CN112976047A - Double-feedback flexible rotary joint mechanism and robot - Google Patents
Double-feedback flexible rotary joint mechanism and robot Download PDFInfo
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- CN112976047A CN112976047A CN202110172341.7A CN202110172341A CN112976047A CN 112976047 A CN112976047 A CN 112976047A CN 202110172341 A CN202110172341 A CN 202110172341A CN 112976047 A CN112976047 A CN 112976047A
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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
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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
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Abstract
The application discloses flexible rotary joint mechanism of dual feedback and robot, including two coding rotary joint, first arm and second arm, two coding rotary joint include the input, the output, input and second arm fixed connection, output and first arm fixed connection, first encoder and second encoder are established respectively to input and output, can directly calculate the intrinsic collision clearance of synchronous strip subassembly of synchronizing wheel and the excessive mechanism of reduction gear between input and the output, the transmission error that nature such as elastic deformation arouses, make two coding rotary joint's output turned angle can realize higher precision. A plurality of double-coding rotary joints can be connected through various mechanical arms to form a multi-axis robot, so that the position precision of a tail end mechanism of the robot is greatly improved.
Description
Technical Field
The invention relates to the technical field of high-end equipment manufacturing, in particular to a double-feedback flexible rotary joint mechanism and a robot.
Background
Present SCARA robot is on two main revolute joints in X axle and Y axle, need pass through synchronizing wheel hold-in range between motor output shaft and the arm member, mechanism such as speed reducer comes excessively, because the hold-in range is flexible, gapped and the inside gentle gear of speed reducer and steel gear between gapped between hold-in range and the synchronizing wheel gapped, must lead to transmission delay, residual vibration, elastic deformation, problem such as kinematic pair clearance friction, and then the positioning accuracy and the work efficiency of robot have been reduced, these problems are all non-linear, this is one of the leading reasons that influences the terminal repeatability of SCARA robot. Therefore, an encoder arranged at the bottom of the motor can only measure the absolute rotation angle position of the motor shaft, the data measured by the encoder and a numerical value calculated by combining the data measured by the encoder and the reduction ratio cannot represent the absolute rotation angle position of a mechanical arm rod piece, and the error caused by a synchronous belt and a speed reducer of a synchronous wheel is taken into consideration. Therefore, the single coding joint of the conventional SCARA robot is difficult to realize micron-scale precision positioning.
In control, most of current SCARA robot simulation models adopt rigid body dynamics models, and the structural limitation of single coding joints is added, so that the elastic deformation of the joints of the SCARA robot is not taken into account, the residual vibration of the robot cannot be inhibited, the repetition precision of the SCARA robot is limited, and in fact, the dynamics model considering the elastic deformation plays an important role in inhibiting the residual vibration of the SCARA robot, and therefore the dynamics model is necessarily optimized and designed on the premise of taking the elastic deformation of the SCARA robot into account.
Disclosure of Invention
In view of the above-mentioned drawbacks and deficiencies of the prior art, it is desirable to provide a dual feedback flexible rotary joint mechanism and a robot.
In order to overcome the defects of the prior art, the technical scheme provided by the invention is as follows:
in a first aspect, the invention provides a double-feedback flexible rotary joint mechanism, which comprises a double-coding rotary joint, a first mechanical arm and a second mechanical arm, wherein the double-coding rotary joint comprises an input end, an output end, a first encoder and a second encoder, the input end is fixedly connected with the second mechanical arm, the output end is fixedly connected with the first mechanical arm, the first encoder is installed on the input end, the second encoder comprises a second coding disc and a second reading head, and the second coding disc and the second reading head are respectively and fixedly connected with the first mechanical arm and the output end.
