CN110394791A - A kind of electromechanical limit device greater than 360 ° - Google Patents
A kind of electromechanical limit device greater than 360 ° Download PDFInfo
- Publication number
- CN110394791A CN110394791A CN201910500277.3A CN201910500277A CN110394791A CN 110394791 A CN110394791 A CN 110394791A CN 201910500277 A CN201910500277 A CN 201910500277A CN 110394791 A CN110394791 A CN 110394791A
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- China
- Prior art keywords
- limited block
- limit
- limiting device
- block
- boss
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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
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The electromechanical limit device that the invention discloses a kind of greater than 360 °, including block, limited block, limited block shaft, shell and magnet steel is mounted；Block is mounted to be fixed in external rotary drive assembly, limited block shaft, which is fixed on, to be mounted on block, and limited block is rotated around limited block shaft；Extension bar is arranged in limited block side, and extension bar is encapsulated by shell, and limited block can keep two kinds of limit states under the action of shell, and two boss are arranged in the limited block other side, and when output shaft rotation, protrusion touching boss switches limited block in two kinds of limit states；Meanwhile magnet steel is arranged in the limited block other side；Limiting device uses in pairs, and positive stop lug boss can be stirred in output shaft rotation process, realizes electronic limit or boss limit.The present invention can be achieved at the same time electronic limit and mechanical position limitation, and solve the problems, such as the limit angular range of the i.e. rotary drive assembly of joint of mechanical arm less than 360 °.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of electromechanical limit device greater than 360 °.
Background technique
In robot field, for joint of mechanical arm (or rotary drive assembly) in application, to guarantee its robot
Safety, generally require and electronic limit and mechanical position limitation be arranged to joint of mechanical arm, the range for usually limiting angle be less than or
Equal to 360 °, i.e., in whole circle.For robot for space or other specialized robots, since motion range is larger, mechanical arm is closed
Can be greater than by saving motion range by 360 °, so the limit angular range needed also should be greater than 360 °.It not yet finds at present achievable
Public technology greater than 360 °.
Summary of the invention
In view of this, the electromechanical limit device that the present invention provides a kind of greater than 360 °, can be achieved at the same time electronic limit
And mechanical position limitation, and solve the problems, such as the limit angular range of joint of mechanical arm (rotary drive assembly) less than 360 °.
The technical solution adopted by the present invention is as follows:
A kind of electromechanical limit device greater than 360 °, the limiting device include that block, limited block, limited block is mounted to turn
Axis, shell and magnet steel；Limit object is output shaft, and two groups of protrusions, Halls are arranged on the output shaft excircle in the axial direction
Sensor, respectively protrusion A, Hall sensor A, raised B and Hall sensor B, two groups of protrusions, Hall sensor are along rotation side
It is opposite to the position of setting；
The limit installation block is fixed in external rotary drive assembly, and limited block shaft, which is fixed on, to be mounted on block,
The limited block is rotated around limited block shaft；Extension bar is arranged in the limited block side, and extension bar is encapsulated by shell, the limit
Block can keep two kinds of limit states under the action of shell, and two boss are arranged in the limited block other side, when output shaft rotates
When, the protrusion touching boss switches limited block in two kinds of limit states；Meanwhile magnetic is arranged in the limited block other side
Steel；
The limiting device uses in pairs, including limiting device A, limiting device B, every group of protrusion, Hall sensor and its
In the magnet steel of a limiting device be located at same sagittal plane；Output shaft is stirred during first lap rotates by protrusion A
Limiting device A limited block boss, the magnet steel triggering Hall sensor B on limiting device B generates electric signal later, realizes electronics limit
Position is limited if electronic limit failure by limiting device B limited block boss；When the second circle rotates backward, raised A stirs limit
Device A limited block boss, then protrusion B stirs limiting device B limited block boss, and the magnet steel triggering on limiting device A later is suddenly
You generate electric signal at sensors A, realize electronic limit, are limited if electronic limit failure by limiting device A limited block boss,
Realize the mechanical position limitation greater than 360 °.
Further, the limiting device further includes compressed spring, idler wheel, roller wheel shaft and rolling wheel support；
Rolling wheel support can be slided along limited block extension bar, and compression is installed between rolling wheel support lower end surface and limited block upper surface
Roller wheel shaft is installed in spring, rolling wheel support upper end, and idler wheel can be rotated around roller wheel shaft；Limited block rotate in place after by being mounted
Block limit, compressed spring are in compressive state under shell effect, limited block are made to keep limit state.
