, can realize
Multi-stage speed-reducing, when motor rotates, power shaft 2 drives index cam 1 to contact rolling with the cylinder 9 on clutch plate 5, on clutch plate 5
The position that specifically arranges of each cylinder 9 come really by relations such as the spacing distance between power shaft 2 and output shaft 6 and speed reducing ratio
Fixed, so index cam 1 by and the cylinder 9 on clutch plate 5 between engage and realize deceleration transmission.
Mechanical arm deceleration articulation structure provided by the present invention, nodule is closed in the deceleration using index cam and cylinder to realize
Structure, compared with prior art, has the following advantages and beneficial effect:
1, because being PURE ROLLING between cam and free rolling cylinder, both belong to friction free contact engagement, Ke Yishi
Existing high-precision speed reducing ratio torque transmitting；Compare traditional gear transmission reducing system, it is possible to achieve big speed reducing ratio and high-precision
The torque transmitting of degree；
2, a gear teeth is equivalent to due to cam, so can be as the drive system of any speed reducing ratio；Compare traditional gear
Gear reduction system, lighter in weight, be more suitable for applying at spatial manipulation environment, meets space industry lighting, miniaturization
Develop loading demands.
Although present disclosure has been made to be discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read foregoing, for the present invention's
Multiple amendment and replacement all will be apparent from.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a mechanical arm deceleration articulation structure, it is characterised in that comprise:
Power shaft, is connected with motor, driven by motor rotate；
Multiple index cams, are separately positioned on described power shaft, rotate together with power shaft；
Output shaft, is spaced a distance and is arranged on the lower section of described power shaft, be freely rotatable, and be connected with mechanical arm；
Clutch plate, is arranged on described output shaft, rotates together with output shaft；
Multiple cylinders, are separately positioned on described clutch plate, and can freely roll, and the reality that contacts with described index cam
Existing PURE ROLLING, it is achieved the moment transmission between power shaft and output shaft and decrease of speed transmission, and the moment after slowing down
It is transferred to mechanical arm by output shaft.
2. mechanical arm deceleration articulation structure as claimed in claim 1, it is characterised in that the both sides of described power shaft are provided with
First rolling bearing, it is achieved rotating freely of power shaft.
3. mechanical arm deceleration articulation structure as claimed in claim 1, it is characterised in that be provided with multiple on described power shaft
Power shaft keyway, each index cam is fixedly installed on power shaft by this power shaft keyway, and rotates together with power shaft.
4. mechanical arm deceleration articulation structure as claimed in claim 1, it is characterised in that the both sides of described output shaft are provided with
Second rolling bearing, it is achieved rotating freely of output shaft.
5. mechanical arm deceleration articulation structure as claimed in claim 1, it is characterised in that be provided with output on described output shaft
Shaft key groove, clutch plate is fixedly installed on output shaft by this output shaft keyway, and rotates together with output shaft.
6. mechanical arm deceleration articulation structure as claimed in claim 1, it is characterised in that the both sides of described clutch plate are respectively
Cylindrical support disk, each support disk is provided with multiple groove.
7. mechanical arm deceleration articulation structure as claimed in claim 6, it is characterised in that in the groove of described clutch plate both sides
The asymmetric bolt that is equipped with, described cylinder correspondence is set on each bolt, is fixedly installed on clutch plate and can be free
Roll.
8. mechanical arm deceleration articulation structure as claimed in claim 1, it is characterised in that the number of described index cam, each
Sub-degree angle and the number of cylinder between index cam determine according to the speed reducing ratio of mechanical arm deceleration articulation structure.
9. mechanical arm deceleration articulation structure as claimed in claim 7, it is characterised in that described index cam is arranged on input
Position, the diameter of cylinder that position on axle, cylinder are arranged on clutch plate subtract according to mechanical arm deceleration articulation structure
Distance between speed ratio and power shaft and output shaft determines.
10. mechanical arm deceleration articulation structure as claimed in claim 1, it is characterised in that also comprise multiple bracing frame, be used for pacifying
Set position and support whole mechanical arm deceleration articulation structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610904756.8A CN106275521A (en) | 2016-10-18 | 2016-10-18 | A kind of mechanical arm deceleration articulation structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610904756.8A CN106275521A (en) | 2016-10-18 | 2016-10-18 | A kind of mechanical arm deceleration articulation structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106275521A true CN106275521A (en) | 2017-01-04 |
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ID=57717709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610904756.8A Pending CN106275521A (en) | 2016-10-18 | 2016-10-18 | A kind of mechanical arm deceleration articulation structure |
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| Country | Link |
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| CN (1) | CN106275521A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113616076A (en) * | 2020-05-07 | 2021-11-09 | 芜湖美的厨卫电器制造有限公司 | Tea making robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2330501Y (en) * | 1997-05-28 | 1999-07-28 | 北人集团公司 | Automatic flat-press die dinking machine |
| CN2604572Y (en) * | 2003-03-13 | 2004-02-25 | 陕西科技大学 | Three-plate cam-type parallel-axis dividing apparatus |
| JP2004316825A (en) * | 2003-04-17 | 2004-11-11 | Jatco Ltd | Multistage transmission |
| CN101245839A (en) * | 2008-03-21 | 2008-08-20 | 天津大学 | Coaxial eccentric wheel high-speed dividing mechanism |
| CN201451320U (en) * | 2009-05-13 | 2010-05-12 | 温岭市华驰机械有限公司 | Cam intermittent mechanism in cigarette maker |
| CN202462110U (en) * | 2011-11-10 | 2012-10-03 | 常州机电职业技术学院 | Non-impact continuous indexing table |
| CN102806581A (en) * | 2012-08-20 | 2012-12-05 | 山东信川机械有限责任公司 | Intermittent mechanism of reciprocating creasing and die-cutting machine |
-
2016
- 2016-10-18 CN CN201610904756.8A patent/CN106275521A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2330501Y (en) * | 1997-05-28 | 1999-07-28 | 北人集团公司 | Automatic flat-press die dinking machine |
| CN2604572Y (en) * | 2003-03-13 | 2004-02-25 | 陕西科技大学 | Three-plate cam-type parallel-axis dividing apparatus |
| JP2004316825A (en) * | 2003-04-17 | 2004-11-11 | Jatco Ltd | Multistage transmission |
| CN101245839A (en) * | 2008-03-21 | 2008-08-20 | 天津大学 | Coaxial eccentric wheel high-speed dividing mechanism |
| CN201451320U (en) * | 2009-05-13 | 2010-05-12 | 温岭市华驰机械有限公司 | Cam intermittent mechanism in cigarette maker |
| CN202462110U (en) * | 2011-11-10 | 2012-10-03 | 常州机电职业技术学院 | Non-impact continuous indexing table |
| CN102806581A (en) * | 2012-08-20 | 2012-12-05 | 山东信川机械有限责任公司 | Intermittent mechanism of reciprocating creasing and die-cutting machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113616076A (en) * | 2020-05-07 | 2021-11-09 | 芜湖美的厨卫电器制造有限公司 | Tea making robot |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170104 |
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| RJ01 | Rejection of invention patent application after publication |