In one embodiment, the input end is in transmission connection with the output end through a synchronizing assembly, the input end comprises a motor assembly, the motor assembly comprises a motor base and a rotating motor, the motor base is in indirect fixed connection with the second mechanical arm, the output end comprises a speed reducer, the synchronizing assembly comprises an input synchronizing wheel, a synchronous belt and an output synchronizing wheel, the input synchronizing wheel is fixedly connected with an output shaft of the rotating motor, the synchronous belt is wound between the input synchronizing wheel and the output synchronizing wheel, the output synchronizing wheel is fixedly connected with the input end of the speed reducer, the fixed end of the speed reducer is fixedly connected with the second mechanical arm, and the output end of the speed reducer is fixedly connected with the first mechanical.
In one embodiment, the output end further includes a second code disc fixing assembly, the second code disc is fixedly connected with the second mechanical arm through the second code disc fixing assembly, the second code disc fixing assembly includes a second code disc front fixing member, a second code disc middle fixing member and a second code disc rear fixing member, the second code disc middle fixing member penetrates through the hollow output synchronizing wheel and the hollow speed reducer and is fixedly connected with the second code disc front fixing member and the second code disc rear fixing member which are arranged at two ends of the second code disc middle fixing member respectively, the second code disc front fixing member is fixedly connected with the second mechanical arm, the second code disc rear fixing member is fixedly connected with the second code disc, and the second reading head is fixedly connected with the first mechanical arm.
In one embodiment, the output end further comprises a limit bearing assembly, the limit bearing assembly is installed between the output end of the speed reducer and the second coding disc rear fixing piece, the limit bearing assembly comprises a bearing, a bearing seat and a clamp spring, the bearing is assembled in the bearing seat, an outer ring of the bearing is in interference fit with the bearing seat, the clamp spring is placed in a clamp spring groove of the bearing seat, the bearing seat is fixedly connected with the first mechanical arm, and an inner ring of the bearing is in tight fit with the second coding disc rear fixing piece.
In one embodiment, the fixing member in the second encoding disk is a hollow rod-shaped structure, and two ends of the rod-shaped structure are provided with end faces for outputting the synchronous wheels and flange plates matched with the end faces of the bearing seats.
In a second aspect, the present invention provides a robot, including a first dual feedback flexible rotary joint mechanism and a second dual feedback flexible rotary joint mechanism, which are composed of an X-axis dual coding rotary joint, a Y-axis dual coding rotary joint, a base, an X-axis mechanical arm, and a Y-axis mechanical arm, wherein the first dual feedback flexible rotary joint mechanism and the second dual feedback flexible rotary joint mechanism are both configured as the dual feedback flexible rotary joint mechanism described in the first aspect; a first mechanical arm of the first double-feedback flexible rotary joint mechanism is a base, and a second mechanical arm of the first double-feedback flexible rotary joint mechanism is an X-axis mechanical arm; the first mechanical arm of the second double-feedback flexible rotary joint mechanism is an X-axis mechanical arm, and the second mechanical arm of the second double-feedback flexible rotary joint mechanism is a Y-axis mechanical arm; the second mechanical arm of the first double-feedback flexible rotary joint mechanism and the first mechanical arm of the second double-feedback flexible rotary joint mechanism are both X-axis mechanical arms.
In one embodiment, the robot further comprises a terminal mechanism, wherein the terminal mechanism is fixedly connected with the Y-axis mechanical arm; the tail end mechanism comprises a C-axis motor assembly, a Z-axis motor assembly and a ball spline lead screw, and the ball spline lead screw comprises a lead screw nut, a spline lead screw and a lead screw nut seat; the C-axis motor assembly is arranged on the Y-axis mechanical arm, and the output end of the C-axis motor assembly is fixedly connected with the spline nut; the Z-axis motor assembly is arranged on the Y-axis mechanical arm, and the output end of the Z-axis motor assembly is fixedly connected with the lead screw nut; the spline nut is fixedly connected with the Y-axis mechanical arm, the feed screw nut is fixedly connected with the feed screw nut seat, the feed screw nut seat is fixedly connected with the Y-axis mechanical arm, and the spline lead screw is assembled in the feed screw nut and the spline nut.
