CN206273538U - Bionical dislocation joint of robot - Google Patents
Bionical dislocation joint of robot Download PDFInfo
- Publication number
- CN206273538U CN206273538U CN201621409435.2U CN201621409435U CN206273538U CN 206273538 U CN206273538 U CN 206273538U CN 201621409435 U CN201621409435 U CN 201621409435U CN 206273538 U CN206273538 U CN 206273538U
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- lock plate
- joint
- groove
- servo
- bionical
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Abstract
The utility model discloses a kind of bionical dislocation joint of robot, it is installed between two joint arm bodies of robot, the joint includes basic machine, servo-control system；Basic machine includes U-shaped lock plate draw-in groove, lock plate, lock plate mounting flange, servomotor, reductor, reductor output flange, lock plate draw-in groove is provided with fluid pressure drive device, lock plate is formed by two panels disk is coaxially connected, and stretch into lock plate draw-in groove, lock plate mounting flange is located on the axle of lock plate, one of lock plate mounting flange is fixed therein on the shell of a joint arm body with lock plate draw-in groove, another lock plate mounting flange is fixed on the flange face of reductor output flange, servomotor is arranged in the housing of other joint arm body with reductor；Servo-control system includes controller, servo electric jar, power panel, sensor, motor servo driver.The utility model can improve the safety and reliability that obstacle removing robot works in the presence of a harsh environment.
Description
Technical field
The utility model is related to obstacle removing robot field, more particularly to a kind of bionical dislocation joint of robot.
Background technology
At present, urban distribution network circuit is basic is set up along urban road, and most of circuit extended and walked in the woods.Although frame
Ceases to be busy road use it is mostly be insulated conductor, insulated conductor often occurs but due to navigating within the woods mostly, in operation is ground by branch
Break insulated hull and electric discharge sparking and disconnection fault occur, problems are particularly dashed forward especially when the special weathers such as heavy rain strong wind are run into
Go out.In order to reduce distribution trip-out rate, trees are removed obstacles the annual important production task of Shi Ge electric companies.Due to wanting for job security
Ask, major part is removed obstacles needs line outage and by manually implementing, other part part of path manually implements trees and to remove obstacles also be difficult to
Carry out.
Based on above mentioned problem, the obstacle removing robot such as mechanical arm for obstacle removing is arisen at the historic moment in the distribution field of removing obstacles, and it can be substituted
It is artificial to carry out trees in adverse circumstances and in the case of powered and remove obstacles.And due to mechanical arm for obstacle removing poor working environment, it is larger when falling
During the hit mechanical arm of trunk, the moment of torsion of moment joint of mechanical arm well beyond rated load, the badly damaged arm body of mechanical arm
And articulation structure.
But consider that, when the joint of human or animal is when by powerful external force, joint will dislocate from bionics angle, this
It is one kind protection to other position bones.Therefore inspired by it, such a can also be set on obstacle removing robot can be taken off
The protection to mechanical arm is realized in mortar joint.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of bionical dislocation joint of robot, it is possible to increase remove obstacles
The safety and reliability that robot works in the presence of a harsh environment.
In order to solve the above technical problems, the technical scheme that the utility model is used is：A kind of bionical dislocation machine is provided
Device person joint, is installed between two joint arm bodies of robot, and the joint includes basic machine, servo-control system；
Basic machine includes that U-shaped lock plate draw-in groove, lock plate, the first lock plate mounting flange, the second lock plate are installed
Flange, servomotor, reductor, reductor output flange, lock plate draw-in groove are provided with fluid pressure drive device, and lock plate is by two panels
Disk is coaxially connected to be formed, and is stretched into lock plate draw-in groove, and lock plate mounting flange is located on the axle of lock plate, the second lock plate
Mounting flange is fixed on the shell of the second joint arm body with lock plate draw-in groove, and it is defeated that the first lock plate mounting flange is fixed on reductor
Go out on the flange face of flange, servomotor is arranged in the housing of the first joint arm body with reductor；
Servo-control system includes sensor, the servo electricity that controller, servo electric jar, power panel are connected with controller
Machine driver, the output end of motor servo driver is connected with servo electric jar, output end and controller, the servo electricity of power panel
Machine driver is connected.
In one preferred embodiment of the utility model, fluid pressure drive device is used to assist lock plate to realize stremma,
It includes servo electric jar, conduit under fluid pressure, hydraulic oil, piston, and the two-port of lock plate draw-in groove is sealed by piston, filled out in its cavity
Filled with hydraulic oil, one end of conduit under fluid pressure is arranged on the connection of the cavity side of lock plate draw-in groove, the other end and servo electric jar.
