CN106514697A - Two-freedom-degree orthogonal type robot joint module and six-freedom-degree mechanical arm - Google Patents
Two-freedom-degree orthogonal type robot joint module and six-freedom-degree mechanical arm Download PDFInfo
- Publication number
- CN106514697A CN106514697A CN201611132173.4A CN201611132173A CN106514697A CN 106514697 A CN106514697 A CN 106514697A CN 201611132173 A CN201611132173 A CN 201611132173A CN 106514697 A CN106514697 A CN 106514697A
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- China
- Prior art keywords
- power unit
- freedom
- joint
- degree
- connecting rod
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The invention discloses a two-freedom-degree orthogonal type robot joint module and a six-freedom-degree mechanical arm. The two-freedom-degree orthogonal type robot joint module and the six-freedom-degree mechanical arm are characterized in that a first power unit and a second power unit are independently arranged in a hollow cavity formed by a base and a shell, the first power unit and the second power unit are single-freedom-degree power units of the same structure, and a power output shaft of the first power unit and a power output shaft of the second power unit are perpendicular to each other. According to the two-freedom-degree orthogonal type robot joint module, driving, sensing and control parts in two directions are integrated, a single joint can output power in two directions, the structure is compact, the integration is high, the comprehensive energy consumption is lower, key components are provided for development of mechanical arms of light efficient industrial robots and service robots, and upgrading and updating of industrial robots and application and popularization of service robots are greatly facilitated.
Description
Technical field
The invention belongs to robotics, can be used for lightweight joint type industrial machinery arm, service robot mechanical arm
Research and exploitation.
Technical background
The motion of most joint type industrial robot at present is all to be connected and six joints by rotation by connecting rod etc.
Transhipment movable property life, complex structure, volume are larger, cause that weight/duty factor is larger, energy utilization rate is relatively low, dismounting is difficult, valency
Lattice are expensive.
Complicated and changeable or in the case that working environment is unknown in Given task, conventional industrial robot is due to itself configuration
Limit, it is difficult to meet requirements of one's work.Modularization robot changes the limitation of traditional industry mechanical arm, is adapted to complexity
Changeable working environment and Given task, expand the application of robot, reduce the mass loading ratio of mechanical arm, shortening machine
Tool arm design cycle reduces cost, can meet change and the flexible production demand of small lot more than future, progressively become machine
The focus of people's research.
Research currently for joint of robot module is carried out mainly around single-freedom joint module, is obtained substantial amounts of
Achievement in research, develops single-freedom joint module and corresponding lightweight mechanical arm；But, with regard to two degrees of freedom joint module,
Also there is no the open report of correlation technique so far.
The content of the invention
The present invention is for avoiding the deficiency existing for above-mentioned prior art, there is provided a kind of two degrees of freedom orthogonal formula robot is closed
Section module and sixdegree-of-freedom simulation, the driving of both direction, sensing and control unit are integrated, and single joint is carried
For the power output of both direction, more preferable structure and performance is obtained.
Two degrees of freedom orthogonal formula joint of robot module of the present invention is structurally characterized in that：In being made up of pedestal and housing
In cavity, the first power unit and the second power unit is independently arranged, first power unit and the second power unit are knots
The power output shaft of structure identical single-degree-of-freedom power unit, the first power unit and the second power unit is mutually perpendicular to.
The construction featuress of two degrees of freedom orthogonal formula joint of robot module of the present invention lie also in：The single-degree-of-freedom power list
Unit structure setting be：Flange is connected on harmonic speed changer；DC motor assembly is sleeved on quill shaft, and can be driven
The quill shaft rotation；Connect quill shaft and flange using the harmonic speed reducer；Band brake apparatus are by gear pair to quill shaft
It is braked.
