CN107020644B - Redundant degree-of-freedom mechanical arm modularized joint - Google Patents
Redundant degree-of-freedom mechanical arm modularized joint Download PDFInfo
- Publication number
- CN107020644B CN107020644B CN201710338886.4A CN201710338886A CN107020644B CN 107020644 B CN107020644 B CN 107020644B CN 201710338886 A CN201710338886 A CN 201710338886A CN 107020644 B CN107020644 B CN 107020644B
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- joint
- fixing shell
- brake
- harmonic reducer
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a redundant degree-of-freedom mechanical arm modularized joint, which comprises a joint fixing part, a power assembly and an electric part, wherein the joint fixing part is connected with the power assembly; the joint fixing part comprises a joint fixing end cover, a driver bracket, a brake fixing shell, a motor fixing shell and a harmonic reducer fixing shell; the power assembly comprises a joint permanent magnet brake, a hollow transmission shaft, a direct current servo motor, a harmonic reducer output connecting flange and a joint output end cover; the electric part comprises a driver bracket, a joint driver, a Hall sensor and an absolute photoelectric encoder. The redundant degree-of-freedom mechanical arm modularized joint is compact in design and small in size; meanwhile, the weight of the integrated circuit is smaller, and the integrated circuit has higher integration level; and also has a high load-to-weight ratio.
Description
Technical Field
The invention relates to a modularized joint of a mechanical arm, in particular to a modularized joint of a redundant degree-of-freedom mechanical arm.
Background
With the development of robot technology, the application field of the mechanical arm is becoming wider, and the application field of the mechanical arm is expanding from industrial automatic production to the fields of aerospace, military, household services and the like. The continuous expansion of the application field of the mechanical arm brings higher requirements to the performance of the mechanical arm. However, the commercial mechanical arm products at present have the problems of large volume, large weight, low load-to-weight ratio, low joint integration level and the like, so that the popularization of the mechanical arm is limited to a great extent.
Disclosure of Invention
The invention aims to provide a lightweight redundant manipulator modular joint with a hollow structure, which at least solves one of the problems of large volume, large weight, low load-to-weight ratio, low joint integration level and the like of the existing manipulator.
The invention solves the technical problems by adopting the following technical scheme: a redundant degree-of-freedom mechanical arm modularized joint comprises a joint fixing part, a power assembly and an electric part;
the joint fixing part comprises a joint fixing end cover, a driver bracket, a brake fixing shell, a motor fixing shell and a harmonic reducer fixing shell;
the power assembly comprises a joint permanent magnet brake, a hollow transmission shaft, a direct current servo motor, a harmonic reducer output connecting flange and a joint output end cover;
the electric part comprises a driver bracket, a joint driver, a Hall sensor and an absolute photoelectric encoder;
the joint fixing end cover is fixed at the left end of the brake fixing shell, the right end of the brake fixing shell is fixed at the left end of the motor fixing shell, and the harmonic reducer fixing shell is fixed at the right end of the motor fixing shell;
the joint permanent magnet brake is fixedly arranged at the left end of the brake fixing shell and is connected with the hollow transmission shaft through a brake connecting flange; the direct-current servo motor is fixed in the motor fixing shell and drives the hollow transmission shaft;
the two ends of the hollow transmission shaft are respectively supported in the brake fixing shell and the motor fixing shell through a first deep groove ball bearing and a second deep groove ball bearing;
the right end of the hollow transmission shaft is in transmission connection with an output connecting flange of the harmonic reducer through the harmonic reducer, and the harmonic reducer is fixed in the harmonic reducer fixing shell;
the joint output end cover is connected with a boss at the right end of the harmonic reducer output connecting flange through a screw;
the driver support is fixed to the left end of the brake fixing shell through screws, the joint driver is fixed to the driver support, and the Hall sensor is fixed to the left end of the motor stator.
Optionally, a motor stator of the direct current servo motor is fixed in a motor fixing shell; the motor gland is fixed at the left end of the motor fixing shell and is positioned between the brake fixing shell and the motor fixing shell; the motor gland is matched with the shaft shoulder in the motor fixing shell, so that the motor stator is fixed between the shaft shoulder of the motor fixing shell and the motor gland; and a motor rotor of the direct current servo motor is fixed on the hollow transmission shaft.
