CN107662220A - A kind of joint of mechanical arm and mechanical arm - Google Patents
A kind of joint of mechanical arm and mechanical arm Download PDFInfo
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- CN107662220A CN107662220A CN201710566944.9A CN201710566944A CN107662220A CN 107662220 A CN107662220 A CN 107662220A CN 201710566944 A CN201710566944 A CN 201710566944A CN 107662220 A CN107662220 A CN 107662220A
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- input shaft
- mechanical arm
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- joint
- hollow input
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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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- Mechanical Engineering (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The present invention relates to mechanical arm technical field, more particularly, to a kind of joint of mechanical arm and mechanical arm.Joint of mechanical arm includes input module, output precision, brake, harmonic speed reducer, multi-turn absolute value encoder and grating encoder, wherein, multi-turn absolute value encoder is used to detect the multiturn absolute angle value during hollow input shaft initial start；When the grating encoder reads Z phase signals, the multiturn absolute angle value of the hollow input shaft is detected by the grating encoder.The joint of mechanical arm coordinates the infomation detection for the multiturn absolute angle value for carrying out hollow input shaft by absolute value encoder and grating encoder, simplify the structure of multi-turn absolute value encoder, improve accuracy of detection, and then simplify the overall structure of joint of mechanical arm, reduce cost, improve the overall precision of joint of mechanical arm.Mechanical arm includes joint of mechanical arm, simplifies overall structure, reduces deadweight, improves overall precision.
Description
Technical field
The present invention relates to mechanical arm technical field, more particularly, to a kind of joint of mechanical arm and mechanical arm.
Background technology
With the development of electromechanical integration technology, industrial products are towards intellectuality, systematization, miniaturization, modularization and people
The direction of machine cooperation is developed.Especially in light-duty mechanical arm field, mechanical arm has height to refine, modularization, lightweight and it is more from
By the development trend of degreeization.
And for existing machinery arm, the upper arm composition of people is substantially simulated, in order to ensure that mechanical arm has six
Spatial degrees of freedom, its active joint number are generally six, are generally all cradle head.Existing modular mechanical arm
In modularized joint structure it is excessively complicated so that the own vol in joint is larger, cost is higher.
The content of the invention
(1) technical problems to be solved
It is an object of the invention to provide a kind of joint of mechanical arm, to solve the knot of modularized joint present in prior art
Structure is excessively complicated so that the higher technical problem of the cost in joint.
(2) technical scheme
In order to solve the above-mentioned technical problem, the invention provides a kind of joint of mechanical arm, including input module, output group
Part, brake, harmonic speed reducer, multi-turn absolute value encoder and grating encoder；
The input module includes hollow shaft motor and hollow input shaft, the hollow input shaft and the hollow shaft motor
Rotor be fixedly connected；
The output precision include output flange and along the output flange it is axially extending go out hollow output shaft；
The hollow output shaft is arranged in the axocoel of the hollow input shaft, and the hollow output shaft with it is described hollow
It can be relatively rotated between input shaft；
The hollow input shaft is fixedly connected with the wave producer of the harmonic speed reducer, the output flange with it is described humorous
The firm gear of ripple decelerator is fixedly connected；
The brake is set on the hollow input shaft；
The multi-turn absolute value encoder is used to detect the multiturn absolute angle value during hollow input shaft initial start；
When the grating encoder reads Z phase signals, the hollow input shaft is detected by the grating encoder
Multiturn absolute angle value.
Preferably, the multi-turn absolute value encoder includes single-chip microcomputer, permanent magnet and at least one magnetic deviation sensor；
The permanent magnet is installed on the hollow input shaft and rotated with the hollow input shaft；
At least one magnetic deviation sensor is arranged at around the permanent magnet, to detect the list of the hollow input shaft
Enclose absolute angle angle value；
The zero-bit of individual pen absolute angle angle value is demarcated, and is stored in the single-chip microcomputer；
The output end of at least one magnetic deviation sensor is connected with the single-chip microcomputer respectively, for the single-chip microcomputer according to
The number of the individual pen absolute angle angle value and zero-bit across individual pen absolute angle angle value determines that the multi-turn of the hollow input shaft is exhausted
To angle value.
