CN206066458U - Joint of robot assembly - Google Patents
Joint of robot assembly Download PDFInfo
- Publication number
- CN206066458U CN206066458U CN201621099007.4U CN201621099007U CN206066458U CN 206066458 U CN206066458 U CN 206066458U CN 201621099007 U CN201621099007 U CN 201621099007U CN 206066458 U CN206066458 U CN 206066458U
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- drive
- pneumatic
- joint
- joint arm
- line shaft
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Abstract
The utility model discloses a kind of joint of robot assembly, including joint arm and drive assembly, drive assembly includes motorized motions part and is actuated for auxiliomotor pneumatic actuation part when exceeding rated load for motorized motions part；Main driving is carried out to joint arm using Motor drive part, to ensure that high accuracy drives, when Motor drive part exceedes rated load, pneumatic actuation part is actuated for work, driving work to motorized motions part is aided in, to meet the requirement of heavy load work；I.e. this utility model can solve existing machinery arm and in the case where ensureing that high accuracy drives, can not ensure that heavy load, with higher prospect of the application while realize the technical problem of high accuracy and heavy load this contradiction point.
Description
Technical field
This utility model is related to robot field, more particularly to a kind of joint of robot assembly.
Background technology
With the development of roboticses, it is desirable to new robot arm has high precision, responds fast, quality
Good, life-span length, low energy consumption, small volume, lightweight, torque is big, bearing capacity is strong, reliability is high, intelligent, modularity, can be again
The features such as structure, while also be intended to good compliance, to obtain more preferable safety and self-recovery ability.
Mainly there are two kinds of type of drive in the driving joint of existing robot arm, and one kind is Motor drive, and this is to compare
Traditional type of drive, drive displacement is big, drive that high precision, drive circuit be simple, energy consumption is relatively low and easy to control, but exists
The little defect of driving moment；To provide larger torque, used in the case of heavy duty work with facilitating, someone devises another kind
Pneumatic muscles drive pattern, belongs to a kind of more new pneumatic apparatus, with simple structure, power/big, soft from anharmonic ratio
It is pliable good and the advantages of be closer to biological muscles characteristic, in fields such as bio-robot, Bionic medicine, service robots
Gather around and have broad application prospects, but which is primarily present the not enough shortcoming of precision.That is, in the prior art, robot
The driving of arm has that heavy load and high accuracy can not be while ensure, how to solve this technical problem just becomes urgent
In the challenge of the eyebrows and eyelashes.
Accordingly, it would be desirable to be improved to existing joint of robot so as to have high-torque to carry out heavy load work in guarantee,
Ensure that the driving precision in joint.
Utility model content
In view of this, this utility model provides a kind of joint of robot assembly, and which is ensureing have high-torque to carry out heavy load
Work, ensures that the driving precision in joint.
Joint of robot assembly of the present utility model, including joint arm and drive assembly, drive assembly include motorized motions
Auxiliomotor pneumatic actuation part is actuated for when partly and for motorized motions part exceeding rated load；
Electric driving part point includes drive installation case, power output box, the first electric driving mechanism and the second motorized motions
Mechanism, joint arm are rotatably assorted and are supported in the power output box, and the first electric driving mechanism is installed on drive installation case can
Power output box is driven to drive joint arm to rotate in perpendicular, the second electric driving mechanism is arranged at drive installation case and is used in combination
Rotate around own axes in joint arm is driven；
Pneumatic actuation part includes the first pneumatic drive mechanism that process auxiliary drive joint arm rotated in perpendicular and auxiliary
Help the second pneumatic drive mechanism for driving joint arm to rotate around own axes.
Further, the first electric driving mechanism includes being rotatably assorted and is supported in the first line shaft and the setting of drive installation case
For the first drive gear set for driving power is transmitted to the first line shaft in drive installation case, the power of the first line shaft is defeated
Go out end to be fixedly connected with power output box.
