CN207309969U - A kind of mechanical arm and joint of mechanical arm - Google Patents
A kind of mechanical arm and joint of mechanical arm Download PDFInfo
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- CN207309969U CN207309969U CN201721000436.6U CN201721000436U CN207309969U CN 207309969 U CN207309969 U CN 207309969U CN 201721000436 U CN201721000436 U CN 201721000436U CN 207309969 U CN207309969 U CN 207309969U
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Abstract
The utility model discloses a kind of joint of mechanical arm, including：The motor side input set gradually along the axial direction of the motor in the joint and brake portion, motor driving part point, retarder parts and joint output par, c, wherein, the motor side input and brake portion include：The motor side brake that is set in the input terminal side of the split type hollow torque motor on the motor quill shaft, the motor side encoder being set in outside the motor side brake and the motor side brake and motor side encoder are contained in the first shell therein, the connector links together with the motor side brake, motor side encoder respectively.
Description
Technical field
Robot production field is the utility model is related to, more particularly to a kind of mechanical arm and joint of mechanical arm.
Background technology
Enter industrial application from robot the 1970s, robot application be greatly improved the quality of production and
Production efficiency.Conventional industrial robot there are the shortcomings that essentially consist in：It is bulky, quality is huge etc., cause load dead weight ratio
It is relatively low, while threaten to the safety of operating personnel, so as to need to isolate and work independently.
With the extension and raising of robot application demand, in the past 10 years, the advantages of small-sized articulated robot possesses
Cooperation robot, modularized joint robot of higher operating efficiency etc. are derived, such robot is due to complete machine matter
Amount reduces, robot small volume, so as to conduct oneself with dignity ratio with higher load, while is easy for man-machine collaboration purposes.
In existing joint designs scheme, output shaft, output loading bearing, harmonic speed reducer, motor output shaft hold, are defeated
Enter axis, hollow motor, motor input shaft bearing, brake, encoder etc. simply to connect successively on center shaft.By analyzing, on
Stating designing scheme can make joint of robot have certain compactedness, but not further improve the optimization of intra-articular component
Arrangement so that the small-sized characteristic in joint does not further improve.
Utility model content
In view of this, the utility model provides a kind of mechanical arm and joint of mechanical arm, it is by by axial serial arrangement
The mutually nested setting of multiple components, reduce the axial overall dimensions of joint of mechanical arm, the structure of the joint of mechanical arm is tight
Gather, reliably, there is higher load dead weight ratio.
A kind of joint of mechanical arm provided by the utility model, including：Set successively along the axial direction of the motor in the joint
The motor side input put and brake portion, motor driving part point, retarder parts and joint output par, c, wherein,
The motor driving part point includes：Motor quill shaft, the split type hollow power being set on the motor quill shaft
The connector of torque motor and input terminal positioned at the split type hollow torque motor, the split type hollow torque motor
Fix including the motor stator concentric with the motor quill shaft and with the motor quill shaft and connect inside the motor stator
The rotor connect；
The motor side input and brake portion include：It is arranged in the input terminal side of the split type hollow torque motor
Motor side brake on the motor quill shaft, the motor side encoder being set in outside the motor side brake and
The motor side brake and motor side encoder are contained in the first shell therein, the connector respectively with the motor
End brake, motor side encoder link together；
The retarder parts include：The motor is set in the output terminal side of the split type hollow torque motor
Harmonic speed reducer wave producer on quill shaft, the harmonic speed reducer being set in outside the harmonic speed reducer wave producer are soft
Wheel and the harmonic speed reducer steel wheel engaged with the harmonic reducer flexible wheel；
The joint output par, c includes：The joint end output flange axis coaxial with the motor quill shaft, in the pass
The input terminal side of section end output flange axis is set in joint end encoder on the joint end output flange axis and described
The output terminal side of joint end output flange axis is set in the output flange on the joint end output flange axis, the harmonic wave
Retarder flexbile gear is connected with the input terminal side of the joint end output flange axis.