Optionally, positioning shoulders are arranged at two ends of the hollow transmission shaft and are respectively matched with the inner rings of the first deep groove ball bearing and the second deep groove ball bearing; the inner shaft shoulder of the brake fixing shell is matched with the outer ring of the first deep groove ball bearing, and the inner shaft shoulder of the motor fixing shell is matched with the outer ring of the second deep groove ball bearing, so that the axial positioning of the hollow transmission shaft is realized.
Optionally, the right end of the hollow transmission shaft is connected with a wave generator of the harmonic reducer; the wave generator of the harmonic reducer is arranged in the flexible gear of the harmonic reducer; the steel wheel of the harmonic speed reducer is arranged outside the flexible wheel of the harmonic speed reducer and is fixed inside the fixed shell of the harmonic speed reducer.
Optionally, the flexspline of harmonic speed reducer is connected with harmonic speed reducer output flange's left end through the screw, installs absolute photoelectric encoder between harmonic speed reducer output flange and the fixed shell of harmonic speed reducer.
Optionally, the brush of absolute photoelectric encoder is fixed in the right-hand member of harmonic reducer fixed shell, the code wheel of absolute photoelectric encoder is fixed in on the ring flange of harmonic reducer output flange, the code wheel of absolute photoelectric encoder constitutes joint output end position detection device with the brush.
Optionally, the redundant degree-of-freedom mechanical arm modularized joint further comprises a crossed roller bearing arranged between the harmonic reducer fixing shell and the joint output end cover, and the crossed roller bearing is axially positioned with the shaft shoulder of the joint output end cover through the shaft shoulder of the harmonic reducer fixing shell.
Optionally, the base of the joint permanent magnetic brake is fixedly arranged at the left end of the brake fixing shell; the output end of the permanent magnetic brake is connected with the hollow transmission shaft through a brake connecting flange.
The invention has the following beneficial effects: the redundant degree-of-freedom mechanical arm modularized joint is compact in design and small in size; meanwhile, the weight of the integrated circuit is smaller, and the integrated circuit has higher integration level; and a higher load to weight ratio.
Drawings
FIG. 1 is a perspective view of a redundant degree of freedom robotic modular joint of the present invention;
FIG. 2 is a cross-sectional view of a redundant degree of freedom robotic modular joint of the present invention;
fig. 3 is a cross-sectional view of a hollow drive shaft of the present invention.
Fig. 4 is a schematic structural view of the brake attachment flange of the present invention.
Fig. 5 is a schematic diagram of an output connection flange of the harmonic reducer of the invention.
Detailed Description
The technical scheme of the invention is further described below with reference to the embodiment and the attached drawings.
Example 1
Referring to fig. 1-5, the present embodiment provides a redundant manipulator modular joint, in particular, a lightweight redundant manipulator modular joint with a hollow structure, which includes a joint fixing portion, a power assembly, and an electrical portion;
the joint fixing part includes a joint fixing end cap 1, a driver bracket 3, a brake fixing housing 4, a motor fixing housing 12, and a harmonic reducer fixing housing 15.
The joint fixing end cover 1 is fixed at the left end of the brake fixing housing 4 to close the left end of the brake fixing housing 4, and in this embodiment, the left end of the brake fixing housing 4 is the power input end of the redundant degree-of-freedom mechanical arm modularized joint; the right end of the brake fixing housing 4 is fixed to the left end of the motor fixing housing 12, and the harmonic reducer fixing housing 15 is fixed to the right end of the motor fixing housing 12.
The power assembly comprises a joint permanent magnet brake 5, a hollow transmission shaft 8, a direct-current servo motor 11, a harmonic reducer 14, a harmonic reducer output connecting flange 16 and a joint output end cover 19.
The base of the joint permanent magnet brake 5 is fixedly arranged at the left end of the brake fixing shell 4; the output end of the permanent magnet brake 5 is connected with the hollow transmission shaft 8 through a brake connecting flange 6, and a motor stator 11-2 of a direct current servo motor 11 is fixed in a motor fixing shell 12; the motor gland 9 is fixed at the left end of the motor fixing shell 12 and is positioned between the brake fixing shell 4 and the motor fixing shell 12; the motor gland 9 is matched with a shaft shoulder inside the motor fixing shell 12, so that the motor stator 11-2 is fixed between the shaft shoulder of the motor fixing shell 12 and the motor gland 9.
