CN107433622A - A kind of robot arm position feedback mechanism, robot arm and robot - Google Patents
A kind of robot arm position feedback mechanism, robot arm and robot Download PDFInfo
- Publication number
- CN107433622A CN107433622A CN201710661972.9A CN201710661972A CN107433622A CN 107433622 A CN107433622 A CN 107433622A CN 201710661972 A CN201710661972 A CN 201710661972A CN 107433622 A CN107433622 A CN 107433622A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- output shaft
- encoder
- robot
- absolute value
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
Abstract
The invention discloses a kind of robot arm position feedback mechanism, robot arm and robot, wherein, robot arm position feedback mechanism, including mechanical arm output shaft, one end of the mechanical arm output shaft is fixedly connected with the base of absolute value encoder, and the other end is connected with mechanical arm output end；The mechanical arm output shaft is used for fixed absolute value encoder and transmits mechanical arm moment of torsion；The input shaft of absolute value encoder rotates axis connection with encoder, encoder rotary shaft is connected with mechanical arm housing, and encoder rotary shaft remains inactive state with mechanical arm housing, the base of absolute value encoder rotates with mechanical arm output shaft, finally realizes positioning and the position feedback of absolute value encoder.
Description
Technical field
The invention belongs to power automation and manufacturing field, more particularly to a kind of robot arm position feedback mechanism,
Robot arm and robot.
Background technology
Current Power Robot application field, do not contenting just to set shaft tower class in outdoor using robot
It is standby to be maked an inspection tour, but need robot to replace manually carrying out tour work, wherein transformer station room in the region of full transformer station
The partial discharge detection of interior switch cubicle is exactly the important task of one of which.By loading live detection machine in original outdoor robot
Tool arm, highly integrated partial discharge sensor is operated using mechanical arm, to switch cubicle carry out superfrequency, electric wave and ultrasound three
Partial discharge detection, the data fed back by robot, the problem of patrol officer can investigate in time, maintenance switch cabinet, ensure power transformation
Stand stable operation.
During robot carrying operation mechanical arm carries out automatic detection to switch cubicle, how mechanical arm is carried out
It is firstly the need of solution to position so as to ensure that mechanical arm can carry out accurate detection to switch cubicle by the requirement of partial discharge detection
Problem.The positioning method of mechanical arm mainly or by absolute value encoder judges at present, the rotational angle of mechanical arm, passes through
The calculating of the parameter such as angle and mechanical arm brachium, from which further follow that the position at each position of mechanical arm.
Absolute value encoder on the market is mostly axle output type now, and such a encoder needs to fix base, then
The angle of rotation is judged by the rotation of input shaft.In use, need motor or output shaft and absolute value encoder
Input axis connection, then the base of encoder and mechanical arm housing are fixed, however for reduce robot load and chi
The structure such as very little etc. requirement, the profile of mechanical arm often all designs compact, and traditional absolute value encoder is often
It can not be connected directly between on motor output shaft or mechanical arm shell, and encoder is connected by mechanisms such as timing belt or gears
Structure often increase the volume of mechanical arm, cause unnecessary load.So mechanical arm design research and development when, it is necessary to
There is a kind of compact structure to meet the application requirement of absolute value encoder.
The content of the invention
In order to solve the deficiencies in the prior art, the first object of the present invention is to provide a kind of mechanical arm position feedback mechanism,
The mechanical arm position feedback mechanism, being capable of accurate feedback mechanical arm position.
The robot arm position feedback mechanism of the present invention, including mechanical arm output shaft, the mechanical arm output shaft
One end is fixedly connected with the base of absolute value encoder, and the other end is connected with mechanical arm output end；The mechanical arm output shaft is used
In fixed absolute value encoder and transmit mechanical arm moment of torsion；The input shaft of absolute value encoder rotates axis connection with encoder, compiles
Code device rotary shaft is connected with mechanical arm housing, and encoder rotary shaft remains inactive state with mechanical arm housing, definitely
The base for being worth encoder rotates with mechanical arm output shaft, finally realizes positioning and the position feedback of absolute value encoder.
