CN207240248U - A kind of joint of mechanical arm structure - Google Patents

A kind of joint of mechanical arm structure Download PDF

Info

Publication number
CN207240248U
CN207240248U CN201721270575.0U CN201721270575U CN207240248U CN 207240248 U CN207240248 U CN 207240248U CN 201721270575 U CN201721270575 U CN 201721270575U CN 207240248 U CN207240248 U CN 207240248U
Authority
CN
China
Prior art keywords
circuit
joint
pulling force
mechanical arm
communication module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201721270575.0U
Other languages
Chinese (zh)
Inventor
李志伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Yun You Network Technology Co Ltd
Original Assignee
Guangzhou Yun You Network Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou Yun You Network Technology Co Ltd filed Critical Guangzhou Yun You Network Technology Co Ltd
Priority to CN201721270575.0U priority Critical patent/CN207240248U/en
Application granted granted Critical
Publication of CN207240248U publication Critical patent/CN207240248U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model discloses a kind of joint of mechanical arm structure, restrict including first rotating shaft, the second shaft, fixing end, movable end and driving, pulling force sensor is provided with driving rope, the both ends of pulling force sensor are connected with rope body respectively, the joint structure further includes circuit part, circuit part includes comparison circuit, microcontroller, communication module and power supply, the input terminal of the output terminal connection comparison circuit of pulling force sensor, the signal input part of the output terminal connection microcontroller of comparison circuit, communication module connect the communication interface of microcontroller.The joint of mechanical arm on every driving rope by installing pulling force sensor additional, the level of stretch of driving rope is checked, and produce warning message when driving rope to be excessively stretched, abnormal driving rope is accurately informed into maintenance personal by way of voice broadcast, network service, so as to greatly convenient maintenance, additionally realize that the tracking of the condition in damaged to every driving rope is fed back by counting the technological means of display, easy to maintenance and management.