The both ends of cavity transmission shaft 8 are supported in stopper fixed casing 4 and motor fixed casing 12 inside through first deep groove ball bearing 7, second deep groove ball bearing 13 respectively, cavity transmission shaft 8 both ends have the location shaft shoulder, cooperate with first deep groove ball bearing 7 and second deep groove ball bearing 8 inner ring respectively, and the inside shaft shoulder of stopper fixed casing 4 cooperatees with first deep groove ball bearing 7 outer loop, and the inside shaft shoulder of motor fixed casing 12 cooperates with second deep groove ball bearing 13 outer loop to realize the axial positioning to cavity transmission shaft 8.
The hollow transmission shaft 8 is fixedly connected with the motor rotor 11-1 in an adhesive manner, so that the direct current servo motor 11 can drive the hollow transmission shaft 8 to rotate.
The right end of the hollow transmission shaft 8 is connected with a wave generator 14-1 of a harmonic reducer, the wave generator 14-1 of the harmonic reducer is arranged inside a harmonic reducer flexible wheel 14-3, and a harmonic reducer steel wheel 14-2 is arranged outside the harmonic reducer flexible wheel 14-3 and is fixed inside a harmonic reducer fixing shell 15.
The harmonic speed reducer flexspline 14-3 is connected with the left end of the harmonic speed reducer output connection flange 16 through a screw, an absolute photoelectric encoder 18 is installed between the harmonic speed reducer output connection flange 16 and the harmonic speed reducer fixing shell 15, an electric brush 18-1 of the absolute photoelectric encoder is fixed at the right end of the harmonic speed reducer fixing shell 15, a code disc 18-2 of the absolute photoelectric encoder is fixed on the flange of the harmonic speed reducer output connection flange 16, and the code disc 18-2 of the absolute photoelectric encoder and the electric brush 18-1 form a joint output end position detection device.
The joint output end cover 19 is connected with a boss at the right end of the harmonic reducer output connecting flange 16 through a screw, the crossed roller bearing 17 is arranged between the harmonic reducer fixing shell 15 and the joint output end cover 19, and the axial positioning is carried out through the shaft shoulder of the harmonic reducer fixing shell 15 and the shaft shoulder of the joint output end cover 19.
The electrical parts include a driver bracket 3, a joint driver 2, a hall sensor 10, and an absolute photoelectric encoder 18.
The driver bracket 3 is fixed at the left end of the brake fixing housing 4 by a screw, the joint driver 2 is fixed on the driver bracket 3, and the hall sensor 10 is fixed at the left end of the motor stator 11-2.
Through holes are formed along the central axes of the joint permanent magnet brake 5, the brake connecting flange 6, the hollow rotating shaft 8, the harmonic reducer 14 and the harmonic reducer output connecting flange 16, and the through holes are used for enabling the power line and the communication line to pass through the through holes, in the embodiment, as the joint permanent magnet brake 5, the brake connecting flange 6, the hollow rotating shaft 8, the harmonic reducer 14 and the harmonic reducer output connecting flange 16 all adopt a large central hole design, when the joints are connected in series, the power line and the communication line can pass through the central holes, thereby playing a role in protecting the cable, and avoiding the disordered wiring and the abrasion of the cable caused by external wiring.
The left end of the hollow transmission shaft 8 is connected with the joint permanent magnet brake 5 through a brake connecting flange 6, and when the permanent magnet brake is powered off for braking, braking torque is transmitted to the hollow rotation shaft 8 through the brake connecting flange 6, so that joint braking and maintenance are realized.
The motor rotor 11-1 is fixedly connected with the hollow transmission shaft 8, the right end of the hollow transmission shaft 8 is fixedly connected with the harmonic reducer wave generator 14-1 in a screw fastening mode, primary speed reduction is carried out through a harmonic reducer unit 14 consisting of the harmonic reducer wave generator 14-1, the harmonic reducer steel wheel 14-2 and the reducer flexible wheel 14-3, the reducer flexible wheel 14-3 serves as an output part of the harmonic reducer 14, and the output part of the whole joint is fixedly connected with the joint output end cover 19 through the reducer output connecting flange 16, so that power output of the whole joint is realized.
