CN106625752A - Space manipulator modular joint with large torque - Google Patents
Space manipulator modular joint with large torque Download PDFInfo
- Publication number
- CN106625752A CN106625752A CN201710109377.4A CN201710109377A CN106625752A CN 106625752 A CN106625752 A CN 106625752A CN 201710109377 A CN201710109377 A CN 201710109377A CN 106625752 A CN106625752 A CN 106625752A
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- space manipulator
- brake
- motor
- modularized joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a space manipulator modular joint with large torque. The space manipulator modular joint comprises a shell, a motor arranged in the shell, an output shaft connected with the motor through a transmission mechanism, a brake and a control mechanism; a harmonic reducer and the brake are respectively arranged in a movable block and a fixed block; a soft wheel, an output shaft and the movable block are rigidly connected in order to be used as an output component; the fixed block, a stator sleeve, a rigid wheel fixing seat and a rigid wheel are rigidly connected in order; the stator sleeve is fixedly sleeved out of the stator of the motor, the rigid wheel fixing seat is sleeved out of the rotating shaft and fixedly connected with the rigid wheel. By use of the space manipulator modular joint disclosed by the invention, the shell is divided into two components: the fixed block and the movable block; the motor is used for driving the rotating shaft to rotate so as to drive the movable block to rotate through the harmonic reducer, thereby outputting the torque; the output shaft is unnecessary to extend out of the shell, the lateral dimension of the joint can be reduced, the structure is simplified, the integration level in the joint is increased, the volume is reduced, the flexibility is higher, and the maintainability is stronger.
Description
Technical field
The present invention relates to robotics, particularly a kind of Modularized joint of space manipulator of high-torque.
Background technology
At present, with the development of Chinese Space technology, in-orbit space tasks are increasingly weighed, and need utilization space robot to enter
Some such as space stations of row are built and safeguard, the release of satellite, maintenance and reclaim work, all too busy to get away space machine of these operations
Tool arm.Modularized joint is the important component part of space manipulator, and the performance of modularized joint determines whole mechanical arm
Every main performance.But driving means, transmission device, control device are typically all integrated in one by existing space mechanism shoulder joint
Body formed enclosure interior, and connect miscellaneous part by stretching out the output shaft of housing, it is big, integrated that this results in arthritic volume
Spend that relatively low, flexibility ratio is low and maintainable poor problem.
The content of the invention
It is contemplated that at least solving one of above-mentioned technical problem in correlation technique to a certain extent.For this purpose, this
A kind of bright compact for proposing that housing is split type, the reconfigurable spacing mechanical arm modularization that integrated level is high, flexibility ratio is high are closed
Section.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of Modularized joint of space manipulator of high-torque, including housing, and be arranged in housing motor, by driver
The output shaft of structure and motor connection, brake and controlling organization, the transmission mechanism includes the rotating shaft being connected with the rotor of motor,
And the harmonic wave speed reducing machine of rotating shaft one end is connected to, the other end of rotating shaft connects the brake, and the harmonic wave speed reducing machine includes firm
Wheel, flexbile gear and wave producer, the housing includes motion block and quiet piece, and the harmonic wave speed reducing machine and brake are separately positioned on motion block
In quiet piece, flexbile gear, output shaft, motion block are rigidly connected successively as output block, quiet piece, stator sleeve, firm wheel fixed seat, just
Wheel is rigidly connected successively, and the stator sleeve is fixedly sleeved outside the stator of motor, and the firm wheel fixed seating is located at outside rotating shaft
And be fixedly connected with firm wheel.
As the improvement of above-mentioned technical proposal, be provided with the outer wall of the motion block it is perpendicular with rotating shaft to it is another
The connecting seat that modularized joint is connected.
As the further improvement of above-mentioned technical proposal, also including it is interspersed be arranged on brake, extend to inside rotating shaft it is defeated
The hollow cabling sleeve of shaft.
Further, a crossed roller bearing, the outer ring of the crossed roller bearing are provided between the motion block and quiet piece
Motion block is abutted, inner ring abuts quiet piece.
Further, the rotating shaft outer sheath is equipped with to the circumferentially positioned clutch shaft bearing of rotating shaft and second bearing, and described the
The outer ring of one bearing abuts quiet piece, and inner ring abuts rotating shaft, and the outer ring of the second bearing abuts stator sleeve, and inner ring is abutted and turned
Axle.
Further, the firm wheel of the harmonic wave speed reducing machine, flexbile gear, wave producer adopt split-type structural.
Further, the controlling organization adopts servo controller, the servo controller to be integrated in intra articular, utilizes
WIFI carries out transmission of wireless signals.