Further, the second electric driving mechanism includes being rotatably assorted and is supported in the second line shaft and the setting of drive installation case
For the second drive gear set for driving power is driven to the second line shaft in drive installation case, the second line shaft is defeated with power
The same rotational support of outlet coordinates, and the second electric driving mechanism also includes the Bevel Gear Transmission pair being arranged in power output box,
Drive bevel gear that Bevel Gear Transmission pair is fixed on the second line shaft including circumference and engage with drive bevel gear and circumference is solid
Driven wheel of differential on joint arm.
Further, the first line shaft and the power output box are one of the forming structure.
Further, drive installation case is the opening n shape structure axially consistent with joint arm, and power output box is arranged on described
In opening.
Further, the first line shaft and second line shaft are located on same axis.
Further, the first pneumatic drive mechanism include being correspondingly arranged in respectively the upper and lower both sides of joint arm upper pneumatic muscles and
Lower pneumatic muscles, upper pneumatic muscles and the lower pneumatic muscles are one end and are connected to air inlet, the other end with drive installation case
Closing is arranged, and the blind end of upper pneumatic muscles and lower pneumatic muscles is connected by the first connecting strand.
Further, joint arm end is provided with the pulley cap coordinated with the first connecting strand, and joint arm is relative with pulley cap to be turned
Dynamic to coordinate, first connecting strand one end is connected with upper pneumatic muscles blind end, and it is pneumatic with that the other end bypasses pulley cap from top to bottom
Muscle blind end connects.
Further, the second pneumatic drive mechanism include being arranged on front side of joint arm or/rear side rotary pneumatic drive component,
Rotary pneumatic drive component includes rotary pneumatic muscle I, rotary pneumatic muscle II, rotation top sheave, rotation lower sheave and rotation
Connecting strand, rotary pneumatic muscle I and the rotary pneumatic muscle II are located at joint arm the same side and to be set up in parallel up and down, and
The closing of the air inlet other end is connected to for one end and drive installation case to arrange, be rotatably connected rope and I blind end of rotary pneumatic muscle
Connect, and bypass rotation top sheave, joint arm successively and be circumferentially connected with rotary pneumatic muscle II with rotation lower sheave.
Further, joint of robot assembly also includes that pneumatic actuation starts detecting system, and pneumatic actuation starts detecting system
Including：
Torque sensor, is arranged on the electric machine main shaft of the first electric driving mechanism the motor with the second electric driving mechanism
On main shaft and for detecting the torque load of electric machine main shaft whether more than rated load；
Controller, for receiving the specified overload detection signal of torque sensor and controlling the work of pneumatic actuation part.
The beneficial effects of the utility model：Joint of robot assembly of the present utility model, be provided with Motor drive part and
Pneumatic actuation part, carries out main driving to joint arm using Motor drive part, to ensure that high accuracy drives, in motor driving part
When dividing more than rated load, pneumatic actuation part is actuated for work, and the driving work to motorized motions part is aided in, with
Meet the requirement of heavy load work；I.e. this utility model can solve existing machinery arm can not and meanwhile realize high accuracy and heavy load this
The technical problem of 1 contradiction point, in the case where ensureing that high accuracy drives, ensures that heavy load, front with higher use
Scape.
Description of the drawings
With reference to the accompanying drawings and examples this utility model is further described.
Fig. 1 is this utility model structural representation；
Fig. 2 is Fig. 1 top views.