Preferably, the grating encoder includes grating disc and grating reading head, the grating disc be arranged on it is described in
Empty input shaft, and rotated with the hollow input shaft；The grating reading head is used to read the grating disc.
Preferably, the multi-turn absolute value encoder also includes main power source, stand-by power supply and for selecting the main power source
Or the power selection circuit that the stand-by power supply is powered to the single-chip microcomputer and magnetic deviation sensor.
Preferably, the permanent magnet is N poles and the extremely symmetrically arranged annular permanent magnets of S.
Preferably, at least one magnetic deviation sensor and the single-chip microcomputer are integrated on circuit boards.
Preferably, the flexbile gear of the harmonic speed reducer is fixedly connected with articular shell；The output flange passes through the 3rd axle
Hold and be connected with the wave producer；The hollow input shaft spacer sleeve is provided with clutch shaft bearing and second bearing, the clutch shaft bearing
It is connected with second bearing by bearing bracket stand with articular shell.
Preferably, the brake includes brake rotor, has brake stator, flat board, the armature of coil, the system
Dynamic device stator, armature, brake rotor and flat board are sequentially coaxially set, and the stator is provided with and acted on the armature
Elastic component, the relative position of the flat board and the brake stator are fixed, and the brake rotor is fixed on described hollow defeated
Enter on axle, and be fixed on the hollow input shaft synchronous axial system, the brake stator on articular shell；
When off-position, the resilient element urges armature compresses the brake rotor, stops the brake rotor
Rotation stop is moved；
When "on" position, the armature compression elastic piece, make the armature away from the brake rotor.
Present invention also offers a kind of mechanical arm, including any of the above-described kind of joint of mechanical arm.
(3) beneficial effect
The above-mentioned technical proposal of the present invention has the following advantages that：Joint of mechanical arm provided by the invention, including input module,
Output precision, brake, harmonic speed reducer, multi-turn absolute value encoder and grating encoder, wherein, the input module includes
Hollow shaft motor and hollow input shaft, the hollow input shaft are fixedly connected with the rotor of the hollow shaft motor；The output
Component include output flange and along the output flange it is axially extending go out hollow output shaft；The hollow output shaft is arranged in
In the axocoel of the hollow input shaft, and it can be relatively rotated between the hollow output shaft and the hollow input shaft；
The hollow input shaft is fixedly connected with the wave producer of the harmonic speed reducer, the output flange and the harmonic speed reducer
Firm gear be fixedly connected；The brake is set on the hollow input shaft；The multi-turn absolute value encoder is used to detect
Multiturn absolute angle value during the hollow input shaft initial start；When the grating encoder reads Z phase signals, by institute
State the multiturn absolute angle value that grating encoder detects the hollow input shaft.The joint of mechanical arm by absolute value encoder,
Coordinate the infomation detection for the multiturn absolute angle value for carrying out hollow input shaft with grating encoder, simplify multi-turn absolute encoder
The structure of device, accuracy of detection is improved, and then simplify the overall structure of joint of mechanical arm, reduce cost, improved mechanical arm and close
The overall precision of section.
Brief description of the drawings
Fig. 1 is the internal structure schematic diagram of joint of mechanical arm provided in an embodiment of the present invention；
Fig. 2 is the structural representation of multi-turn absolute value encoder and grating encoder provided in an embodiment of the present invention；
Fig. 3 is brake structural schematic diagram provided in an embodiment of the present invention.
In figure：100- hollow input shafts；101- rotors；102- stators；103- hollow output shafts；104- output flanges；
105- wave producers；106- firm gears；107- flexbile gears；108- shells；109- end caps；110- grating reading heads；111- grating discs；
112- permanent magnets；113- magnetic deviation sensors；114- drive circuit boards；115- encoder circuit plates；118- brakes；119- electricity
Pivot；120- brake stators；121- brake rotors；122- flat boards；123- clutch shaft bearings；124- second bearings；125- the 3rd
Bearing.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained on the premise of creative work is not made, belongs to the scope of protection of the invention.