Further, the servo controller includes the Hall element for current loop control, for speed ring control
Incremental encoder, for the absolute value encoder of position ring control, for the current sensor of torque ring control.
Further, the brake adopts electromagnetism energization type brake, the electromagnetism energization type brake to include braking parts
Divide and the armature relative with brake portion, the armature is rigidly connected with rotating shaft.
Further, the motor adopts frame-type permagnetic synchronous motor.
The invention has the beneficial effects as follows：The present invention by the way that housing is divided into quiet piece, two parts of motion block, using motor belt motor
Dynamic axis of rotation further drives motion block to rotate by harmonic wave speed reducing machine, so as to the mode of output torque, is not required to stretch out output shaft
Outside housing, the lateral dimension in joint can be reduced, simplify structure, increase the integrated level of intra articular, reduce volume, and
Its flexibility ratio is higher, maintainable higher.
Description of the drawings
With reference to the accompanying drawings and examples the present invention is further described.
Fig. 1 is the sectional view of the embodiment of the present invention；
Fig. 2 is the sectional view of quiet piece of the embodiment of the present invention and its internal each part；
Fig. 3 is the sectional view of the motion block of the embodiment of the present invention and its internal each part.
Specific embodiment
Referring to figs. 1 to Fig. 3, a kind of Modularized joint of space manipulator of high-torque of the present invention, including housing 1, and set
Put the motor 2 in housing 1, the output shaft 4, brake 5 and the controlling organization that are connected with motor 2 by transmission mechanism 3, the biography
Motivation structure 3 includes the rotating shaft 31 being connected with the rotor 21 of motor 2, and is connected to the harmonic wave speed reducing machine 32 of the one end of rotating shaft 31, rotating shaft
31 other end connects the brake 5, and the harmonic wave speed reducing machine 32 includes firm wheel 32-1, flexbile gear 32-2 and wave producer 32-
3, the housing 1 includes motion block 11 and quiet piece 12, and the harmonic wave speed reducing machine 32 and brake 5 are separately positioned on motion block 11 and quiet piece
In 12, flexbile gear 32-2, output shaft 4, motion block 11 are rigidly connected successively as output block, quiet piece 12, stator sleeve 6, firm wheel it is solid
Reservation 7, firm wheel 32-1 is rigidly connected successively, and the stator sleeve 6 is fixedly sleeved outside the stator 22 of motor, and the firm wheel is fixed
Seat 7 is set in outside rotating shaft 31 and is fixedly connected with firm wheel 32-1, and housing 1 is divided into quiet piece 12,11 two parts of motion block, adopts
Motor 2 drives rotating shaft 31 to rotate, and drives motion block 11 to rotate by harmonic wave speed reducing machine 32, so as to the mode of output torque, can reduce
The lateral dimension in joint, has simplified structure, increases the integrated level of intra articular, reduces volume.
Further, be provided with the outer wall of the motion block 11 it is perpendicular with rotating shaft 31 to another modularized joint
The connecting seat 11-1 being connected, is easy to realize being connected, reconstructing with other joints.
Further, also including the interspersed hollow cabling for being arranged on brake 5, output shaft 4 being extended to inside rotating shaft 31
Sleeve 8, by cabling sleeve 8 come solderless wrapped connection, cabling is neat, specification, is easy to management for the trend between part.
Further, a crossed roller bearing 9, the crossed roller bearing are provided between the motion block 11 and quiet piece 12
9 outer ring abuts motion block 11, and inner ring abuts quiet piece 12, for undertaking the main moment of flexure in joint, it is ensured that the precision of transmission, intersects rolling
Sub- bearing 9 has outstanding running accuracy, and operation is installed and simplified, can bear larger load and can significantly save installing space.
Further, the outer sheath of the rotating shaft 31 is equipped with to the circumferentially positioned clutch shaft bearing 33 of rotating shaft 31 and second bearing
34, the outer ring of the clutch shaft bearing 33 abuts quiet piece 12, and inner ring abuts rotating shaft 31, and the outer ring of the second bearing 34 abuts stator
Sleeve 6, inner ring abuts rotating shaft 31.
Further, firm wheel 32-1 of the harmonic wave speed reducing machine 32, flexbile gear 32-2, wave producer 32-3 adopt split type knot
Structure, can reduce the lateral dimension in joint, further reduce volume.
Further, the controlling organization adopts servo controller, the servo controller to be integrated in intra articular, utilizes
WIFI carries out transmission of wireless signals, makes joint possess radio communication function.
Further, the servo controller includes the Hall element for current loop control, for speed ring control
Incremental encoder, for position ring control absolute value encoder, for torque ring control current sensor, improve
The degree of intelligence in joint, increased its precision so as to more preferable environmental suitability.