Preferably, the motor driving part point further comprises：In the output terminal one of the split type hollow torque motor
Side is set in the motor output end high speed deep groove ball bearing on the motor quill shaft, the motor output end high speed deep-groove ball axis
Bearing sleeve is located at the inside of the split type hollow torque motor.
Preferably, the motor driving part point further comprises：In the input terminal one of the split type hollow torque motor
Side is set in the input end of motor high speed deep groove ball bearing outside the motor side brake, the input end of motor high speed zanjon
Ball bearing is located on the motor side encoder.
Preferably, the motor side brake includes：The motor side system set along the axial direction of the motor in the joint
Dynamic device Stator and electrical machine end brake rotor；
The motor side encoder includes：The motor side encoder stator set along the axial direction of the motor in the joint
With motor side encoder rotor；
Motor side encoder Stator and electrical machine end encoder rotor is set in outside the motor side brake stator,
The input end of motor high speed deep groove ball bearing is located on the motor side encoder rotor.
Preferably, the joint output par, c further comprises：First joint end crossed roller bearing, second joint end are handed over
Pitch roller bearing and joint end crossed roller compress end cap,
First joint end crossed roller bearing is fitted close with the joint end output flange axis, to subtract described in support
Fast device part；
Second joint end crossed roller bearing is set in outside the crossed roller bearing of first joint end, with support
The joint output par, c, joint end crossed roller compress the outer wall of end cap and second joint end crossed roller bearing
It is tightly fixed.
Preferably, the joint output par, c further comprises：5th shell and crossed roller bearing compress end cap,
5th shell stores the joint output par, c wherein, and intersects with the first joint end is stretched to
Protuberance between roller bearing and second joint end crossed roller bearing, with respectively with first joint end crossed roller axis
Outer wall, the inner wall of second joint end crossed roller bearing held is tightly fixed；
The crossed roller bearing compresses end cap and fixes first pass from the output terminal of the joint end output flange axis
The axial location of end crossed roller bearing is saved, the 5th shell compresses end cap with the crossed roller bearing and is fixedly connected.
Preferably, the motor driving part point further comprises：Second housing, the 3rd shell and motor compress end cap,
The second housing is located at the outside of the input terminal of the split type hollow torque motor, and the motor compresses end cap
It is located between the split type hollow torque motor and the motor quill shaft, so that the split type hollow torque motor and institute
State second housing to fit closely, second housing is concentric with first shell and is fixedly connected；
3rd shell is located at the outside of the output terminal of the split type hollow torque motor, the 3rd shell and institute
State second housing with one heart and be fixedly connected.
Preferably, the retarder parts further comprise：4th shell, the harmonic speed reducer steel wheel and the described 4th
Shell is concentric and is fixedly connected, and the 4th shell is concentric with the 3rd shell and is fixedly connected.
Preferably, the retarder parts further comprise：The harmonic speed reducer wave producer is axially fixed in institute
State the wave producer fixing clasp on motor quill shaft.
Another embodiment of the utility model additionally provides a kind of mechanical arm, it includes joint of mechanical arm as described above.
The small and light machine shoulder joint based on split type component of the utility model, it is compact-sized, reliable, closed beneficial to reducing
The appearance and size of section, reduces arthritic volume and own wt, realizes the small-sized design requirement in joint, has higher load certainly
Compare again.
The small and light machine shoulder joint based on split type component of the utility model, has quill shaft design, beneficial to hollow
Wiring.
The small and light machine shoulder joint based on split type component of the utility model, using motor side incremental encoder and
The design of joint output terminal absolute value encoder, it is possible to achieve higher kinematic accuracy.
Brief description of the drawings
Fig. 1 is the structure diagram of the joint of mechanical arm of the utility model.
Fig. 2 is the schematic cross-section of the joint of mechanical arm of the utility model.
Embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, develop simultaneously implementation referring to the drawings
Example, is further described the utility model.
Herein, " first ", " second " etc. are only used for mutual differentiation, rather than represent significance level and order and
Existing premise etc. each other.
Herein, the limitation in " equal ", " identical " etc. and non-critical mathematics and/or geometry meaning, also includes
It will be appreciated by those skilled in the art that and manufacture or the error for the permission such as using.Unless otherwise indicated, numerical value model herein
The gamut not only included in two endpoint is enclosed, also includes being contained in some subranges therein.
In order to solve the problems, such as in the prior art since joint axial dimension caused by intra-articular component arranged in series is big, this
Utility model provides a kind of joint of mechanical arm, it is subtracted by the mutually nested setting of multiple components by axial serial arrangement
The small axial overall dimensions of joint of mechanical arm, the joint of mechanical arm it is compact-sized, reliable, there is higher load to conduct oneself with dignity
Than.
Referring to shown in Fig. 1 and Fig. 2, one embodiment of the utility model provides a kind of joint of mechanical arm, including：Along pass
The motor side input and brake portion 100, motor driving part that the axial direction L1 of the motor of section is set gradually divide 200, retarder
Part 300 and joint output par, c 400, wherein,
Motor driving part point 200 includes：Motor quill shaft 11, the split type hollow torque being set on motor quill shaft 11
The connector 10 of motor and input terminal positioned at split type hollow torque motor, split type hollow torque motor includes and electricity
The concentric motor stator 16 of machine quill shaft 11 and the rotor being fixedly connected in the inside of motor stator 16 with motor quill shaft 11
15；
Motor side inputs and brake portion 100 includes：Electricity is set in the input terminal side of split type hollow torque motor
Motor side brake A on machine quill shaft 11, the motor side encoder B being set in outside motor side brake A and by motor side
Brake A and motor side encoder B are contained in the first shell 1 therein, connector 10 respectively with motor side brake A, motor
End encoder B links together；
Retarder parts 300 include：Motor quill shaft 11 is set in the output terminal side of split type hollow torque motor
On harmonic speed reducer wave producer 19, be set in outside harmonic speed reducer wave producer 19 harmonic reducer flexible wheel 21, with
And the harmonic speed reducer steel wheel 20 engaged with harmonic reducer flexible wheel 21；
Joint output par, c 400 includes：The coaxial joint end output flange axis 22, defeated at joint end with motor quill shaft 11
The input terminal side for going out flange shaft 22 is set in joint end encoder on joint end output flange axis 22 and is exported at joint end
The output terminal side of flange shaft 22 is set in the output flange 7 on joint end output flange axis 22, harmonic reducer flexible wheel 21
It is connected with the input terminal side of joint end output flange axis 22.
From above technical scheme, in the motor side input of the present embodiment and brake portion 100, motor side encoder
B has hollow structure, and by the way that motor side brake A is nested in the hollow structure of motor side encoder B, script is connected
The length reduction that ground is arranged in two components on motor quill shaft 11 is only motor side encoder B or motor side brake
The length of A, greatly reduces the axial length of the joint of mechanical arm of the present embodiment.Also, the change of this arrangement architecture not shadow
The working performance of motor side encoder B or motor side brake A is rung, so as to ensure that the compact design of joint of mechanical arm.
Preferably, motor side encoder B is incremental encoder, and joint end encoder is absolute value encoder, to realize
Higher kinematic accuracy.
Motor quill shaft 11 and joint end output flange axis 22 are set using quill shaft in the embodiment of the utility model
Meter, in favor of hollow wiring.
Further, motor driving part point 200 further comprises：Covered in the output terminal side of split type hollow torque motor
The motor output end high speed deep groove ball bearing 18 being located on motor quill shaft 11,18 sets of motor output end high speed deep groove ball bearing
It is located at the inside of split type hollow torque motor.
Motor output end high speed deep groove ball bearing 18 is used for the support in the output terminal side of split type hollow torque motor and subtracts
Fast device part 300, specifically, it can be nested in inside motor stator 16 together with rotor 15, to shorten joint of mechanical arm
Axial dimension.
Preferably, motor driving part point 200 further comprises：It is arranged in the input terminal side of split type hollow torque motor
Input end of motor high speed deep groove ball bearing 14 outside motor side brake A, input end of motor high speed deep groove ball bearing 14
In on motor side encoder B.
As shown in Fig. 2, input end of motor high speed deep groove ball bearing 14 is in the input terminal side of split type hollow torque motor
Motor driving part point 200 is supported, it is set in the outside of motor side brake A, therefore and motor together with motor side encoder B
Hold the axial length of encoder B common motor end brake A together.Preferably, motor side encoder B and input end of motor high speed
The sum of axial length of deep groove ball bearing 14 is less than or equal to the axial length of motor side brake A.In this way, series connection connects originally
Motor side brake A, the motor side encoder B and input end of motor high speed deep groove ball bearing 14 3 being connected on motor quill shaft 11
The axial length of person shorten to the axial length of motor side brake A, realizes the compact designed of joint of mechanical arm.
Specifically, motor side brake A includes：The motor side brake set along the axial direction L1 of the motor in joint is determined
Son 12 and motor side brake rotor 13；
Motor side encoder B includes：The motor side encoder stator 8 and electricity set along the axial direction L1 of the motor in joint
Generator terminal encoder rotor 9；
Motor side encoder stator 8 and motor side encoder rotor 9 are set in outside motor side brake stator 12, motor
Input terminal high speed deep groove ball bearing 14 is located on motor side encoder rotor 9.
Therefore, the both ends of hollow motor shaft 11 use high-speed electric expreess locomotive deep groove ball bearing supported design.Input end of motor is high
Fast deep groove ball bearing 14 is located at rotor input terminal, and motor output end high speed deep groove ball bearing 18 is located at rotor output
End.
Preferably, joint output par, c 400 further comprises：First joint end crossed roller bearing 25, second joint end
Crossed roller bearing 26 and joint end crossed roller compress end cap 27,
First joint end crossed roller bearing 25 is fitted close with joint end output flange axis 22, to support retarder parts
300；
Second joint end crossed roller bearing 26 is set in outside the first joint end crossed roller bearing 25, to support joint
Output par, c 400, joint end crossed roller compresses end cap 27 and the outer wall tight fit of second joint end crossed roller bearing 26 is consolidated
It is fixed.
Preferably, joint output par, c 400 further comprises：5th shell 5 and crossed roller bearing compress end cap 6,
5th shell 5 stores joint output par, c 400 wherein, and has and stretch to the first joint end crossed roller
Protuberance between bearing 25 and second joint end crossed roller bearing 26, with respectively with the first joint end crossed roller bearing 25
Outer wall, the inner wall of second joint end crossed roller bearing 26 is tightly fixed；
The output terminal that crossed roller bearing compresses end cap 6 from joint end output flange axis 22 fixes the intersection rolling of the first joint end
The axial location of sub- bearing 25, the 5th shell 5 compress end cap 6 with crossed roller bearing and are fixedly connected.
As shown in Figure 1, motor driving part point 200 further comprises：Second housing 2, the 3rd shell 3 and motor compression end
Lid 17,
Second housing 2 is located at the outside of the input terminal of split type hollow torque motor, and motor compresses end cap 17 and is set in point
Between the hollow torque motor of body formula and the motor quill shaft 11, so that split type hollow torque motor and second housing 2 are close
Fitting, second housing 2 is concentric with the first shell 1 and is fixedly connected；
3rd shell 3 is located at the outside of the output terminal of split type hollow torque motor, and the 3rd shell 3 and second housing 2 are same
The heart and it is fixedly connected.