Specific embodiment
Fig. 1 is this utility model structural representation, and Fig. 2 is Fig. 1 top views, as shown in the figure：The robot of the present embodiment is closed
Section assembly, including joint arm 1 and drive assembly, drive assembly include motorized motions part and exceed volume for motorized motions part
Determine during load, to be actuated for auxiliomotor pneumatic actuation part；When starting working, motorized motions part is first to joint arm 1
It is driven, when motorized motions part exceedes rated load, pneumatic drive part starts, and motorized motions part is aided in
Form cooperation；
Electric driving part point includes drive installation case 2, power output box 3, the first electric driving mechanism and the second electronic drive
Motivation structure, joint arm 1 are rotatably assorted and are supported in the power output box 3, and the first electric driving mechanism is installed on drive installation case 2
And power output box 3 can be driven to drive joint arm 1 to rotate in perpendicular, the second electric driving mechanism is arranged at drive installation
Case 2 simultaneously is used to drive joint arm 1 to rotate around own axes；Wherein the first electric driving mechanism is used to drive joint arm 1 with power
Delivery casing 3 is rotated in perpendicular, and the first line shaft axle referred to around the first electric driving mechanism is rotated in perpendicular
Line is rotated in the vertical direction, and the second electric driving mechanism is used to drive joint arm 1 to rotate around own axes；
Pneumatic actuation part includes the first pneumatic drive mechanism that process auxiliary drive joint arm 1 rotated in perpendicular and auxiliary
Help the second pneumatic drive mechanism for driving joint arm 1 to rotate around own axes；I.e. when the first electric driving mechanism works more than volume
When determining load, the first pneumatic drive mechanism of pneumatic actuation part starts, and coordinates jointly driving to close with the first electric driving mechanism
Joint arm 1 is rotated in perpendicular, when the second electric driving mechanism works more than rated load, the second of pneumatic actuation part
Pneumatic drive mechanism starts, and coordinates jointly driving joint arm 1 around own axes rotary motion with the second electric driving mechanism.
In the present embodiment, the first electric driving mechanism includes being rotatably assorted and is supported in the first line shaft 4 of drive installation case 2
It is interior for the first drive gear set for driving power, the first line shaft are transmitted to the first line shaft 4 with drive installation case 2 is arranged on
4 clutch end is fixedly connected with power output box 3；First line shaft 4 is arranged in drive installation case 2 by bearing, and
Drive installation case 2 is stretched out in one end, and the first drive gear set includes the first driving gear 5 and the first driven gear 6, and the first active
5 wheel footpath of gear is less than the first driven gear 6, and 6 circumference of the first driven gear is fixed on the first line shaft 4, the first driving gear 5
Driven by the first motor 7 of the first electric driving mechanism, and the motor of the first driving gear 5 and the first motor 7
Harmonic speed reducer is additionally provided between main shaft.
In the present embodiment, the second electric driving mechanism includes being rotatably assorted and is supported in the second line shaft 8 of drive installation case 2
It is interior for the second drive gear set for driving power, the second line shaft are driven to the second line shaft 8 with drive installation case 2 is arranged on
8 are coordinated with 3 same rotational support of power output box, and the second electric driving mechanism also includes the cone being arranged in power output box 3
Gear driving pair, drive bevel gear 9 and and drive bevel gear that Bevel Gear Transmission pair is fixed on the second line shaft 8 including circumference
The driven wheel of differential 10 that 9 engagements circumference are fixed on joint arm 1；Second line shaft 8 is arranged on drive installation case 2 by bearing
On, and drive installation case 2 is stretched out in one end, and stretches into and be rotatably assorted by bearing in power output box 3, the second drive gear set bag
The second driving gear 11 and the second driven gear 12 are included, and 11 wheel footpath of the second driving gear is less than the second driven gear 12, formed
Slow down, 12 circumference of the second driven gear is fixed on the second line shaft 8, the second driving gear 11 passes through the second electric driving mechanism
The second motor 13 drive, and be additionally provided with harmonic wave between the electric machine main shaft of the second driving gear 11 and the second motor and subtract
Fast device.
In the present embodiment, the first line shaft 4 and the power output box 3 are one of the forming structure；That is the first line shaft 4
External part is integrally formed with power output box 3, and when the first line shaft 4 is around own axis, power output box 3 is same around the
The axis of one line shaft 4 is rotated, and realizes driving rotation of the joint arm 1 in perpendicular；Structural strength is high, good integrity.
In the present embodiment, drive installation case 2 is opening and 1 axially consistent n shape structures of joint arm, and power output box 3 sets
Put in opening；Compact overall structure, symmetry are good, beneficial to power output.
In the present embodiment, the first line shaft 4 and second line shaft 8 are located on same axis；Compact conformation, is easy to peace
Dress and power output.