In addition, term " first ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or implying phase
To importance.
As shown in figure 1, joint of mechanical arm provided in an embodiment of the present invention, including input module, output precision, brake,
Harmonic speed reducer and multi-turn absolute value encoder；Input module includes hollow shaft motor and hollow input shaft 100, hollow input shaft
100 are fixedly connected with the rotor 101 of hollow shaft motor；Output precision includes output flange 104 and the axial direction along output flange 104
The hollow output shaft 103 extended, hollow output shaft 103 and the synchronous axial system of output flange 104；Hollow output shaft 103 is arranged in
In the axocoel of hollow input shaft 100, and it can be relatively rotated between hollow output shaft 103 and hollow input shaft 100.
Joint of mechanical arm also includes harmonic speed reducer, wherein, the wave producer of hollow input shaft 100 and harmonic speed reducer
105 are fixedly connected, and output flange 104 is fixedly connected with the firm gear 106 of harmonic oscillator.
Multi-turn absolute value encoder is used for the multiturn absolute angle value for detecting the hollow input shaft 100；Brake 118 is solid
It is scheduled on hollow input shaft 100, hollow input shaft 100 is braked when needed.
Joint of mechanical arm also includes articular shell 108, and stator 102 and the articular shell 108 of hollow shaft motor are fixed repeatedly,
The stator 102 can be connected with articular shell 108 by gluing mode, can also pass through screw connection；Hollow input shaft 100
With the rotor 101 of hollow shaft motor can by gluing connection or nut check, when the rotor 101 of hollow shaft motor rotates,
Hollow input shaft 100 rotates with rotor 101.The axis of output flange 104 overlaps with the axis of hollow output shaft 103.
In addition, the material of output flange 104 is aluminium alloy, cost and difficulty of processing can be substantially reduced.Harmonic speed reducer
Flexbile gear 107 be fixedly connected with articular shell 108, specific flexbile gear 107 is fixedly connected with articular shell 108 by screw, just
Wheel 106 is fixedly connected by screw with output flange 104, and flexbile gear 107 is connected with firm gear 106 by cross roller bearing-transmission
Connect.
During work, the rotor 101 of hollow shaft motor drives hollow input shaft 100 to rotate, and hollow input shaft 100 drives harmonic wave
The wave producer 105 of decelerator rotates, and then is realized slow down by flexbile gear 107 and firm gear 106 again, and passes through output flange 104
Output rotates, that is to say, that the input speed of hollow input shaft 100 is more than the output speed of output flange 104；Output flange
While 104 rotation, hollow output shaft 103 is driven to rotate together.
In one embodiment, hollow output shaft 103 is integrally machined with output flange 104 and formed, and makes hollow output shaft
There is more preferable synchronism and output accuracy between 103 and output flange 103.
Certainly, full name is implemented in other, hollow output shaft 103 can be had with output flange 104 by the way of split
Body, hollow output shaft 103 and output flange 104 are processed respectively, are then connected through a screw thread, gluing connection or threaded connection
The mode being combined with gluing connection connects, and makes hollow output shaft 103 and the synchronous axial system of output flange 104, reduces difficult processing
Degree, so as to reduce cost.
Preferably, the material of hollow output shaft 103 is that nylon or carbon fiber etc. have high temperature resistant, not easy to wear nonmetallic.
In the embodiment, output flange 104 is connected by 3rd bearing 125 with wave producer 105, specific 3rd bearing
125 inner ring is connected with output flange 104, and the outer ring of 3rd bearing 125 is connected with wave producer 105, and wave producer 105 is with
Empty input shaft 100 is fixedly connected.Spacer sleeve is provided with clutch shaft bearing 123 and second bearing 124 on hollow input shaft 100, specifically,
Clutch shaft bearing 123 and the inner ring of second bearing 124 are fixedly connected with hollow input shaft 100, clutch shaft bearing 123 and second bearing
124 outer ring is fixedly connected by bearing fixed mount with articular shell 108.
Preferably, clutch shaft bearing 123 and second bearing 124 are deep groove ball bearing；Two bearings can be hollow input shaft
100 provide two stable stress strong points, and can offset Magnetic force centering sky input shaft 100 caused by hollow shaft motor and apply
Moment of flexure, while realize the relative rotation between wave producer 105 and output flange 104.
Embodiments of the invention, the multi-turn that multi-turn absolute value encoder is used to detect hollow input shaft initial start up phase are exhausted
To angle value.Specifically, as depicted in figs. 1 and 2, the multi-turn absolute value encoder in the present embodiment includes permanent magnet 112, monolithic
Machine and at least one magnetic deviation sensor 113, wherein, permanent magnet 112 is installed on hollow input shaft 100, and with hollow input shaft 100
Rotate, and the geometric center of permanent magnet 112 is located on the axis of hollow input shaft 100, magnetic deviation sensor 113 is integrated in encoder
On circuit board 115, and positioned at the side of permanent magnet 112, the individual pen absolute angle in a circle is provided by the magnetic field of mechanical periodicity
Value.In the present embodiment, single-chip microcomputer can be integrated on encoder circuit plate 115, can also be integrated in drive circuit board 114
On, i.e., single-chip microcomputer does not have particular requirement with the relative position of permanent magnet 112, does not limit herein.
It should be noted that circuit board can as shown in Figure 1 include drive circuit board 114 and encoder circuit plate
The circuit board of 115 two pieces of split settings, the volume of electroplax plate can be further reduced to a certain extent；In some other reality
Apply in example or one piece of circuit board.
Permanent magnet 112 is arranged on hollow input shaft 100, is not had particular/special requirement to the position of permanent magnet during installation, is passed through
One calibration process the zero mark of absolute angle angle value in single-chip microcomputer, when single-chip microcomputer detects the zero of individual pen absolute angle angle value
During position, you can judge that hollow input shaft 100 is rotated across circle, and the output end of magnetic deviation sensor 113 is connected with single-chip microcomputer, magnetic deviation passes
Sensor 113 is by the information transmission of detection to single-chip microcomputer, and single-chip microcomputer is according to the individual pen absolute angle angle value that detects and exhausted across individual pen
The multiturn absolute angle value of hollow input shaft 100 is determined to the number of the zero-bit of angle value.
The outbound data interface of multi-turn absolute value encoder is a SPI interface, is provided by single-chip microcomputer, be configured to SPI from
Pattern.
The multi-turn absolute value encoder that the present embodiment provides compares with existing multi-turn absolute value encoder, without complexity
Gear train structure, make the structure of multi-turn absolute value encoder simpler, can effectively reduce cost and design difficulty, and can
It is higher by property and stability.
It should be noted that the permanent magnet in the present embodiment can be circular or other shapes, preferable permanent magnet
It is symmetrical arranged for N poles and S poles, can specifically uses a N poles to be realized with the extremely symmetrically arranged permanent magnets of S.
Multi-turn absolute value encoder provided in an embodiment of the present invention, in addition to power supply, specifically, power supply include main power source and
Stand-by power supply, multi-turn absolute value encoder are additionally provided with for selecting main power source or the stand-by power supply to the single-chip microcomputer and magnetic deviation
The power selection circuit that sensor 113 is powered.
In the embodiment of the present invention, main power source is realized by externally fed, and stand-by power supply is realized by battery, power selection circuit by
Power supply selection chip is realized.Specifically, externally fed and battery powered select chip to switch by power supply, can effectively remove dry
Disturb, avoid the power jitter in handoff procedure.In a specific embodiment, power supply selection chip is MAX6326 chips.Its
In, the lithium ion battery of the support charge function of a small package may be selected in battery, and charge control can select special lithium electricity
Pond charging management chip, can also be by chip microcontroller, and when passing through chip microcontroller, when having externally fed, single-chip microcomputer passes through
The voltage of integrated ADC functional circuits detection battery, charge switch electricity is controlled when voltage is less than pre-determined threshold voltage by IO
Road is opened, and battery is charged, and monitoring voltage in charging process, voltage is thought to have been filled with when reaching certain value, turns off charging circuit.