Description

A kind of joint of mechanical arm structure
Technical field
Robotic technology field is the utility model is related to, more specifically, it relates to a kind of joint of mechanical arm structure.
Background technology
Ultra-redundant degree of freedom mechanical arm puts forward to solve the problems, such as that conventional serial robot dexterity is poor, it is logical Crossing increases substantial amounts of Joint motion, the dimension of joint space is much larger than task space dimension, the introducing of Joint motion makes machinery Arm can more neatly realize desired terminal position.However, ultra-redundant degree of freedom mechanical arm uses discrete mostly at present Motor and driver, motor is directly installed at cradle head, and driver is fixed in switch board, the two is carried out with cable Connection, can so bring many shortcomings, for example, the electric wiring of mechanical arm is very cumbersome, be unfavorable for repair and maintenance;Add machine The inertia and quality of tool arm, are unfavorable for high-speed motion and quick response;In order to realize that multifreedom motion will inevitably be led Cause the complication of control system.
To overcome above-mentioned drawback, the Chinese patent of Application No. CN201510629272.2 discloses a kind of rope driver tool Shoulder joint, the joint include first rotating shaft and the second shaft, and first rotating shaft and the second shaft are in right-angled intersection, including fixing end, Movable end is restricted with driving, and movable end can be relatively fixed end rotating around first rotating shaft, the second shaft and rotate, and driving rope, which is at least, to be located, Along the circumferentially distributed of movable end;One end of driving rope and movable end are affixed, and the other end can independently pull work under the effect of external force Moved end rotates.The patent greatly mitigates the weight in joint, so as to further increase the bearing capacity of mechanical arm, is advantageously implemented The high-speed mobile and quick response of mechanical arm;Meanwhile eliminate the arrangement work of electric wiring.
But this kind of joint of mechanical arm, due to being driven driving force by rope, the tensile strength of rope is limited, in machinery During arm high-speed cruising(When especially mechanical arm clamping weight is run), under the action of larger movement inertia and inertia, machinery The rope of shoulder joint can bear very big pulling force, so the situation that rope is pulled off is unavoidable.Since mechanical arm is high Precision mechanical device, it is more complicated that it constructs assembling, breaks down or during damage when it is internal, maintenance personnel be difficult often The component of damage or failure is known at the first time, therefore the maintenance of mechanical arm is a very difficult thing.It is special corresponding to this Joint in profit, its flimsy component is rope, even disconnected when there is rope to be damaged since the quantity of rope is at least 3 When splitting, it is which root rope goes wrong that can accurately inform maintenance personal, is extremely necessary for rapid-maintenance.
Utility model content
In view of the deficienciess of the prior art, the purpose of this utility model is to provide a kind of joint of mechanical arm structure, should The damage situations of joint structure detection driving rope, greatly convenient maintenance.
To achieve the above object, the utility model provides following technical solution:
A kind of joint of mechanical arm structure, including first rotating shaft, the second shaft, fixing end, movable end are restricted with driving, the drive Pulling force sensor is provided with running rope, the both ends of pulling force sensor are connected with rope body respectively, which further includes circuit portion Point, circuit part includes comparison circuit, microcontroller, communication module and power supply, the output terminal connection ratio of the pulling force sensor Compared with the input terminal of circuit, the signal input part of the output terminal connection microcontroller of comparison circuit, the communication module connects microcontroller Communication interface.
Using the above scheme, when driving rope stress produces stretching, pulling force passes sensor and detects pulling force and export pulling force Signal is detected, when driving rope to be excessively stretched, microcontroller generation warning message, and can be by communication module by warning message Maintenance personal is sent to, it is which root driving rope is damaged or is broken that maintenance personal, which just can learn, so that greatly convenient maintenance.
Preferably:Circuit part further includes voice IC and loudspeaker, the signal output part connection of the microcontroller The signal output part connection loudspeaker of voice IC, voice IC.
Using the above scheme, when driving rope to be excessively stretched, microcontroller sends control instruction to voice IC, and voice IC connects Controlling loudspeaker plays alarm voice after receiving the control instruction, timely easy to personnel on the scene to remind the staff at scene Take counter-measure.
Preferably:Circuit part further includes counting circuit, display driver circuit and display screen, and counting circuit touches Originator is connected with the output terminal of comparison circuit, the input terminal of the output terminal connection display driver circuit of counting circuit, display driving The output terminal connection display screen of circuit.
Using the above scheme, when driving rope to be excessively stretched, counting circuit is counted after receiving high level signal with regard to cumulative Once, the accumulative numerical value remembered is shown screen and shows number, and monitoring personnel is by checking that display screen can just understand machinery at any time The loss situation of each driving rope in shoulder joint.
Preferably:The communication module includes network communication module and wireless communication module.
Using the above scheme, warning message can be sent to custodian by way of wire communication and wireless communication Member.
Preferably:The network communication module is RS485 communication modules.
Preferably:The wireless communication module is ZIGBEE modules.
Preferably:The both ends of the pulling force sensor are connected by the rope body of the anchor ear and driving rope of open loop type Connect.
Using the above scheme, when driving rope to be stretched, anchor ear will occur to slide relatively with driving rope, so as to avoid drawing Force snesor is subject to the pulling force of bigger, prevents pulling force sensor to be damaged.
Compared with prior art, the utility model has the advantages that:The joint of mechanical arm on every driving rope by installing additional Pulling force sensor, checks the level of stretch of driving rope, and produces warning message when driving rope to be excessively stretched, and passes through Abnormal driving rope is accurately informed maintenance personal by voice broadcast, the mode of network service, so that greatly convenient maintenance, additionally Technological means by counting display realizes that the tracking of the condition in damaged to every driving rope is fed back, easy to maintenance and management.
Brief description of the drawings
Fig. 1 is the schematic diagram of joint structure in embodiment one;
Fig. 2 is the A portions enlarged drawing in Fig. 1;
Fig. 3 is the circuit diagram in embodiment one;
Fig. 4 is the connection diagram of the sensor in embodiment two.
Description of reference numerals:1st, first rotating shaft;2. the second shaft;3 fixing ends;4th, movable end;5th, driving rope;6th, pulling force Sensor;7th, retainer ring;8th, anchor ear.
Embodiment
Embodiment one:
With reference to Fig. 1, a kind of joint of mechanical arm structure, including first rotating shaft 1, the second shaft 2, fixing end 3, movable end 4 with Driving rope 5, wherein 1 and second shaft 2 of first rotating shaft use right-angled intersection structure, movable end 4 can rotating around first rotating shaft 1, Second shaft 2 is relatively fixed 3 flexible rotatings of end, and driving rope 5 is at least at 3, along the circumferentially distributed of movable end 4, specifically, driving One end of rope 5 and movable end are affixed, and the other end can be in external force(The usually driving of motor)Under the action of independently pull movable end 4 Rotate, by tensing and loosening driving rope 5, can realize rotation of the movable end 4 on two free degree directions.
With reference to Fig. 2, pulling force sensor 6 is provided with every driving rope, the both ends of pulling force sensor 6 connect two respectively A retainer ring 7, two retainer rings 7 are coated and fixed on the outer wall of driving rope 5.The pressure sensor 6 senses for tension strain formula The spacing of two retainer rings 7, is arranged to appropriate value so that in an initial condition by device --- when i.e. driving rope 5 is not stretched, Pulling force sensor 6 and once drives rope 5 to be stretched from the effect of pulling force, then pulling force sensor 6 will under tension work With.
With reference to Fig. 3, which further includes circuit part, circuit part include comparison circuit, microcontroller, voice IC, Loudspeaker, network communication module and wireless communication module.Wherein, the input of the output terminal connection comparison circuit of pulling force sensor End, the signal input part of the output terminal connection microcontroller of comparison circuit, signal output part connection the voice IC, voice IC of microcontroller Signal output part connection loudspeaker, network communication module and wireless communication module are all connected with the communication interface of microcontroller.This reality Apply in example, network communication module is RS485 communication modules, and wireless communication module is ZIGBEE modules.Pulling force sensor, compare Circuit, microcontroller, network communication module, wireless communication module, voice IC and loudspeaker are all connected with respective working power.
Under normal circumstances --- when i.e. driving rope 5 is not stretched, pulling force sensor 6 is without pulling force signal output.
In abnormal cases --- the movement inertia of mechanical arm is very big at this time, causes very big drawing force to driving rope 5, drives Running rope 5 is stretched, and the effect of 6 under tension of pulling force sensor simultaneously exports pull force calculation signal.
Comparison circuit by pull force calculation signal compared with reference signal set in advance, when the former is more than the latter, Comparison circuit exports a high level signal, is judged as that driving rope 5 is excessively stretched at this time, driving rope 5 starts to be damaged.Compare electric The high level signal is sent to microcontroller, microcontroller generation warning message and simultaneously sends control instruction, voice IC to voice IC by road Controlling loudspeaker plays alarm voice after receiving the control instruction, to remind the staff at scene.Microcontroller also passes through net Network communication module and wireless communication module send warning message to host computer or other receiving devices, so as to fulfill long-range report It is alert.
After maintenance personal receives warning device or alarm voice, can know be which root driving rope it is impaired or Fracture, so as to it is targeted, accurately carry out maintenance, bring great convenience to maintenance.
The present embodiment adds the function of counting display on the basis of such scheme.
With reference to Fig. 3, circuit part further includes counting circuit, display driver circuit and display screen.Wherein counting circuit is tactile Originator is connected with the output terminal of comparison circuit, the input terminal of the output terminal connection display driver circuit of counting circuit, display driving The output terminal connection display screen of circuit.
When comparison circuit exports high level signal --- when driving rope 5 is excessively stretched, counting circuit receives height After level signal with regard to accumulated counts once, the numerical value for adding up to remember is shown screen and shows, monitoring personnel is by checking display Screen can just understand the loss situation of each driving rope in joint of mechanical arm at any time.The numeral that display screen is shown is bigger, illustrates pair The situation that the driving rope answered is damaged is more serious, and intra-articular each driving rope can be so managed with personnel tracking easy to repair.
Embodiment two:
The difference between this embodiment and the first embodiment lies in pulling force sensor 6 is different from the connection mode of driving rope 5.
With reference to Fig. 4, substitute the retainer ring 7 in embodiment one with the anchor ear 8 of open loop structure, anchor ear 8 clamp driving rope 5 so as to It is fixed on driving rope 5.Grip friction power between anchor ear 8 and driving rope 5 is less than the stress limit of pulling force sensor 6.In this way, When driving rope 5 is stretched, when the pulling force that pulling force sensor 6 is subject to is not up to its stress limit, anchor ear 8 will restrict with driving 5 occur opposite slip, so as to avoid pulling force sensor 6 from being subject to the pulling force of bigger, prevent that pulling force sensor 6 is impaired.
The above is only the preferred embodiment of the utility model, and the scope of protection of the utility model is not limited merely to Above-described embodiment, all technical solutions belonged under the utility model thinking belong to the scope of protection of the utility model.It should refer to Go out, for those skilled in the art, some improvement under the premise of the utility model principle is not departed from and Retouching, these improvements and modifications also should be regarded as the scope of protection of the utility model.