Further, also chimeric in the mechanical arm housing to have output shaft to position bearing, the mechanical arm output shaft is fitted together to
In output shaft positioning bearing.
The present invention positions bearing by output shaft so that mechanical arm housing and mechanical arm output shaft are compact-sized.
Further, mechanical arm transmission worm gear, the mechanical arm transmission worm gear are also sheathed with the mechanical arm output shaft
Moment of torsion is transmitted by flat key between mechanical arm output shaft.
Wherein, mechanical arm transmission worm gear is used to stably for moment of torsion to be sent to mechanical arm output shaft.
Further, the mechanical arm output end, mechanical arm output shaft, mechanical arm transmission worm gear with mechanical arm housing same
On one axle center.The accuracy of the data of absolute value encoder collection can so be ensured.
Further, it is also chimeric in the mechanical arm housing to there is mechanical arm to input worm screw, the mechanical arm input worm screw
One end is connected with mechanical arm motor, and the other end is connected with mechanical arm transmission worm gear.
Wherein, moment of torsion is inputted to mechanical arm and inputs worm screw by mechanical arm motor, then is delivered to machine by mechanical arm transmission worm gear
In tool arm output end, and under the drive of mechanical arm transmission worm gear, make the absolute value encoder being connected on mechanical arm output shaft
Rotate, absolute value encoder input shaft because be connected on mechanical arm housing with the state of mechanical arm remains stationary, then absolutely
Value encoder is relatively rotated, so as to accurate feedback mechanical arm rotation position.
Further, axis connection top is driven by encoder between described encoder power transmission shaft one end and absolute value encoder
Silk is connected and fixed, and the other end of the encoder power transmission shaft is fixed on mechanical arm housing by encoder power transmission shaft fixing screws
On cover plate；The mechanical arm housing cover is fixed on mechanical arm housing by cover plate fixing screws.
So enable to encoder power transmission shaft to be fixed together with mechanical arm housing and keep synchronous regime.
Further, the absolute value encoder is arranged on mechanical arm output shaft by clamp nut, mechanical arm output
Axle is connected in mechanical arm output end by mechanical arm output shaft attachment screw, and when mechanical arm output shaft rotation, absolute value is compiled
Code device and mechanical arm output end will together with synchronous axial system.This ensure that the accuracy of the data of absolute value encoder collection.
Further, the mechanical arm output end be also associated with export bearing, the mechanical arm output end by bearing every
Ring is entrenched in output shaft bearing.
This is simple in construction so that robot arm position feedback mechanism is compact, practical, it is easy to accomplish.
The second object of the present invention is to provide a kind of robot arm.The robot arm is in robot arm position
, can be with accurate feedback mechanical arm position, so as to ensure that mechanical arm is automatically performed all kinds of Detection tasks in the presence of putting feedback mechanism.
The robot arm of the present invention, including robot arm position feedback mechanism described above.
The third object of the present invention is to provide a kind of robot.The robot arm is with robot arm position
In the presence of the robot arm of feedback mechanism, can accurate feedback mechanical arm position, so as to ensure that robot is automatically performed
All kinds of Detection tasks.
The robot of the present invention, including robot arm described above.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) robot arm position feedback mechanism of the invention is simple in construction, the ingenious absolute value encoder that applies
Action principle, by exchanging the rotating manner of absolute value encoder, i.e., in the case where keeping input shaft motionless, turn base
It is dynamic, so as to drive encoder to count, have the function that position is fed back.
(2) robot arm position feedback mechanism compact of the invention, can be widely applied to various mechanical arms etc.
In the positioning of transmission parts, feedback mechanism.
(3) robot arm of the invention, can be accurately anti-in the presence of robot arm position feedback mechanism
Mechanical arm position is presented, so as to ensure that mechanical arm is automatically performed all kinds of Detection tasks.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not form the improper restriction to the application.
Fig. 1 is schematic structural view of the invention；
Fig. 2 is absolute value encoder position of the present invention scheme of installation；
Fig. 3 is absolute value encoder schematic diagram of the present invention；
Fig. 4 is mechanical arm output shaft structural representation of the present invention.
Wherein, 1, mechanical arm output end, 2, bearing space ring, 3, bearing mounting base, 4, output shaft bearing, 5, output shaft bearing
Back-up ring, 6, output shaft bearing fixing screws, 7, mechanical arm housing, 8, absolute value encoder, 9, mechanical arm output shaft, 10, machinery
Arm output shaft attachment screw, 11, mechanical arm transmission worm gear, 12, mechanical arm input worm screw, 13, worm gear back-up ring, 14, worm gear connection
Screw, 15, encoder power transmission shaft, 16, output shaft positioning bearing, 17, mechanical arm housing cover, 18, cover plate fixing screws, 19,
Encoder power transmission shaft fixing screws, 20, encoder transmission axis connection jackscrew.
Embodiment
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As shown in figure 1, the robot arm position feedback mechanism of the present invention, including mechanical arm output shaft 9, the machinery
One end of arm output shaft 9 is fixedly connected with the base of absolute value encoder 8, and the other end is connected with mechanical arm output end 1；The machine
Tool arm output shaft 9 is used for fixed absolute value encoder 8 and transmits mechanical arm moment of torsion；The input shaft and coding of absolute value encoder 8
Device rotates axis connection, and encoder rotary shaft is connected with mechanical arm housing 7, and encoder rotary shaft and mechanical arm housing 7 are all the time
Remains stationary state, the base of absolute value encoder 8 rotate with mechanical arm output shaft, finally realize determining for absolute value encoder 8
Position and position feedback.
Specifically, as shown in Figure 1 and Figure 4, output shaft bearing 4 is entrenched in bearing mounting base 3, output shaft bearing back-up ring 5
Output shaft bearing 4 is fixed on bearing mounting base 3 by output shaft bearing fixing screws 6；
Bearing space ring 2 is linked in mechanical arm output end 1, and mechanical arm output end 1 is entrenched in output shaft bearing 4, and is made
Bearing space ring 2 is pressed on output shaft bearing 4；
As shown in Figures 2 and 3, absolute value encoder 8 is arranged on mechanical arm output shaft 9 by the clamp nut carried,
Mechanical arm output shaft 9 is connected in mechanical arm output end 1 by mechanical arm output shaft attachment screw 10, when mechanical arm output shaft 9
During rotation, absolute value encoder 8 and mechanical arm output end 1 will together with synchronous axial system；
Mechanical arm transmission worm gear 11 is linked on mechanical arm output shaft 9, and passes through worm gear back-up ring 13 and worm gear attachment screw
14 are fixed on mechanical arm output shaft 9, transmit moment of torsion by general flat key between it；
Axis connection jackscrew 20 is driven between the one end of encoder power transmission shaft 15 and absolute value encoder 8 by encoder to connect simultaneously
Fixed, the other end is fixed on mechanical arm housing cover 17 by encoder power transmission shaft fixing screws 19；
Mechanical arm housing cover 17 is fixed on mechanical arm housing 7 by cover plate fixing screws 18, then encoder power transmission shaft
15 are fixed together with mechanical arm housing 7 keeps synchronous regime；
Output shaft positioning bearing 16 is entrenched in mechanical arm housing 7, and the one end of mechanical arm output shaft 9 is entrenched in output shaft positioning
In bearing 16, when bearing mounting base 3 by screw threads for fastening on mechanical arm housing 7 after, pass through output shaft bearing 4 and output shaft
Bearing 16 is positioned, ensures mechanical arm output end 1, mechanical arm output shaft 9 and mechanical arm transmission worm gear 11 with mechanical arm housing 7 same
On one axle center, so as to ensure the accuracy of the data of the collection of absolute value encoder 8；
Mechanical arm input worm screw 12 is entrenched in mechanical arm housing 7, plays input torque；
By above mechanism, the moment of torsion of mechanical arm motor input inputs worm screw 12, mechanical arm transmission worm gear by mechanical arm
11 are delivered in mechanical arm output end 1, and under the drive of mechanical arm transmission worm gear 11, make to be connected on mechanical arm output shaft 9
Absolute value encoder 8 base rotation, absolute value encoder 8 input shaft because being connected on mechanical arm housing 7 and machinery
In the state of arm remains stationary, then absolute value encoder 8 relatively rotates, so as to accurate feedback mechanical arm rotation position.