In addition, retarder parts 300 further comprise：4th shell 4, harmonic speed reducer steel wheel 20 and the 4th shell 4 are same
The heart and it is fixedly connected, the 4th shell 4 is concentric with the 3rd shell 3 and is fixedly connected.Retarder parts 300 further include：Will be humorous
Ripple retarder wave producer 19 is axially fixed in the wave producer fixing clasp 28 on motor quill shaft 11.
Specifically, harmonic speed reducer wave producer 19 includes compiling along the joint end that the axial direction L1 of the motor in joint is set
Code device stator 23 and joint end encoder rotor 24, wherein, joint end encoder rotor 24 and joint end output flange axis 22 are same
The heart is simultaneously fixedly connected, and joint end encoder stator 23 is concentric with the 4th shell 4 and is fixedly connected.
From above technical scheme, in the motor side input of the present embodiment and brake portion 100, motor side encoder
B has hollow structure, and by the way that motor side brake A is nested in the hollow structure of motor side encoder B, script is connected
The length reduction that ground is arranged in two components on motor quill shaft 11 is only motor side encoder B or motor side brake
The length of A, greatly reduces the axial length of the joint of mechanical arm of the present embodiment.Also, the change of this arrangement architecture not shadow
The working performance of motor side encoder B or motor side brake A is rung, so as to ensure that the compact design of joint of mechanical arm.
Further, motor output end high speed deep groove ball bearing 18 is used for the output terminal one in split type hollow torque motor
Collateral support retarder parts 300, specifically, it can be nested in inside motor stator 16 together with rotor 15, to shorten machine
The axial dimension of tool shoulder joint.
In addition, input end of motor high speed deep groove ball bearing 14 supports electricity in the input terminal side of split type hollow torque motor
Machine drive part 200, it is set in the outside of motor side brake A together with motor side encoder B, therefore is encoded with motor side
The axial length of device B common motor end brake A together.Preferably, motor side encoder B and input end of motor high speed deep-groove ball
The sum of axial length of bearing 14 is less than or equal to the axial length of motor side brake A.In this way, electricity is connected in series in originally
The axis of motor side brake A, motor side encoder B and 14 three of input end of motor high speed deep groove ball bearing on machine quill shaft 11
Axial length to length reduction for motor side brake A, realizes the compact designed of joint of mechanical arm.
In the assembling process of the joint of mechanical arm of the present embodiment：
Motor driving part point 200 is assembled first：
With reference to Fig. 2, split type hollow torque motor stator 16 and second housing 2 are concentric, during installation, first in split type
Empty 16 shell of torque motor stator, which is applied when one layer of heat-conducting silicone grease runs at high speed for motor, to radiate, and is then determined by split type motor
Son compresses end cap 17 and is fixed.
With reference to Fig. 2, split type harmonic speed reducer wave producer 19 is connected by screw fixation with motor quill shaft 11, and leads to
C-type open loop (i.e. split type wave producer fixing clasp 28) stop is crossed to fix.Motor output end high speed deep groove ball bearing 18 with
11 tight fit connection of motor quill shaft, then tight fit are pressed into split type hollow torque motor rotor 15 and are fixed with motor quill shaft 11
Connection.
Input end of motor high speed deep groove ball bearing 14 is concentric with connector 10 and is tightly fixed.Split type electric magnetic brake
Rotor 13 is concentric with connector 10 and is connected by screw fixation.Motor side Split encoder rotor 12 and connector are concentric simultaneously
It is connected by screw fixation.It is aerial that input end of motor high speed deep groove ball bearing 14 by tight fit is pressed into 2 center of second housing.
To realize spaces compact type design requirement, in the design process, it should be ensured that input end of motor high speed deep groove ball bearing 14 it is interior
Footpath size needs the outer diameter more than 13/ stator 12 of Split electromagnetic brake rotor；Motor side Split encoder stator
The internal diameter size of 8/ rotor 9 needs the outer diameter more than 13/ stator 12 of Split electromagnetic brake rotor.