Claims (7)

1. a kind of joint of mechanical arm structure, including first rotating shaft, the second shaft, fixing end, movable end are restricted with driving, its feature It is:Pulling force sensor is provided with the driving rope, the both ends of pulling force sensor are connected with rope body respectively, which also wraps Circuit part is included, circuit part includes comparison circuit, microcontroller, communication module and power supply, the output of the pulling force sensor The input terminal of end connection comparison circuit, the signal input part of the output terminal connection microcontroller of comparison circuit, the communication module connect Connect the communication interface of microcontroller.
2. joint of mechanical arm structure according to claim 1, it is characterized in that:Circuit part further includes voice IC and raises one's voice Device, the signal output part connection loudspeaker of signal output part connection the voice IC, voice IC of the microcontroller.
3. joint of mechanical arm structure according to claim 1, it is characterized in that:Circuit part further includes counting circuit, display Drive circuit and display screen, the triggering end of counting circuit and the output terminal of comparison circuit connect, the output terminal connection of counting circuit The input terminal of display driver circuit, the output terminal connection display screen of display driver circuit.
4. joint of mechanical arm structure according to claim 1, it is characterized in that:The communication module includes network communication module And wireless communication module.
5. joint of mechanical arm structure according to claim 4, it is characterized in that:The network communication module communicates for RS485 Module.
6. joint of mechanical arm structure according to claim 4, it is characterized in that:The wireless communication module is ZIGBEE moulds Block.
7. joint of mechanical arm structure according to claim 1, it is characterized in that:The both ends of the pulling force sensor are by opening The anchor ear of ring type is connected with the rope body of driving rope.
CN201721270575.0U 2017-09-29 2017-09-29 A kind of joint of mechanical arm structure Active CN207240248U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721270575.0U CN207240248U (en) 2017-09-29 2017-09-29 A kind of joint of mechanical arm structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721270575.0U CN207240248U (en) 2017-09-29 2017-09-29 A kind of joint of mechanical arm structure

Publications (1)

Publication Number Publication Date
CN207240248U true CN207240248U (en) 2018-04-17

Family

ID=61890445

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201721270575.0U Active CN207240248U (en) 2017-09-29 2017-09-29 A kind of joint of mechanical arm structure

Country Status (1)

Country Link
CN (1) CN207240248U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108942958A (en) * 2018-07-13 2018-12-07 哈尔滨工业大学(深圳) A kind of mechanical arm carrying out pull force calculation

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108942958A (en) * 2018-07-13 2018-12-07 哈尔滨工业大学(深圳) A kind of mechanical arm carrying out pull force calculation
CN108942958B (en) * 2018-07-13 2020-09-08 哈尔滨工业大学(深圳) Mechanical arm capable of detecting tension

Similar Documents

Publication Publication Date Title
CN207240248U (en) A kind of joint of mechanical arm structure
CN103661764A (en) Electric-bicycle driving apparatus
CN206992872U (en) A kind of small load leading screw drive line motion module
CN203486666U (en) Disconnection alarming device
CN203529749U (en) Control system and crane
CN209329572U (en) A kind of cable tension early warning regulating device
CN106680633A (en) Cable pressure monitoring method and cable pressure monitoring system
CN110778463A (en) Fan blade bolt fracture monitoring and protecting method and device
CN103387185A (en) Control system, control method and crane
CN203512671U (en) Failure indication device of sealing-tape machine protecting equipment
CN206068991U (en) Telescopic jib lashed cable crosses pulling force protection device
CN201077666Y (en) Digital presentation type address code device for belt conveyor protection device
CN207120665U (en) A kind of electric machine controller
CN104199379A (en) PLC monitoring system based on mobile phone GPRS platform
CN205768707U (en) A kind of electric supply installation of electric automobile
CN206135304U (en) Preformed armor rods special card line ware of acting as go -between
CN103539024A (en) Integration controller of tower crane
CN204773445U (en) Injection molding machine servo control system of built -in wireless WIFI receiving and dispatching port
CN204405583U (en) Thermoplastic fiber glass yarns pick-up unit
CN104607432A (en) Intelligent speed adjusting assembly line special for installation of high pressure cleaner
CN203775094U (en) Scraper conveyer electronic control system and scraper conveyer
CN203156457U (en) Novel belt transmission device
CN105797346A (en) Intelligent ball serving machine control system
CN206977457U (en) Dispatching and monitoring platform KVM attachment structure
CN207473795U (en) A kind of work shape wheel broken string radio alarming control system

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant