CN204585242U - Can be used for modular space joint of mechanical arm and the mechanical arm of quick reconfiguration - Google Patents
Can be used for modular space joint of mechanical arm and the mechanical arm of quick reconfiguration Download PDFInfo
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- CN204585242U CN204585242U CN201520098480.XU CN201520098480U CN204585242U CN 204585242 U CN204585242 U CN 204585242U CN 201520098480 U CN201520098480 U CN 201520098480U CN 204585242 U CN204585242 U CN 204585242U
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- mechanical arm
- main casing
- gear
- speed reducer
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 24
- 230000005611 electricity Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 125000006850 spacer group Chemical group 0.000 claims description 3
- 210000000323 shoulder joint Anatomy 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000306 component Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000010612 desalination reaction Methods 0.000 description 1
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Abstract
A kind of modular space joint of mechanical arm and mechanical arm that can be used for quick reconfiguration, this joint comprises: the column main casing with body portion, shoulder and neck, be arranged on the harmonic speed reducer on main casing neck top, be sheathed on the upper shell outside harmonic speed reducer, be arranged at the fixed axis gear transmission system in main casing neck, be fixed on motor, brakes and the electrical system in main casing body portion, and be arranged at base plate center and upwards run through the spool of whole main casing and upper shell; Described shoulder forms the fixed part in this joint, and shoulder arranges multiple first connecting hole; Described upper shell forms the output in this joint, and its upper end and harmonic speed reducer output are connected and arrange multiple second connecting hole; Fixed axis gear transmission system connects harmonic speed reducer input by its first gear, connects motor and brakes by second and third gear.This mechanism's arm comprises above-mentioned joint.This joint has the advantages such as compact conformation, central tube cabling, modular reconfigurable.
Description
Technical field
The utility model relates to space manipulator, more particularly, relates to a kind of modular space joint of mechanical arm that can be used for quick reconfiguration, and adopts the mechanical arm in this joint.
Background technology
Space manipulator Reconfiguration Technologies is fast-developing in recent years, and is a development trend of space manipulator.Space manipulator is a part for Space Robot System, and be the main execution terminal of Space Robot System task, the quality of its performance directly affects service behaviour and the result of whole system, is therefore one of important component part of Space Robot System.Space manipulator joint is integrated with multiple fields such as light, mechanical, electrical, and being a complicated frame for movement with critical function, is the core component of space manipulator.Along with the development of domestic and international robot for space technology, particularly China is about to the mission requirements of carrying out the fields such as space station construction, will use a large amount of space manipulators to perform space tasks, the restructural of mechanical arm and modularization can reduce the cost of space manipulator and the Mission Capability of room for promotion mechanical arm.
Utility model content
The purpose of this utility model is to provide a kind of modular space joint of mechanical arm that can be used for quick reconfiguration.
Concrete technical scheme of the present utility model is as follows:
Can be used for a modular space joint of mechanical arm for quick reconfiguration, it comprises:
Main casing, in column, comprise body portion, shoulder, neck and the installing plate between body portion and neck, shoulder forms the fixed part in this joint, and shoulder arranges multiple first connecting hole, and the bottom of main casing arranges base plate;
Be arranged on the harmonic speed reducer on main casing neck top;
Be sheathed on the upper shell outside harmonic speed reducer, upper shell forms the output in this joint, and its upper end is fixedly connected with the output of harmonic speed reducer and arranges multiple second connecting hole;
Fixed axis gear transmission system, is arranged in the neck of main casing, comprises: the first gear being fixedly connected on harmonic speed reducer input, and with the second gear of the first gears meshing and the 3rd gear;
Motor and brakes, the two is fixed in the body portion of main casing by described installing plate, and its rotating shaft correspondence connects described second gear and the 3rd gear;
Electrical system, is installed in the body portion of main casing, is electrically connected with described motor and brakes; And
A spool, is arranged at described base plate center and upwards runs through whole main casing and upper shell.
Can be used in the modular space joint of mechanical arm of quick reconfiguration above-mentioned, preferably, described brakes comprises electricity loss brake and incremental encoder, the friction blade that electricity loss brake comprises shell, is arranged at two bearings of center, shell two ends, is supported on the rotating shaft of described two bearings and is fixed in rotating shaft, described incremental encoder is fixed on the shell end of electricity loss brake and is connected with the rotating shaft of electricity loss brake.
Can be used in the modular space joint of mechanical arm of quick reconfiguration above-mentioned, preferably, described electrical system is made up of driver and joint mainboard, joint mainboard is inserted on a drive by slot, joint mainboard comprises control panel and communication board, and communication board is arranged on the side of control panel by some spacers.
Can be used in the modular space joint of mechanical arm of quick reconfiguration above-mentioned, preferably, described motor, brakes and electrical system three distribute around described spool circumference in main casing.
Can be used in the modular space joint of mechanical arm of quick reconfiguration above-mentioned, preferably, the upper center of described upper shell arranges harmonic speed reducer locating hole, the week of locating hole is along first upwards extending the formation boss that extends internally again, boss center arranges the installing hole of described spool, upper shell upper end arranges multiple harmonic speed reducer installing hole, and multiple harmonic speed reducer installing hole of upper shell upper end and multiple second connecting hole correspondence are distributed in upper shell upper end center the first circumference and second that is the center of circle circumferentially.
Can be used in the modular space joint of mechanical arm of quick reconfiguration above-mentioned, preferably, the diameter of described second gear and the 3rd gear is all less than the diameter of the first gear.
Can be used in the modular space joint of mechanical arm of quick reconfiguration above-mentioned, preferably, the main part of described main casing and upper shell is all cylindrical.
Can be used in the modular space joint of mechanical arm of quick reconfiguration above-mentioned, preferably, described spool runs through described first gear and harmonic speed reducer.
The utility model additionally provides a kind of mechanical arm, it is overall in plane 3R shape, this plane 3R shape mechanical arm comprises the pedestal, first connecting rod and the second connecting rod that arrange in turn, and correspondence is arranged on the joint portion of pedestal and first connecting rod, the joint portion of the first and second connecting rods, three joints of second connecting rod end, three described joints all adopt the joint described in above-mentioned any one, and joint is fixedly connected with to be connected two parts with the second connecting hole correspondence by the first connecting hole on it.
The utility model additionally provides a kind of mechanical arm, its entirety is spherical in shape, this ball-type mechanical arm comprises pedestal and three joints, three described joints all adopt the joint described in above-mentioned any one, first joint to be fixedly connected with pedestal by the first connecting hole on it and to be fixedly connected with by the pedestal of the second connecting hole with the first flange, second joint is fixedly connected with the pedestal of the second flange with the disk body of the first flange with the second connecting hole correspondence by the first connecting hole on it, and the 3rd joint is fixedly connected with the disk body of the second flange by the first connecting hole on it.
The utility model space mechanism shoulder joint has the advantages such as compact conformation, central tube cabling, modular reconfigurable.The connecting hole (i.e. the first connecting hole and the second connecting hole) that medium position in joint and joint output (i.e. upper shell) position all provide circumference facilitates connecting rod or flange etc. to coordinate with it, by assembling the mechanical arm that can obtain different configuration with difform connecting rod.
Accompanying drawing explanation
Fig. 1 is the structural representation that the utility model can be used for some embodiments of the modular space joint of mechanical arm of quick reconfiguration;
Fig. 2 is its internal structure schematic diagram;
Fig. 3 is the structural representation of its fixed axis gear transmission system;
Fig. 4 is the structural representation of its interior layout and electrical system;
Fig. 5 is the structural representation of its upper shell;
Fig. 6 is the structural representation of its main casing;
Fig. 7 is the structural representation of its base plate;
Fig. 8 is layout between its motor, brakes, resonance decelerator and electrical system and connection diagram;
Fig. 9 is the structural representation of its brakes;
Figure 10 is the structural representation of its electricity loss brake;
Figure 11 is a kind of structural representation of plane 3R shape mechanical arm;
Figure 12 is a kind of structural representation of ball-type mechanical arm.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further illustrated.These more detailed descriptions are intended to help and understand the utility model, and should not be used to limit the utility model.Content disclosed in the utility model, it will be understood by those skilled in the art that and some or all these specific detail can not be needed to implement the utility model.And in other cases, in order to avoid utility model is created desalination, do not describe well-known technology in detail.
Please refer to Fig. 1-10, the modular space joint of mechanical arm that originally can be used for quick reconfiguration comprises: main casing 1, harmonic speed reducer 2, upper shell 3, fixed axis gear transmission system 4, motor 5, brakes 6, electrical system 7, spool 8.