The wave producer 19, motor quill shaft 11, motor output end high speed deep groove ball bearing 18 assembled is overall with the
Three shells 3 are connected by 18 outer wall of motor output end high speed deep groove ball bearing, are formed a revolution around motor quill shaft 11 and are closed
Section.At this time, it may be necessary to ensure that the outer diameter of motor output end high speed deep groove ball bearing 18 is determined less than split type hollow torque motor
The internal diameter size of son 16.And then, it is the grade of connector 10 that assembles is overall concentric with motor quill shaft 11 and connected by screw
Connect.At this point it is possible to by the rotates effe of 12 testing of electric motors drive part of electric rotating generator terminal Split encoder rotor, and pass through
Adjust rotating friction force and planarization that motor side high speed deep groove ball bearing 18 adjusts motor driving part point.
Referring to Figures 1 and 2, second housing 2 is connected fixation with the 3rd shell 3 by concentric and screw, then joint motor
Drive part assembling is completed.
Then joint output par, c 400 is assembled：
With reference to Fig. 2, joint end crossed roller compresses end cap 27 and the outer wall tight fit of joint end crossed roller bearing 26 is consolidated
It is fixed.5th shell 5 and first/second joint end crossed roller bearing 25/26 are concentric, and respectively with its outer wall and inner wall tight fit
Connection is fixed, and in implementation process, the outer diameter of the first joint end crossed roller bearing 25 needs to be less than the friendship of second joint end
Pitch the internal diameter size of roller bearing 26.Joint end output flange axis 22 and the inner wall tight fit of the first joint end crossed roller 25 are consolidated
It is fixed, and end cap 6 is compressed by crossed roller bearing and is compressed, the 5th shell 5 is fixedly connected with compressing end cap 6 by screw, then real
Show and the baffle ring of 25 outer ring of inner ring and the first joint end crossed roller bearing of second joint end crossed roller 26 has been fixed.Output
Ring flange 7 is concentric with joint end output flange axis 22 and is fixedly connected by screw, while output flange 7 intersects with joint end
Roller compresses end cap 27 with one heart and is fixedly connected by screw, then realizes respectively to the first joint end crossed roller bearing 25
The baffle ring of the outer ring of inner ring and second joint end crossed roller bearing 26 is fixed.Joint end Split encoder rotor 24 and joint
End output flange axis 22 is concentric and is fixedly connected by screw.Joint end Split encoder stator 23 is then same with the 4th shell 4
The heart is simultaneously fixedly connected by screw.
Joint can be tested by rotary joint end output flange axis 22 and export rotating part motion conditions, then joint exports
It is partially completed.
Then retarder parts 300 are assembled：
It is with reference to Fig. 2, split type harmonic speed reducer steel wheel 20 is concentric with the 4th shell 4 and be connected by screw fixation.Point
The output of body formula harmonic reducer flexible wheel 21 is connected with the joint output par, c assembled, i.e., passes through with joint end output flange axis 22
Screw is fixedly connected.Distinguish the special harmonic speed reducer lubricant grease of coating in the inner wall and outer wall of flexbile gear 21.
Referring to Figures 1 and 2, the 4th shell 4 and the 5th shell 5 with one heart and are connected by screw fixation, then split type harmonic wave
Retarder steel wheel 20 realizes gear with split type harmonic reducer flexible wheel 21 and engages.The motor driving part assembled is divided again,
And split type harmonic speed reducer wave producer 19 is filled in split type harmonic reducer flexible wheel 21, and pass through electric rotating machine quill shaft
11 so that harmonic speed reducer is integrally engaged to desired operation, then retarder parts assembling is completed.
Referring to Figures 1 and 2, the 3rd shell 3 is fixedly connected with one heart and by screw with the 4th shell 4.