Further, piston exterior is provided with friction plate, and friction plate is in contact with the two sides on lock plate top, can increase lock
The only frictional force between disk and lock plate draw-in groove so that more firm after embolia.
In one preferred embodiment of the utility model, sensor includes the vibration-sensing in arm body center lumen body
Device, the liquid pressure sensor on conduit under fluid pressure, the lock plate cursor sensor for being set in outer edge in lock plate draw-in groove.Shake
Dynamic sensor is for, to the impact external force of mechanical arm arm body, liquid pressure sensor is used for monitoring servo electric jar in monitoring of environmental
Hydraulic oil pressure；Lock plate cursor sensor monitors the relative position of two disks of lock plate by transmitting with light is received
Put.
In one preferred embodiment of the utility model, prism cursor, prismatic light are embedded with left disk of lock plate
Mark the cursor signal for reflecting lock plate cursor sensor emission.
Further, the material of lock plate is steel, and intensity is big.
In one preferred embodiment of the utility model, motor servo driver includes joint servo motor driver, electricity
Dynamic cylinder motor servo driver, the output end connection servomotor of joint servo motor driver, electric cylinder servomotor drives
The output end connection servo electric jar of device.
In one preferred embodiment of the utility model, valve of changing oil is additionally provided with the top of lock plate draw-in groove.
In one preferred embodiment of the utility model, the voltage class that power panel is provided includes 24V, 48V, 24V voltages
For controller is powered, 48V voltages are powered for motor servo driver.
The beneficial effects of the utility model are：The utility model mechanical structure is consolidated, servo-control system good reliability, control
High precision processed, Operation and Maintenance are simple；The bionic joint dislocation function that it has, can solve the problem that obstacle removing robot in the presence of a harsh environment
Work is easily damaged the problem in joint, the effectively safety of protection obstacle removing robot body construction；The joint positive return work(having
Can, obstacle removing robot can be made to be carried out continuously operation of removing obstacles, removed obstacles the reliability of operation so as to substantially increase obstacle removing robot
And security, with economic worth very high.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model bionical dislocation joint of robot one preferred embodiment；
Fig. 2 is the system block diagram of the servo-control system；
The mark of each part is as follows in accompanying drawing：1st, lock plate draw-in groove, 2, piston, 3, friction plate, 4, lock plate draw-in groove cavity,
5th, lock plate, 6, reductor, 7, servomotor, the 8, first lock plate mounting flange, the 10, second lock plate mounting flange, 9, subtract
Fast machine output flange, 11, lock plate cursor sensor, the 12, first joint arm body, the 13, second joint arm body, 14, conduit under fluid pressure, 15,
Change oil valve, 16, left disk, 17, right disk.
Specific embodiment
Preferred embodiment of the present utility model is described in detail below in conjunction with the accompanying drawings, so that advantage of the present utility model
Can be easier to be readily appreciated by one skilled in the art with feature, it is apparent clear and definite so as to be made to protection domain of the present utility model
Define.
Fig. 1 is referred to, the utility model embodiment includes：
A kind of bionical dislocation joint of robot, is installed between two joint arm bodies of robot, for convenience of description, defines respectively
It is the first joint arm body 12 and the second joint arm body 13, the joint includes basic machine, servo-control system.
Basic machine includes U-shaped lock plate draw-in groove 1, lock plate 5, the first lock plate mounting flange 8, the second lock plate peace
Dress flange 10, servomotor 7, reductor 6, reductor output flange 9.Lock plate draw-in groove 1 is provided with fluid pressure drive device, hydraulic pressure
Drive device be used for assist lock plate 5 to realize stremma, it include servo electric jar (not shown), conduit under fluid pressure 14,
Hydraulic oil, piston 2.The two-port of lock plate draw-in groove 1 is relative, and is sealed by piston 2, and 2, piston is provided with friction plate 3, lock plate
Hydraulic oil is filled with the cavity 4 of draw-in groove 1, valve 15 of changing oil, the one of conduit under fluid pressure 14 are additionally provided with the top of lock plate draw-in groove 1
End is arranged on the side of cavity 4, the other end and the servo electric jar connection of lock plate draw-in groove 1.The side of cavity 4 is provided with conduit under fluid pressure
14, it is additionally provided with valve 15 of changing oil at the top of lock plate draw-in groove 1.Lock plate 5 is formed by two panels disk is coaxially connected, respectively left
Piece disk 16, right disk 17, and stretch into lock plate draw-in groove 1, its top two sides is in contact with friction plate 3, and friction plate 3 increases
The frictional force between lock plate 5 and lock plate draw-in groove 1 is added so that more firm after embolia.The material of lock plate 5 is steel
Material, two panels disc set installs complete back axis and fixes, and can mutually slide but can not separate.Lock plate mounting flange is located at lock plate
On 5 axle, the second lock plate mounting flange 10 is fixed on the shell of the second joint arm body 13 with lock plate draw-in groove 1, conduit under fluid pressure
14th, servo electric jar is arranged in the housing of the second joint arm body 13, and the first lock plate mounting flange 8 is fixed on reductor output method
On blue 9 flange face, servomotor 7 is arranged in the housing of the first joint arm body 12 with reductor 6.