Construction featuress of the present invention using the sixdegree-of-freedom simulation of two degrees of freedom orthogonal formula joint of robot module composition
It is：Including the base on fixed position, first connecting rod, second connecting rod, and three joint modules of the present invention, the pass
Section module distinguishes the first joint, second joint and the 3rd joint；
The flange of a power unit in first joint is fixedly connected with base, the flange of another power unit with
The lower end of first connecting rod is fixedly connected；
The flange of a power unit in the second joint is connected with the upper end of first connecting rod, another power unit
Flange is connected with the lower end of second connecting rod；
The flange of a power unit in 3rd joint is connected with the upper end of second connecting rod, another power unit
Flange be used for connect the end effectors such as mechanical paw.
Compared with the prior art, the present invention has the beneficial effect that：
Compared to single-freedom joint module, in the present invention, two degrees of freedom joint module is by the driving of both direction, sensing
Integrated with the part such as control, single joint can provide the power output of both direction, and its compact conformation, integrated level are high, comprehensive
Energy consumption is lower, provides critical component by the exploitation for efficient and light weight industrial robot and service robot arm, greatly has
The application of upgrading and service robot beneficial to promotion industrial robot.
Description of the drawings
Fig. 1 internal structure schematic diagrams of the present invention；
Fig. 2 is single-degree-of-freedom power unit structure figure in the present invention；
Fig. 3 is sixdegree-of-freedom simulation structural representation in the present invention；
Label in figure：1 pedestal, 2 shells, 3 first power units, 4 second power units, 5 first driving plates, 6 second drive
Dynamic plate, 31 flanges, 32 harmonic speed changers, 33 DC motor assemblies, 34 quill shafts, 35 gear pairs, 36 power transmission shafts, 37 band-type brakes dress
Put, 38 encoders, 71 first connecting rods, 72 second connecting rods, 81 first joints, 82 second joints, 83 the 3rd joints, 9 bases.
Specific embodiment
Referring to Fig. 1 and Fig. 2, in the present embodiment, the version of two degrees of freedom orthogonal formula joint of robot module is：By
The hollow intracavity that pedestal 1 and housing 2 are constituted, is independently arranged the first power unit 3 and the second power unit 4, the first power unit 3
It is the dynamic of structure identical single-degree-of-freedom power unit, the first power unit 3 and the second power unit 4 with the second power unit 4
Power output shaft is mutually perpendicular to.First driving plate 5 and the second driving plate 6 are the first power unit 3, the second power unit 4 respectively
Control board, installed in the inside of shell 2, for controlling the output speed and torque of power unit.
The structure setting of single-degree-of-freedom power unit is：Flange 31 is connected on harmonic speed changer 32, for connecting machine
Device people's connecting rod；DC motor assembly 33 is sleeved on quill shaft 34, and quill shaft 34 can be driven to rotate；Filled using harmonic reduction
Put 32 connection quill shafts 34 and flange 31；Band brake apparatus 37 are braked to quill shaft 34 by gear pair 35.
Quill shaft 34 is driven to rotate by DC motor assembly 33, through the harmonic speed changer 32 being connected on quill shaft 34
Slow down and output torque to flange 31；The deceleration for rotating past gear pair 35 of quill shaft 34 is transferred on power transmission shaft 36, band-type brake
Device 37 prevents the motion of power transmission shaft 36 by applying opposing torque, and quill shaft 34 is braked；Encoder 38 is arranged on to be embraced
The rear end of brake gear 37, for calculating the number of turns of the rotation of quill shaft 34.
Traditional sixdegree-of-freedom simulation, in addition to base, at least needs four with connecting rod, could realize the motion of six axles
Output.Using the two degrees of freedom orthogonal formula joint of robot module of the present invention, six degree of freedom machinery as shown in Figure 3 can be built
Arm, including base 9, first connecting rod 71, second connecting rod 72 and three joint modules, shown in figure, three joint moulds are to connect respectively
The first joint 81 being connected between first connecting rod 71 and base, the second pass being connected between first connecting rod 71 and second connecting rod 72
Section 82, and the 3rd joint 83 of the second connecting rod other end is connected to, the configuration of robot is simplified and lighting.
Sixdegree-of-freedom simulation shown in Fig. 3, its base 9 are arranged on fixed position, and in the first joint 81 moves
The flange of power unit is fixedly connected with base 9, and the flange of another power unit is fixedly connected with the lower end of first connecting rod 71；Second
The flange of a power unit in joint 82 is connected with the upper end of first connecting rod 71, and the flange of another power unit and second connects
The lower end connection of bar 72；The flange of a power unit in the 3rd joint 83 is connected with the upper end of second connecting rod 72, another
The flange of power unit is used for connecting the end effectors such as mechanical paw.
Under the driving of power unit, the power unit being connected with base 9 in the first joint 81 is used for driving the first joint
81st, the overall axis around base of the component such as first connecting rod 71, second joint 82, second connecting rod 72 and the 3rd joint 83 rotates；
The power unit being connected with first connecting rod 71 in first joint 81 is used for driving first connecting rod to rotate around the axis of the power unit；
The power unit that second joint 82 is connected with first connecting rod is used for driving second joint 82, second connecting rod 72 and the 3rd joint 83
Axis around the power unit rotates；The power unit that second joint 82 is connected with second connecting rod 72 is used for driving second connecting rod 71
And the 3rd joint 83 around the power unit axis rotate；The power unit that 3rd joint 83 is connected with second connecting rod 72 is used for
The 3rd joint 82 is driven to rotate around the axis of the power unit.
Housing is done into glomeration in the present invention, first in the case of shell surface area identical, internal volume is maximum, energy
Each parts of joint module are accommodated enough；Secondly in order that the mechanical arm of each connecting rod and joint module composition, work space is maximum,
Avoid producing in the motion of work space inside connecting rod and joint module and interfere.
The present invention can provide a kind of joint module of high integration for robot industry, be robot to lighting, mould
The development that block is sent out provides key core part, and design and the manufacture method of guided robot develop to lighting, modularity direction.
Claims (4)
1. two degrees of freedom orthogonal formula joint of robot module, is characterized in that：In the middle cavity being made up of pedestal (1) and housing (2)
It is interior, it is independently arranged the first power unit (3) and the second power unit (4), the first power unit (3) and the second power unit
(4) be structure identical single-degree-of-freedom power unit, the first power unit (3) and the second power unit (4) power output shaft
It is mutually perpendicular to.
2. two degrees of freedom orthogonal formula joint of robot module according to claim 1, is characterized in that：The single-degree-of-freedom is moved
The structure setting of power unit is：Flange (31) is connected on harmonic speed changer (32)；During DC motor assembly (33) is sleeved on
On empty axle (34), and the quill shaft (34) can be driven to rotate；Connect quill shaft using the harmonic speed changer (32)
And flange (31) (34)；Band brake apparatus (37) are braked to quill shaft (34) by gear pair (35).
3. two degrees of freedom orthogonal formula joint of robot module according to claim 1, is characterized in that：Housing (2) adopt
Use spherical shell.