The sequence of the above embodiments is only for convenience of description, and does not represent the advantages and disadvantages of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (1)
1. The redundant degree-of-freedom mechanical arm modularized joint is characterized by comprising a joint fixing part, a power assembly and an electric part;
the joint fixing part comprises a joint fixing end cover, a driver bracket, a brake fixing shell, a motor fixing shell and a harmonic reducer fixing shell;
the power assembly comprises a joint permanent magnet brake, a hollow transmission shaft, a direct current servo motor, a harmonic reducer output connecting flange and a joint output end cover;
the electric part comprises a driver bracket, a joint driver, a Hall sensor and an absolute photoelectric encoder;
the joint fixing end cover is fixed at the left end of the brake fixing shell so as to seal the left end of the brake fixing shell, the left end of the brake fixing shell is the power input end of the redundant degree-of-freedom mechanical arm modularized joint, the right end of the brake fixing shell is fixed at the left end of the motor fixing shell, and the harmonic reducer fixing shell is fixed at the right end of the motor fixing shell;
the joint permanent magnet brake is fixedly arranged at the left end of the brake fixing shell and is connected with the hollow transmission shaft through a brake connecting flange; the motor stator of the direct current servo motor is fixed in the motor fixing shell and drives the hollow transmission shaft;
the right end of the hollow transmission shaft is in transmission connection with an output connecting flange of the harmonic reducer through the harmonic reducer, and the harmonic reducer is fixed in the harmonic reducer fixing shell;
the joint output end cover is connected with a boss at the right end of the harmonic reducer output connecting flange through a screw; the crossed roller bearing is arranged between the harmonic reducer fixing shell and the joint output end cover, and the axial positioning is carried out through the shaft shoulder of the harmonic reducer fixing shell and the shaft shoulder of the joint output end cover;
the driver support is fixed at the left end of the brake fixing shell through a screw, the joint driver is fixed on the driver support, and the Hall sensor is fixed at the left end of the motor stator;
the motor gland is fixed at the left end of the motor fixing shell and is positioned between the brake fixing shell and the motor fixing shell; the motor gland is matched with the shaft shoulder in the motor fixing shell, so that the motor stator is fixed between the shaft shoulder of the motor fixing shell and the motor gland; the motor rotor of the direct current servo motor is fixed on the hollow transmission shaft;
positioning shaft shoulders are arranged at two ends of the hollow transmission shaft and are respectively matched with the inner rings of the first deep groove ball bearing and the second deep groove ball bearing; the inner shaft shoulder of the brake fixing shell is matched with the outer ring of the first deep groove ball bearing, and the inner shaft shoulder of the motor fixing shell is matched with the outer ring of the second deep groove ball bearing, so that the axial positioning of the hollow transmission shaft is realized; the hollow transmission shaft is fixedly connected with the motor rotor in an adhesive mode;
the right end of the hollow transmission shaft is connected with a wave generator of the harmonic reducer; the wave generator of the harmonic reducer is arranged in the flexible gear of the harmonic reducer; the steel wheel of the harmonic speed reducer is arranged outside the flexible wheel of the harmonic speed reducer and is fixed inside the fixed shell of the harmonic speed reducer;
the flexible wheel of the harmonic reducer is connected with the left end of the output connecting flange of the harmonic reducer through a screw, and an absolute photoelectric encoder is arranged between the output connecting flange of the harmonic reducer and the fixed shell of the harmonic reducer;
the electric brush of the absolute photoelectric encoder is fixed at the right end of the harmonic reducer fixing shell, the code disc of the absolute photoelectric encoder is fixed on the flange of the harmonic reducer output connecting flange, and the code disc and the electric brush of the absolute photoelectric encoder form a joint output end position detection device;