In one embodiment, the C-axis motor assembly comprises a C-axis motor, a C-axis motor reducer, a C-axis motor base, a C-axis motor input synchronous wheel, a C-axis motor synchronous belt and a C-axis motor output synchronous wheel, wherein the C-axis motor is fixedly connected with the C-axis motor reducer, the C-axis motor reducer is fixedly connected with the C-axis motor base, and the C-axis motor base is fixedly connected with the Y-axis mechanical arm; the C-axis motor input synchronizing wheel is fixedly connected with an output shaft of the C-axis motor reducer; the output synchronizing wheel of the C-axis motor is fixedly connected with a spline nut; the C-axis motor synchronous belt is assembled between the C-axis motor input synchronous wheel and the C-axis motor output synchronous wheel.
In one embodiment, the Z-axis motor assembly comprises a Z-axis motor, a Z-axis motor base, a Z-axis motor input synchronous wheel, a Z-axis motor synchronous belt and a Z-axis motor output synchronous wheel; the Z-axis motor is fixedly connected with the Z-axis motor base; the Z-axis motor base is fixedly connected with the Y-axis mechanical arm; the input synchronizing wheel of the Z-axis motor is fixedly connected with the output shaft of the Z-axis motor; the output synchronizing wheel of the Z-axis motor is fixedly connected with the screw rod nut; the Z-axis motor synchronous belt is assembled between the Z-axis motor input synchronous wheel and the Z-axis motor output synchronous wheel.
In one embodiment, the robot further comprises a housing fixedly connected to the Y-axis robotic arm.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a double-feedback flexible rotary joint mechanism and a robot, which comprise a double-coding rotary joint, a first mechanical arm and a second mechanical arm, wherein the double-coding rotary joint comprises an input end and an output end, the input end is fixedly connected with the second mechanical arm, the output end is fixedly connected with the first mechanical arm, the input end and the output end are respectively provided with a first encoder and a second encoder, and transmission errors caused by the inherent properties of collision gaps, elastic deformation and the like of a synchronizing wheel synchronizing belt assembly and a speed reducer transition mechanism between the input end and the output end can be directly calculated, so that the output rotation angle of the double-coding rotary joint can realize higher precision. A plurality of double-coding rotary joints can be connected through various mechanical arms to form a multi-axis robot, so that the position precision of a tail end mechanism of the robot is greatly improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention to its proper form. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a general diagram of a dual feedback flexible rotary joint mechanism provided by an embodiment of the present invention;
FIG. 2 is an internal view of a dual feedback flexible rotary joint mechanism provided by an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a dual feedback flexible rotary joint mechanism provided by an embodiment of the present invention;
FIG. 4 is an overview of a robot provided by an embodiment of the invention;
FIG. 5 is an internal view of a robot provided by an embodiment of the invention;
fig. 6 is a schematic end structure diagram of a robot provided in the embodiment of the present invention.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 to 3 show a specific structure of the dual feedback flexible rotary joint mechanism of the present application.
The double-feedback flexible rotary joint mechanism comprises a double-coding rotary joint A1, a first mechanical arm A2 and a second mechanical arm A3, wherein the double-coding rotary joint A1 comprises an input end, an output end, a first encoder and a second encoder A104, the input end is fixedly connected with the second mechanical arm A3, the output end is fixedly connected with the first mechanical arm A2, the first encoder is installed on the input end, the second encoder A104 comprises a second encoding disc A104-1 and a second reading head A104-2, and the second encoding disc A104-1 and the second reading head A104-2 are fixedly connected with the first mechanical arm A2 and the output end respectively.
The input end and the output end are respectively provided with the first encoder and the second encoder A104, so that transmission errors caused by the inherent properties of collision clearance, elastic deformation and the like of the synchronous belt component of the synchronous wheel and the transition mechanism of the speed reducer A103 between the input end and the output end can be directly calculated, and the output rotation angle of the double-encoding rotary joint A1 can realize higher precision.