Wherein, charge switch circuit can be realized by triode.
In the embodiment of the present invention, when the power selection circuit selects the stand-by power supply power supply while in preset time
Interior, persistently the angle information obtained twice in succession is compared for the single-chip microcomputer, when angle change is consistently less than threshold value, institute
State single-chip microcomputer enter it is standby, i.e., single-chip microcomputer is in the park mode of super low-power consumption, the electric current of a consumption stand-by power supply very little, is used for
The groundwork of single-chip microcomputer and magnetic deviation sensor 113 is maintained, prevents note circle mistake.
Herein, the preset time that persistently angle information obtained twice in succession is compared for single-chip microcomputer is 0.5S-1.5S,
Preferably 1S, certain preset time can be selected according to factors such as the rotating speed of hollow input shaft, accuracy of detection.
In a specific embodiment, permanent magnet 112 uses ringshaped magnet, and magnetic deviation sensor 113 uses simulation output
Magnetic degree sensor integrated chip, positioned at the side of ringshaped magnet, single-chip microcomputer selects low-power consumption type single-chip microcomputer, battery using lithium from
Sub- battery.
When being placed on the side of permanent magnet 112 using simulation output magnetic deviation sensor, it is necessary to demarcate, specifically, simulation
Export magnetic deviation sensor and sine value is provided, the output of cosine value two paths of signals, phase difference is 45 degree, can be provided in 180 degree unique
Sine value and cosine value, with 180 degree loop cycle.Tangent value is worth to by sine value and cosine, tabled look-up using tangent value,
It is demarcated with a high-precision encoder, records a tangent value and the mapping form of actual corners angle value, and store and arrive monolithic
In machine, the signal that single-chip microcomputer exports according to simulation output magnetic deviation sensor can obtain the actual angle of hollow input shaft
Value.
In another embodiment, if simulation output magnetic deviation sensor is placed on the end face of circular magnet, tangent is being obtained
After value, tangent of negating can be obtained by the actual angle value of hollow input shaft.
In some other embodiment, the magnetic deviation sensor of direct output angle can also be used, it is directly defeated to be placed on end face
Go out angle value, or magnetic deviation sensor carries backoff algorithm, only need to provide some parameters for different model.
Further, the present embodiment also includes grating encoder, and as depicted in figs. 1 and 2, grating encoder includes grating disc
Piece 111 and grating reading head 110, wherein, grating disc 111 is arranged on the hollow input shaft 100, and with hollow input shaft
100 are rotated, and grating reading head 110 is arranged on drive circuit board 114, for reading grating disc 111.
Preferably, grating encoder is increment type grating encoder.
In use, multi-turn absolute value encoder obtains initial start up phase, the multiturn absolute angle of hollow input shaft 100
Value, when single-chip microcomputer reads the Z phase signals of grating encoder, grating encoder is exhausted with the multi-turn of current multi-turn absolute encoder
Enter row positional information for basic point to angle value to add up, and then realize the high-precision multiturn absolute angle value of hollow input shaft 100
Detection.
Hereafter, the positional information by the detection of grating encoding is defined, the multiturn absolute angle value of multi-turn absolute value encoder
Information storage is on second singlechip, and with the multi-turn of the positional information amendment multi-turn absolute value encoder of the detection of grating encoding
Information, when external power source breaks down or modularization maintenance dismounts, multi-turn absolute value encoder is adopted under the power-down state of joint
With the strategy of dynamic spaced time-samples to ensure that complete machine is in relatively low power consumption levels, and record storage location information.When just
Chang Shang electricity and when detecting grating encoder Z phases, then it is switched to the grating encoder absolute position values by demarcation.
