CN110394791B

CN110394791B - Electromechanical limiting device larger than 360 degrees

Info

Publication number: CN110394791B
Application number: CN201910500277.3A
Authority: CN
Inventors: 王康; 李德伦; 杨旭; 林云成; 刘鑫; 张运
Original assignee: Beijing Institute of Spacecraft System Engineering
Current assignee: Beijing Institute of Spacecraft System Engineering
Priority date: 2019-06-11
Filing date: 2019-06-11
Publication date: 2020-10-30
Anticipated expiration: 2039-06-11
Also published as: CN110394791A

Abstract

The invention discloses an electromechanical limiting device with the angle larger than 360 degrees, which comprises a limiting installation block, a limiting block rotating shaft, a shell and magnetic steel; the limiting installation block is fixed on the external rotation driving assembly, the limiting block rotating shaft is fixed on the limiting installation block, and the limiting block rotates around the limiting block rotating shaft; an extension rod is arranged on one side of the limiting block and is encapsulated by the shell, the limiting block can keep two limiting states under the action of the shell, two bosses are arranged on the other side of the limiting block, and when the output shaft rotates, the bosses are touched by the protrusions, so that the limiting block is switched between the two limiting states; meanwhile, the other side of the limiting block is provided with magnetic steel; the limiting devices are used in pairs, and the limiting bosses can be shifted in the rotating process of the output shaft, so that electronic limiting or boss limiting is realized. The invention can realize electronic limit and mechanical limit at the same time and solve the problem that the limit angle range of a mechanical arm joint, namely a rotary driving assembly, is less than 360 degrees.

Description

Electromechanical limiting device larger than 360 degrees

Technical Field

The invention relates to the technical field of robots, in particular to an electromechanical limiting device with the angle larger than 360 degrees.

Background

In the field of robots, when a mechanical arm joint (or a rotary driving assembly) is applied, in order to ensure the safety of the robot, electronic limit and mechanical limit are generally required to be arranged on the mechanical arm joint, and the range of the limit angle is usually less than or equal to 360 degrees, namely within a whole circle. For a space robot or other special robots, the motion range is large, and the motion range of the mechanical arm joint can be larger than 360 degrees, so the required limit angle range is also larger than 360 degrees. No published techniques have been consulted to achieve greater than 360.

Disclosure of Invention

In view of this, the invention provides an electromechanical limiting device larger than 360 degrees, which can simultaneously realize electronic limiting and mechanical limiting and solve the problem that the limiting angle range of a mechanical arm joint (a rotary driving assembly) is smaller than 360 degrees.

The technical scheme adopted by the invention is as follows:

an electromechanical limiting device with the angle larger than 360 degrees comprises a limiting installation block, a limiting block rotating shaft, a shell and magnetic steel; the limiting object is an output shaft, two groups of protrusions and Hall sensors are arranged on the outer circumference of the output shaft along the axis direction, namely a protrusion A, a Hall sensor A, a protrusion B and a Hall sensor B, and the positions of the two groups of protrusions and Hall sensors are opposite to each other along the rotation direction;

the limiting installation block is fixed on the external rotation driving assembly, the limiting block rotating shaft is fixed on the limiting installation block, and the limiting block rotates around the limiting block rotating shaft; an extension rod is arranged on one side of the limiting block and is encapsulated by the shell, the limiting block can keep two limiting states under the action of the shell, two bosses are arranged on the other side of the limiting block, and when the output shaft rotates, the bosses are touched by the protrusions, so that the limiting block is switched between the two limiting states; meanwhile, the other side of the limiting block is provided with magnetic steel;

the limiting devices are used in pairs and comprise a limiting device A and a limiting device B, and each group of the protrusions, the Hall sensor and the magnetic steel of one limiting device are positioned on the same radial plane; the output shaft toggles a boss of a limiting block of a limiting device A through a protrusion A in the process of rotating for the first circle, then magnetic steel on the limiting device B triggers a Hall sensor B to generate an electric signal, electronic limiting is achieved, and if electronic limiting fails, limiting is achieved through the boss of the limiting block of the limiting device B; when the second circle counter-rotation, stop device A stopper boss is stirred to protruding A, then stop device B stopper boss is stirred to protruding B, and later magnet steel on the stop device A triggers hall sensor A and produces the signal of telecommunication, realizes that the electron is spacing, if the spacing failure of electron then by stop device A stopper boss spacing, realize being greater than 360 machinery spacing.