Main casing 1 entirety is in cylindric.Main casing 1 comprises body portion 11, shoulder 12, neck 14 and the installing plate between body portion 11 and neck 14 13.Shoulder 12 forms the fixed part in this joint, and shoulder 12 arranges multiple first connecting hole 121, for connecting the piece construction such as connecting rod, pedestal mechanical arm.The bottom of main casing 1 arranges base plate 9.Installing plate 13 center is provided with conduit mounting holes 131, in addition installing plate 13 is also provided with shaft hole 132 and the installing hole 133 of motor 5, the shaft hole 134 of brakes 6 and installing hole 135.
Recess 141 is set at the inner edge place on main casing 1 neck 14 top, and multiple installing hole 142 is set at this recess 141.Harmonic speed reducer 2 is arranged on neck 14 top of main casing 1, and the location both being realized by described recess 141 also to be coordinated with described multiple installing hole 142 the two to lock by screw and is integrated.
Upper shell 3 is overall cylindrical.Upper shell 3 is sheathed on outside harmonic speed reducer 2, and upper end is fixedly connected with the output of harmonic speed reducer 2 by multiple screw rod 31, and upper shell 3 forms the output in this joint.The upper end of upper shell 3 also arranges multiple second connecting hole 32, for connecting rod connecting structure mechanical arm.Arrange harmonic speed reducer locating hole 33 in the upper center of upper shell 3 further, the week of locating hole 33, boss 34 center arranged the installing hole 35 of described spool 8 along first upwards extending the formation boss 34 that extends internally again.Upper shell 3 upper end arranges the multiple harmonic speed reducer installing holes 36 coordinated with described multiple screw rod 31.It is the center of circle first circumferentially that multiple harmonic speed reducer installing holes 36 of upper shell 3 upper end are distributed in upper shell 3 upper end center, and it is the center of circle second circumferentially that multiple second connecting holes 32 of upper shell 3 upper end are distributed in upper shell 3 upper end center.
Fixed axis gear transmission system 4 is arranged in the neck 14 of main casing 1.This fixed axis gear transmission system 4 comprises: the first gear 41 being fixedly connected on harmonic speed reducer 2 input, and the second gear 42 engaged with the first gear 41 and the 3rd gear 43.First gear 41, as the output gear of fixed axis gear transmission system 4, is arranged at center.The diameter of the second gear 42 and the 3rd gear 4 is all less than the diameter of the first gear 41.In Fig. 3,411 is the fixing hole on the first gear 41.
Motor 5 adopts brshless DC motor, and it is arranged in the body portion 11 of main casing 1, is realized fixing by the motor installing hole 133 on installing plate 13, and the rotating shaft of motor 5 is fixedly connected with the second gear 42 through the machine shaft hole 132 on installing plate 13.
Brakes 6 is arranged in the body portion 11 of main casing 1, is realized fixing by the brakes installing hole 135 on described installing plate 13, and the rotating shaft of brakes 6 is fixedly connected with the 3rd gear 43 through the brakes shaft hole 134 on installing plate 13.Brakes 6 comprises electricity loss brake 61 and incremental encoder 62.The friction blade 614 that electricity loss brake 61 comprises shell 611, is arranged at two deep groove ball bearings 612 of center, shell 611 two ends, is supported on the rotating shaft 613 of described two deep groove ball bearings 612 and is fixed in rotating shaft 613.Incremental encoder 62 is fixed on housing 611 end of electricity loss brake 61 and is connected with the rotating shaft 613 of electricity loss brake 61.
Electrical system 7 is installed in the body portion 11 of main casing 1, is electrically connected with motor 5 and brakes 6.More particularly, electrical system 7 is made up of driver 71 and joint mainboard 72, and joint mainboard 72 is inserted on driver 71 by slot.Joint mainboard 72 comprises control panel 721 and communication board 722, and communication board 722 is arranged on the side of control panel 721 by some spacers 723.
Spool 8 is arranged at described base plate 9 center and upwards runs through whole main casing 1 and upper shell 3.Spool 8 also runs through described first gear 41 and harmonic speed reducer 2.Power line and holding wire can pass through spool 8 cabling.
Base plate 9 is provided with communicating hole 91 and power hole 92, the communication connection in electrical system 7 and mains connection correspondence are embedded in communicating hole 91 and power hole 92.
Above-mentioned motor 5, brakes 6 and electrical system 7 three distribute around described spool 8 circumference in the body portion 11 of main casing 1.
Above-mentioned main casing 1 forms the stiff end in joint, and upper shell 3 forms the clutch end in joint, and the shoulder 12 of main casing 1 is positioned at the stage casing in whole joint.Two parts (as: connecting rod and connecting rod, base and connecting rod is realized when this joint is for constructing space parts arm, Deng) between connection, specifically first connecting hole 121 of parts with main casing 1 shoulder 12 in joint is fixedly connected with, and second connecting hole 32 of another parts with upper shell 3 end in joint is fixedly connected with.