In the present embodiment, the first pneumatic drive mechanism include being correspondingly arranged in respectively joint arm about 1 both sides it is upper pneumatic
Muscle 14 and lower pneumatic muscles 15, upper pneumatic muscles 14 and the lower pneumatic muscles 15 are one end and are connected with drive installation case 2
For air inlet, other end closing is arranged, and the blind end of upper pneumatic muscles 14 and lower pneumatic muscles 15 passes through the first connecting strand 16
Connection；1 end of joint arm is provided with the pulley cap 17 coordinated with the first connecting strand 16, and joint arm 1 is relatively rotated with pulley cap 17
Coordinate, 16 one end of the first connecting strand is connected with 14 blind end of upper pneumatic muscles, and the other end bypasses pulley cap 17 with from top to bottom
15 blind end of pneumatic muscles connects；As illustrated, pulley wheel is connected with joint arm 1 by connecting shaft, connecting shaft is matched somebody with somebody with joint arm 1
The air inlet pipe and drive installation case 2 that bearing, upper pneumatic muscles 14 and lower pneumatic muscles 15 are provided with conjunction is connected to air inlet, when
Upper pneumatic muscles 14 are identical with 15 pump gas amount of lower pneumatic muscles when being in former long, and forearm is in straight configuration, when upper pneumatic flesh
Meat 14 pumps into gas, and muscle is shortened by expansion, and lower pneumatic muscles 15 are released and pump out gas, lower pneumatic muscles 15 be stretched it is elongated,
Then joint arm 1 will be between the first connecting strand 16 and pulley cap 17 in the presence of frictional force, and joint arm 1 is rotated up；When upper gas
Dynamic muscle 14 releases gas, and lower pneumatic muscles 15 pump into gas, and lower pneumatic muscles 15 are shortened by expansion, and upper pneumatic muscles 14 are drawn
Stretch elongated, then forearm is rotated down.
In the present embodiment, the second pneumatic drive mechanism includes being arranged on front side of joint arm 1 or the rotary pneumatic of/rear side drives
Component, rotary pneumatic drive component include rotary pneumatic muscle I 19, rotary pneumatic muscle II 20, rotation top sheave 21, rotation under
Pulley 22 and the rope 23 that is rotatably connected, rotary pneumatic muscle I 19 and the rotary pneumatic muscle II 20 are located at 1 the same side of joint arm simultaneously
To be set up in parallel up and down, and it is one end and drive installation case 2 and is connected to the closing of the air inlet other end and arrange, is rotatably connected rope 23
It is connected with I 19 blind end of rotary pneumatic muscle, and bypasses rotation top sheave 21, joint arm 1 successively circumferentially and rotate lower sheave 22
It is connected with rotary pneumatic muscle II 20, rotation top sheave 21 and rotation lower sheave 22 are installed on pulley cap 17 by supporting plate 24；
Rotary pneumatic drive component is arranged on front side of joint arm 1 or rear side, or respectively arranges one group in the front side of joint arm 1 and rear side, with
As a example by rotary pneumatic muscle I 19 and rotary pneumatic muscle II 20 are located on front side of joint arm 1, and rotary pneumatic muscle I 19 is located at rotation
Turn above pneumatic muscles II 20, rope 23 is rotatably connected after rotating top sheave 21, along joint arm 1 circumferentially from 1 behind of joint arm
Bypass, be then connected with the blind end of rotary pneumatic muscle II 20 further around rotation lower sheave 22 excessively, when I 19 pump of rotary pneumatic muscle
Gas, rotary pneumatic muscle I 19 expand, and rotary pneumatic muscle II 20 is now deflated and is elongated, then in the effect of rope 23 that is rotatably connected
Under, joint arm 1 revolves forward, it is front refer in Fig. 1 perpendicular to direction from paper to observer (this place is needed plus 19 pump gas,
20 deflate, the rotation direction of forearm 1, should be able to so understand a bit)；In the present embodiment, respectively set in the front side of joint arm 1 and rear side
Put one group of rotary pneumatic drive component, including I 19a of rotary pneumatic muscle, rotary pneumatic muscle II, rotation top sheave 21a, rotation
Lower sheave and the rope 23a that is rotatably connected, are arranged on the rotary pneumatic drive component principle of rear side with the above-mentioned rotation for being arranged on front side
Pneumatic actuation assembly principle is identical, and difference is that pump gas are different with the pneumatic muscles selection deflated to be caused to revolve after joint arm；Two groups
Rotary pneumatic drive component forms symmetrical structure, not only so that the stress of whole joint arm 1 is more balanced, and four pneumatic fleshes
Meat is compared the driving force of two pneumatic muscles and is doubled, and increases moment of torsion；In addition, the connecting strand in the present embodiment is steel
Rope, is provided with for the rope 23 that is rotatably connected on joint arm around circumferentially wound pulley sleeve 18.