Furthermore, the limiting device further comprises a compression spring, a roller rotating shaft and a roller bracket;

the roller bracket can slide along the extension rod of the limiting block, a compression spring is arranged between the lower end surface of the roller bracket and the upper end surface of the limiting block, a roller rotating shaft is arranged at the upper end of the roller bracket, and the roller can rotate around the roller rotating shaft; the limiting block is limited by the limiting installation block after rotating in place, and the compression spring is in a compression state under the action of the shell, so that the limiting block is kept in a limiting state.

Has the advantages that:

according to the invention, through the limiting devices which are arranged in pairs, the limitation that the output angle of a mechanical arm joint (or a rotary driving assembly) is greater than 360 degrees can be realized by utilizing a single limiting device to realize the limitation that the first circle is not limited and the second circle is limited, and the arbitrary limiting angle range within the arbitrary angle range of 360-720 degrees can be realized by freely arranging the position of the limiting device on the shell; meanwhile, the mechanical-electrical integration limiting can be realized, the double protection is improved, and the limiting reliability is improved.

Drawings

FIG. 1 is a schematic cross-sectional view of a spacing device;

FIG. 2 is a cross-sectional view taken along the line A-A in FIG. 1;

FIG. 3(a) is a three-dimensional view of the entire stopper device, and FIG. 3(b) is a three-dimensional view of the stopper device without the housing;

FIG. 4(a) shows the joint axis at 0 ° starting position;

fig. 4(b) is a schematic diagram of the joint rotating shaft rotating counterclockwise from a 0 ° position to 90 °, at which time the limiting device a can be triggered to be shifted to another state;

fig. 4(c) is a schematic diagram illustrating that the joint rotating shaft rotates counterclockwise from a 90 ° position to 270 °, and at this time, the limiting device B realizes electronic limiting and mechanical limiting;

fig. 4(d) is a schematic diagram of the joint rotating shaft rotating clockwise from a 270 ° position to 90 °, at which time the limiting device a can be triggered for the second time and shifted to another state;

FIG. 4(e) is a schematic diagram of the joint rotating shaft rotating clockwise from a 90-degree position to-90 degrees, at which time the limiting device B can be triggered to be shifted to another state;

FIG. 4(f) is a schematic diagram illustrating the joint rotating shaft rotating clockwise from a-90 ° position to a-270 ° position, at which the electronic limit is first implemented by the limiting device A;

FIG. 5 is a layout view of a limiting device for realizing the limitation of +/-270 degrees;

fig. 6 is a schematic view of the stop device a when it is triggered counterclockwise at the 90 ° position (corresponding to the state of fig. 4 (b));

fig. 7 is a schematic view of the stop device a when triggered clockwise at the 90 ° position (corresponding to the state of fig. 4 (d));

fig. 8 is a schematic view of the stopper a when it is electronically stopped at the-270 ° position (corresponding to the state of fig. 4 (f));

fig. 9 is a schematic view of the stopper a when mechanically stopped at the-270 ° position (corresponding to the state of fig. 4 (f));

the device comprises a base, a limiting mounting block, a limiting block rotating shaft, a roller bracket, a roller, a limiting block rotating shaft, a roller bracket, a shell, a compression spring, a magnetic steel, a joint rotating shaft, a protrusion A, a Hall sensor A and a spring, wherein the limiting mounting block is 1-a limiting mounting block, the limiting block is 2-a limiting block, the limiting block rotating shaft is 3-a limiting block, the roller bracket.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

This embodiment provides an electromechanical stop device that is greater than 360, as shown in fig. 1, fig. 2, fig. 3(a) and fig. 3(b), this electromechanical stop device includes spacing installation piece 1, stopper 2, stopper pivot 3, gyro wheel support 4, gyro wheel 5, gyro wheel pivot 6, casing 7, compression spring 8 and magnet steel 9. The limiting object is a joint rotating shaft 10, two groups of protrusions and Hall sensors are arranged on the outer circumference of the joint rotating shaft 10 along the axis direction, namely a protrusion A11 and a Hall sensor A12, a protrusion B and a Hall sensor B, the Hall sensor A12 is arranged in front of the protrusion A11 along the rotating direction, and the protrusion B is arranged in front of the Hall sensor B.

The limiting installation block 1 is fixed on the external rotation driving assembly, the limiting block rotating shaft 3 is fixed on the limiting installation block 1, and the limiting block 2 rotates around the limiting block rotating shaft 3; an extension rod is arranged on one side of the limiting block 2 and is encapsulated by the shell, the extension rod can keep two limiting states under the action of the shell 7, two bosses are arranged on the other side of the limiting block 2, and when the joint rotating shaft 10 rotates, the joint rotating shaft 10 protrudes to touch the bosses, so that the limiting block 2 is switched between the two limiting states; meanwhile, the other side of the limiting block 2 is provided with a magnetic steel 9.