Further, the brake 5 adopts electromagnetism energization type brake, the electromagnetism energization type brake to include braking
Part and the armature relative with brake portion, the armature is rigidly connected with rotating shaft 31, and electromagnetism energization type brake has corresponding
Speed is fast, and advantages of simple structure and simple can avoid failure from causing joint to use.
Further, the motor 2 adopts frame-type permagnetic synchronous motor, with power efficiency it is high, torque is big, structure is simple
The advantages of list, small volume, little noise.
The reconfigurable Modularized joint of space manipulator of the present invention drives the rotation of rotating shaft 31 and then passes through using motor 2
Harmonic wave speed reducing machine 32 drives the rotation of motion block 11, so as to output torque, is not required to output shaft 4 be arranged out outside housing, can reduce pass
The lateral dimension of section, has simplified structure, increases the integrated level of intra articular, reduces volume, and its flexibility ratio is higher, can
Maintainability is higher.
Above concrete structure and sized data are that presently preferred embodiments of the present invention is illustrated, but present invention wound
Make and be not limited to the embodiment, those of ordinary skill in the art can also make kind on the premise of without prejudice to spirit of the invention
The equivalent variations planted or replacement, the deformation or replacement of these equivalents are all contained in the application claim limited range.
Claims (10)
1. a kind of Modularized joint of space manipulator of high-torque, including housing（1）, and it is arranged on housing（1）Interior motor
（2）, by transmission mechanism（3）With motor（2）The output shaft of connection（4）, brake（5）And controlling organization, the transmission mechanism
（3）Including with motor（2）Rotor（21）The rotating shaft of connection（31）, and it is connected to rotating shaft（31）The harmonic wave speed reducing machine of one end
（32）, rotating shaft（31）The other end connect the brake（5）, the harmonic wave speed reducing machine（32）Including firm wheel（32-1）, flexbile gear
（32-2）And wave producer（32-3）, it is characterised in that：The housing（1）Including motion block（11）With quiet piece（12）, the harmonic wave
Reductor（32）And brake（5）It is separately positioned on motion block（11）With quiet piece（12）It is interior, flexbile gear（32-2）, output shaft（4）, motion block
（11）It is rigidly connected successively as output block, quiet piece（12）, stator sleeve（6）, firm wheel fixed seat（7）, firm wheel（32-1）According to
It is secondary to be rigidly connected, the stator sleeve（6）The fixedly sleeved stator in motor（22）Outward, the firm wheel fixed seat（7）It is set in
Rotating shaft（31）Outer and and firm wheel（32-1）It is fixedly connected.
2. the Modularized joint of space manipulator of a kind of high-torque according to claim 1, it is characterised in that：The motion block
（11）Outer wall on be provided with and rotating shaft（31）The perpendicular connecting seat to be connected with another modularized joint（11-1）.
3. the Modularized joint of space manipulator of a kind of high-torque according to claim 1, it is characterised in that：Also include wearing
Insert and be arranged on brake（5）, rotating shaft（31）Inside extends to output shaft（4）Hollow cabling sleeve（8）.
4. the Modularized joint of space manipulator of a kind of high-torque according to claim 1, it is characterised in that：The motion block
（11）With quiet piece（12）Between be provided with a crossed roller bearing（9）, the crossed roller bearing（9）Outer ring abut motion block
（11）, inner ring abuts quiet piece（12）.
5. the Modularized joint of space manipulator of a kind of high-torque according to claim 1, it is characterised in that：The rotating shaft
（31）Outer sheath is equipped with to rotating shaft（31）Circumferentially positioned clutch shaft bearing（33）And second bearing（34）, the clutch shaft bearing
（33）Outer ring abut quiet piece（12）, inner ring abutting rotating shaft（31）, the second bearing（34）Outer ring abut stator sleeve
（6）, inner ring abutting rotating shaft（31）.
6. the Modularized joint of space manipulator of a kind of high-torque according to claim 1, it is characterised in that：The harmonic wave
Reductor（32）Firm wheel（32-1）, flexbile gear（32-2）, wave producer（32-3）Using split-type structural.
7. the Modularized joint of space manipulator of a kind of high-torque according to claim 1, it is characterised in that：The control
Mechanism adopts servo controller, the servo controller to be integrated in intra articular, and using WIFI transmission of wireless signals is carried out.
8. the Modularized joint of space manipulator of a kind of high-torque according to claim 7, it is characterised in that：The servo
Controller includes the Hall element for current loop control, for the incremental encoder of speed ring control, for position ring
The absolute value encoder of control, for the current sensor of torque ring control.
9. the Modularized joint of space manipulator of a kind of high-torque according to claim 1, it is characterised in that：The braking
Device（5）Using electromagnetism energization type brake, the electromagnetism energization type brake includes brake portion and relative with brake portion
Armature, the armature and rotating shaft（31）It is rigidly connected.