The first arm a2 and the second arm A3 move as follows: the first mechanical arm A2 rotates, and the second mechanical arm A3 is static; the first mechanical arm A2 rotates, and the second mechanical arm A3 rotates; the first mechanical arm A2 is static, and the second mechanical arm A3 rotates; the first arm a2 is stationary and the second arm A3 is stationary. The positions of the other components remain unchanged, and the positions of the first arm a2 and the second arm A3 are interchangeable.
The input end is in transmission connection with the output end through a synchronous assembly A102, the input end comprises a motor assembly A101, the motor assembly A101 comprises a motor base A101-2 and a rotating motor A101-1, the motor base A101-2 is indirectly and fixedly connected with a second mechanical arm A3, the output end comprises a speed reducer A103, the synchronous assembly A102 comprises an input synchronous wheel A102-1, a synchronous belt A102-2 and an output synchronous wheel A102-3, the input synchronous wheel A102-1 is fixedly connected with an output shaft of the rotating motor A101-1, the synchronous belt A102-2 is wound between the input synchronous wheel A102-1 and the output synchronous wheel A102-3, and the synchronous belt A102-2 is assembled between the input synchronous wheel A102-1 and the output synchronous wheel A102-3 to achieve a power transmission effect. The output synchronizing wheel A102-3 is fixedly connected with the input end of a speed reducer A103, the fixed end of the speed reducer A103 is fixedly connected with a second mechanical arm A3, and the output end of the speed reducer A103 is fixedly connected with a first mechanical arm A2.
It should be noted that the first encoder is disposed at the bottom of the rotating electrical machine a101-1 (not shown in the figure), and can feed back the rotation angle data of the input synchronous wheel a102-1 in real time, that is, the rotation angle data of the input end of the dual-encoding rotary joint A1. The encoder A104, which is composed of the encoder disk A104-1 and the read head A104-2A104-2, can feed back the rotation angle data of the second robot arm A3 relative to the first robot arm A2A2 in real time.
The output end also comprises a second coding disc fixing component A106, the second coding disc is fixedly connected with a second mechanical arm A3 through the second coding disc fixing component A106, the second coding disc fixing component A106 comprises a second coding disc front fixing component A106-1, a second coding disc middle fixing component A106-2 and a second coding disc rear fixing component A106-3, the second coding disc middle fixing component A106-2 penetrates through a hollow output synchronous wheel A102-3 and a hollow speed reducer A103, the first coding disc front fixing piece A106-1 and the second coding disc rear fixing piece A106-3 are respectively and fixedly connected with the two ends of the first coding disc front fixing piece A106-1, the second coding disc front fixing piece A106-1 is fixedly connected with the second mechanical arm A3, the second coding disc rear fixing piece A106-3 is fixedly connected with the second coding disc, and the second reading head A104-2 is fixedly connected with the first mechanical arm A2.
The output end further comprises a limiting bearing assembly A105, the limiting bearing assembly A105 is installed between the output end of the speed reducer A103 and the second coding disc rear fixing piece A106-3, the limiting bearing assembly A105 comprises a bearing A105-1, a bearing seat A105-2 and a clamp spring A105-3, the bearing A105-1 is assembled in the bearing seat A105-2, the outer ring of the bearing A105-1 is in interference fit with the bearing seat A105-2, and the clamp spring A105-3 is placed in a clamp spring groove of the bearing seat A105-2 to play a role in limiting displacement of the bearing A105-1; the bearing seat A105-2 is fixedly connected with the first mechanical arm A2, and the inner ring of the bearing A105-1 is tightly matched with the fixing piece A106-2 in the second encoding disk. Specifically, the fixed part A106-2 in the encoding disk passes through the hollow output synchronous wheel A102-3 and the hollow speed reducer A103 and finally is tightly matched with the inner ring of the bearing A105-1.
The tail limiting bearing assembly A105 of the fixing piece A106-2 in the second encoding disk can limit the possibility of shaking of the fixing piece A106-2 in the encoding disk, and collision and friction between the fixing piece A106-2 in the encoding disk, the output synchronizing wheel A102-3 and the speed reducer A103 during rotation are avoided.