The embodiment of the present invention, it is common to coordinate by an absolute value encoder and an increment type grating encoder, carry out
The positional information detection of hollow input shaft 100, not only simplifies absolute value encoder structure, while improves accuracy of detection, enters
And simplify the overall structure of joint of mechanical arm, reduce cost, improve the overall precision of joint of mechanical arm.
Preferably, joint of mechanical arm also includes end cap 109, and the end cap 109 coordinates with articular shell 108, is closed for protecting
Section.
As shown in figure 3, brake 118 include brake rotor 121, have the brake stator 120 of coil, flat board 122,
Armature 119, wherein, brake stator 120, armature 119, brake rotor 121 and flat board 122 are sequentially coaxially set, and are braked
Device stator 120 is provided with the elastic component acted on the armature 119, the relative position of the flat board 122 and brake stator 120
Fixation is put, brake rotor 121 is fixed on hollow input shaft 100, and can be braked with the synchronous axial system of hollow input shaft 100
Device stator 120 is fixed on articular shell 108；
When off-position, resilient element urges armature 119 compresses brake rotor 121, makes brake rotor 121 stop turning
It is dynamic, so that hollow input shaft 100 stops operating；When "on" position, the compression elastic piece of armature 119, make armature 119 away from system
Dynamic device rotor 121, makes brake rotor 121 freely rotate.Preferably, elastic component is compression spring.
The present embodiment additionally provides a kind of mechanical arm, and the mechanical arm includes multiple any of the above-described kind of joint of mechanical arm.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (9)
1. a kind of joint of mechanical arm, it is characterised in that including input module, output precision, brake, harmonic speed reducer, multi-turn
Absolute value encoder and grating encoder；
The input module includes hollow shaft motor and hollow input shaft, and the hollow input shaft turns with the hollow shaft motor
Son is fixedly connected；
The output precision include output flange and along the output flange it is axially extending go out hollow output shaft；
The hollow output shaft is arranged in the axocoel of the hollow input shaft, and the hollow output shaft and the hollow input
It can be relatively rotated between axle；
The hollow input shaft is fixedly connected with the wave producer of the harmonic speed reducer, and the output flange subtracts with the harmonic wave
The firm gear of fast device is fixedly connected；
The brake is set on the hollow input shaft；
The multi-turn absolute value encoder is used for the multiturn absolute angle value for detecting the hollow input shaft initial start up phase；
After the Z phase signals of the grating encoder are detected, the hollow input shaft are detected by the grating encoder more
Enclose absolute angle angle value.
2. joint of mechanical arm according to claim 1, it is characterised in that：The multi-turn absolute value encoder includes monolithic
Machine, permanent magnet and at least one magnetic deviation sensor；
The permanent magnet is installed on the hollow input shaft and rotated with the hollow input shaft；
At least one magnetic deviation sensor is arranged at around the permanent magnet, exhausted to detect the individual pen of the hollow input shaft
To angle value；
The zero-bit of individual pen absolute angle angle value is demarcated, and is stored in the single-chip microcomputer；
The output end of at least one magnetic deviation sensor is connected with the single-chip microcomputer respectively, so that the single-chip microcomputer is according to
The number of individual pen absolute angle angle value and zero-bit across individual pen absolute angle angle value determines the multi-turn absolute angle of the hollow input shaft
Angle value.
3. joint of mechanical arm according to claim 1, it is characterised in that：The grating encoder includes grating disc and light
Grid read head, the grating disc is arranged on the hollow input shaft, and is rotated with the hollow input shaft；The grating reading head is used
In the reading grating disc.
4. joint of mechanical arm according to claim 2, it is characterised in that：The multi-turn absolute value encoder also includes main electricity
Source, stand-by power supply and the electricity for selecting the main power source or the stand-by power supply to be powered to the single-chip microcomputer and magnetic deviation sensor
Source selection circuit.
5. joint of mechanical arm according to claim 2, it is characterised in that：The permanent magnet is that N poles and S are extremely symmetrically arranged
Annular permanent magnets.