In the present embodiment, joint of robot assembly also includes that pneumatic actuation starts detecting system, and pneumatic actuation starts detection
System includes：
Torque sensor, is arranged on the electric machine main shaft of the first electric driving mechanism the motor with the second electric driving mechanism
On main shaft and for detecting the torque load of electric machine main shaft whether more than rated load；
Controller, for receiving the specified overload detection signal of torque sensor and controlling the work of pneumatic actuation part；
When the torque that the load of crawled object is produced can bear the percent 70 of rated load more than motor
When, the detection signal can be fed back to controller by the torque sensor on main shaft, control corresponding pneumatic flesh by controller
Meat starts, and off-load is carried out to motorized motions part, and joint arm 1 can be operated under composite flooding of the motor with pneumatic muscles,
So that the load that motor bears is greatly reduced, pneumatic muscles reach the effect of stand-by motor work.
Finally illustrate, above example is only unrestricted to illustrate the technical solution of the utility model, although ginseng
This utility model is described in detail according to preferred embodiment, it will be understood by those within the art that, can be to this
The technical scheme of utility model is modified or equivalent, without deviating from the objective and model of technical solutions of the utility model
Enclose, which all should be covered in the middle of right of the present utility model.
Claims (10)
1. a kind of joint of robot assembly, it is characterised in that：Including joint arm and drive assembly, the drive assembly includes electronic
Drive part and for motorized motions part exceed rated load when be actuated for auxiliomotor pneumatic actuation part；
The electric driving part point includes drive installation case, power output box, the first electric driving mechanism and the second motorized motions
Mechanism, the joint arm are rotatably assorted and are supported in the power output box, and first electric driving mechanism is installed on the drive
Dynamic to install case and power output box be driven to drive joint arm to rotate in perpendicular, second electric driving mechanism is arranged
In the drive installation case and for driving joint arm to rotate around own axes；
The pneumatic actuation part includes the first pneumatic drive mechanism that process auxiliary drive joint arm rotated in perpendicular and auxiliary
Help the second pneumatic drive mechanism for driving joint arm to rotate around own axes.
2. joint of robot assembly according to claim 1, it is characterised in that：First electric driving mechanism includes turning
It is dynamic to coordinate the first line shaft for being supported in drive installation case and be arranged in drive installation case for driving to the transmission of the first line shaft
First drive gear set of power, the clutch end of first line shaft are fixedly connected with power output box.
3. joint of robot assembly according to claim 2, it is characterised in that：Second electric driving mechanism includes turning
It is dynamic to coordinate the second line shaft for being supported in drive installation case and be arranged in drive installation case for driving to the transmission of the second line shaft
Second drive gear set of power, second line shaft are coordinated with the same rotational support of power output box, and described second is electric
Dynamic drive mechanism also includes the Bevel Gear Transmission pair being arranged in power output box, and the Bevel Gear Transmission pair is fixed including circumference
Drive bevel gear on second line shaft and engage with drive bevel gear and circumference is fixed on joint arm from mantle
Gear.
4. joint of robot assembly according to claim 3, it is characterised in that：First line shaft is defeated with the power
Outlet is one of the forming structure.