The utility model has the advantages that
The present invention passes through the limiting device that is arranged in pairs, using single limiting device " first circle does not limit, the second circle limit ",
The limit that joint of mechanical arm (or rotary drive assembly) output angle is greater than 360 ° can be achieved, and can be by freely arranging limit dress
The position on shell is set, realizes any limit angular range within the scope of 360 °~720 ° any angles；It can be realized simultaneously
Electromechanical integration limit, improves duplicate protection, improves limit reliability.
Detailed description of the invention
Fig. 1 is the diagrammatic cross-section of limiting device；
Fig. 2 is the cross-sectional view in the direction Figure 1A-A；
Fig. 3 (a) is limiting device entirety three-dimensional figure, Fig. 3 (b) is the limiting device three-dimensional figure without shell；
Fig. 4 (a) is that joint shaft is in 0 ° of initial position；
Fig. 4 (b) rotates counterclockwise to 90 ° by 0 ° of position for joint shaft, can trigger limiting device A at this time, stirs it
To another status diagram；
Fig. 4 (c) rotates counterclockwise to 270 ° by 90 ° of positions for joint shaft, realizes electronics limit by limiting device B at this time
Position and mechanical position limitation schematic diagram；
Fig. 4 (d) is that joint shaft by 270 ° of positions is rotated clockwise to 90 °, at this time can secondary triggering limiting device A, make
It toggles it to another status diagram；
Fig. 4 (e) is rotated clockwise to -90 ° by 90 ° of positions for joint shaft, can trigger limiting device B at this time, makes its group
Move another status diagram；
Fig. 4 (f) is rotated clockwise to -270 ° by -90 ° of positions for joint shaft, is realized first by limiting device A at this time
Electronic limit schematic diagram；
Fig. 5 is the layout drawing of limiting device when realizing ± 270 ° of limits；
Fig. 6 is schematic diagram (state of corresponding diagram 4 (b)) of the limiting device A when 90 ° of positions are triggered counterclockwise；
Fig. 7 is schematic diagram (state of corresponding diagram 4 (d)) of the limiting device A when 90 ° of positions are triggered clockwise；
Fig. 8 is schematic diagram (state of corresponding diagram 4 (f)) of the limiting device A when -270 ° of positions are by electronic limit；
Fig. 9 is schematic diagram (state of corresponding diagram 4 (f)) of the limiting device A when -270 ° of positions are by mechanical position limitation；
Wherein, 1- is mounted block, 2- limited block, 3- limited block shaft, 4- rolling wheel support, 5- idler wheel, 6- idler wheel and turns
Axis, 7- shell, 8- compressed spring, 9- magnet steel, the joint 10- shaft, 11- protrusion A, 12- Hall sensor A, 13- protrusion B, 14-
Hall sensor B.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
A kind of electromechanical limit device greater than 360 ° is present embodiments provided, as shown in Figure 1, Figure 2, Fig. 3 (a) and Fig. 3 (b) institute
Show, which includes that block 1, limited block 2, limited block shaft 3, rolling wheel support 4, idler wheel 5, roller wheel shaft is mounted
6, shell 7, compressed spring 8 and magnet steel 9.Limit object is joint shaft 10, is set in the axial direction on 10 excircle of joint shaft
Two groups of protrusions, Hall sensors are set, respectively protrusion A11, Hall sensor A12, raised B13, Hall sensor B14, edge turns
Dynamic direction Hall sensor A12 is arranged in front of raised A11, and raised B13 is arranged in front of Hall sensor B14.
Block 1 is mounted to be fixed in external rotary drive assembly, limited block shaft 3, which is fixed on, to be mounted on block 1, limit
Position block 2 is rotated around limited block shaft 3；Extension bar is arranged in 2 side of limited block, and extension bar is encapsulated by shell, and extension bar is in shell 7
Two kinds of limit states can be kept under effect, two boss are arranged in 2 other side of limited block, and when joint shaft 10 rotates, joint turns
10 protrusion touching boss of axis, switches limited block 2 in two kinds of limit states；Meanwhile magnet steel 9 is arranged in 2 other side of limited block.
Rolling wheel support 4 can be slided along the extension bar of limited block 2, and 4 lower end surface of rolling wheel support and limited block are pacified between 2 upper surface
Compressed spring 8 is filled, roller wheel shaft 6 is installed in 4 upper end of rolling wheel support, and idler wheel 5 can be rotated around roller wheel shaft 6；Limited block 2 rotate in place
It is limited afterwards by limit installation block 1, shell 7 is cube structure, and compressed spring 8 is in compressive state under the effect of shell 7, makes to limit
Position block 2 is maintained at limit state in 7 angular position of shell by after spring force, avoids rotating in the case where being shaken.When
When stirring limited block 2, idler wheel 5 is rolled in the inner wall of limit shell 7, switches limited block 2 between the two states.
Limiting device uses in pairs, including limiting device A, limiting device B, present embodiments provides a kind of ± 270 ° of realization
The limiting device of (i.e. 540 °) is laid out, and limiting device A, the opposite 180 degree of limiting device B are fixed in external rotary drive assembly,
The magnet steel 9 of raised A11, Hall sensor A12 and limiting device A are located at same sagittal plane, raised B13, Hall sensor
The magnet steel 9 of B14 and limiting device B is located at same sagittal plane, and two sagittal planes are not overlapped, as shown in Figure 5.
As shown in Fig. 4 (a)~(f), setting is rotated counterclockwise as forward direction, is rotated clockwise to be reversed, raised A11, protrusion
B13 is located at 0 ° of position, and limiting device A is located at 90 ° of positions, and limiting device B is located at 270 ° of positions.
Shaft 10 first lap in joint rotates counterclockwise, shaft 10 protrusion in joint when rotating counterclockwise to 90 ° by 0 ° of position
A11 stirs limiting device A limited block boss, as shown in fig. 6, changing the limit state of limiting device A limited block, joint shaft 10
Continue to rotate counterclockwise, the magnet steel 9 when rotating counterclockwise to 270 ° by 90 ° of positions on limiting device B limited block triggers Hall and passes
Sensor B14 generates electric signal, realizes electronic limit, is limited, is realized by limiting device B limited block boss if electronic limit failure
The rotation that 100 ° to 270 ° of joint shaft；Second circle, which rotates backward, to be rotated clockwise, and is rotated clockwise to 90 ° by 270 ° of positions
Limiting device A limited block boss is stirred 10 protrusion of Shi Guanjie shaft A11 bis- times, as shown in fig. 7, changing limiting device A limited block
Limit state, it is convex to stir limiting device B limited block by shaft 10 protrusion B13 in joint when being rotated clockwise to -90 ° by 90 ° of positions
Platform, change limiting device B limited block limit state, posterior joint shaft 10 be rotated clockwise to -270 ° by -90 ° of positions, such as
Shown in Fig. 8, the magnet steel 9 on limiting device A limited block triggers Hall sensor A12 and generates electric signal, realizes electronic limit, such as schemes
It shown in 9, is limited if electronic limit failure by limiting device A limited block boss, realizes and be greater than 360 ° i.e. 270 ° to -270 ° limits
Angular range.
By adjusting two limiting devices angle position, it can be achieved that 360 °~720 ° any angle ranges limit.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (2)
1. a kind of electromechanical limit device greater than 360 °, which is characterized in that the limiting device includes that block, limit is mounted
Block, limited block shaft, shell and magnet steel；Limit object is output shaft, and two are arranged in the axial direction on the output shaft excircle
Group protrusion, Hall sensor, respectively protrusion A, Hall sensor A, raised B and Hall sensor B, two groups of protrusions, Hall pass
The position that sensor is in rotational direction arranged is opposite；
The limit installation block is fixed in external rotary drive assembly, and limited block shaft, which is fixed on, to be mounted on block, described
Limited block is rotated around limited block shaft；Extension bar is arranged in the limited block side, and extension bar is encapsulated by shell, and the limited block exists
Two kinds of limit states can be kept under the action of shell, two boss are arranged in the limited block other side, when output shaft rotation, institute
Protrusion touching boss is stated, switches limited block in two kinds of limit states；Meanwhile magnet steel is arranged in the limited block other side；
The limiting device uses in pairs, including limiting device A, limiting device B, every group of protrusion, Hall sensor and wherein one
The magnet steel of a limiting device is located at same sagittal plane；Output shaft stirs limit by protrusion A during first lap rotates
Device A limited block boss, the magnet steel triggering Hall sensor B on limiting device B generates electric signal later, realizes electronic limit,
It is limited if electronic limit failure by limiting device B limited block boss；When the second circle rotates backward, raised A stirs limit dress
A limited block boss is set, then protrusion B stirs limiting device B limited block boss, and the magnet steel on limiting device A triggers Hall later
Sensors A generates electric signal, realizes electronic limit, is limited, is realized by limiting device A limited block boss if electronic limit failure
Mechanical position limitation greater than 360 °.