Then motor side input and brake portion 100：
With reference to Fig. 2, motor side Split encoder stator 8 is concentric with the first shell 1 and is connected by screw fixation.Split
Formula electromagnetic brake stator 12 is concentric with the first shell 1 and is connected by screw fixation.
Referring to Figures 1 and 2, the first shell 1 and second housing 2 are concentric, and are connected by screw fixation, then whole joint dress
With completion.
It should be appreciated that although this specification is described according to each embodiment, not each embodiment is only wrapped
Containing an independent technical solution, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solution in each embodiment may also be suitably combined to form people in the art
The other embodiment that member is appreciated that.
The a series of tool for describing the feasibility embodiment only for the utility model in detail of those listed above
Body illustrate, and and be not used to limitation the scope of protection of the utility model, it is all without departing from the utility model skill spirit made etc.
Embodiment or change are imitated, such as the combination, segmentation or repetition of feature, should be included within the scope of protection of this utility model.
Claims (10)
- A kind of 1. joint of mechanical arm, it is characterised in that including：Set gradually along the axial direction (L1) of the motor in the joint Motor side inputs and brake portion (100), motor driving part point (200), retarder parts (300) and joint output par, c (400), wherein,The motor driving part point (200) includes：Motor quill shaft (11), the split being set on the motor quill shaft (11) The connector (10) of the hollow torque motor of formula and input terminal positioned at the split type hollow torque motor, it is described split type Hollow torque motor includes the motor stator (16) concentric with the motor quill shaft (11) and in the motor stator (16) The rotor (15) that portion is fixedly connected with the motor quill shaft (11)；The motor side input and brake portion (100) include：Covered in the input terminal side of the split type hollow torque motor The motor side brake being located on the motor quill shaft (11), the motor side coding being set in outside the motor side brake Device and the motor side brake and motor side encoder are contained in the first shell (1) therein, the connector (10) point Do not link together with the motor side brake, motor side encoder；The retarder parts (300) include：The electricity is set in the output terminal side of the split type hollow torque motor Harmonic speed reducer wave producer (19) on machine quill shaft (11), to be set in the harmonic speed reducer wave producer (19) exterior Harmonic reducer flexible wheel (21) and the harmonic speed reducer steel wheel (20) engaged with the harmonic reducer flexible wheel (21)；The joint output par, c (400) includes：With the motor quill shaft (11) coaxial joint end output flange axis (22), The joint on the joint end output flange axis (22) is set in the input terminal side of the joint end output flange axis (22) Hold encoder and be set in the joint end output flange axis in the output terminal side of the joint end output flange axis (22) (22) output flange (7) on, the input of the harmonic reducer flexible wheel (21) and the joint end output flange axis (22) Hold side connection.
- 2. joint of mechanical arm as claimed in claim 1, it is characterised in that the motor driving part point (200) further comprises： The motor output end being set in the output terminal side of the split type hollow torque motor on the motor quill shaft (11) is high Fast deep groove ball bearing (18), the motor output end high speed deep groove ball bearing (18) are set in the split type hollow torque motor Inside.
- 3. joint of mechanical arm as claimed in claim 2, it is characterised in that the motor driving part point (200) further comprises： The input end of motor being set in the input terminal side of the split type hollow torque motor outside the motor side brake is high Fast deep groove ball bearing (14), the input end of motor high speed deep groove ball bearing (14) are located on the motor side encoder.
- 4. joint of mechanical arm as claimed in claim 3, it is characterised in that the motor side brake includes：Along the joint Motor axial direction (L1) set motor side brake stator (12) and motor side brake rotor (13)；The motor side encoder includes：The motor side encoder stator set along the axial direction (L1) of the motor in the joint (8) and motor side encoder rotor (9)；The motor side encoder stator (8) and motor side encoder rotor (9) are set in the motor side brake stator (12) exterior, the input end of motor high speed deep groove ball bearing (14) is located on the motor side encoder rotor (9).