4. a kind of six degree of freedom of the two degrees of freedom orthogonal formula joint of robot module composition described in utilization claim 1 is mechanical
Arm, is characterized in that：Including the base (9) on fixed position, first connecting rod (71), second connecting rod (72), and three
Joint module of the present invention, joint module difference the first joint (81), second joint (82) and the 3rd joint (83)；
The flange of a power unit in the first joint (81) is fixedly connected with base (9), the method for another power unit
Orchid is fixedly connected with the lower end of first connecting rod (71)；
The flange of a power unit in second joint (82) is connected with the upper end of first connecting rod (71), another power list
The flange of unit is connected with the lower end of second connecting rod (72)；
The flange of a power unit in the 3rd joint (83) is connected with the upper end of second connecting rod (72), another power
The flange of unit is used for connecting the end effectors such as mechanical paw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611132173.4A CN106514697A (en) | 2016-12-09 | 2016-12-09 | Two-freedom-degree orthogonal type robot joint module and six-freedom-degree mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611132173.4A CN106514697A (en) | 2016-12-09 | 2016-12-09 | Two-freedom-degree orthogonal type robot joint module and six-freedom-degree mechanical arm |
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| Publication Number | Publication Date |
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| CN106514697A true CN106514697A (en) | 2017-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611132173.4A Pending CN106514697A (en) | 2016-12-09 | 2016-12-09 | Two-freedom-degree orthogonal type robot joint module and six-freedom-degree mechanical arm |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186751A (en) * | 2017-07-20 | 2017-09-22 | 青岛欧开智能系统有限公司 | The robot modularized ball-joint of one kind cooperation |
| CN107225597A (en) * | 2017-07-24 | 2017-10-03 | 中国电子科技集团公司第二十研究所 | A kind of two-freedom modularized joint component based on hollow motor integrating |
| CN107825465A (en) * | 2017-11-14 | 2018-03-23 | 徐州欧普莱斯工业机械有限公司 | A kind of multi-joint mechanical arm for protecting joint injury |
| CN111152204A (en) * | 2020-01-18 | 2020-05-15 | 九立(北京)机器人科技有限公司 | Slewing mechanism, mechanical arm and robot |
| CN111486788A (en) * | 2020-04-15 | 2020-08-04 | 上海工程技术大学 | Gap measuring system and measuring method |
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| JPH01228790A (en) * | 1988-03-10 | 1989-09-12 | Fanuc Ltd | Biaxial wrist structure for industrial robot |
| CN102615652A (en) * | 2012-04-13 | 2012-08-01 | 中国科学院合肥物质科学研究院 | Two-degree-of-freedom robot joint based on double-electromagnetic clutch |
| CN102862164A (en) * | 2012-09-25 | 2013-01-09 | 杭州电子科技大学 | Double-degree-of-freedom robot hip joint steering engine |
| CN202726932U (en) * | 2012-08-28 | 2013-02-13 | 常州市璟胜自动化科技有限公司 | Double-joint robot gear box |
| CN104029213A (en) * | 2013-03-07 | 2014-09-10 | 工程服务公司 | Two-joint Module |
| CN104191434A (en) * | 2014-08-11 | 2014-12-10 | 天津大学 | Hollow series-connection mechanical arm |
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- 2016-12-09 CN CN201611132173.4A patent/CN106514697A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01228790A (en) * | 1988-03-10 | 1989-09-12 | Fanuc Ltd | Biaxial wrist structure for industrial robot |
| CN102615652A (en) * | 2012-04-13 | 2012-08-01 | 中国科学院合肥物质科学研究院 | Two-degree-of-freedom robot joint based on double-electromagnetic clutch |
| CN202726932U (en) * | 2012-08-28 | 2013-02-13 | 常州市璟胜自动化科技有限公司 | Double-joint robot gear box |
| CN102862164A (en) * | 2012-09-25 | 2013-01-09 | 杭州电子科技大学 | Double-degree-of-freedom robot hip joint steering engine |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186751A (en) * | 2017-07-20 | 2017-09-22 | 青岛欧开智能系统有限公司 | The robot modularized ball-joint of one kind cooperation |
| CN107186751B (en) * | 2017-07-20 | 2023-09-22 | 青岛欧开智能系统有限公司 | Modularized ball joint of cooperative robot |
| CN107225597A (en) * | 2017-07-24 | 2017-10-03 | 中国电子科技集团公司第二十研究所 | A kind of two-freedom modularized joint component based on hollow motor integrating |
| CN107225597B (en) * | 2017-07-24 | 2020-05-15 | 中国电子科技集团公司第二十一研究所 | Two-degree-of-freedom modular joint assembly based on hollow integrated motor |
| CN107825465A (en) * | 2017-11-14 | 2018-03-23 | 徐州欧普莱斯工业机械有限公司 | A kind of multi-joint mechanical arm for protecting joint injury |
| CN111152204A (en) * | 2020-01-18 | 2020-05-15 | 九立(北京)机器人科技有限公司 | Slewing mechanism, mechanical arm and robot |
| CN111486788A (en) * | 2020-04-15 | 2020-08-04 | 上海工程技术大学 | Gap measuring system and measuring method |
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Application publication date: 20170322 |
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