2. being greater than 360 ° of electromechanical limit device as described in claim 1, which is characterized in that the limiting device is further
Including compressed spring, idler wheel, roller wheel shaft and rolling wheel support；
Rolling wheel support can be slided along limited block extension bar, installation compression bullet between rolling wheel support lower end surface and limited block upper surface
Roller wheel shaft is installed in spring, rolling wheel support upper end, and idler wheel can be rotated around roller wheel shaft；Limited block rotate in place after by limit installation block
Limit, compressed spring are in compressive state under shell effect, limited block are made to keep limit state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910500277.3A CN110394791B (en) | 2019-06-11 | 2019-06-11 | Electromechanical limiting device larger than 360 degrees |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910500277.3A CN110394791B (en) | 2019-06-11 | 2019-06-11 | Electromechanical limiting device larger than 360 degrees |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110394791A true CN110394791A (en) | 2019-11-01 |
| CN110394791B CN110394791B (en) | 2020-10-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910500277.3A Active CN110394791B (en) | 2019-06-11 | 2019-06-11 | Electromechanical limiting device larger than 360 degrees |
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| Country | Link |
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| CN (1) | CN110394791B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001003951A (en) * | 1999-06-23 | 2001-01-09 | Kansai Tlo Kk | Force limiting device, torque limiter, robot arm and robot |
| CN1311852A (en) * | 1998-07-24 | 2001-09-05 | 毕晓普创新有限公司 | Angle encoder |
| CN102102996A (en) * | 2010-12-16 | 2011-06-22 | 重庆易控科技有限责任公司 | Over-360-degree-angle limit sensor device |
| CN102179717A (en) * | 2011-04-24 | 2011-09-14 | 大连理工大学 | C-axis rotary limiting device for driving double-pendulum milling head by adopting tubular motors |
| CN102566653A (en) * | 2012-01-16 | 2012-07-11 | 中国船舶重工集团公司第七二三研究所 | Limiting mechanism for small rotary table with rotating angle of more than 360 degrees |
| CN103079777A (en) * | 2011-04-27 | 2013-05-01 | 日本电产三协株式会社 | Rotation range restriction mechanism for rotating body, and industrial robot |
| CN107738278A (en) * | 2017-10-27 | 2018-02-27 | 珠海格力智能装备有限公司 | Spacing anticollision structure and have its robot |
-
2019
- 2019-06-11 CN CN201910500277.3A patent/CN110394791B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1311852A (en) * | 1998-07-24 | 2001-09-05 | 毕晓普创新有限公司 | Angle encoder |
| JP2001003951A (en) * | 1999-06-23 | 2001-01-09 | Kansai Tlo Kk | Force limiting device, torque limiter, robot arm and robot |
| CN102102996A (en) * | 2010-12-16 | 2011-06-22 | 重庆易控科技有限责任公司 | Over-360-degree-angle limit sensor device |
| CN102179717A (en) * | 2011-04-24 | 2011-09-14 | 大连理工大学 | C-axis rotary limiting device for driving double-pendulum milling head by adopting tubular motors |
| CN103079777A (en) * | 2011-04-27 | 2013-05-01 | 日本电产三协株式会社 | Rotation range restriction mechanism for rotating body, and industrial robot |
| CN102566653A (en) * | 2012-01-16 | 2012-07-11 | 中国船舶重工集团公司第七二三研究所 | Limiting mechanism for small rotary table with rotating angle of more than 360 degrees |
| CN107738278A (en) * | 2017-10-27 | 2018-02-27 | 珠海格力智能装备有限公司 | Spacing anticollision structure and have its robot |
Non-Patent Citations (1)
| Title |
|---|
| 王炜 等: "一种航天员舱外活动用脚限位器的设计与分析", 《载人航天》 * |
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| CN110394791B (en) | 2020-10-30 |
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