The roller bracket 4 can slide along the extension rod of the limiting block 2, a compression spring 8 is arranged between the lower end surface of the roller bracket 4 and the upper end surface of the limiting block 2, a roller rotating shaft 6 is arranged at the upper end of the roller bracket 4, and the roller 5 can rotate around the roller rotating shaft 6; the limiting block 2 is rotated to be in place and then limited by the limiting installation block 1, the shell 7 is of a cubic structure, the compression spring 8 is in a compression state under the action of the shell 7, the limiting block 2 is kept in a limiting state at the corner position of the shell 7 after being subjected to spring force, and rotation under the condition of receiving vibration is avoided. When the limiting block 2 is stirred, the roller 5 rolls on the inner wall of the limiting shell 7, so that the limiting block 2 is switched between two states.

Stop device uses in pairs, including stop device A, stop device B, this embodiment provides a stop device overall arrangement who realizes 270 (540 °), stop device A, stop device B is fixed to outside rotary drive subassembly 180 degrees in opposite directions, protruding A11, hall sensor A12 and stop device A's magnet steel 9 are located same radial plane, protruding B, hall sensor B and stop device B's magnet steel 9 are located same radial plane, two radial planes do not coincide, as shown in fig. 5.

As shown in fig. 4(a) to (f), the counterclockwise rotation is set to the forward direction, the clockwise rotation is set to the reverse direction, the protrusion a11 and the hall sensor B are located at the 0 ° position, the stopper a is located at the 90 ° position, and the stopper B is located at the 270 ° position.

The first circle of the joint rotating shaft 10 rotates anticlockwise, when the joint rotating shaft 10 rotates anticlockwise to 90 degrees from a 0-degree position, the protrusion A11 of the joint rotating shaft 10 stirs the boss of the limiting block of the limiting device A, as shown in figure 6, the limiting state of the limiting block of the limiting device A is changed, the joint rotating shaft 10 continues rotating anticlockwise, the magnetic steel 9 on the limiting block of the limiting device B is triggered to generate an electric signal when the position of 90 degrees rotates anticlockwise to 270 degrees, the Hall sensor B is triggered to generate an electric signal, electronic limiting is achieved, and if the electronic limiting fails, the limiting block boss of the limiting device B is used for limiting, and the joint; the second ring rotates clockwise, the boss of the limiting device A limiting block is shifted for the second time by the protrusion A11 of the joint rotating shaft 10 when the angle is clockwise rotated to 90 degrees from the 270-degree position, as shown in figure 7, the limiting state of the limiting device A limiting block is changed, the boss of the limiting device B limiting block is shifted by the protrusion B of the joint rotating shaft 10 when the angle is clockwise rotated to-90 degrees from the 90-degree position, the limiting state of the limiting device B limiting block is changed, then the joint rotating shaft 10 rotates to-270 degrees from the-90-degree position, as shown in figure 8, the magnetic steel 9 on the limiting device A limiting block triggers the Hall sensor A12 to generate an electric signal, electronic limiting is realized, as shown in figure 9, if electronic limiting fails, the limiting is limited by the boss of the limiting device A limiting block, and the range of limiting.

The limiting within any angle range of 360-720 degrees can be realized by adjusting the angle positions of the two limiting devices.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An electromechanical limiting device with the angle larger than 360 degrees is characterized in that the limiting device comprises a limiting installation block, a limiting block rotating shaft, a shell and magnetic steel; the limiting object is an output shaft, two groups of protrusions and Hall sensors are arranged on the outer circumference of the output shaft along the axis direction, namely a protrusion A, a Hall sensor A, a protrusion B and a Hall sensor B, and the positions of the two groups of protrusions and Hall sensors are opposite to each other along the rotation direction;

the limiting installation block is fixed on the external rotation driving assembly, the limiting block rotating shaft is fixed on the limiting installation block, and the limiting block rotates around the limiting block rotating shaft; an extension rod is arranged on one side of the limiting block and is encapsulated by the shell, the limiting block can keep two limiting states under the action of the shell, two bosses are arranged on the other side of the limiting block, and when the output shaft rotates, the bosses are touched by the protrusions, so that the limiting block is switched between the two limiting states; meanwhile, the other side of the limiting block is provided with a magnetic steel, and the magnetic steel is fixed on one boss;

2. An electromechanical spacing device of greater than 360 ° as claimed in claim 1 wherein said spacing device further comprises a compression spring, a roller axle and a roller bracket;