6. joint of mechanical arm according to claim 2, it is characterised in that：At least one magnetic deviation sensor and the list
Piece machine is integrated on circuit boards.
7. joint of mechanical arm according to claim 1, it is characterised in that：The flexbile gear and articular shell of the harmonic speed reducer
It is fixedly connected；The output flange is connected by 3rd bearing with the wave producer；The hollow input shaft spacer sleeve is provided with
Clutch shaft bearing and second bearing, the clutch shaft bearing and second bearing are connected by bearing bracket stand with articular shell.
8. joint of mechanical arm according to claim 1, it is characterised in that：The brake includes brake rotor, had
Brake stator, flat board, the armature of coil, the brake stator, armature, brake rotor and flat board are sequentially coaxially set,
And the stator is provided with the elastic component acted on the armature, the relative position of the flat board and the brake stator is consolidated
Fixed, the brake rotor is fixed on the hollow input shaft, and with the hollow input shaft synchronous axial system, the brake
Stator is fixed on articular shell；
When off-position, the resilient element urges armature compresses the brake rotor, makes the brake rotor stop turning
It is dynamic；
When "on" position, the armature compression elastic piece, make the armature away from the brake rotor.
A kind of 9. mechanical arm, it is characterised in that：Including the joint of mechanical arm as described in right any one of 1-8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710566944.9A CN107662220A (en) | 2017-07-12 | 2017-07-12 | A kind of joint of mechanical arm and mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710566944.9A CN107662220A (en) | 2017-07-12 | 2017-07-12 | A kind of joint of mechanical arm and mechanical arm |
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| CN107662220A true CN107662220A (en) | 2018-02-06 |
Family
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| CN201710566944.9A Pending CN107662220A (en) | 2017-07-12 | 2017-07-12 | A kind of joint of mechanical arm and mechanical arm |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109702766A (en) * | 2019-01-17 | 2019-05-03 | 迈赫机器人自动化股份有限公司 | A kind of delicate mechanical modularized joint structure |
| CN111806557A (en) * | 2020-07-31 | 2020-10-23 | 上海联适导航技术有限公司 | Absolute value encoder steering control motor |
| CN111936276A (en) * | 2018-04-10 | 2020-11-13 | 东京机器人有限公司 | Joint unit, robot arm, and robot |
| CN112659176A (en) * | 2020-12-18 | 2021-04-16 | 江苏集萃智能制造技术研究所有限公司 | Non-biased cooperative robot integrated joint |
| CN113799168A (en) * | 2021-10-22 | 2021-12-17 | 广东天太机器人有限公司 | Low-cost joint module |
| CN114069960A (en) * | 2022-01-18 | 2022-02-18 | 四川省机械研究设计院(集团)有限公司 | Servo driving system for controlling large-torque output with high precision |
| CN115284267A (en) * | 2022-10-08 | 2022-11-04 | 深圳市越疆科技有限公司 | Cooperative mechanical arm and joint module thereof |
| CN115674256A (en) * | 2022-10-08 | 2023-02-03 | 深圳市越疆科技有限公司 | Industrial mechanical arm and integrated joint module thereof |
| WO2024074154A1 (en) * | 2022-10-08 | 2024-04-11 | 深圳市越疆科技股份有限公司 | Mechanical arm and joint modules thereof |
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| CN115284267B (en) * | 2022-10-08 | 2023-03-03 | 深圳市越疆科技有限公司 | Cooperative mechanical arm and joint module thereof |
| CN115674256A (en) * | 2022-10-08 | 2023-02-03 | 深圳市越疆科技有限公司 | Industrial mechanical arm and integrated joint module thereof |
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| CN115674256B (en) * | 2022-10-08 | 2024-01-26 | 深圳市越疆科技股份有限公司 | Industrial mechanical arm and integrated joint module thereof |
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| WO2024073951A1 (en) * | 2022-10-08 | 2024-04-11 | 深圳市越疆科技有限公司 | Industrial mechanical arm and integrated joint module thereof |
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