The robot arm position feedback mechanism of the present invention is simple in construction, the ingenious effect for applying absolute value encoder
Principle, by exchanging the rotating manner of absolute value encoder, i.e., in the case where keeping input shaft motionless, make base rotation, from
And encoder to count is driven, have the function that position is fed back.
The robot arm position feedback mechanism compact of the present invention, it can be widely applied to the transmission such as various mechanical arms
In the positioning of part, feedback mechanism.
Based on robot arm position feedback mechanism as shown in Figure 1.The present invention also provides a kind of robot arm.
The robot arm in the presence of robot arm position feedback mechanism, can with accurate feedback mechanical arm position, so as to
Ensure that mechanical arm is automatically performed all kinds of Detection tasks.
The robot arm of the present invention, including robot arm position feedback mechanism as shown in Figure 1.Wherein, machine
Device people's mechanical arm position feedback mechanism, including mechanical arm output shaft 9, one end of the mechanical arm output shaft 9 and absolute encoder
The base of device 8 is fixedly connected, and the other end is connected with mechanical arm output end 1；The mechanical arm output shaft 9 is compiled for fixed absolute value
Code device 8 and transmission mechanical arm moment of torsion；The input shaft of absolute value encoder 8 and encoder rotate axis connection, encoder rotary shaft with
Mechanical arm housing 7 connects, and encoder rotary shaft remains inactive state with mechanical arm housing 7, absolute value encoder 8
Base rotates with mechanical arm output shaft, finally realizes positioning and the position feedback of absolute value encoder 8.
For the robot arm of the present invention in addition to robot arm position feedback mechanism, other structures are existing
Structure, it will be not repeated herein.
Based on robot arm described above, present invention also offers a kind of robot.The robot arm exists
In the presence of robot arm with robot arm position feedback mechanism, can accurate feedback mechanical arm position, from
And ensure robot and be automatically performed all kinds of Detection tasks.
The robot of the present invention includes robot arm described above, and the robot arm is included such as Fig. 1 institutes
The robot arm position feedback mechanism shown.Wherein, robot arm position feedback mechanism, including mechanical arm output shaft 9,
One end of the mechanical arm output shaft 9 is fixedly connected with the base of absolute value encoder 8, and the other end connects with mechanical arm output end 1
Connect；The mechanical arm output shaft 9 is used for fixed absolute value encoder 8 and transmits mechanical arm moment of torsion；The input of absolute value encoder 8
Axle rotates axis connection with encoder, and encoder rotary shaft is connected with mechanical arm housing 7, and encoder rotary shaft and mechanical arm shell
Body 7 remains inactive state, and the base of absolute value encoder 8 rotates with mechanical arm output shaft, finally realizes absolute encoder
The positioning of device 8 and position feedback.
The robot of the present invention, in addition to robot arm described above, other structures are existing structure,
It will be not repeated herein.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, model not is protected to the present invention
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deformation that creative work can make still within protection scope of the present invention.