10. the Modularized joint of space manipulator of a kind of high-torque according to claim 1, it is characterised in that：The electricity
Machine（2）Using frame-type permagnetic synchronous motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710109377.4A CN106625752A (en) | 2017-02-27 | 2017-02-27 | Space manipulator modular joint with large torque |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710109377.4A CN106625752A (en) | 2017-02-27 | 2017-02-27 | Space manipulator modular joint with large torque |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625752A true CN106625752A (en) | 2017-05-10 |
Family
ID=58847452
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710109377.4A Pending CN106625752A (en) | 2017-02-27 | 2017-02-27 | Space manipulator modular joint with large torque |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625752A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263527A (en) * | 2017-06-30 | 2017-10-20 | 东南大学 | A kind of joint arrangement for articulated robot |
| CN107717955A (en) * | 2017-09-29 | 2018-02-23 | 中国科学院空间应用工程与技术中心 | A kind of four-degree-of-freedom inspection mechanical arm and its control system, control method |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN108381598A (en) * | 2018-03-28 | 2018-08-10 | 中国科学院宁波材料技术与工程研究所 | A kind of intelligent robot driving joint and robot |
| CN108858166A (en) * | 2018-04-27 | 2018-11-23 | 中国科学院沈阳自动化研究所 | A kind of robot modularized turning joint adapting to lunar surface environment |
| CN110091352A (en) * | 2019-03-28 | 2019-08-06 | 哈尔滨工业大学 | Miniature large torque high speed joint integrates hydraulic unit driver |
| CN110561491A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | Wrist joint of mechanical arm |
| CN110712200A (en) * | 2019-11-11 | 2020-01-21 | 天津工业大学 | Robot integration joint device |
| CN110883768A (en) * | 2018-09-07 | 2020-03-17 | 合肥欣奕华智能机器有限公司 | Band-type brake servo motor control method and device and robot |
| CN112692865A (en) * | 2021-01-18 | 2021-04-23 | 之江实验室 | Integrated joint |
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| CN104908059A (en) * | 2014-12-18 | 2015-09-16 | 遨博（北京）智能科技有限公司 | Modularization mechanical arm joint with variable freedom |
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| CN205889243U (en) * | 2016-05-19 | 2017-01-18 | 北京自动化控制设备研究所 | People's arm is imitated to modularization |
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| 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 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263527A (en) * | 2017-06-30 | 2017-10-20 | 东南大学 | A kind of joint arrangement for articulated robot |
| CN107717955A (en) * | 2017-09-29 | 2018-02-23 | 中国科学院空间应用工程与技术中心 | A kind of four-degree-of-freedom inspection mechanical arm and its control system, control method |
| CN107717955B (en) * | 2017-09-29 | 2024-03-19 | 中国科学院空间应用工程与技术中心 | Space four-degree-of-freedom inspection mechanical arm and control system and control method thereof |
| CN107901075B (en) * | 2017-11-28 | 2023-12-01 | 天津扬天科技有限公司 | Joint module adopted by multi-degree-of-freedom hollow cooperative mechanical arm |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN108381598A (en) * | 2018-03-28 | 2018-08-10 | 中国科学院宁波材料技术与工程研究所 | A kind of intelligent robot driving joint and robot |
| CN108858166A (en) * | 2018-04-27 | 2018-11-23 | 中国科学院沈阳自动化研究所 | A kind of robot modularized turning joint adapting to lunar surface environment |
| CN108858166B (en) * | 2018-04-27 | 2024-01-23 | 中国科学院沈阳自动化研究所 | Robot modularized movable joint suitable for lunar environment |
| CN110883768A (en) * | 2018-09-07 | 2020-03-17 | 合肥欣奕华智能机器有限公司 | Band-type brake servo motor control method and device and robot |
| CN110091352A (en) * | 2019-03-28 | 2019-08-06 | 哈尔滨工业大学 | Miniature large torque high speed joint integrates hydraulic unit driver |
| CN110091352B (en) * | 2019-03-28 | 2022-10-18 | 哈尔滨工业大学 | Miniature large-torque high-speed joint integrated hydraulic driver |
| CN110561491A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | Wrist joint of mechanical arm |
| CN110712200B (en) * | 2019-11-11 | 2023-09-05 | 天津工业大学 | Robot integrated joint device |
| CN110712200A (en) * | 2019-11-11 | 2020-01-21 | 天津工业大学 | Robot integration joint device |
| CN112692865A (en) * | 2021-01-18 | 2021-04-23 | 之江实验室 | Integrated joint |
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| PB01 | Publication | ||
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Application publication date: 20170510 |