the base of the joint permanent magnet brake is fixedly arranged at the left end of the brake fixing shell; the output end of the permanent magnetic brake is connected with the hollow transmission shaft through a brake connecting flange;
through holes are formed along the central axes of the joint permanent magnet brake, the brake connecting flange, the hollow transmission shaft, the harmonic reducer and the harmonic reducer output connecting flange, and the through holes are used for enabling the power line and the communication line to pass through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710338886.4A CN107020644B (en) | 2017-05-15 | 2017-05-15 | Redundant degree-of-freedom mechanical arm modularized joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710338886.4A CN107020644B (en) | 2017-05-15 | 2017-05-15 | Redundant degree-of-freedom mechanical arm modularized joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107020644A CN107020644A (en) | 2017-08-08 |
| CN107020644B true CN107020644B (en) | 2023-07-25 |
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| CN201710338886.4A Active CN107020644B (en) | 2017-05-15 | 2017-05-15 | Redundant degree-of-freedom mechanical arm modularized joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109421079A (en) * | 2017-08-21 | 2019-03-05 | 苏州德旺宝机器人智能科技有限公司 | Turnable elastic flexible joint for mechanical arm |
| CN109421076A (en) * | 2017-08-21 | 2019-03-05 | 苏州德旺宝机器人智能科技有限公司 | Modularized joint for the robot arm that cooperates |
| CN109421077A (en) * | 2017-08-21 | 2019-03-05 | 苏州德旺宝机器人智能科技有限公司 | Light weight mechanical arm node |
| CN107398924B (en) * | 2017-09-20 | 2023-04-21 | 河北工业大学 | Hollow type driving and controlling integrated intelligent modularized joint |
| CN107498580B (en) * | 2017-10-16 | 2023-06-13 | 河北工业大学 | Drive integrative two encoder structure modularization joints of accuse |
| CN107932551B (en) * | 2017-11-28 | 2024-01-26 | 天津扬天科技有限公司 | Seven-degree-of-freedom cooperative mechanical arm |
| 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 |
| CN107891442B (en) * | 2017-11-28 | 2024-01-26 | 天津扬天科技有限公司 | Multi-degree-of-freedom hollow cooperative mechanical arm |
| CN108247668A (en) * | 2018-02-06 | 2018-07-06 | 北京精密机电控制设备研究所 | A kind of integrated joint of robot module |
| CN108214544B (en) * | 2018-02-28 | 2021-04-13 | 北京精密机电控制设备研究所 | Integrated form robot joint device |
| CN109551513B (en) * | 2019-01-28 | 2023-09-22 | 河北工业大学 | Multifunctional high-integration modularized robot joint |
| CN111037547A (en) * | 2019-12-16 | 2020-04-21 | 深圳市佳士科技股份有限公司 | Cooperation robot transmission structure and cooperation robot |
| CN111098296A (en) * | 2020-01-09 | 2020-05-05 | 广东时汇信息科技有限公司 | Transmission structure of robot |
| CN111230922A (en) * | 2020-02-28 | 2020-06-05 | 洛阳尚奇机器人科技有限公司 | Modular robot joint integrating driving function and detection function |
| CN111404345A (en) * | 2020-03-23 | 2020-07-10 | 上海宇航系统工程研究所 | Precision driving joint suitable for space environment |
| CN113847404A (en) * | 2021-09-30 | 2021-12-28 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and harmonic reducer device thereof |
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| US4506590A (en) * | 1982-07-28 | 1985-03-26 | Shimadzu Coporation | Hydraulic rotary actuator |
| CN100563949C (en) * | 2007-08-29 | 2009-12-02 | 哈尔滨工业大学 | Modularized joint of space manipulator |
| CN102626930B (en) * | 2012-04-28 | 2014-06-04 | 哈尔滨工业大学 | Mechanical arm modular joint with power-off brake and multiple perceptive functions |
| CN104416579B (en) * | 2013-09-03 | 2016-08-17 | 中国科学院沈阳自动化研究所 | A kind of intelligent modularized joint of hollow type |
| CN105313132A (en) * | 2014-07-29 | 2016-02-10 | 北京自动化控制设备研究所 | High-integrality robot joint |
| CN206085093U (en) * | 2016-10-19 | 2017-04-12 | 遨博（北京）智能科技有限公司 | Arm and manipulator joint |
| CN206825460U (en) * | 2017-05-15 | 2018-01-02 | 苏州大学 | Redundant degree of freedom mechanical arm modular joint |
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2017
- 2017-05-15 CN CN201710338886.4A patent/CN107020644B/en active Active
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| CN107020644A (en) | 2017-08-08 |
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