With reference to Fig. 2, servo-control system uses PLC servo closed control systems, and it includes controller (PLC), servo electricity
Sensor, motor servo driver that dynamic cylinder, power panel are connected with controller, the output end and servo of motor servo driver
Electric cylinder is connected, and the output end of power panel is connected with controller, motor servo driver.Controller is located in the second joint arm body 13
Portion.The voltage class that power panel is provided includes 24V, 48V, and 24V voltages are powered for controller, and 48V voltages drive for servomotor
Device is powered, and is common power panel with obstacle removing robot.Servo electric jar as fluid pressure drive device actuating unit, with dynamic
The advantages of making rapid, low noise, energy-conservation, clean, high rigidity, extra long life, and can no-failure operation in the presence of a harsh environment, prevent
Shield grade can reach IP65.Sensor is including the shock sensor in arm body center lumen body, on conduit under fluid pressure 14
Liquid pressure sensor, be set in the lock plate cursor sensor 11 of outer edge in lock plate draw-in groove 1.Preferably, vibration-sensing
Device is in the center lumen body of the second joint arm body 13 positioned at right arm body, and it is used in monitoring of environmental outside to the impact of mechanical arm arm body
Power, liquid pressure sensor is used for monitoring the hydraulic oil pressure of servo electric jar；Lock plate cursor sensor 11 by transmitting with
Receive light to monitor 5 two relative positions of disk of lock plate, accordingly, be embedded with left disk 16 of lock plate 5
Prism cursor (not shown), prism cursor is used to reflect the light of the transmitting of lock plate cursor sensor 11, so as to realize closing
Section resets.Motor servo driver includes joint servo motor driver, electric cylinder motor servo driver, joint servo motor
The output end of driver connects servomotor 7 (M1 is denoted as in Fig. 2), and the output end connection of electric cylinder motor servo driver is watched
Take electric cylinder (M2 is denoted as in Fig. 2).
The bionical dislocation joint of robot realizes that what is dislocated and reset comprises the following steps that：
(1) when mechanical arm body or joint are subject to external impacts, shock sensor is sampled, and it clashes into kinetic energy values；
(2) controller according to shock sensor transmission come shock kinetic energy values converse torque value, if exceed mechanical arm sheet
The moment limiting value of body or set joint, controller control electric cylinder motor servo driver runs M2；
(3) servo-electric cylinder working, hydraulic oil drop of pressure, piston 2 loosens, left disk 16 of lock plate 5 and right
Disk 17 can be slided by axis opposite direction rotating of E, that is, realize stremma function；
(4) after confirming safety, servomotor 7 starts to rotate, and reductor output flange 9 drives left disk of lock plate 5
16 start rotation, find sensing station, and the feedback signal of lock plate cursor sensor 11 is to PLC, servo electric jar when seeking in place
Counter to push away, piston 2 is clamped, and lock plate 5 is positioned, and joint servo motor driver driving M1 makes the embolia.
The setting of hydraulic oil pressure P value should meet the pressure of the generation of piston 2 so that left disk 16 and right disk 17 it
Between the joint moment of torsion that is transmitted of stiction be approximately equal to the instantaneous peak torque of reductor 6.When there is bigger kinetic energy to clash into or
Controller has little time computing when the bigger shock wave of acceleration is destroyed, and misses peak value, this moment left disk 16 and right disk 17
Can slide in opposition, i.e. joint passive type dislocation.
The utility model mechanical structure is consolidated, and servo-control system good reliability, control accuracy are high, Operation and Maintenance is simple；
The bionic joint dislocation function that it has, can solve the problem that obstacle removing robot works in the presence of a harsh environment and is easily damaged asking for joint
Topic, the effectively safety of protection obstacle removing robot body construction；The joint positive return function having, can connect obstacle removing robot
It is continuous to carry out operation of removing obstacles, removed obstacles the reliability and security of operation so as to substantially increase obstacle removing robot, with warp very high
Ji value.
Embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited, it is every
The equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or be directly or indirectly used in
Other related technical fields, are similarly included in scope of patent protection of the present utility model.
Claims (9)
1. a kind of bionical dislocation joint of robot, is installed between two joint arm bodies of robot, it is characterised in that the joint bag
Include basic machine, servo-control system；
Basic machine include U-shaped lock plate draw-in groove, lock plate, the first lock plate mounting flange, the second lock plate mounting flange,
Servomotor, reductor, reductor output flange, lock plate draw-in groove are provided with fluid pressure drive device, and lock plate is by two panels disk
It is coaxially connected to form, and stretch into lock plate draw-in groove, lock plate mounting flange is located on the axle of lock plate, and the second lock plate is installed
Flange is fixed on the shell of the second joint arm body with lock plate draw-in groove, and the first lock plate mounting flange is fixed on reductor output method
On blue flange face, servomotor is arranged in the housing of the first joint arm body with reductor；
Servo-control system includes sensor, the servomotor drive that controller, servo electric jar, power panel are connected with controller
Dynamic device, the output end of motor servo driver is connected with servo electric jar, and output end and controller, the servomotor of power panel drive
Dynamic device is connected.
2. bionical dislocation joint of robot according to claim 1, it is characterised in that fluid pressure drive device includes servo electricity
Dynamic cylinder, conduit under fluid pressure, hydraulic oil, piston, the two-port of lock plate draw-in groove are sealed by piston, and hydraulic oil is filled with its cavity,
One end of conduit under fluid pressure is arranged on cavity side, the other end and the servo electric jar connection of lock plate draw-in groove.
3. bionical dislocation joint of robot according to claim 2, it is characterised in that piston exterior is provided with friction plate, rubs
Pad is in contact with the two sides on lock plate top.
4. bionical dislocation joint of robot according to claim 1, it is characterised in that sensor includes being located at arm body middle part
Shock sensor in cavity, the liquid pressure sensor on conduit under fluid pressure, the lock for being set in outer edge in lock plate draw-in groove
Only disk cursor sensor.
5. bionical dislocation joint of robot according to claim 1, it is characterised in that embedded on left disk of lock plate
There is prism cursor.
6. bionical dislocation joint of robot according to claim 1 or 5, it is characterised in that the material of lock plate is steel.
7. bionical dislocation joint of robot according to claim 1, it is characterised in that motor servo driver includes joint
Motor servo driver, electric cylinder motor servo driver, the output end connection servomotor of joint servo motor driver, electricity
The output end connection servo electric jar of dynamic cylinder motor servo driver.
8. bionical dislocation joint of robot according to claim 1, it is characterised in that also set at the top of lock plate draw-in groove
Change oil valve.
9. bionical dislocation joint of robot according to claim 1, it is characterised in that the voltage class bag that power panel is provided
24V, 48V are included, 24V voltages are powered for controller, and 48V voltages are powered for motor servo driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621409435.2U CN206273538U (en) | 2016-12-21 | 2016-12-21 | Bionical dislocation joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621409435.2U CN206273538U (en) | 2016-12-21 | 2016-12-21 | Bionical dislocation joint of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206273538U true CN206273538U (en) | 2017-06-23 |
Family
ID=59063730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621409435.2U Withdrawn - After Issue CN206273538U (en) | 2016-12-21 | 2016-12-21 | Bionical dislocation joint of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206273538U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695869A (en) * | 2016-12-21 | 2017-05-24 | 国网安徽省电力公司淮南供电公司 | Bionic dislocation robot joint |
-
2016
- 2016-12-21 CN CN201621409435.2U patent/CN206273538U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695869A (en) * | 2016-12-21 | 2017-05-24 | 国网安徽省电力公司淮南供电公司 | Bionic dislocation robot joint |
| CN106695869B (en) * | 2016-12-21 | 2023-04-25 | 国网安徽省电力公司淮南供电公司 | Bionic dislocation robot joint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170623 Effective date of abandoning: 20230425 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20170623 Effective date of abandoning: 20230425 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |