CN109421079A - Turnable elastic flexible joint for mechanical arm - Google Patents
Turnable elastic flexible joint for mechanical arm Download PDFInfo
- Publication number
- CN109421079A CN109421079A CN201710719843.0A CN201710719843A CN109421079A CN 109421079 A CN109421079 A CN 109421079A CN 201710719843 A CN201710719843 A CN 201710719843A CN 109421079 A CN109421079 A CN 109421079A
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- CN
- China
- Prior art keywords
- motor
- encoder
- brake
- retarder
- transmission shaft
- 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
- B25J17/0208—Compliance devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of turnable elastic flexible joint for mechanical arm, including motor, brake, encoder, retarder, transmission shaft and driver, the motor, brake, encoder and retarder are successively set on transmission shaft, the driver is connected to motor, it is rotated for driving motor, the driver is connected with encoder and brake respectively, the motor, brake, encoder, retarder, which respectively corresponds, is installed on motor mounting shell, brake installation lid, in encoder mounting shell and mounting flange, furthermore the portion of company with external structure for connecting, the retarder further comprises high speed portion, reduction part and low speed portion, the reduction part gap package is fixedly connected on transmission shaft and with motor mounting shell inner surface, the motor, encoder, retarder and transmission shaft center all have a cavity, for disposing Internal cable.Cable is set to intra articular by the present invention, and such internal cabling mode can provide cable certain protection, and will not be formed and be constrained to the slewing area in joint.
Description
Technical field
The present invention relates to technical field of mechanical automation, in particular to a kind of joint of mechanical arm.
Background technique
National " made in China 2025 " key special subjects propose strategic objective: current manufacturing equipment industry demand are directed to, by right
Novel cooperation New Type of Robot Arm node research, emphasis solve the high-precision of joint type New Type of Robot Arm node and the ontology of high rigidity
The key technologies such as optimization design, Control System Design, software system design, Design of man-machine Conversation.Grasp New Type of Robot Arm
The engineering technology of node batch micro operations solves cost and integrity problem, formulates corresponding standards and specifications, finally develops
Cooperate New Type of Robot Arm node product.
Novel mechanical arm system is a kind of mechanical device of apery type, needs to study robotics, ergonomics, control
Theoretical, sensor technology and the information processing technology etc..In twentieth century, traditional industrial robot is all only fixed on a point
On, some basic operations are repeated, are had no requirement to the intelligence of robot, and this conventional industrial robot is most
By rigid material, quality is huge, very heavy.With being constantly progressive for science and technology, requirement of the people for robot
Higher and higher, many industries also require the intelligent robot of light weight, high-precision, high efficiency, high-adaptability.Relative to bulky
Rigid Robot Manipulator, knuckle mechanical arm is light-weight, flexibility ratio is high can do some more complicated things for people, for example tear open
Except the explosion prevention robot of bomb, explore the robot of the space robot of space, the dangerous work being engaged under some adverse circumstances
Deng.
Summary of the invention
It is an object of the present invention to provide a kind of turnable elastic flexible joints for mechanical arm, this is used for the rotating missile of mechanical arm
Property flexible joint cable is set to intra articular, such internal cabling mode can provide cable certain protection, and
The slewing area in joint will not be formed and be constrained.
In order to achieve the above objectives, the technical solution adopted by the present invention is that: a kind of turnable elastic flexibility for mechanical arm is closed
Section, including motor, brake, encoder, retarder, transmission shaft and driver, the motor, brake, encoder and retarder according to
Secondary to be set on transmission shaft, the driver is connected to motor, for driving motor rotate, the driver respectively with encoder
It is connected with brake；
The motor, brake, encoder, retarder, which respectively correspond, is installed on motor mounting shell, brake installation lid, encoder installation
In shell and mounting flange, one side surface of encoder mounting shell is provided with a mounting groove being embedded in for driver, the encoder
The mounting shell side opposite with mounting groove, which is provided with outside one, connects portion, and furthermore the portion of company with external structure for connecting；
The retarder further comprises high speed portion, reduction part and low speed portion, the reduction part gap package on transmission shaft simultaneously
It is fixedly connected with motor mounting shell inner surface, the high speed portion and low speed sections are not located at reduction part two sides and tight with transmission shaft
Close connection；
The motor, encoder, retarder and transmission shaft center all have a cavity, for disposing Internal cable.
Further improved scheme is as follows in above-mentioned technical proposal:
1. in above scheme, the high speed portion is located at close to motor side.
2. in above scheme, the low speed portion is located remotely from motor side.
3. in above scheme, the transmission shaft and brake contact position are provided with a holding slot.
4. in above scheme, also having an end cap, this end cap is solid by the end face outside of several screws and motor mounting shell
Fixed connection.
5. in above scheme, the end face of the motor mounting shell, brake installation lid, encoder mounting shell and mounting flange
It is fixedly connected sequentially.
Since above-mentioned technical proposal is used, the present invention has following advantages and effect compared with prior art:
1. the present invention is used for the turnable elastic flexible joint of mechanical arm, motor, brake, encoder, retarder respectively correspond peace
Loaded in motor mounting shell, brake installation lid, encoder mounting shell and mounting flange, one side surface of encoder mounting shell is opened
There is a mounting groove being embedded in for driver, it will be electric by motor mounting shell, brake installation lid, encoder mounting shell and mounting flange
Machine, brake, encoder, retarder and driver are integrated, using Electromechanical Design thought, by driving, deceleration, braking performance test
It is partially integrated in intra articular, so that joint compact overall structure, also complies with the arm structure requirement of ergonomics.
2. the present invention is used for the turnable elastic flexible joint of mechanical arm, in motor, encoder, retarder and transmission shaft
Centre all has a cavity, for disposing Internal cable, the setting of motor, encoder, retarder and transmission shaft internal cavities, by line
Cable is set to intra articular, and such internal cabling mode can provide cable certain protection, and will not turn to joint
Dynamic range forms constraint.
Detailed description of the invention
Attached drawing 1 is the turnable elastic flexible joint structural schematic diagram that the present invention is used for mechanical arm；
Attached drawing 2 is the turnable elastic flexible joint partial structural diagram that the present invention is used for mechanical arm；
Attached drawing 3 is transmission shaft partial structural diagram of the present invention for the turnable elastic flexible joint of mechanical arm.
In the figures above: 1, motor；2, it brakes；3, encoder；4, retarder；401, high speed portion；402, reduction part；403,
Low speed portion；5, transmission shaft；501, slot is held tightly；6, driver；7, motor mounting shell；8, brake installation lid；9, encoder mounting shell；
10, mounting flange；11, end cap；12, mounting groove；13, outer portion, company.
Specific embodiment
The present invention will be further described below with reference to examples:
Embodiment 1: a kind of turnable elastic flexible joint for mechanical arm, including motor 1, brake 2, encoder 3, retarder 4,
Transmission shaft 5 and driver 6, the motor 1, brake 2, encoder 3 and retarder 4 are successively set on transmission shaft 5, the driving
Device 6 is connect with motor 1, is rotated for driving motor 1, and the driver 6 is connect with encoder 3 and brake 2 respectively；
The motor 1, brake 2, encoder 3, retarder 4, which respectively correspond, is installed on motor mounting shell 7, brake installation lid 8, coding
In device mounting shell 9 and mounting flange 10,9 one side surface of encoder mounting shell is provided with a mounting groove being embedded in for driver 6
12, the encoder mounting shell 9 side opposite with mounting groove 12, which is provided with outside one, connects portion 13, furthermore connects portion 13 and is used for and outside
Structure connection；
The retarder 4 further comprises high speed portion 401, reduction part 402 and low speed portion 403,402 gap package of reduction part
It is fixedly connected on transmission shaft 5 and with 7 inner surface of motor mounting shell, the high speed portion 401 and low speed portion 403 are located at and subtract
Fast 402 two sides of portion are simultaneously closely connect with transmission shaft 5；
The motor 1, encoder 3, retarder 4 and 5 center of transmission shaft all have a cavity, for disposing Internal cable.
Above-mentioned high speed portion 401 is located at close to 1 side of motor；Above-mentioned low speed portion 403 is located remotely from 1 side of motor；Above-mentioned biography
Moving axis 5 and 2 contact positions of brake are provided with a holding slot 501.
On joint structure, motor, transmission mechanism, sensor, even partial circuit are integrated in intra articular, form machine
The modularized joint being electrically integrated.Joint module is using driving, control and detection integrated design, wherein motor uses hollow type
Stepper motor, driver use the hollow encoder of increment type using the mating driver of stepper motor, photoelectric code disk.In joint uses
Portion's cabling mode, motor, driver, code-disc, retarder use hollow type structure, to protect Internal cable, reduce to joint
Slewing area constraint, reduce joint size and weight.It is high, low density using intensity to reduce light-duty shoulder joint self weight
Aluminum alloy materials.Motor, driver, retarder use domestic component, greatly reduce the cost of joint of mechanical arm.
Embodiment 2: a kind of turnable elastic flexible joint for mechanical arm, including motor 1, brake 2, encoder 3, deceleration
Device 4, transmission shaft 5 and driver 6, the motor 1, brake 2, encoder 3 and retarder 4 are successively set on transmission shaft 5, described
Driver 6 is connect with motor 1, is rotated for driving motor 1, and the driver 6 is connect with encoder 3 and brake 2 respectively；
The motor 1, brake 2, encoder 3, retarder 4, which respectively correspond, is installed on motor mounting shell 7, brake installation lid 8, coding
In device mounting shell 9 and mounting flange 10,9 one side surface of encoder mounting shell is provided with a mounting groove being embedded in for driver 6
12, the encoder mounting shell 9 side opposite with mounting groove 12, which is provided with outside one, connects portion 13, furthermore connects portion 13 and is used for and outside
Structure connection；
The retarder 4 further comprises high speed portion 401, reduction part 402 and low speed portion 403,402 gap package of reduction part
It is fixedly connected on transmission shaft 5 and with 7 inner surface of motor mounting shell, the high speed portion 401 and low speed portion 403 are located at and subtract
Fast 402 two sides of portion are simultaneously closely connect with transmission shaft 5；
The motor 1, encoder 3, retarder 4 and 5 center of transmission shaft all have a cavity, for disposing Internal cable.
Upper to have an end cap 11, this end cap 11 is fixedly connected by several screws with the end face outside of motor mounting shell 7；On
The end face for stating motor mounting shell 7, brake installation lid 8, encoder mounting shell 9 and mounting flange 10 is fixedly connected sequentially.
When using the above-mentioned turnable elastic flexible joint for mechanical arm, pass through motor mounting shell, brake installation lid, coding
Device mounting shell and mounting flange integrate motor, brake, encoder, retarder and driver, are thought using Electromechanical Design
Think, driving, deceleration, braking performance test are partially integrated in intra articular, so that joint compact overall structure, also complies with ergonomic
Arm structure requirement；Secondly, the setting of motor, encoder, retarder and transmission shaft internal cavities, is set to pass for cable
Section is internal, and such internal cabling mode can provide cable certain protection, and will not be formed to the slewing area in joint
Constraint.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the protection scope of the present invention.
Claims (6)
1. a kind of turnable elastic flexible joint for mechanical arm, it is characterised in that: including motor (1), brake (2), encoder
(3), retarder (4), transmission shaft (5) and driver (6), the motor (1), brake (2), encoder (3) and retarder (4) according to
Secondary to be set on transmission shaft (5), the driver (6) connect with motor (1), rotates for driving motor (1), the driver
(6) it is connect respectively with encoder (3) and brake (2)；
The motor (1), brake (2), encoder (3), retarder (4), which respectively correspond, is installed on motor mounting shell (7), brake peace
In capping (8), encoder mounting shell (9) and mounting flange (10), (9) one side surface of encoder mounting shell is provided with one for driving
The mounting groove (12) of dynamic device (6) insertion, the encoder mounting shell (9) side opposite with mounting groove (12), which is provided with outside one, to be connected
Portion (13) furthermore connects portion (13) for connecting with external structure；
The retarder (4) further comprises high speed portion (401), reduction part (402) and low speed portion (403), the reduction part
(402) gap package is fixedly connected on transmission shaft (5) and with motor mounting shell (7) inner surface, the high speed portion (401) and
Low speed portion (403) is located at reduction part (402) two sides and closely connect with transmission shaft (5)；
The motor (1), encoder (3), retarder (4) and transmission shaft (5) center all have a cavity, for disposing inner wire
Cable.
2. being used for the turnable elastic flexible joint of mechanical arm according to claim 1, it is characterised in that: the high speed portion
(401) it is located at close to motor (1) side.
3. being used for the turnable elastic flexible joint of mechanical arm according to claim 1, it is characterised in that: the low speed portion
(403) it is located remotely from motor (1) side.
4. being used for the turnable elastic flexible joint of mechanical arm according to claim 1, it is characterised in that: the transmission shaft (5)
Brake (2) contact position is provided with a holding slot (501).
5. being used for the turnable elastic flexible joint of mechanical arm according to claim 1, it is characterised in that: also have an end cap
(11), this end cap (11) is fixedly connected by several screws with the end face outside of motor mounting shell (7).
6. being used for the turnable elastic flexible joint of mechanical arm according to claim 1, it is characterised in that: the motor mounting shell
(7), the end face of brake installation lid (8), encoder mounting shell (9) and mounting flange (10) is fixedly connected sequentially.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710719843.0A CN109421079A (en) | 2017-08-21 | 2017-08-21 | Turnable elastic flexible joint for mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710719843.0A CN109421079A (en) | 2017-08-21 | 2017-08-21 | Turnable elastic flexible joint for mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109421079A true CN109421079A (en) | 2019-03-05 |
Family
ID=65497897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710719843.0A Pending CN109421079A (en) | 2017-08-21 | 2017-08-21 | Turnable elastic flexible joint for mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109421079A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06315879A (en) * | 1993-02-24 | 1994-11-15 | Fanuc Robotics North America Inc | Electric rotary joint and assembly of modular robot using the same |
| CN104058108A (en) * | 2014-05-30 | 2014-09-24 | 北京控制工程研究所 | Docking mechanism driving device for on-orbit autonomous refueling of satellite |
| CN104552329A (en) * | 2014-12-23 | 2015-04-29 | 哈尔滨工业大学深圳研究生院 | Driving and control integrated type intelligent integration joint |
| CN104723356A (en) * | 2015-03-26 | 2015-06-24 | 中国人民解放军装备学院 | Soft contact joint based on motion and static blocks |
| 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 |
| CN105313132A (en) * | 2014-07-29 | 2016-02-10 | 北京自动化控制设备研究所 | High-integrality robot joint |
| CN105584945A (en) * | 2016-03-10 | 2016-05-18 | 南京神天起重机械设备有限公司 | Electric block conveniently achieving safety braking at tail end |
| CN106217405A (en) * | 2016-08-26 | 2016-12-14 | 苏州元谋智能机器人系统有限公司 | A kind of robot modularized series connection joint that cooperates |
| CN107020644A (en) * | 2017-05-15 | 2017-08-08 | 苏州大学 | Redundant degree of freedom mechanical arm modular joint |
-
2017
- 2017-08-21 CN CN201710719843.0A patent/CN109421079A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06315879A (en) * | 1993-02-24 | 1994-11-15 | Fanuc Robotics North America Inc | Electric rotary joint and assembly of modular robot using the same |
| CN104058108A (en) * | 2014-05-30 | 2014-09-24 | 北京控制工程研究所 | Docking mechanism driving device for on-orbit autonomous refueling of satellite |
| CN105313132A (en) * | 2014-07-29 | 2016-02-10 | 北京自动化控制设备研究所 | High-integrality robot joint |
| 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 |
| CN104552329A (en) * | 2014-12-23 | 2015-04-29 | 哈尔滨工业大学深圳研究生院 | Driving and control integrated type intelligent integration joint |
| CN104723356A (en) * | 2015-03-26 | 2015-06-24 | 中国人民解放军装备学院 | Soft contact joint based on motion and static blocks |
| CN105584945A (en) * | 2016-03-10 | 2016-05-18 | 南京神天起重机械设备有限公司 | Electric block conveniently achieving safety braking at tail end |
| CN106217405A (en) * | 2016-08-26 | 2016-12-14 | 苏州元谋智能机器人系统有限公司 | A kind of robot modularized series connection joint that cooperates |
| CN107020644A (en) * | 2017-05-15 | 2017-08-08 | 苏州大学 | Redundant degree of freedom mechanical arm modular joint |
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Application publication date: 20190305 |