Claims (10)
- A kind of 1. robot arm position feedback mechanism, it is characterised in that including mechanical arm output shaft, the mechanical arm output One end of axle is fixedly connected with the base of absolute value encoder, and the other end is connected with mechanical arm output end；The mechanical arm output Axle is used for fixed absolute value encoder and transmits mechanical arm moment of torsion；The input shaft of absolute value encoder connects with encoder rotary shaft Connecing, encoder rotary shaft is connected with mechanical arm housing, and encoder rotary shaft remains inactive state with mechanical arm housing, The base of absolute value encoder rotates with mechanical arm output shaft, finally realizes positioning and the position feedback of absolute value encoder.
- 2. robot arm position feedback mechanism as claimed in claim 1, it is characterised in that in the mechanical arm housing also Chimeric to have output shaft to position bearing, the mechanical arm output shaft is entrenched in output shaft positioning bearing.
- 3. robot arm position feedback mechanism as claimed in claim 1, it is characterised in that on the mechanical arm output shaft Mechanical arm transmission worm gear is also sheathed with, moment of torsion is transmitted by flat key between the mechanical arm transmission worm gear and mechanical arm output shaft.
- 4. robot arm position feedback mechanism as claimed in claim 3, it is characterised in that the mechanical arm output end, Mechanical arm output shaft, mechanical arm transmission worm gear are with mechanical arm housing on same axle center.
- 5. robot arm position feedback mechanism as claimed in claim 3, it is characterised in that in the mechanical arm housing also Chimeric to have mechanical arm to input worm screw, one end of the mechanical arm input worm screw is connected with mechanical arm motor, the other end and mechanical arm Transmission worm gear is connected.
- 6. robot arm position feedback mechanism as claimed in claim 1, it is characterised in that the encoder power transmission shaft one Axis connection jackscrew is driven by encoder between end and absolute value encoder to connect and fix, the encoder power transmission shaft it is another End is fixed on mechanical arm housing cover by encoder power transmission shaft fixing screws；The mechanical arm housing cover is consolidated by cover plate Determine screw to be fixed on mechanical arm housing.
- 7. robot arm position feedback mechanism as claimed in claim 1, it is characterised in that the absolute value encoder leads to Clamp nut is crossed on mechanical arm output shaft, mechanical arm output shaft is connected to machinery by mechanical arm output shaft attachment screw In arm output end, when mechanical arm output shaft rotation, absolute value encoder and mechanical arm output end will together with synchronous axial system.
- 8. robot arm position feedback mechanism as claimed in claim 1, it is characterised in that the mechanical arm output end is also Output bearing is connected with, the mechanical arm output end is entrenched in output shaft bearing by bearing space ring.
- 9. a kind of robot arm, it is characterised in that including the robot arm as any one of claim 1-8 Position feedback mechanism.
- 10. a kind of robot, it is characterised in that including robot arm as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710661972.9A CN107433622A (en) | 2017-08-04 | 2017-08-04 | A kind of robot arm position feedback mechanism, robot arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710661972.9A CN107433622A (en) | 2017-08-04 | 2017-08-04 | A kind of robot arm position feedback mechanism, robot arm and robot |
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| Publication Number | Publication Date |
|---|---|
| CN107433622A true CN107433622A (en) | 2017-12-05 |
Family
ID=60460496
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710661972.9A Pending CN107433622A (en) | 2017-08-04 | 2017-08-04 | A kind of robot arm position feedback mechanism, robot arm and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531568A (en) * | 2018-11-29 | 2019-03-29 | 浙江树人学院 | A kind of joint of mechanical arm control method |
| CN113618698A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator and main shaft and teleoperation equipment thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531568A (en) * | 2018-11-29 | 2019-03-29 | 浙江树人学院 | A kind of joint of mechanical arm control method |
| CN113618698A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator and main shaft and teleoperation equipment thereof |
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000 Applicant after: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant after: National Network Intelligent Technology Co., Ltd. Applicant after: State Grid Corporation of China Address before: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000 Applicant before: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant before: Shandong Luneng Intelligent Technology Co., Ltd. Applicant before: State Grid Corporation of China |
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Application publication date: 20171205 |