- 5. joint of mechanical arm as claimed in claim 1, it is characterised in that the joint output par, c (400) further comprises： First joint end crossed roller bearing (25), second joint end crossed roller bearing (26) and joint end crossed roller compress end cap (27),First joint end crossed roller bearing (25) is fitted close, to support with the joint end output flange axis (22) State retarder parts (300)；Second joint end crossed roller bearing (26) be set in first joint end crossed roller bearing (25) it is exterior, with The joint output par, c (400) is supported, joint end crossed roller compresses end cap (27) and intersects with the second joint end The outer wall of roller bearing (26) is tightly fixed.
- 6. joint of mechanical arm as claimed in claim 5, it is characterised in that the joint output par, c (400) further comprises： 5th shell (5) and crossed roller bearing compress end cap (6),5th shell (5) stores the joint output par, c (400) wherein, and has and stretch to the first joint end Protuberance between crossed roller bearing (25) and second joint end crossed roller bearing (26), with respectively with first joint Outer wall, the inner wall of second joint end crossed roller bearing (26) of end crossed roller bearing (25) are tightly fixed；The crossed roller bearing compresses end cap (6) and fixes described first from the output terminal of the joint end output flange axis (22) The axial location of joint end crossed roller bearing (25), the 5th shell (5) compress end cap (6) with the crossed roller bearing It is fixedly connected.
- 7. joint of mechanical arm as claimed in claim 1, it is characterised in that the motor driving part point (200) further comprises： Second housing (2), the 3rd shell (3) and motor compress end cap (17),The second housing (2) is located at the outside of the input terminal of the split type hollow torque motor, and the motor compresses end cap (17) it is set between the split type hollow torque motor and the motor quill shaft (11), so that the split type hollow power Torque motor is fitted closely with the second housing (2), and second housing (2) is concentric with first shell (1) and is fixedly connected；3rd shell (3) is located at the outside of the output terminal of the split type hollow torque motor, the 3rd shell (3) with The second housing (2) is concentric and is fixedly connected.
- 8. joint of mechanical arm as claimed in claim 7, it is characterised in that the retarder parts (300) further comprise：The Four shells (4), the harmonic speed reducer steel wheel (20) is concentric with the 4th shell (4) and is fixedly connected, outside the described 4th Shell (4) is concentric with the 3rd shell (3) and is fixedly connected.
- 9. joint of mechanical arm as claimed in claim 1, it is characterised in that the retarder parts (300) further comprise：Will The harmonic speed reducer wave producer (19) is axially fixed in the wave producer fixing clasp on the motor quill shaft (11) (28)。
- 10. a kind of mechanical arm, it is characterised in that closed including the mechanical arm as described in any claim in claim 1 to 9 Section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721000436.6U CN207309969U (en) | 2017-08-10 | 2017-08-10 | A kind of mechanical arm and joint of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721000436.6U CN207309969U (en) | 2017-08-10 | 2017-08-10 | A kind of mechanical arm and joint of mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207309969U true CN207309969U (en) | 2018-05-04 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685341A (en) * | 2017-08-10 | 2018-02-13 | 北京山思跃立科技有限公司 | A kind of mechanical arm and joint of mechanical arm |
| CN115199725A (en) * | 2021-09-30 | 2022-10-18 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and installation method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685341A (en) * | 2017-08-10 | 2018-02-13 | 北京山思跃立科技有限公司 | A kind of mechanical arm and joint of mechanical arm |
| CN115199725A (en) * | 2021-09-30 | 2022-10-18 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and installation method thereof |
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Effective date of registration: 20200731 Address after: 100086 room 1308a, floor 13, No. 23, Zhichun Road, Haidian District, Beijing Patentee after: Qianyuan Yunli (Beijing) robot intelligent technology Co.,Ltd. Address before: 101500 Beijing Miyun Xinyuan Building 3 3 floor room 316 -246 Patentee before: BEIJING SHANSI YUELI TECHNOLOGY Co.,Ltd. |
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