It should be emphasized that the fixing member a106-2 in the second code wheel is a hollow rod-shaped structure, and two ends of the rod-shaped structure are provided with flange plates for matching the end surface of the output synchronizing wheel a102-3 and the end surface of the bearing seat a 105-2. The hollow structure of the fixing member A106-2 in the second code wheel can be used for arranging various transmission lines.
Fig. 4 to 6 show a specific structure of the robot of the present application.
The robot comprises a first double-feedback flexible rotary joint mechanism and a second double-feedback flexible rotary joint mechanism, wherein the first double-feedback flexible rotary joint mechanism and the second double-feedback flexible rotary joint mechanism are composed of an X-axis double-coding rotary joint 1, a Y-axis double-coding rotary joint 2, a base 4, an X-axis mechanical arm 5 and a Y-axis mechanical arm 6, and are both set as the double-feedback flexible rotary joint mechanism described in the first aspect; the first mechanical arm A2 of the first double-feedback flexible rotary joint mechanism is a base 4, and the second mechanical arm A3 of the first double-feedback flexible rotary joint mechanism is an X-axis mechanical arm 5; the first mechanical arm A2 of the second double-feedback flexible rotary joint mechanism is an X-axis mechanical arm 5, and the second mechanical arm A3 of the second double-feedback flexible rotary joint mechanism is a Y-axis mechanical arm 6; the second mechanical arm A3 of the first dual-feedback flexible rotary joint mechanism and the first mechanical arm a2 of the second dual-feedback flexible rotary joint mechanism are both the X-axis mechanical arm 5.
The robot also comprises a tail end mechanism 3, and the tail end mechanism 3 is fixedly connected with the Y-axis mechanical arm 6; the tail end mechanism 3 comprises a C-axis motor assembly 301, a Z-axis motor assembly 302 and a ball spline screw 303, wherein the ball spline screw 303 comprises a screw nut 303-1, a spline nut 303-2, a spline screw 303-3 and a screw nut seat 303-4; the C-axis motor assembly 301 is mounted on the Y-axis mechanical arm 6, and the output end of the C-axis motor assembly 301 is fixedly connected with the spline nut 303-2; the Z-axis motor assembly is arranged on the Y-axis mechanical arm 6, and the output end of the Z-axis motor assembly is fixedly connected with the lead screw nut 303-1; the spline nut 303-2 is fixedly connected with the Y-axis mechanical arm 6, the feed screw nut 303-1 is fixedly connected with the feed screw nut seat 303-4, the feed screw nut seat 303-4 is fixedly connected with the Y-axis mechanical arm 6, and the spline lead screw 303-3 is assembled in the feed screw nut 303-1 and the spline nut 303-2.
Further, the robot also comprises a shell 7, and the shell 7 is fixedly connected with the Y-axis mechanical arm 6.
Specifically, the C-axis motor assembly 301 comprises a C-axis motor 301-1, a C-axis motor reducer 301-2, a C-axis motor base 301-3, a C-axis motor input synchronous pulley 301-4, a C-axis motor synchronous pulley 301-5 and a C-axis motor output synchronous pulley 301-6, the C-axis motor 301-1 is fixedly connected with the C-axis motor reducer 301-2, the C-axis motor reducer 301-2 is fixedly connected with the C-axis motor base 301-3, the C-axis motor base 301-3 is fixedly connected with the Y-axis mechanical arm 6, the C-axis motor input synchronous pulley 301-4 is fixedly connected with an output shaft of the C-axis motor reducer 301-2, the C-axis motor output synchronous pulley 301-6 is fixedly connected with a spline nut, the C-axis motor synchronous pulley 301-5 is assembled between the C-axis motor input synchronous pulley 301-4 and the C-axis motor output synchronous pulley 301-6, the power transmission function is realized.
Specifically, the Z-axis motor assembly 302 comprises a Z-axis motor 302-1, a Z-axis motor base 302-2, a Z-axis motor input synchronous pulley 302-3, a Z-axis motor synchronous pulley 302-4 and a Z-axis motor output synchronous pulley 302-5; the Z-axis motor 302-1 is fixedly connected with the Z-axis motor base 302-2; the Z-axis motor base 302-2 is fixedly connected with the Y-axis mechanical arm 6; the input synchronizing wheel 302-3 of the Z-axis motor is fixedly connected with the output shaft of the Z-axis motor 302-1; the output synchronizing wheel 302-5 of the Z-axis motor is fixedly connected with a feed screw nut 303-1; the Z-axis motor synchronous belt 302-4 is assembled between the Z-axis motor input synchronous wheel 302-3 and the Z-axis motor output synchronous wheel 302-5, and plays a role in power transmission.
The C-axis motor 301-1 and the Z-axis motor 302-1 can control the spline screw rod 303-3 to move in a translation mode and a rotation mode. The plurality of double-coding rotary joints A1 can be connected by various mechanical arms to form a multi-axis robot, so that the position precision of the end mechanism 3 of the robot is greatly improved.
It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a flexible rotary joint mechanism of two feedbacks, its characterized in that, includes two coding rotary joint, first arm and second arm, two coding rotary joint include input, output, first encoder and second encoder, the input with second arm fixed connection, the output with first arm fixed connection, first encoder install in on the input, the second encoder includes second code dish and second reading head, the second code dish with the second reading head respectively with first arm with output fixed connection.
2. The dual-feedback flexible rotary joint mechanism according to claim 1, wherein the input end is in transmission connection with the output end through a synchronous component, the input end includes a motor component, the motor component includes a motor base and a rotary motor, the motor base is in indirect fixed connection with the second mechanical arm, the output end includes a speed reducer, the synchronous component includes an input synchronous wheel, a synchronous belt and an output synchronous wheel, the input synchronous wheel is in fixed connection with an output shaft of the rotary motor, the synchronous belt is wound between the input synchronous wheel and the output synchronous wheel, the output synchronous wheel is in fixed connection with the input end of the speed reducer, a fixed end of the speed reducer is in fixed connection with the second mechanical arm, and an output end of the speed reducer is in fixed connection with the first mechanical arm.
3. The dual feedback flexible rotary joint mechanism of claim 2, wherein the output further comprises a second encoder disk mount assembly, the second coding disc is fixedly connected with the second mechanical arm through the second coding disc fixing component, the second coding disc fixing component comprises a second coding disc front fixing piece, a second coding disc middle fixing piece and a second coding disc rear fixing piece, the fixing piece in the second coding disc penetrates through the hollow output synchronizing wheel and the hollow speed reducer, is respectively fixedly connected with a second coding disk front fixing piece and a second coding disk rear fixing piece which are arranged at the two ends of the front fixing piece and the rear fixing piece, the front fixing piece of the second coding disc is fixedly connected with the second mechanical arm, the rear fixing piece of the second coding disc is fixedly connected with the second coding disc, and the second reading head is fixedly connected with the first mechanical arm.
4. The dual-feedback flexible rotary joint mechanism according to claim 3, wherein the output end further comprises a limit bearing assembly, the limit bearing assembly is installed between the output end of the speed reducer and the second encoded disk rear fixing piece, the limit bearing assembly comprises a bearing, a bearing seat and a clamp spring, the bearing is assembled in the bearing seat, an outer ring of the bearing is in interference fit with the bearing seat, the clamp spring is placed in a clamp spring groove of the bearing seat, the bearing seat is fixedly connected with the first mechanical arm, and an inner ring of the bearing is in tight fit with the second encoded disk rear fixing piece.
5. The dual feedback flexible rotary joint mechanism of claim 4, wherein the fixing member of the second encoder disc is a hollow rod-shaped structure, and two ends of the rod-shaped structure are provided with flanges for matching the end surfaces of the output synchronizing wheel and the end surface of the bearing seat.
6. A robot, characterized by comprising a first double-feedback flexible rotary joint mechanism and a second double-feedback flexible rotary joint mechanism which are composed of an X-axis double-coding rotary joint, a Y-axis double-coding rotary joint, a base, an X-axis mechanical arm and a Y-axis mechanical arm, wherein the first double-feedback flexible rotary joint mechanism and the second double-feedback flexible rotary joint mechanism are both set as the double-feedback flexible rotary joint mechanism of any one of claims 1 to 5;
the first mechanical arm of the first double-feedback flexible rotary joint mechanism is a base, and the second mechanical arm of the first double-feedback flexible rotary joint mechanism is an X-axis mechanical arm; the first mechanical arm of the second double-feedback flexible rotary joint mechanism is an X-axis mechanical arm, and the second mechanical arm of the second double-feedback flexible rotary joint mechanism is a Y-axis mechanical arm; and the second mechanical arm of the first double-feedback flexible rotary joint mechanism and the first mechanical arm of the second double-feedback flexible rotary joint mechanism are both X-axis mechanical arms.
7. The robot of claim 6, further comprising a tip mechanism fixedly connected to the Y-axis robotic arm; the tail end mechanism comprises a C-axis motor assembly, a Z-axis motor assembly and a ball spline lead screw, and the ball spline lead screw comprises a lead screw nut, a spline lead screw and a lead screw nut seat; the C-axis motor assembly is mounted on the Y-axis mechanical arm, and the output end of the C-axis motor assembly is fixedly connected with the spline nut; the Z-axis motor assembly is mounted on the Y-axis mechanical arm, and the output end of the Z-axis motor assembly is fixedly connected with the lead screw nut; the spline nut is fixedly connected with the Y-axis mechanical arm, the feed screw nut is fixedly connected with the feed screw nut seat, the feed screw nut seat is fixedly connected with the Y-axis mechanical arm, and the spline lead screw is assembled in the feed screw nut and the spline nut.
8. The robot of claim 7, wherein the C-axis motor assembly comprises a C-axis motor, a C-axis motor reducer, a C-axis motor base, a C-axis motor input synchronous wheel, a C-axis motor synchronous belt and a C-axis motor output synchronous wheel, the C-axis motor is fixedly connected with the C-axis motor reducer, the C-axis motor reducer is fixedly connected with the C-axis motor base, and the C-axis motor base is fixedly connected with the Y-axis mechanical arm; the C-axis motor input synchronizing wheel is fixedly connected with an output shaft of the C-axis motor reducer; the output synchronizing wheel of the C-axis motor is fixedly connected with the spline nut; the C-axis motor synchronous belt is assembled between the C-axis motor input synchronous wheel and the C-axis motor output synchronous wheel.
9. The robot of claim 7, wherein the Z-axis motor assembly includes a Z-axis motor, a Z-axis motor mount, a Z-axis motor input sync wheel, a Z-axis motor sync belt, and a Z-axis motor output sync wheel; the Z-axis motor is fixedly connected with the Z-axis motor base; the Z-axis motor base is fixedly connected with the Y-axis mechanical arm; the input synchronizing wheel of the Z-axis motor is fixedly connected with the output shaft of the Z-axis motor; the output synchronizing wheel of the Z-axis motor is fixedly connected with the screw rod nut; the Z-axis motor synchronous belt is assembled between a Z-axis motor input synchronous wheel and a Z-axis motor output synchronous wheel.
10. The robot of claim 6, further comprising a housing fixedly coupled to the Y-axis robotic arm.
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| CN202110172341.7A CN112976047A (en) | 2021-02-08 | 2021-02-08 | Double-feedback flexible rotary joint mechanism and robot |
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| CN202110172341.7A CN112976047A (en) | 2021-02-08 | 2021-02-08 | Double-feedback flexible rotary joint mechanism and robot |
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Citations (12)
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| CN211220698U (en) * | 2019-11-05 | 2020-08-11 | 库卡机器人(广东)有限公司 | Mechanical arm and robot |
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