5. joint of robot assembly according to claim 4, it is characterised in that：The drive installation case is opening and joint
Arm axle is arranged in the opening to consistent n shape structures, the power output box.
6. joint of robot assembly according to claim 5, it is characterised in that：First line shaft and described second is moved
Power axle position is on same axis.
7. joint of robot assembly according to claim 6, it is characterised in that：First pneumatic drive mechanism includes point
Be not correspondingly arranged in the upper pneumatic muscles and lower pneumatic muscles of the upper and lower both sides of joint arm, the upper pneumatic muscles and it is described under it is pneumatic
Muscle is one end and drive installation case and is connected to air inlet, and other end closing is arranged, and the upper pneumatic muscles and it is described under
The blind end of pneumatic muscles is connected by the first connecting strand.
8. joint of robot assembly according to claim 7, it is characterised in that：The joint arm end is provided with and first
The pulley cap that connecting strand coordinates, the joint arm are relatively rotated with pulley cap and are coordinated, and described first connecting strand one end is pneumatic with upper
Muscle blind end connects, and the other end is bypassed pulley cap from top to bottom and is connected with lower pneumatic muscles blind end.
9. joint of robot assembly according to claim 8, it is characterised in that：Second pneumatic drive mechanism includes setting
Put on front side of joint arm or/rear side rotary pneumatic drive component, the rotary pneumatic drive component includes rotary pneumatic muscle
Ith, rotary pneumatic muscle II, rotate top sheave, rotate lower sheave and the rope that is rotatably connected, the rotary pneumatic muscle I and the rotation
Turn pneumatic muscles II positioned at joint arm the same side and to be set up in parallel up and down, and be one end and drive installation case be connected to into
The closing of the gas other end is arranged, and the rope that is rotatably connected is connected with I blind end of rotary pneumatic muscle, and is bypassed successively sliding in rotation
Wheel, joint arm are circumferential and rotation lower sheave is connected with rotary pneumatic muscle II.
10. joint of robot assembly according to claim 9, it is characterised in that：The joint of robot assembly also includes
Pneumatic actuation starts detecting system, and the pneumatic actuation starts detecting system to be included：
Torque sensor, is arranged on the electric machine main shaft of first electric driving mechanism and second electric driving mechanism
On electric machine main shaft and for detecting the torque load of electric machine main shaft whether more than rated load；
Controller, for receiving the specified overload detection signal of torque sensor and controlling the work of pneumatic actuation part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621099007.4U CN206066458U (en) | 2016-09-30 | 2016-09-30 | Joint of robot assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621099007.4U CN206066458U (en) | 2016-09-30 | 2016-09-30 | Joint of robot assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206066458U true CN206066458U (en) | 2017-04-05 |
Family
ID=58441573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621099007.4U Withdrawn - After Issue CN206066458U (en) | 2016-09-30 | 2016-09-30 | Joint of robot assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206066458U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272543A (en) * | 2016-09-30 | 2017-01-04 | 重庆交通大学 | Bionical composite flooding humanoid robot joint |
| WO2020055342A1 (en) * | 2018-09-10 | 2020-03-19 | Ozyegin Universitesi | Robotic manipulator including pneumatic artificial muscle |
-
2016
- 2016-09-30 CN CN201621099007.4U patent/CN206066458U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272543A (en) * | 2016-09-30 | 2017-01-04 | 重庆交通大学 | Bionical composite flooding humanoid robot joint |
| CN106272543B (en) * | 2016-09-30 | 2018-08-21 | 重庆交通大学 | Bionical composite drive humanoid robot joint |
| WO2020055342A1 (en) * | 2018-09-10 | 2020-03-19 | Ozyegin Universitesi | Robotic manipulator including pneumatic artificial muscle |
| US11465278B2 (en) | 2018-09-10 | 2022-10-11 | Ozyegin Universitesi | Robotic manipulator including pneumatic artificial muscle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170405 Effective date of abandoning: 20180821 |