Figure 11 shows a kind of plane 3R shape mechanical arm by above-mentioned ball and socket structure.With reference to Figure 11, this plane 3R shape mechanical arm comprises the pedestal 100, first connecting rod 200 and the second connecting rod 300 that arrange in turn, and correspondence is arranged on pedestal 100 and the joint portion of first connecting rod 200, the first joint 400 of the joint portion of the first and second connecting rods and second connecting rod 300 end, second joint 500 and the 3rd joint 600.Three described joints all adopt the joint of above-described embodiment, and joint is fixedly connected with to be connected two parts with the second connecting hole correspondence by the first connecting hole on it.More particularly, pedestal 100 cylindrically, the stiff end (the body portion of main casing) in the first joint 400 to be placed in pedestal 100 and the two to be fixedly connected with by the first connecting hole of the first joint shoulder, and the clutch end (upper shell) in the first joint 400 is fixedly connected with first connecting rod 200 left end by the second connecting hole; First connecting hole of second joint 500 is fixedly connected with the left end of second connecting rod 300 with the right-hand member of first connecting rod 200 with the second connecting hole correspondence; First connecting hole in the 3rd joint 600 is fixedly connected with the right-hand member of second connecting rod 300.
Figure 12 shows a kind of ball-type mechanical arm by above-mentioned ball and socket structure.With reference to Figure 12, this ball-type mechanical arm comprises pedestal 100, first joint 400, second joint 500 and the 3rd joint 600.Three described joints all adopt the joint of above-described embodiment, and joint is fixedly connected with to be connected two parts with the second connecting hole correspondence by the first connecting hole on it.More particularly, pedestal 100 cylindrically, the stiff end (the body portion of main casing) in the first joint 400 to be placed in pedestal 100 and the two to be fixedly connected with by the first connecting hole of the first joint shoulder, and the clutch end (upper shell) in the first joint 400 is fixedly connected with the pedestal of the first flange 200 ' by its second connecting hole; Second joint 500 is fixedly connected with the pedestal of the second flange 300 ' with the disk body of the first flange 200 ' with the second connecting hole correspondence by the first connecting hole on it; 3rd joint 600 is fixedly connected with the disk body of the second flange 300 ' by the first connecting hole on it.
Claims (10)
1. can be used for a modular space joint of mechanical arm for quick reconfiguration, it is characterized in that, comprising:
Main casing (1), in column, comprise body portion (11), shoulder (12), neck (14) and the installing plate between body portion and neck (13), shoulder forms the fixed part in this joint, shoulder arranges multiple first connecting hole (121), and the bottom of main casing arranges base plate (9);
Be arranged on the harmonic speed reducer (2) on main casing neck top;
Be sheathed on the upper shell (3) outside harmonic speed reducer, upper shell forms the output in this joint, and its upper end is fixedly connected with the output of harmonic speed reducer and arranges multiple second connecting hole (32);
Fixed axis gear transmission system (4), be arranged in the neck of main casing, comprise: the first gear (41) being fixedly connected on harmonic speed reducer input, and with second gear (42) of the first gears meshing and the 3rd gear (43);
Motor (5) and brakes (6), the two is fixed in the body portion of main casing by described installing plate (13), and its rotating shaft correspondence connects described second gear and the 3rd gear;
Electrical system (7), is installed in the body portion of main casing, is electrically connected with described motor and brakes; And
A spool (8), is arranged at described base plate center and upwards runs through whole main casing and upper shell.
2. the modular space joint of mechanical arm that can be used for quick reconfiguration according to claim 1, it is characterized in that: described brakes (6) comprises electricity loss brake (61) and incremental encoder (62), the friction blade (614) that electricity loss brake comprises shell (611), is arranged at two bearings (612) of center, shell two ends, is supported on the rotating shaft (613) of described two bearings and is fixed in rotating shaft, described incremental encoder is fixed on the shell end of electricity loss brake and is connected with the rotating shaft of electricity loss brake.
3. the modular space joint of mechanical arm that can be used for quick reconfiguration according to claim 1, it is characterized in that: described electrical system (7) is made up of driver (71) and joint mainboard (72), joint mainboard is inserted on a drive by slot, joint mainboard comprises control panel (721) and communication board (722), and communication board is arranged on the side of control panel by some spacers (723).
4. the modular space joint of mechanical arm that can be used for quick reconfiguration according to claim 1, is characterized in that: described motor, brakes and electrical system three distribute around described spool circumference in main casing.
5. the modular space joint of mechanical arm that can be used for quick reconfiguration according to claim 1, it is characterized in that: the upper center of described upper shell (3) arranges harmonic speed reducer locating hole (33), the week of locating hole is along first upwards extending the formation boss (34) that extends internally again, boss center arranges the installing hole (35) of described spool, upper shell upper end arranges multiple harmonic speed reducer installing hole (36), multiple harmonic speed reducer installing hole (36) of upper shell upper end and multiple second connecting hole (32) correspondence are distributed in upper shell upper end center the first circumference and second that is the center of circle circumferentially.
6. the modular space joint of mechanical arm that can be used for quick reconfiguration according to claim 1, is characterized in that: the diameter of described second gear and the 3rd gear is all less than the diameter of the first gear.
7. the modular space joint of mechanical arm that can be used for quick reconfiguration according to claim 1, is characterized in that: the main part of described main casing and upper shell is all cylindrical.
8. the modular space joint of mechanical arm that can be used for quick reconfiguration according to claim 1, is characterized in that: described spool runs through described first gear and harmonic speed reducer.
9. a mechanical arm, in plane 3R shape, it is characterized in that: this plane 3R shape mechanical arm comprises the pedestal (100), first connecting rod (200) and the second connecting rod (300) that arrange in turn, and correspondence is arranged on the joint portion of pedestal and first connecting rod, the joint portion of the first and second connecting rods, three joints (400,500,600) of second connecting rod end, three described joints all adopt the joint in claim 1 to 8 described in any one, and joint is fixedly connected with to be connected two parts with the second connecting hole correspondence by the first connecting hole on it.
10. a mechanical arm, spherical in shape, it is characterized in that: this ball-type mechanical arm comprises pedestal (100) and three joints (400, 500, 600), three described joints all adopt the joint in claim 1 to 8 described in any one, first joint (400) is fixedly connected with pedestal (100) by the first connecting hole on it, and be fixedly connected with by the pedestal of the second connecting hole with the first flange (200 '), second joint (500) is fixedly connected with the pedestal of the second flange (300 ') with the disk body of the first flange (200 ') with the second connecting hole correspondence by the first connecting hole on it, 3rd joint (600) is fixedly connected with by the disk body of the first connecting hole on it with the second flange (300 ').
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520098480.XU CN204585242U (en) | 2015-02-11 | 2015-02-11 | Can be used for modular space joint of mechanical arm and the mechanical arm of quick reconfiguration |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520098480.XU CN204585242U (en) | 2015-02-11 | 2015-02-11 | Can be used for modular space joint of mechanical arm and the mechanical arm of quick reconfiguration |
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| CN204585242U true CN204585242U (en) | 2015-08-26 |
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| CN201520098480.XU Active CN204585242U (en) | 2015-02-11 | 2015-02-11 | Can be used for modular space joint of mechanical arm and the mechanical arm of quick reconfiguration |
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| CN (1) | CN204585242U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104647396A (en) * | 2015-02-11 | 2015-05-27 | 清华大学深圳研究生院 | Modular space manipulator joint capable of being used for rapid reconstruction and manipulator |
| CN107433597A (en) * | 2017-08-21 | 2017-12-05 | 北京精密机电控制设备研究所 | A kind of seven freedom compact high effect compares mechanical arm |
-
2015
- 2015-02-11 CN CN201520098480.XU patent/CN204585242U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104647396A (en) * | 2015-02-11 | 2015-05-27 | 清华大学深圳研究生院 | Modular space manipulator joint capable of being used for rapid reconstruction and manipulator |
| CN107433597A (en) * | 2017-08-21 | 2017-12-05 | 北京精密机电控制设备研究所 | A kind of seven freedom compact high effect compares mechanical arm |
| CN107433597B (en) * | 2017-08-21 | 2020-04-10 | 北京精密机电控制设备研究所 | Seven-degree-of-freedom compact type high-efficiency-ratio mechanical arm |
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Address after: 518055 Guangdong city of Shenzhen province Nanshan District Xili of Tsinghua Patentee after: Tsinghua Shenzhen International Graduate School Address before: 518055 Guangdong city of Shenzhen province Nanshan District Xili of Tsinghua Patentee before: GRADUATE SCHOOL AT SHENZHEN, TSINGHUA University |